Elastic buffer planetary carrier and reducer

Abstract

This invention provides an elastic buffer planetary carrier and a gearbox that can improve the overall transmission accuracy and meshing accuracy. [Solution] The present invention relates to the field of speed reducers, and more particularly to an elastic buffer planetary carrier, and includes a fixed support base 1 and an encircling elastic buffer device 2, wherein the fixed support base is stably mounted inside the encircling elastic buffer device, and at least one central shaft hole 14 is provided in the fixed support base, which is used to guide the axial passage of the output shaft, and a plurality of planetary shaft holes 2111 are uniformly distributed in the encircling elastic buffer device, which is used to allow the gear shaft to pass through, and the encircling elastic buffer device can be elastically deformed in the lateral, vertical and any diagonal directions.

Description

Technical Field

[0001] This application relates to the field of speed reducers, and particularly to an elastic buffer planetary carrier and a speed reducer.

Background Art

[0002] In the field of mechanical transmission, the speed reducer plays a very important role as a key component that reduces the input rotational speed and provides an appropriate output rotational speed. It is widely applied in industrial production, automation equipment, vehicles, and many precision transmission fields, such as chip manufacturing, medical equipment, military equipment, and diamond polishing.

[0003] However, in the design of planetary speed reducers in the prior art, by adopting a rigid connection structure, stable fitting between gears can be ensured. However, due to the existence of gear machining errors and assembly errors, the planetary gears will experience a phenomenon where the forces received during actual operation are uneven, that is, the so-called "uneven load" problem occurs. The uneven load not only reduces the operating efficiency of the speed reducer but also may cause the gears to break due to overload, seriously affecting the reliability and service life of the equipment and increasing the maintenance cost.

[0004] Particularly, in precision transmission fields such as chip manufacturing, medical equipment, and military equipment, the requirements for the accuracy (small backlash), stability, and reliability of the speed reducer are extremely high. In these fields, even a slight error may cause a decrease in the overall system performance or a failure.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The objective of this application is to overcome the above technical problems and provide an elastic buffer planetary carrier and a speed reducer.

Means for Solving the Problems

[0006] The elastic buffer planetary carrier provided in this application includes a fixed support base and an encircling elastic buffer, the fixed support base being mounted inside the encircling elastic buffer, the fixed support base having at least one central shaft hole for guiding the axial passage of an output shaft, the encircling elastic buffer having a plurality of planetary shaft holes uniformly distributed for the passage of gear shafts, and the encircling elastic buffer can be elastically deformed in the lateral, vertical and any oblique directions.

[0007] The elastic buffer planetary carrier, based on the above technical solutions, can effectively absorb and mitigate assembly and operational errors between gears, thereby ensuring gap-free transmission between two adjacent gears. This avoids the uneven load phenomenon caused by machining and assembly errors in conventional planetary gear reducers, improving the reliability and service life of the reducer. By adopting an elastic buffer planetary carrier, stable meshing between multiple gears is achieved, and gap-free operation between adjacent gears is ensured. This achieves the goal of gap-free transmission, reduces transmission hysteresis, and effectively improves the reliability and service life of the reducer. Compared to rigid planetary carriers, elastic buffer planetary carriers offer greater flexibility in machining requirements, improving overall machining efficiency and reducing the demands for precision machining of the planetary carriers, ultimately lowering the overall machining cost of the planetary carriers. Elastic buffer planetary carriers not only reduce the requirements for component precision and assembly precision, but also improve overall transmission precision and meshing precision.

[0008] Selectively, the surrounding elastic shock absorber includes a plurality of elastic shock absorber units, two adjacent elastic shock absorber units are fixedly connected to each other via connecting bridges, the fixed support base is fixedly connected to the plurality of connecting bridges simultaneously, and each elastic shock absorber unit has elastic deformation capability in any direction, including the lateral, vertical, and any diagonal direction.

