New variable planetary carrier system and planetary transmission device equipped therewith

Abstract

The objective is to provide a novel variable planetary carrier system consisting of an elastic planetary carrier, a wedge-fitting slide block, and a wedge-fitting amount adjustment mechanism, and a planetary transmission device equipped therewith. [Solution] The wedge-fitting slide block has a cross-section that gradually decreases along the wedge-fitting direction, its side surface contacts the elastic planetary carrier, and one end surface contacts the wedge-fitting amount adjustment mechanism. Multiple staggered notches are machined into the elastic planetary carrier, and each staggered notch is provided with a wedge groove for fitting the wedge-fitting slide block. The wedge-fitting amount adjustment mechanism consists of an adjustment bolt / nut or elastic member attached to the elastic planetary carrier or the wedge-fitting slide block, and is used to apply a wedge-fitting force to the wedge-fitting slide block. By wedge-fitting the wedge-fitting slide block into the planetary transmission, the circumference of the planetary carrier is increased, the orbital radius of the planetary gear is increased, and the planetary gear is moved towards the internal gear, thereby compressing the lateral clearance between the planetary gear and the internal gear and reducing the backlash of the planetary transmission.

Description

Technical Field

[0001] The present invention relates to an epicyclic transmission device, and more particularly to a novel variable epicyclic carrier system and an epicyclic transmission device provided with the same.

Background Art

[0002] An epicyclic gear transmission device generally consists of an epicyclic carrier, a sun gear, an internal gear, and epicyclic gears. The epicyclic gears mesh with the sun gear and the internal gear, and the rotation axis of the epicyclic gears is supported by the epicyclic carrier. Among many epicyclic gear mechanisms, there is a 3K type epicyclic transmission device. The 3K type epicyclic transmission device is classified into three types: type I, type II, and type III, and includes a single epicyclic gear type and a compound epicyclic gear type. The configuration, gear parameter setting, and calculation method of the transmission ratio of the 3K type epicyclic transmission device have already been introduced in a large number of technical documents and are well-known technologies in the technical field. In particular, in the past 50 years, domestic and foreign research scholars have conducted detailed technical studies on various structural and tooth profile technical parameters of the 3K type epicyclic transmission device in many papers. In a transmission with three or more epicyclic gears, the epicyclic carrier usually has a space frame structure composed of two annular side plates (also called double walls) connected by evenly arranged struts (also called connecting plates). The number of struts is the same as the number of epicyclic gears. The epicyclic gear bearings are usually installed inside the epicyclic gears, but when the diameter of the epicyclic gears is small, the bearings may be arranged inside the side plates to ensure the durability of the epicyclic gear bearings.

[0003] Patent Document 1 discloses a planetary gear reducer with automatic axial clearance compensation. This reducer has a configuration in which an elastic member is pressed against the end walls of the second sun gear and the second planetary carrier, and the axial clearance is compensated by the restoring force of the elastic member. However, this device is only effective in avoiding contact between axial members and cannot eliminate the lateral clearance between the planetary gear and the internal gear. On the other hand, Patent Document 2 discloses a variable planetary carrier system and a planetary transmission device equipped therewith. This device consists of an elastic planetary carrier, a rigid tapered bush, and an axial adjustment mechanism for the rigid tapered bush, and the lateral clearance between the planetary gear and the internal gear can be compressed by the expansion operation of the planetary carrier. [Prior art documents] [Patent Documents]

[0004] [Patent Document 1] Chinese Patent No. CN103322131B Publication [Patent Document 2] Chinese Special Publication No. CN113757349A [Overview of the project] [Problems that the invention aims to solve]

[0005] The present invention provides a novel variable planetary carrier system and a planetary transmission device equipped therewith. In the planetary transmission device, the circumference of the planetary carrier is increased by wedge-fitting a wedge-fitting slide block, the orbital radius of the planetary gear is increased, and the planetary gear is moved closer to the internal gear, thereby compressing the lateral clearance between the planetary gear and the internal gear and reducing the backlash of the planetary transmission device. [Means for solving the problem]

[0006] The object of the present invention is achieved by the following technical means.

[0007] A first aspect of the present invention relates to a novel variable planetary carrier system comprising an elastic planetary carrier, a wedge-fitting slide block, and a wedge-fitting amount adjustment mechanism. The wedge-fitting slide block has a cross-section that gradually decreases along the wedge-fitting direction, with its side surface in contact with the elastic planetary carrier and one end surface in contact with the wedge-fitting amount adjustment mechanism. The wedge-fitting slide block in the present invention is used to expand the wedge groove by inserting the end of the slide block with a relatively small cross-sectional area into the wedge groove, and sliding the slide block along the wedge groove to wedge-fit. The shape of the wedge-fitting slide block may be a wedge shape, a cone shape, or a frustum shape, but is not limited to these. The cone shape includes a cone shape and a polygonal pyramid shape, and the frustum shape includes a frustum of a cone and a polygonal frustum.