[0009] The surrounding elastic shock absorber according to the above technical solution is composed of multiple elastic shock absorber units, with two adjacent elastic shock absorber units fixedly connected via connecting bridges, and a fixed support base fixedly connected to multiple connecting bridges. As a result, each elastic shock absorber unit exhibits good elastic deformation capability in any direction, including the lateral, vertical, and any diagonal direction, thereby more effectively absorbing and mitigating assembly errors and operating errors between gears.

[0010] Selectively, each elastic buffer unit includes a movable support member and two elastic connecting arms, the movable support member being positioned between the two elastic connecting arms, with one end of each elastic connecting arm fixedly connected to the connecting bridge, and the other end of each elastic connecting arm being tightly fixed to one end of the movable support member, the elastic connecting arms being flexibly bent in any direction, including lateral, longitudinal and any oblique directions, and the planetary axis holes are provided in the movable support member.

[0011] Each elastic buffer unit according to the above technical solution includes a movable support member and two elastic connecting arms, the movable support member being positioned between the two elastic connecting arms, one end of each elastic connecting arm being fixedly connected to a connecting bridge, and the other end of each elastic connecting arm being tightly fixed to one end of the movable support member, the elastic connecting arms being flexibly bendable in any direction, including lateral, longitudinal and any diagonal directions, the planetary shaft holes being drilled directly into the movable support member, thereby ensuring gapless transmission between two adjacent gears, and thereby the elastic buffer unit can improve the stability and reliability of the planetary gear transmission by effectively absorbing and mitigating assembly and operational errors between gears.

[0012] Selectively, the elastic connecting arm may have an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure, or a C-shaped structure.

[0013] In the above technical solution, the arc-shaped structure, U-shaped structure, S-shaped structure, V-shaped structure, or C-shaped structure has good elasticity and toughness and can adapt to force and displacement changes in different directions, thus more effectively mitigating the problem of uneven loading due to machining errors and assembly errors of gears.

[0014] Selectively, the elastic connecting arm includes a first bending section, a second bending section, and a third bending section, with one end of the first bending section connected to the connecting bridge, the other end of the first bending section connected to one end of the second bending section, the other end of the second bending section connected to one end of the third bending section, and the other end of the third bending section connected to the movable support member, thereby ensuring the elastic connecting arm's flexible bending capability in multiple directions.

[0015] By designing the elastic connecting arm to be subdivided into a first bending section, a second bending section, and a third bending section using the above technical solution, the flexible bending capability of the elastic connecting arm in the lateral, vertical, and any diagonal directions is ensured, thereby improving the elastic buffer planetary carrier's ability to absorb and mitigate assembly errors and operational errors between gears.

[0016] Selectively, at least one of the first bending section, the second bending section, and the third bending section is an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure, or a C-shaped structure.

[0017] In the above technical solution, if the first, second, and third bending sections of the elastic connecting arm are all designed to be arc-shaped, U-shaped, or S-shaped, the elastic deformation potential in the lateral, vertical, and any diagonal directions can be maximized, thereby ensuring gapless transmission between two adjacent gears, effectively absorbing and mitigating assembly and operating errors between gears, and ensuring stable operation of the planetary gear system.

[0018] Selectively, the fixed support base includes a fixed block and a plurality of connecting blocks, the central axial hole is drilled in the fixed block, the plurality of connecting blocks are distributed along the circumferential direction of the fixed block, one end of each connecting block is fixedly connected to the fixed block, and the other end of each connecting block is fixedly connected to the connecting bridge.

[0019] The fixed support base according to the above technical solution consists of a fixed block and a plurality of connecting blocks. A central axial hole is drilled in the fixed block, and the connecting blocks are distributed along the circumferential direction of the fixed block and connected to the fixed block and the connecting bridge. This creates a stable structure with the fixed support base and the surrounding elastic buffer device, improving the structural stability and overall reliability of the elastic buffer planetary carrier.

[0020] Selectively, the fixed block, the two adjacent connecting blocks, and the elastic buffer unit all constitute a spatial region that allows for elastic deformation of the elastic buffer unit.