[0008] The elastic planetary carrier comprises a plurality of first spaces for housing planetary gears, and at least one axial end of each first space is provided with a shaft or shaft hole for mounting planetary gears. The side wall of the elastic planetary carrier between two adjacent first spaces is machined with staggered notches to cause elastic deformation in the circumferential direction of the side wall of the elastic planetary carrier. The elastic planetary carrier is provided with wedge grooves in the staggered notches into which the wedge-fitting slide blocks can be fitted. The contact surfaces of the wedge grooves and the wedge-fitting slide blocks have the same wedge angle. When the wedge-fitting slide blocks are wedge-fitted, the staggered notches are expanded, and one wedge-fitting slide block is fitted into each wedge groove. The staggered notches of the present invention are a structure for imparting elastic deformation function to a rigid member, and have a form in which notches are made in a staggered pattern, leaving partially thin-walled sections connected. The bending deformation of these thin-walled sections allows the rigid member to be elastically stretched or compressed. Staggered notches that allow changes in the circumference of annular members are widely used in body-clamping fittings such as tool collets, and one or more sets of staggered notches can be configured in series or parallel.

[0009] The wedge-fitting amount adjustment mechanism consists of an adjustment bolt / nut or elastic member attached to the elastic planetary carrier or the wedge-fitting slide block, and is used to apply a wedge-fitting force to the wedge-fitting slide block. When the wedge-fitting slide block is wedge-fitted by the wedge-fitting amount adjustment mechanism, the elastic planetary carrier is expanded, and the orbital radius of the planetary gear provided within the elastic planetary carrier is increased, thereby reducing the lateral clearance between the planetary gear and the internal gear.

[0010] Furthermore, the wedge fitting amount adjustment mechanism is composed of elastic leaf springs, with one elastic leaf spring provided corresponding to each wedge fitting slide block. One end of the elastic leaf spring is fixed to the end face of the elastic planetary carrier, and the other end is pressed against the corresponding wedge fitting slide block, thereby applying a wedge fitting force.

[0011] Furthermore, the wedge fitting amount adjustment mechanism is composed of elastic leaf springs, with one elastic leaf spring provided corresponding to each wedge fitting slide block. One end of the elastic leaf spring is fixed to the end face of the wedge fitting slide block, and the other end is pressed against the elastic planetary carrier, thereby applying a wedge fitting force.

[0012] Furthermore, the wedge fitting amount adjustment mechanism consists of an adjustment bolt, and a screw hole is provided at the small cross-section end of the wedge fitting slide block, the adjustment bolt is screwed into the wedge fitting slide block, and the nut portion of the adjustment bolt is pressed against the elastic planetary carrier, thereby applying a wedge fitting force to the wedge fitting slide block by the tensile force of the adjustment bolt.

[0013] Furthermore, the wedge fitting amount adjustment mechanism is composed of an adjustment bolt, and the elastic planetary carrier is provided with a screw hole into which the adjustment bolt can be screwed. The nut portion of the adjustment bolt is pressed against the wedge fitting slide block to apply a wedge fitting force, or a washer is added to the wedge fitting slide block and the adjustment bolt presses against the washer to apply a wedge fitting force to the wedge fitting slide block.

[0014] Furthermore, the effective wedge angle of the wedge-fitting slide block is 4 to 11°, and the effective wedge angle refers to the angle formed between the contact surfaces of the wedge-fitting slide block and both sides of the wedge groove.

[0015] A second aspect of the present invention discloses a planetary drive system, wherein the planetary carrier of the planetary drive system is the variable planetary carrier system described in the first aspect of the present invention, and the planetary drive system is a 3K type planetary drive system, wherein the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier, thereby increasing the orbital radius of the planetary gears arranged within the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gears.

[0016] A third aspect of the present invention discloses a planetary gear transmission, wherein the planetary carrier of the planetary gear transmission is a variable planetary carrier system as described in the first aspect of the present invention, the planetary gear transmission is a 3K type planetary gear transmission that omits the sun gear, the variable planetary carrier system of the planetary gear transmission functions as an input terminal, and the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier, thereby increasing the orbital radius of the planetary gears arranged within the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gears.

[0017] A fourth aspect of the present invention discloses a planetary drive system, wherein the planetary carrier of the planetary drive system is a variable planetary carrier system as described in the first aspect of the present invention, the planetary drive system is based on a 3K type planetary drive system that omits a sun gear, and further comprises an additional sun gear and at least two additional third planetary gears, the additional sun gears mesh with the third planetary gears to transmit power and rotate the third planetary gears, each of the third planetary gears is installed coaxially with one planetary gear in the planetary drive system and is fixed relative to it, the additional sun gear of the planetary drive system functions as an input terminal, and the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier, thereby increasing the orbital radius of the planetary gears arranged in the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gears.

[0018] A fifth aspect of the present invention discloses a planetary gear transmission, wherein the planetary carrier of the planetary gear transmission is a variable planetary carrier system as described in the first aspect of the present invention, the planetary gear transmission is a 2K-H type planetary gear transmission including an internal gear, and the wedge fitting adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier, thereby increasing the orbital radius of the planetary gears arranged within the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gear. [Effects of the Invention]

[0019] Compared to the conventional technology, the advantageous effects brought about by the technical means of the present invention include: Reduce the side clearance between the planetary gear and the internal gear. In particular, when the planetary transmission is used in a reducer, the side clearance between the planetary gear and the internal gear in the planetary transmission greatly affects the side clearance of the transmission. On the other hand, since the side clearance between the sun gear and the planetary gear is reflected at the output end after being divided by the reduction ratio, reducing the side clearance between the planetary gear and the internal gear is effective in reducing the side clearance of the planetary transmission. Also, in a specific implementation, first, an elastic planetary carrier with a planetary gear is incorporated into the internal gear, and the wedge fitting slide block is pushed in by the wedge fitting amount adjustment mechanism to reduce the side clearance between the planetary gear and the internal gear. Then, a sun gear with an appropriate pitch diameter is selected and installed so that the side clearance between the sun gear and the planetary gear does not become excessive compared to a reducer equipped with a conventional planetary carrier.