[0021] The fixed block, the two adjacent connecting blocks, and the elastic damping unit, as provided by the above technical solution, together constitute a spatial region that allows for the elastic deformation of the elastic damping unit. This ensures that the elastic damping unit effectively absorbs and mitigates assembly and operational errors between gears, thereby improving the overall stability and damping effect of the planetary carrier structure.

[0022] The reducer includes a housing, at least one of the above-described elastic buffer planetary carriers, and at least one planetary gear set, wherein an annular internal gear is installed inside the housing, the elastic buffer planetary carrier is installed inside the housing and fixedly connected to other members of the reducer, the planetary gear set is fixedly or rotatably connected to a power input member of the reducer, and the planetary gear set is interlocked with the annular internal gear.

[0023] By adopting the above technical solution, the elastic buffer planetary carrier can effectively absorb and relieve the eccentric load phenomenon caused by the machining error, assembly error of the gears and slight vibration during operation. Due to such a buffering effect, during the transmission of the planetary gears, a more stable meshing state can be maintained, thereby ensuring a transmission without gaps between two adjacent gears. Therefore, the stability and reliability of the transmission are improved, the wear rate of the gears is reduced, and thereby the service life of the gears is extended. The interlocking design of the planetary gear device and the annular internal gear optimizes the transmission path and makes the energy transmission more efficient.

[0024] Optionally, an elastic groove is provided between the annular internal gear and the housing, and both ends of each elastic groove along the housing axis are open to ensure that the annular internal gear can elastically deform during operation.

[0025] An elastic groove is provided between the annular internal gear and the housing by the above technical solution, and both ends of each elastic groove along the housing axis are open to ensure that the annular internal gear can elastically deform during operation. Thereby, the assembly error and operation error between the gears are further absorbed and relieved, and the stability and reliability of the reducer operation are improved.

Advantages of the Invention

[0026] To sum up, the present application includes at least one of the following beneficial technical effects. 1. The surrounding type elastic buffer device according to the present application can effectively elastically deform in the horizontal, vertical and any oblique directions, so as to ensure a transmission without gaps between two adjacent gears. Thereby, the assembly error and operation error between the gears are absorbed and relieved, and the eccentric load problem caused by the machining error and assembly error of the gears is solved. 2. Due to the flexible bending ability of the elastic connection arm in the elastic buffer unit in the horizontal, vertical and any oblique directions, the planetary gears can receive forces evenly during operation, thereby avoiding the occurrence of a situation where a single gear breaks due to overload. 3. The design of the elastic buffer planetary carrier makes the overall structure of the reducer more compact, reduces the volume and weight, and improves the service life and operating efficiency of the device.

Brief Description of the Drawings

[0027] [Figure 1] It is a schematic structural diagram of the elastic buffer planetary carrier in Embodiment 1 of the present application. [Figure 2] It is a schematic structural diagram of the elastic buffer planetary carrier in Embodiment 2 of the present application. [Figure 3] It is a schematic structural diagram of the reducer in Embodiment 3 of the present application. [Figure 4] It is a schematic diagram of the assembly relationship of the reducer in Embodiment 3 of the present application. [Figure 5] It is a schematic structural diagram of the mounting cylinder from another perspective in Embodiment 3 of the present application. [Figure 6] It is a schematic diagram of the assembly relationship of another reducer in Embodiment 3 of the present application. [Figure 7] It is a schematic structural diagram of another reducer in Embodiment 3 of the present application. <00​​​​​​​​​​​​​​​​​​The terms used in this application are for the sole purpose of describing specific embodiments and are not intended to limit this application. Unless otherwise defined, technical or scientific terms used in this application should have the general meaning understood by those skilled in the art. The terms “first,” “second,” and similar words used in this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. (Example 1)

[0030] The elastic buffer planetary carrier provided in this embodiment is applicable to planetary speed reducers, harmonic drive speed reducers, or other similar speed reduction structures. Referring to Figure 1, the elastic buffer planetary carrier includes a fixed support base 1 and a surrounding elastic buffer 2, the fixed support base 1 being mounted in the central region inside the surrounding elastic buffer 2, and the fixed support base 1 having at least one central shaft hole 14. When there is one central shaft hole 14, the central shaft hole 14 is located at the center of the fixed support base 1. The central shaft hole 14 is used to guide the passage of the output shaft 4 of the speed reducer. The surrounding elastic buffer 2 has three planetary shaft holes 2111 evenly distributed for the gear shafts to pass through. The surrounding elastic buffer 2 can effectively elastically deform in the lateral, longitudinal and any diagonal directions to ensure gap-free transmission between two adjacent gears by absorbing and mitigating assembly and operational errors between gears.

[0031] Specifically, the fixed support base 1 includes a fixed block 11 and a plurality of connecting blocks 12. There are three connecting blocks 12, which are uniformly distributed along the circumferential direction of the fixed block 11. One end of each connecting block 12 is integrally molded with the fixed block 11, and the other end of each connecting block 12 is integrally molded with the connecting bridge 22. The fixed block 11 can be made of high-strength steel and has good mechanical properties and wear resistance. To improve the stability of the overall structure, the width of the connecting blocks 12 can be adjusted according to the actual needs.

[0032] The surrounding elastic shock absorber 2 includes a plurality of elastic shock absorber units 21, of which there are three. Two adjacent elastic shock absorber units 21 are fixedly connected to each other via a connecting bridge 22. Each elastic shock absorber unit 21 can exhibit good elastic deformation capability in the lateral, vertical, and any diagonal directions. Each elastic shock absorber unit 21 includes a movable support member 211 and two elastic connecting arms 212, the movable support member 211 being located between the two elastic connecting arms 212. One end of each elastic connecting arm 212 is integrally molded with the connecting bridge 22, and the other end is integrally molded with one end of the movable support member 211. The elastic connecting arms 212 can be flexibly bent in any direction, including the lateral, vertical, and any diagonal directions, and the planetary axis holes 2111 are directly drilled at the center of the movable support member 211.

[0033] The elastic connecting arm 212 is arc-shaped, U-shaped, S-shaped, V-shaped, or C-shaped. The arc-shaped, U-shaped, S-shaped, V-shaped, or C-shaped structures have good elasticity and toughness and can adapt to forces and displacement changes in different directions, thus more effectively mitigating the problem of uneven loading due to machining and assembly errors of the gears.

[0034] The implementation principle of this embodiment is as follows: Since the elastic buffer planetary carrier includes a fixed support base 1 and an encircling elastic buffer device 2, the arc-shaped or similar structure of the elastic connecting arm 212 in the elastic buffer unit 21 can be used to ensure gap-free transmission between two adjacent gears. By flexibly bending in multiple directions, assembly errors and operational errors between gears are absorbed and mitigated, improving the overall performance and service life of the planetary reducer. (Example 2)

[0035] Referring to Figure 2, the differences between this embodiment and Embodiment 1 are as follows: The elastic connecting arm 212 is further subdivided into a first bending section 2121, a second bending section 2122, and a third bending section 2123. One end of the first bending section 2121 is integrally molded with the connecting bridge 22, the other end of the first bending section 2121 is integrally molded with one end of the second bending section 2122, the other end of the second bending section 2122 is integrally molded with one end of the third bending section 2123, and finally the other end of the third bending section 2123 is integrally molded with the movable support member 211. This ensures the flexible bending capability of the elastic connecting arm 212 in multiple directions. Preferably, the first bending section 2121, the second bending section 2122, and the third bending section 2123 are all arc-shaped. The arc-shaped or C-shaped structure may be specifically a superior arc or inferior arc shape to adapt to deformation needs under different conditions.

[0036] At least one of the first bending section 2121, the second bending section 2122, and the third bending section 2123 is an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure, or a C-shaped structure. When the first bending section 2121, the second bending section 2122, and the third bending section 2123 of the elastic connecting arm 212 are all designed to be arc-shaped, U-shaped, or S-shaped structures, their elastic deformation potential in the lateral, vertical, and any diagonal directions can be maximized, thereby ensuring gapless transmission between two adjacent gears, effectively absorbing and mitigating assembly and operating errors between gears, and ensuring stable operation of the planetary gear system.