Brief Description of the Drawings

[0020] [Figure 1a] It is a perspective view of a variable planetary carrier system according to Embodiment 1 of the present invention. [Figure 1b] It is an exploded view of a variable planetary carrier system according to Embodiment 1. [Figure 1c] It is a top view of a variable planetary carrier system according to Embodiment 1. [Figure 1d] It is a cross-sectional view along the first notch of a variable planetary carrier system according to Embodiment 1. [Figure 1e] It is a perspective view of a variable planetary carrier system equipped with a planetary gear according to Embodiment 9 of the present invention. [Figure 2a] It is a perspective view of a variable planetary carrier system according to Embodiment 2 of the present invention. [Figure 2b] It is an exploded view of a variable planetary carrier system according to Embodiment 2. [Figure 2c] It is a top view of a variable planetary carrier system according to Embodiment 2. [Figure 2d] It is a cross-sectional view along the first notch of a variable planetary carrier system according to Embodiment 2. [Figure 3a]This is a perspective view of a variable planetary carrier system according to Embodiment 3 of the present invention. [Figure 3b] This is an exploded view of the variable planetary carrier system according to Example 3. [Figure 3c] This is a top view of the variable planetary carrier system according to Example 3. [Figure 3d] This is a cross-sectional view along the first notch of the variable planetary carrier system according to Embodiment 3. [Figure 4a] This is a perspective view of a variable planetary carrier system according to Embodiment 4 of the present invention. [Figure 4b] This is an exploded view of the variable planetary carrier system according to Example 4. [Figure 4c] This is a cross-sectional view along the first notch of the variable planetary carrier system according to Embodiment 4. [Figure 5] This is a schematic diagram showing the structural principle of a planetary drive system according to Embodiment 5 of the present invention. [Figure 6] This is a schematic diagram showing the structural principle of a planetary drive system according to Embodiment 6 of the present invention. [Figure 7] This is a schematic diagram showing the structural principle of a planetary drive system according to Embodiment 7 of the present invention. [Figure 8] This is a schematic diagram showing the structural principle of a planetary drive system according to Embodiment 8 of the present invention. [Modes for carrying out the invention]

[0021] To further clarify the object, technical means, advantageous effects, and remarkable inventiveness of the present invention, the technical means of embodiments of the present invention will be described in detail and comprehensively below with reference to the drawings. Note that the embodiments described below are merely examples of the present invention and do not preclude other embodiments. As illustrated by the embodiments of the present invention, all modifications that can be obtained by those skilled in the art without requiring any creative effort, based on conventional planetary carrier shapes, conventional 3K type planetary transmissions, and other conventional planetary transmissions with internal gears, are based on the technical idea of ​​the present invention and are all within the scope of technical protection of the present invention.

[0022] It should be noted that in the specification and claims of this invention, terms such as "first," "second," and "third" are used solely to distinguish different elements and are not necessarily used to describe a specific order.

[0023] Furthermore, please note that the following specific examples can be combined and implemented in various ways, and that the same or similar technical concepts or processes within them may not be repeatedly explained in some of the examples.

[0024] (Example 1) As shown in Figures 1a to 1d, the variable planetary carrier system according to this embodiment is a variable planetary carrier system used in a planetary reducer for robots and precision automation equipment, and is used for the purpose of improving transmission accuracy. It consists of an elastic planetary carrier 1, a wedge-shaped wedge-fitting slide block 21, and an elastic leaf spring 31. The variable planetary carrier system is configured to expand the orbital radius of the planetary gear by wedge-fitting into a wedge groove 107 on the elastic planetary carrier 1 through the action of the wedge-shaped wedge-fitting slide block 21 and the elastic leaf spring 31, thereby expanding the elastic planetary carrier 1. Alternatively, the wedge-shaped wedge-fitting slide block 21 can receive a wedge-fitting force from the elastic leaf spring 31, thereby continuously applying an outward expanding radial force to the planetary gear. In this embodiment, after assembling the planetary gears into the variable planetary carrier system, the system is incorporated into a planetary drive device. This presses the planetary gears within the elastic planetary carrier 1 against the meshing internal gear, reducing the lateral clearance between the planetary gears and the outer ring gear, thereby improving transmission accuracy. The annular frame type planetary carrier in this embodiment employs a double-sided plate frame structure, and the configuration of the variable planetary carrier system prevents interference with the planetary gears or sun gear.

[0025] The three wedge-shaped wedge-fitting slide blocks 21 are used to wedge-fit each into the wedge grooves 107 of the elastic planetary carrier 1. As shown in Figure 1b, the wedge-shaped wedge-fitting slide block 21 has two opposing wedge-angle faces and two opposing parallel faces, and the angle formed by the intersection of the wedge-angle faces is the wedge angle, which is 6°. The cross-sectional shape of the wedge-shaped wedge-fitting slide block 21 is rectangular, gradually narrowing towards one end. The end of the wedge-shaped wedge-fitting slide block 21 on the smaller cross-section side is wedge-fitted into the elastic planetary carrier 1, and the other end abuts against the elastic leaf spring 31. As shown in Figures 1c to 1e, the elastic planetary carrier 1 is an integrally molded annular structure and has a first space for housing the three planetary gears. The side plates located at both axial ends of each of the first spaces are provided with planetary shaft holes 101 for mounting the planetary shafts of a planetary gear. Furthermore, the side walls of the elastic planetary carrier 101 are machined with staggered notches 103, avoiding the first spaces. The staggered notches 103 are designed to elastically stretch the circumference of the side walls of the elastic planetary carrier 101 when subjected to external force, thereby causing elastic deformation of the elastic planetary carrier 101. The staggered notches 103 are composed of three notches arranged alternately, and are essentially a structure in which two staggered notches are connected in series. The staggered notches 103 include a first notch 1031, a second notch 1032, and a third notch 1033 that penetrate axially but not radially. The second notch 1032 and the third notch 1033 open on the same side and are located on the opposite side from the first notch 1031. In other words, the staggered notch composed of the first notch 1031 and the second notch 1032 is connected in series with the staggered notch composed of the first notch 1031 and the third notch 1033.

[0026] The structure for generating the elastic planetary carrier 1 can be designed in various ways, and the above configuration is merely one example. However, the technical essence is to make the annular circumference of the elastic planetary carrier 1 expandable. Therefore, the annular shape of the elastic planetary carrier 1 must not be a perfect circle, and various types of staggered notches must be machined so that the circumference can be expanded. Furthermore, by arranging the expandable staggered notches between two adjacent planetary gears, it becomes possible to extend the distance between the planetary gears evenly, and during the expansion process of the elastic planetary carrier 1, the planetary gears can move stably in the radial direction without changing the arrangement phase of the planetary gears.

[0027] Three wedge grooves 107 are drilled along the axial direction of the elastic planetary carrier 1, and the wedge grooves 107 are located on the first notch 1031 of the staggered notch 103, avoiding the staggered region of the staggered notch 103 (the staggered region refers to the region where a thin-wall structure is formed).

[0028] The two side walls of the first notch 1031 are machined to form wedge angles, thereby creating the wedge groove 107, and the inner contour of the wedge groove 107 is machined to conform to the outer contour of the wedge-shaped wedge-fitting slide block 21. The inner contour of the wedge groove is not particularly limited, and it is sufficient that both side walls of the first notch 1031 can contact the wedge angle surfaces of the wedge-shaped wedge-fitting slide block 21, and that the wedge-shaped wedge-fitting slide block 21 is inserted during the wedge-fitting process, causing a small elastic deformation in the elastic planetary carrier 1.

[0029] The variable planetary carrier system comprises three elastic leaf springs 31, each having a screw hole on one side that fits into the screw hole 106, used to fix the elastic leaf spring 31 to the elastic planetary carrier 1 with a screw 301, and the other side of the elastic leaf spring 31 pressing against the large cross-section end of the wedge-shaped wedge-fitting slide block 21, thereby applying a wedge-fitting force to the wedge-shaped wedge-fitting slide block 21 toward the small cross-section end of the wedge-shaped wedge-fitting slide block 21. In other words, the elastic force of the elastic leaf springs 31 generates a wedge-fitting force toward the small cross-section end of the wedge-shaped wedge-fitting slide block 21. In this embodiment, after assembling the planetary gears into the variable planetary carrier system, the system is incorporated into a planetary drive device. The elastic leaf spring 31 pushes the wedge-shaped wedge-fitting slide block 21 into the wedge groove 107 on the first notch 1031 of the staggered notch 103 on the elastic planetary carrier 1, expanding the elastic planetary carrier 1 and expanding the planetary gears provided within the elastic planetary carrier 1 outward. This increases the orbital radius of the planetary gears and presses them against the meshing internal gear, thereby eliminating the lateral clearance between the planetary gears and the internal gear. The specific implementation procedure involves assembling the planetary gears and the internal gear, inserting the wedge-shaped wedge-fitting slide block 21, and then attaching the elastic leaf spring 31.

[0030] (Example 2) As shown in Figures 2a to 2d, the present invention discloses another embodiment relating to a variable planetary carrier system. The variable planetary carrier system consists of an elastic planetary carrier 1, a frustoconical wedge-fitting slide block 22, and an elastic leaf spring 31. The structure and connection method of the elastic leaf spring are the same as in Embodiment 1, so a detailed explanation is omitted here. The elastic planetary carrier 1 is generally the same as in Embodiment 1, and the similarities will not be repeated; only the differences will be explained below.

[0031] As shown in Figures 2a to 2d, three rhombic wedge grooves 107 are drilled along the axial direction of the elastic planetary carrier 1. The wedge grooves are located in the first notch 1031 of the staggered notch 103, avoiding the staggered region of the staggered notch 103, and a pair of diagonal rhombic wedge grooves 107 are located in the first notch 1031.