[0037] The fixed block 11, the two adjacent connecting blocks 12, and the elastic buffer unit 21 together constitute a spatial region 13 that allows for the elastic deformation of the elastic buffer unit 21, ensuring that the elastic buffer unit 21 is not interfered with in the deformation process in multiple directions and that its elastic buffering effect is fully exerted. The number of elastic buffer units 21 can be set to six or more.

[0038] The implementation principle of this embodiment is as follows: The elastic connecting arm 212 is divided into a first bending section 2121, a second bending section 2122, and a third bending section 2123, and these sections are preferably arc-shaped or other elastic structures, thereby improving the flexible bending ability of the elastic connecting arm 212 in multiple directions and better absorbing and mitigating assembly errors and operational errors between gears. The spatial region formed by the fixed block 11, the connecting block 12, and the elastic buffer unit 21 ensures multidirectional deformation freedom of the elastic buffer unit 21. (Example 3)

[0039] This embodiment provides a gearbox, and referring to Figures 3, 4, 5, and 6, the gearbox includes a housing 3, an output shaft 4, an annular internal gear 5, at least one elastic buffer planetary carrier as described in Embodiment 1 or Embodiment 2, and at least one planetary gear set 6, wherein the number of elastic buffer planetary carriers and planetary gear sets 6 correspond one to one. Specifically, the housing 3 includes a mounting cylinder 31 and a bottom plate cover 32, the mounting cylinder 31 being a single-piece structure, and the bottom plate cover 32 being detachably connected to one end of the mounting cylinder 31. The bottom plate cover 32 screws into the mounting cylinder 31, improving the convenience of installation and removal of the bottom plate cover 32 by the operator.

[0040] The elastic buffer planetary carrier is installed inside the mounting cylinder 31 and is fixedly connected to the housing 3 or other components of the reducer. A hole 33 is made at one end of the mounting cylinder 31 away from the bottom plate cover 32, and a ball bearing 42 is installed in the hole 33. The output shaft 4 is rotated through the hole 33 and connected to the mounting cylinder 31 via the ball bearing 42. A fixing sleeve 41 is further fixed to the outer circumference of the output shaft 4, and the end of the fixing sleeve 41 abuts against the end of the ball bearing 42, thereby making it easier to prevent the ball bearing 42 from moving along the axial direction of the output shaft 4, and thereby increasing the robustness of the mounting of the ball bearing 42. The number of fixing sleeves 41 and ball bearings 42 may be one, two, or three.

[0041] A corrugated spacer 43 is further fitted to the output shaft 4, positioned between two adjacent ball bearings 42. The corrugated spacer 43 plays a crucial role between the two adjacent ball bearings 42, significantly improving the overall performance and reliability of the transmission system by providing axial positioning, preload, load distribution, and improved sealing performance.

[0042] There are two elastic buffer planetary carriers and two planetary gear units 6, and both the two elastic buffer planetary carriers and the two planetary gear units 6 are installed inside the mounting cylinder 31.

[0043] Each elastic buffer planetary carrier includes a fixed support base 1 and an encircling elastic buffer device 2. The fixed support base 1 is attached to the central region inside the encircling elastic buffer device 2. The specific structures of the fixed support base 1 and the encircling elastic buffer device 2 are the same as in Embodiment 1 and will not be described here. The fixed support base 1 has one central shaft hole 14, and one end of the output shaft 4, located inside the mounting cylinder 31, passes through the central shaft hole 14. The fixed support base 1 is fitted onto the output shaft 4 and fixedly connected to the output shaft 4, thereby fixing one of the elastic buffer planetary carriers to the end of the output shaft 4.