[0032] The three frustoconical wedge-fitting slide blocks 22 are wedge-fitted into the wedge grooves 107 of the elastic planetary carrier 1. The taper angle of the inclined side surface formed in the rhombic wedge groove 107 coincides with the taper angle of the conical surface of the frustoconical wedge-fitting slide block 22, and the two are in tangential contact. The small cross-section end of the frustoconical wedge-fitting slide block 22 is wedge-fitted into the wedge groove 107 of the elastic planetary carrier 1, and the other end abuts against the elastic leaf spring 31. The taper angle of the frustoconical wedge-fitting slide block 22 is 6°. In specific implementation procedures, after assembling the elastic planetary carrier 1 with the planetary gears and the internal gear, the frustoconical wedge-fitting slide blocks 22 are inserted, and then the elastic leaf spring 31 is attached.

[0033] (Example 3) As shown in Figures 3a to 3d, the present invention discloses another embodiment relating to a variable planetary carrier system. The variable planetary carrier system consists of an elastic planetary carrier 1, a truncated pyramidal wedge-fitting slide block 23, and an adjustment bolt 32. Since the structure of the elastic planetary carrier 1 is the same as in Embodiment 2, the similarities will not be repeated, and only the differences will be explained below.

[0034] As shown in Figure 3d, the truncated pyramidal wedge-fitting slide block 23 has a truncated pyramidal shape, and a screw hole is formed on the small-diameter end face, which can be screwed into the adjustment bolt 32, and the wedge angle of the truncated pyramidal wedge-fitting slide block 23 is 8°.

[0035] The three frustum-shaped wedge-fitting slide blocks 23 are each wedge-fitted into the wedge grooves 107 on the first notch 1031 of the staggered notch 103 on the elastic planetary carrier 1. When the adjustment bolt 32 is screwed into the threaded hole at the end of the frustum-shaped wedge-fitting slide block 23, the nut portion of the adjustment bolt 32 is pressed against the elastic planetary carrier, and the tensile force of the adjustment bolt 32 generates a tensile force on the frustum-shaped wedge-fitting slide block 23 toward the small cross-section end, thereby wedge-fitting the frustum-shaped wedge-fitting slide block 23. The specific implementation procedure involves assembling the elastic planetary carrier 1, which incorporates the planetary gears, with the internal gear, then inserting the truncated pyramidal wedge-fitting slide block 23, and subsequently rotating the adjustment bolt 32 to avoid a situation where the planetary gears of the previously expanded planetary carrier cannot be assembled into the internal gear.

[0036] (Example 4) As shown in Figures 4a to 4c, the present invention discloses another embodiment relating to a variable planetary carrier system. The variable planetary carrier system consists of an elastic planetary carrier 1, a truncated pyramidal wedge-fitting slide block 23, and an adjustment bolt 32. The structure, connection method, and operation of the adjustment bolt 32 and the truncated pyramidal wedge-fitting slide block 23 are the same as those described in Embodiment 3, so a detailed explanation is omitted. The elastic planetary carrier 1 employs a single side plate structure to improve space efficiency, and the planetary axis 102 is directly machined into the elastic planetary carrier 1. The structure of the elastic planetary carrier 1 and other parts are generally the same as in Embodiment 3, so a description is omitted to avoid duplication.

[0037] (Example 5) As shown in Figure 5, the present invention also discloses a planetary transmission equipped with the variable planetary carrier system. The planetary transmission including the variable planetary carrier system is a 3K type planetary transmission and comprises a first internal gear 6, a second internal gear 7, a compound planetary gear, a sun gear 5, and a variable planetary carrier system 8. The variable planetary carrier system 8 is composed of the elastic planetary carrier 1, a wedge-shaped wedge-fitting slide block 21, and an elastic leaf spring 31 as described in Embodiment 1, and the compound planetary gear comprises a first planetary gear 9 and a second planetary gear 10. The first internal gear 6 meshes with the first planetary gear 9, and the second internal gear 7 meshes with the second planetary gear 10. The structure of the variable planetary carrier system 8 is the same as that described in Embodiment 1, so a detailed explanation is omitted. Alternatively, the planetary gear system can be configured as a 3K-II type planetary gear system, in which case the parameters of the compound planetary gear are exactly the same and it can be manufactured as a single gear.

[0038] Conventional 3K type planetary drive systems generally employ a frame-type planetary carrier with a plate structure on both sides. In the present invention, the planetary carrier of a conventional 3K type planetary drive system is replaced with the variable planetary carrier system 8 described above, and after mounting the first planetary gear 9 and the second planetary gear 10, the elastic planetary carrier 1 is expanded to press against the first internal gear 6 and the second internal gear 7. This method of expanding the orbital radius of the planetary gears makes it possible to effectively eliminate lateral clearance. Since the two internal gears share a set of planetary gears and planetary carriers, the effect of eliminating lateral clearance becomes more pronounced when the planetary gears are pressed against the internal gears by the variable planetary carrier system 8 of the present invention. Due to the high transmission ratio between the planetary carrier and the internal gears of the 3K planetary drive system, when the planetary drive system according to the present invention is used as a reduction gear, the influence of the lateral clearance between the sun gear 5 and the first planetary gear 9 on the output side is minimal.

[0039] When the planetary drive system according to the present invention is applied as a planetary reducer in a robot or precision automation device, the second internal gear 7 is connected to the output shaft 16, and the input shaft 15 drives the high-speed sun gear 5, causing the planetary gears to rotate while meshing with the first internal gear 6 and the second internal gear 7, thereby rotating the variable planetary carrier system 8, which in turn rotates the output shaft 16 via the second internal gear 7. In actual assembly, the first planetary gear 9, the second planetary gear 10, and the variable planetary carrier system 8 are first assembled into the first internal gear 6 and the second internal gear 7, and then the elastic leaf spring 31 having the desired elasticity characteristics is selected and fixed to the elastic planetary carrier 1 with a screw 301. The elastic leaf spring 31 applies a wedge-fitting force to the wedge-shaped wedge-fitting slide block 21, thereby expanding the planetary gear outward. After incorporating the sun gear 5, it becomes possible to select a sun gear 5 with a higher compatibility with the planetary gear, and the lateral clearance between the sun gear 5 and the first planetary gear 9 can be reduced. By replacing the planetary carrier on a conventional 3K type planetary reducer (including, but not limited to, 3K-I, 3K-II, and 3K-III types) with the variable planetary carrier system proposed in this invention, significant improvements in transmission accuracy and performance can be obtained.

[0040] (Example 6) As shown in Figure 6, the present invention discloses another embodiment relating to a planetary drive system equipped with the variable planetary carrier system. The planetary drive system is a 3K type planetary drive system that omits the sun gear, and comprises a first internal gear 6, a second internal gear 7, a compound planetary gear, and a variable planetary carrier system 8. The variable planetary carrier system 8 consists of the elastic planetary carrier 1 described in Embodiment 1, a wedge-shaped wedge-fitting slide block 21, and an elastic leaf spring 31. The compound planetary gear comprises a first planetary gear 9 and a second planetary gear 10. The first internal gear 6 meshes with the first planetary gear 9, and the second internal gear 7 meshes with the second planetary gear 10.

[0041] The aforementioned planetary drive system omits the sun gear 5 compared to the conventional 3K type planetary drive system, and in the present invention, the planetary carriers of the conventional 3K type planetary drive system are replaced with the variable planetary carrier system 8 described above. The structure of the variable planetary carrier system 8 is the same as that of Embodiment 1, so a detailed explanation is omitted.

[0042] When the planetary gear transmission according to the present invention is applied as a planetary gear reducer in a robot or precision automation device, the first planetary gear 9 and the second planetary gear 10 are mounted and then pressed against the first internal gear 6 and the second internal gear 7 by expanding the elastic planetary carrier 8. This method of expanding the orbital radius of the planetary gears makes it possible to effectively eliminate lateral clearance. When the variable planetary carrier system 8 is used as a high-speed drive source, the input shaft 15 is connected to the variable planetary carrier system 8 and directly drives the variable planetary carrier system 8. The torque input from the variable planetary carrier system 8 rotates the variable planetary carrier system 8, causing the first planetary gear 9 and the second planetary gear 10 to engage with the first internal gear 6 and the second internal gear 7 by rolling. The second internal gear 7 is connected to the output shaft, and the first planetary gear 9 and the second planetary gear 10 are synchronous rotating composite gears mounted on the variable planetary carrier system 8. Therefore, the second planetary gear 10 drives the second internal gear 7 to rotate the output shaft 16.

[0043] In this embodiment, by omitting the sun gear, it is possible to effectively avoid the lateral clearance of the transmission caused by the meshing of the sun gear 5 with the first planetary gear 9 and the second planetary gear 10. In order to transmit torque between the elastic planetary carrier 1 and the input shaft 15, a radial keyway is further provided on the outer wall of the elastic planetary carrier 1 for transmitting torque to the input shaft 15, based on Embodiment 1. Since the variable planetary carrier system 8 has a deformable and expandable structure, by providing the elastic planetary carrier 1 with a structure such as a radial keyway on the end face, stable torque transmission becomes possible even when the planetary carrier is displaced.

[0044] (Example 7) As shown in Figure 7, the planetary transmission device is equipped with a variable planetary carrier system, and the planetary transmission device has a configuration similar to that of Embodiment 6, is based on a 3K type planetary transmission device that omits the sun gear, and comprises a first internal gear 6, a second internal gear 7, a first planetary gear 9, a second planetary gear 10, and a variable planetary carrier system 8. Note that the configuration identical to Embodiment 6 will not be described, and only the differences will be described below. The planetary transmission device also includes an additional third planetary gear 14 and an additional sun gear 55. The additional sun gear 55 meshes with the third planetary gear 14 to transmit power. The third planetary gear 14 is arranged coaxially with the first planetary gear 9 and mounted in a relatively fixed state. The additional sun gear 55 of the planetary transmission device functions as an input terminal.

[0045] When the planetary gear system according to the present invention is applied as a planetary reducer in robots or precision automation equipment, the additional sun gear 55 functions as the high-speed input end. The input shaft 15 drives the additional sun gear 55, which meshes with the third planetary gear 14 to transmit power and rotate the third planetary gear 14. Since the third planetary gear 14 is fixed coaxially and circumferentially to the first planetary gear 9, it rotates the first planetary gear 9 and revolves the variable planetary carrier system 8, driving the second internal gear 7 to rotate the output shaft 16, and the reducer realizes a transmission path similar to that of a conventional 3K type planetary gear system. In a conventional 3K type planetary gear system configuration, the planetary gears mesh with both the internal gear and the sun gear, resulting in a high correlation between the gear parameters and making gear design and matching difficult. In contrast, this embodiment eliminates the sun gear of the conventional 3K type planetary gear transmission and instead adopts a configuration in which additional planetary gears and an additional sun gear 55 mesh with the planetary gears. This reduces the requirements for gear parameter design and maximizes the optimization of the transmission's performance, such as torque load, reduction ratio, vibration, and lateral clearance. Alternatively, it is not necessary to provide additional planetary gears to all planetary gears. For example, a configuration in which they are provided to two or three of the six planetary gears is sufficient. Furthermore, to effectively eliminate lateral clearance and improve the smoothness of transmission, the additional sun gear and additional planetary gears can be designed with a smaller module than the planetary gears meshing with the internal gears.