[0044] One of the planetary gear systems 6 is mounted on the elastic buffer planetary carrier described above and includes a first sun gear 61, three first planetary gears 62, and three first gear shafts 63. Since planetary shaft holes 2111 are provided in each of the three movable support members 211 of the surrounding elastic buffer device 2, the first gear shafts 63 correspond one-to-one with the planetary shaft holes 2111 and the first planetary gears 62. One end of each first gear shaft 63 passes through the planetary shaft hole 2111 and is fixedly connected to the elastic buffer planetary carrier. Each first planetary gear 62 is fitted onto the other end of the corresponding first gear shaft 63 and is fixedly connected to the first gear shaft 63. The first sun gear 61 is rotatably mounted between the three first planetary gears 62 and rotational motion is achieved by meshing with these three first planetary gears 62. The three first planetary gears 62 mesh with each other with the annular internal gear 5, thereby forming one of the planetary gear transmission systems.

[0045] A connecting shaft 64 is fixedly installed at one end of the first sun gear 61, and the other elastic buffer planetary carrier is fitted onto the connecting shaft 64 and fixedly connected to it. An annular sun tooth spacer 7 is further fitted onto the connecting shaft 64, and the sun tooth spacer 7 is located between the first sun gear 61 and the elastic buffer planetary carrier. The other planetary gear assembly 6 includes a second sun gear 65, three second planetary gears 66, and three second gear shafts 67. Since planetary shaft holes 2111 are drilled in each of the three movable support members 211 of the surrounding elastic buffer 2, the second gear shafts 67 correspond one-to-one with the planetary shaft holes 2111 in the elastic buffer planetary carrier and the second planetary gears 66. One end of each second gear shaft 67 passes through the planetary shaft hole 2111 and is fixedly connected to the elastic buffer planetary carrier. Each second planetary gear 66 is fitted onto the other end of the second gear shaft 67 and is fixedly connected to the second gear shaft 67. The second sun gear 65 is rotatably mounted between the three second planetary gears 66 and rotates by meshing with these three second planetary gears 66. The three second planetary gears 66 mesh with the annular internal gear 5 to form a planetary gear transmission system.

[0046] Referring to Figure 4, an annular bottom plate spacer 8 is installed between the planetary gear unit 6 and the bottom plate cover 32. A through hole 34 is made in the center of the bottom plate cover 32 for the motor shaft to pass through. Driven by the motor, one of the planetary gear units 6 operates, which in turn drives the other planetary gear unit 6 to operate, and finally the output shaft 4 of the reduction gear is driven to rotate.

[0047] The two planetary gear units 6 can each be set to a different reduction ratio independently, thereby realizing a multi-stage reduction function and effectively improving the flexibility and applicability of the gearbox.

[0048] Since both planetary carriers and internal gears have elastic damping functions, planetary gearboxes can mitigate the impact that errors occurring during the manufacturing and assembly of components have on the overall operating performance of the machine (e.g., stability, noise, efficiency, and service life). Furthermore, by pre-applying a reasonable overlap between the sun teeth, planetary teeth, and internal gears, planetary gearboxes can achieve backlash-free transmission (zero backlash transmission), thereby achieving accurate transmission effects and resolving the current situation in the planetary gearbox industry where smaller backlash results in higher precision and higher costs for components.

[0049] Naturally, elastic buffer planetary carriers are also suitable for the circular spline elastic buffer structure of harmonic drive reducers, and can achieve less backlash than harmonic drive reducers of the same dimensions, resulting in more stable and accurate transmission. Furthermore, by pre-applying appropriate overlap between the flexspline and circular spline, zero backlash can be achieved. Naturally, elastic buffer planetary carriers have similar effects when applied to other reduction structures.