[0046] (Example 8) As shown in Figure 8, the planetary transmission device is equipped with a variable planetary carrier system, and the planetary transmission device is a 2K-H type planetary transmission device equipped with an internal gear, comprising an internal gear 11, a planetary gear 4, a sun gear 5, and a variable planetary carrier system 8. The variable planetary carrier system 8 consists of the elastic planetary carrier 1 described in Embodiment 3, a truncated pyramidal wedge-fitting slide block 23, and an adjustment bolt 32, and since the configuration of the variable planetary carrier system 8 is the same as in Embodiment 1, a detailed explanation is omitted. The planetary gear 4 meshes with the sun gear 5 and the internal gear 11 and is attached to the variable planetary carrier system 8. The practical technical effect of using the variable planetary carrier system described in Embodiment 1 in the 2K-H type planetary transmission device is not as significant as in the 3K type, but it has the effect of reducing the lateral clearance between the planetary gear 4 and the internal gear 11. To transmit torque between the elastic planetary carrier 1 and the output shaft 16, according to Embodiment 3, an end face screw hole corresponding to the large end face through hole connecting to the output shaft 16 is further provided on the end face of the elastic planetary carrier 1 facing the output shaft. After adjusting the displacement planetary carrier, a screw is passed through the end face flange of the output shaft 16 and screwed into the end face screw hole of the elastic planetary carrier 1 to fix it, thereby realizing output torque transmission. Since the variable planetary carrier system 8 has a deformable and expandable structure, the diameter of the end face through hole connecting to the output shaft 16 is greater than the sum of the screw diameter and the displacement of the elastic planetary carrier 1. The displacement refers to the radial displacement of the elastic planetary carrier 1 in the variable planetary carrier system 8. With the above configuration, stable torque transmission is possible even after adjusting the planetary carrier displacement.

[0047] When the planetary drive system according to the present invention is applied as a planetary reduction gear in a robot or precision automation device, the internal gear 11 is fixed, and the input shaft 15 drives the sun gear 5, causing the planetary gear 4 to roll and mesh on the internal gear 11, thereby rotating the variable planetary carrier system 8. The variable planetary carrier system 8 is fixed circumferentially to the output shaft 16 and transmits output torque. During actual assembly, the planetary gear 4 and variable planetary carrier system 8 are first assembled into the internal gear 11. Then, the truncated pyramidal wedge-fitting slide block 23 is inserted, and the adjustment bolt 32 is screwed in. By rotating the adjustment bolt 32 as needed, a wedge-fitting force is applied to the truncated pyramidal wedge-fitting slide block 23, causing the planetary gear 4 to expand outward. After the adjustment is complete, the output shaft 16 and elastic planetary carrier 8 are fixed, and then the sun gear 5 is assembled. This allows for the selection of a sun gear 5 that meshes well with the planetary gear 4 after the planetary gear has expanded outward, thereby reducing the lateral clearance between the sun gear 5 and the planetary gear 4. Furthermore, components such as the sun gear 5 and input shaft 15 can be pre-assembled or integrally machined before being incorporated into the reducer.

[0048] (Example 9) Figure 1e is a schematic diagram of the assembled configuration of the novel variable planetary carrier system and planetary gear 41 according to Embodiment 1 of the present invention.

[0049] The planetary drive system according to the present invention can also be used as an accelerator, and since its structure is the same as that of a reduction gear, a detailed explanation will be omitted.

[0050] The embodiments described above are used solely to illustrate the technical means of the present invention and are not intended to limit the invention. While the present invention has been described in detail with reference to the embodiments described above, it will be apparent to those skilled in the art that the technical means described in the embodiments above can be modified, or some or all of the technical features can be replaced to an equivalent extent, and such modifications or substitutions will not cause the essence of the corresponding technical means to deviate from the scope of the technical means of the embodiments of the present invention. Non-essential improvements, adjustments, or substitutions made by those skilled in the art based on the content of this specification are included within the scope of protection sought by the present invention. [Explanation of symbols]

[0051] 10. Second planetary gear 101 Planetary axis holes 102 Planetary Axis 103 Staggered notches 1031 First notch 1032 Second notch 1033 Third notch 106 screw holes 107 Wedge groove 1. Elastic planetary carrier 11 Internal gear 14. Third planetary gear 15 Input axes 16 Output shaft 21 Wedge-shaped wedge-fitting slide block 22. Truncated cone-shaped wedge-fitting slide block 23. A truncated pyramidal slide block for wedge fitting. 301 Screw 31 Elastic leaf spring 32 Adjustment bolts 4. Planetary gears (for the 2K planetary transmission system of Example 8) 41 Planetary gear (Assembly example of Example 9) 5 Sun Gear 55 Additional Sun Gears 6. First internal gear 7. Second internal gear 8 Variable Planetary Carrier System 9. First planetary gear

Claims

1. A new variable planetary carrier system, comprising an elastic planetary carrier (1), a wedge-fitting slide block, and a wedge-fitting amount adjustment mechanism, The wedge-fitting slide block has a cross-section that gradually decreases along the wedge-fitting direction, its side surface contacts the elastic planetary carrier (1), and one end surface contacts the wedge-fitting amount adjustment mechanism. The elastic planetary carrier (1) comprises a plurality of first spaces for housing planetary gears, and at least one axial end of each first space is provided with a shaft or shaft hole for mounting the planetary gears. The side wall of the elastic planetary carrier between two adjacent first spaces is machined with staggered notches (103) to cause elastic deformation in the circumferential direction of the side wall of the elastic planetary carrier. The elastic planetary carrier (1) is provided with wedge grooves (107) in the staggered notches into which the wedge-fitting slide block can be fitted. The contact surfaces of the wedge grooves (107) and the wedge-fitting slide block have the same wedge angle, and the staggered notches can be expanded when the wedge-fitting slide block is wedge-fitted. The wedge engagement amount adjustment mechanism consists of an adjustment bolt / nut or elastic member attached to the elastic planetary carrier (1) or the wedge engagement slide block, and is used to apply a wedge engagement force to the wedge engagement slide block. When the wedge engagement slide block is wedge-fitted by the wedge engagement amount adjustment mechanism, the elastic planetary carrier (1) is expanded, and the orbital radius of the planetary gear provided within the elastic planetary carrier is increased, thereby reducing the lateral clearance between the planetary gear and the internal gear. A new variable planetary carrier system characterized by the following features.

2. The wedge fitting amount adjustment mechanism is composed of an elastic leaf spring (31), and one of the wedge fitting slide blocks is provided. The novel variable planetary carrier system according to claim 1, characterized in that it is provided in correspondence with an elastic leaf spring (31), one end of the elastic leaf spring (31) is fixed to the end face of the elastic planetary carrier, and the other end is pressed against the corresponding wedge-fitting slide block to apply a wedge-fitting force.

3. The wedge fitting amount adjustment mechanism is composed of an elastic leaf spring (31), and one elastic leaf spring (31) is provided corresponding to each wedge fitting slide block, one end of the elastic leaf spring is fixed to the end face of the wedge fitting slide block, and the other end is pressed against the elastic planetary carrier to apply a wedge fitting force, characterized in that the novel variable planetary carrier system according to claim 1.

4. The wedge fitting amount adjustment mechanism is composed of an adjustment bolt (32), a screw hole is provided at the small cross-section end of the wedge fitting slide block, the adjustment bolt (32) is screwed into the wedge fitting slide block, and the nut portion of the adjustment bolt is pressed against the elastic planetary carrier, thereby applying a wedge fitting force to the wedge fitting slide block by the tensile force of the adjustment bolt, as described in claim 1.

5. The wedge engagement amount adjustment mechanism is composed of an adjustment bolt (32), the elastic planetary carrier is provided with a screw hole into which the adjustment bolt (32) can be screwed, and a wedge engagement force is applied when the nut portion of the adjustment bolt is pressed against the wedge engagement slide block, or a washer is additionally installed on the wedge engagement slide block and the adjustment bolt presses against the washer to apply a wedge engagement force to the wedge engagement slide block, characterized in that the novel variable planetary carrier system according to claim 1.

6. The novel variable planetary carrier system according to claim 1, characterized in that the effective wedge angle of the wedge-fitting slide block is 4 to 11°.

7. A planetary gear transmission device, wherein the planetary carrier is the variable planetary carrier system (8) described in claim 1, the planetary gear transmission device is a 3K type planetary gear transmission device, and the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier (1), thereby increasing the orbital radius of the planetary gears arranged within the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gear (11).

8. A planetary gear transmission device, wherein the planetary carrier is the variable planetary carrier system (8) described in claim 1, the planetary gear transmission device is a 3K type planetary gear transmission device that omits the sun gear, the variable planetary carrier system (8) functions as an input terminal, and the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier, thereby increasing the orbital radius of the planetary gears arranged within the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gear (11).

9. A planetary drive system, wherein the planetary carrier is the variable planetary carrier system (8) described in claim 1, the planetary drive system is a 3K type planetary drive system that omits the sun gear, and further comprises an additional sun gear (55) and at least two additional third planetary gears (14), wherein the additional sun gears mesh with the third planetary gears to transmit power and rotate the third planetary gears, each of the third planetary gears is installed coaxially with one planetary gear in the planetary drive system and is fixed relative to it, the additional sun gear (55) functions as an input terminal, and the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier (1), thereby increasing the orbital radius of the planetary gears arranged in the elastic planetary carrier and reducing the lateral clearance between the planetary gears and the internal gear (11).

10. A planetary gear transmission device, wherein the planetary carrier is the variable planetary carrier system (8) described in claim 1, the planetary gear transmission device is a 2K-H type planetary gear transmission device including an internal gear, and the wedge fitting amount adjustment mechanism pushes in the wedge fitting slide block to expand the elastic planetary carrier (1), thereby increasing the orbital radius of the planetary gear (4) arranged within the elastic planetary carrier (1) and reducing the lateral clearance between the planetary gear (4) and the internal gear.

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