[0050] The implementation principle of this embodiment is as follows: By integrating the elastic buffer planetary carrier and planetary gear system within the reducer, the elastic buffer planetary carrier can effectively absorb and mitigate assembly and operational errors between gears, thereby ensuring gap-free transmission between two adjacent gears. This avoids the uneven load phenomenon caused by machining and assembly errors in conventional planetary reducers, improving the reliability and service life of the reducer. (Example 4)

[0051] Referring to Figures 6 and 7, the differences between this embodiment and Embodiment 2 are as follows: The mounting cylinder 31 includes a plurality of annular cylindrical units 311, and when these cylindrical units are sequentially joined and fastened along the axial direction of the reducer, a complete reducer housing 3 is formed. The annular internal gear 5 is also divided accordingly into a plurality of independent parts corresponding to the cylindrical units of the housing 3, and each part of the annular internal gear 5 is confined to the interior of its corresponding cylindrical unit. This design simplifies the reducer installation process and improves maintainability, as well as allowing each part of the annular internal gear 5 to undergo independent elastic deformation when subjected to load or vibration, thereby improving the overall stability and durability of the reducer. (Example 5)

[0052] Referring to Figure 9, the differences between this embodiment and Embodiment 3 are as follows: Elastic grooves 9 are installed between each annular internal gear 5 and the housing 3, and both ends of each elastic groove 9 along the axis of the housing 3 are installed as openings to ensure that the annular internal gear 5 can be elastically deformed while in operation. There are multiple elastic grooves 9, and the multiple elastic grooves 9 are center-symmetric along the circumferential direction. The elastic groove 9 includes a first arc-shaped section 91, a second arc-shaped section 92, and an inclined section 93. The diameter of the first arc-shaped section 91 is smaller than the diameter of the second arc-shaped section 92, but the length of the first arc-shaped section 91 is greater than the length of the second arc-shaped section 92. One end of the inclined section 93 communicates with the end of the first arc-shaped section 91, and the other end of the inclined section 93 communicates with the end of the second arc-shaped section 92. A connecting portion 94 is formed between the adjacent first arc-shaped section 91 and the second arc-shaped section 92. One end of the connecting portion 94 is fixedly connected to the outer wall of the annular internal gear 5, and the other end of the connecting portion 94 is fixedly connected to the inner wall of the housing.

[0053] The principle of implementation in this embodiment is as follows: The elastic groove 9 allows the annular internal gear 5 to undergo elastic deformation during operation, thereby further improving the stability and durability of the reduction gear. The circumferential centrally symmetrical distribution of the elastic groove 9 ensures uniformity of deformation, and the connecting portion 94 ensures a stable connection between the annular internal gear 5 and the housing 3. (Example 6)

[0054] The differences between this embodiment and Embodiment 5 are as follows. The elastic groove 9 in this embodiment includes a plurality of fourth arc-shaped sections 95 and a plurality of fifth arc-shaped sections 96, the fifth arc-shaped sections 96 may have the same or different radius of curvature as the fourth arc-shaped sections 95. If the fifth arc-shaped sections 96 have a similar radius of curvature to the fourth arc-shaped sections 95, they are arranged alternately along the circumferential direction. If the radius of curvature of the fifth arc-shaped sections 96 is greater than the radius of curvature of the fourth arc-shaped sections 95, the plurality of fourth arc-shaped sections 95 and the plurality of fifth arc-shaped sections 96 are all arranged uniformly along the circumferential direction in order to improve the overall elastic performance of the elastic groove 9.

[0055] The above are all preferred embodiments of the present application and do not limit the scope of protection of the present application. Therefore, equivalent changes made by the structure, shape, and principle of the present application should all be included within the scope of protection of the present application. [Explanation of Symbols]

[0056] 1...Fixed support base, 11...Fixed block, 12...Connecting block, 13...Spatial area, 14...Central axis hole, 2...Encircling elastic buffer device, 21...Elastic buffer unit, 211...Movable support member, 2111...Planetary axis hole, 212...Elastic connecting arm, 2121...First bending section, 2122...Second bending section, 2123...Third bending section, 22...Connecting bridge, 3...Housing, 31...Mounting cylinder, 311...Annular cylindrical unit, 32...Bottom plate cover, 33...Hole, 34...Through hole, 4...Output shaft 41...Fixed sleeve, 42...Ball bearing, 43...Wavy spacer, 5...Annular internal gear, 6...Planetary gear system, 61...First sun gear, 62...First planetary gear, 63...First gear shaft, 65...Second sun gear, 66...Second planetary gear, 67...Second gear shaft, 64...Connecting shaft, 7...Sun tooth spacer, 8...Bottom plate spacer, 9...Elastic groove, 91...First arc-shaped section, 92...Second arc-shaped section, 93...Inclined section, 94...Connecting section, 95...Fourth arc-shaped section, 96...Fifth arc-shaped section.

Claims

1. An elastic buffer planetary carrier comprising a fixed support base (1) and an encircling elastic buffer device (2), wherein the fixed support base (1) is mounted inside the encircling elastic buffer device (2), the fixed support base (1) is provided with at least one central shaft hole (14) for guiding the axial passage of an output shaft (4), the encircling elastic buffer device (2) has a plurality of planetary shaft holes (2111) uniformly distributed for the passage of gear shafts, and the encircling elastic buffer device (2) can be elastically deformed in the lateral, vertical and any diagonal directions.

2. The surrounding elastic buffer device (2) includes a plurality of elastic buffer units (21), two adjacent elastic buffer units (21) are fixedly connected to each other via a connecting bridge (22), the fixed support base (1) is fixedly connected to the plurality of connecting bridges (22) simultaneously, and each elastic buffer unit (21) has elastic deformation capability in any direction, including the lateral, vertical, and any diagonal direction, as described in claim 1.

3. The elastic buffer planetary carrier according to claim 2, wherein each elastic buffer unit (21) includes a movable support member (211) and two elastic connecting arms (212), the movable support member (211) is located between the two elastic connecting arms (212), the first end of each elastic connecting arm (212) is fixedly connected to the connecting bridge (22), the second end of each elastic connecting arm (212) is tightly fixed to one end of the movable support member (211), the elastic connecting arms (212) can be flexibly bent in any direction, including the lateral, vertical and any diagonal directions, and the planetary axis holes (2111) are opened in the movable support member (211).

4. The elastic buffer planetary carrier according to claim 3, characterized in that the elastic connecting arm (212) has an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure, or a C-shaped structure.

5. The elastic buffer planetary carrier according to claim 3, wherein the elastic connecting arm (212) includes a first bending section (2121), a second bending section (2122), and a third bending section (2123), the first end of the first bending section (2121) is connected to the connecting bridge (22), the second end of the first bending section (2121) is connected to the first end of the second bending section (2122), the second end of the second bending section (2122) is connected to the first end of the third bending section (2123), and the second end of the third bending section (2123) is connected to the movable support member (211).

6. The elastic buffer planetary carrier according to claim 5, characterized in that at least one of the first bending section (2121), the second bending section (2122), and the third bending section (2123) is an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure, or a C-shaped structure.

7. The elastic buffer planetary carrier according to claim 3, characterized in that the fixed support base (1) includes a fixed block (11) and a plurality of connecting blocks (12), the central axis hole (14) is made in the fixed block (11), the plurality of connecting blocks (12) are distributed along the circumferential direction of the fixed block (11), the first end of each connecting block (12) is fixedly connected to the fixed block (11), and the second end of each connecting block (12) is fixedly connected to the connecting bridge (22).

8. The elastic buffer planetary carrier according to claim 7, characterized in that the fixed block (11), the two adjacent connecting blocks (12), and the elastic buffer unit (21) together constitute a spatial region (13) that allows elastic deformation of the elastic buffer unit (21).

9. A reduction gear comprising a housing, at least one elastic buffer planetary carrier according to any one of claims 1 to 8, and at least one planetary gear set, wherein an annular internal gear is installed inside the housing, the elastic buffer planetary carrier is installed inside the housing, the elastic buffer planetary carrier is fixedly connected to other members of the reduction gear, the planetary gear set is fixedly or rotatably connected to a power input member of the reduction gear, and the planetary gear set is interlocked with the annular internal gear.

10. The gearbox according to claim 9, characterized in that an elastic groove (9) is installed between the annular internal gear (5) and the housing (3), and both ends of each elastic groove (9) along the axis of the housing (3) are installed with openings to ensure that the annular internal gear (5) can be elastically deformed during operation.

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