Variable planetary carrier system and planetary transmission equipped with the same

Abstract

The objective is to provide a variable planetary carrier system and a planetary transmission equipped with the same. [Solution] The variable planetary carrier system is composed of an elastic planetary carrier (1), a rigid tapered bush (2) and an axial adjustment mechanism (3) for the rigid tapered bush. The elastic planetary carrier (1) is a planetary carrier having a side wall whose inner surface is partly machined into a tapered surface, and the side wall has alternatingly arranged notches (103) machined thereon for causing elastic deformation in the elastic planetary carrier. The rigid tapered bush (2) is fitted inside the elastic planetary carrier (1), and a part of the outer wall is machined into the elastic planetary carrier (1) so as to be in contact with the inner surface of the side wall of the elastic planetary carrier (1). The tapered surface is machined to fit the end of the elastic planet carrier (1) and / or the rigid tapered bush (2), and the axial adjustment mechanism (3) of the rigid tapered bush is an adjustment bolt / nut or elastic body axially attached to the end of the elastic planet carrier (1) and / or the rigid tapered bush (2), and the elastic planet carrier (1) is expanded using the axial adjustment mechanism (3) to expand the planet gear outward to press the meshing internal gear, thereby increasing the revolution radius of the planet gear to eliminate backlash, or to apply tooth surface preload between the planet gear and the internal gear. The present invention also relates to a planetary transmission equipped with a variable planet carrier system.

Description

[Technical field]

[0001] The present invention relates to a planetary transmission, and more particularly to a variable planetary carrier system and a planetary transmission having the same. [Background technology]

[0002] A planetary gear mechanism is usually composed of a planet carrier, a sun gear, an internal gear and a planetary gear, the planetary gear meshes with the sun gear and the internal gear, and the rotation axis of the planetary gear is supported by the planet carrier. Many planetary gear mechanisms include 3K type planetary transmissions. There are three types of 3K type planetary transmissions: single planetary gear type and compound planetary gear type I, II and III. The structure, gear parameter setting and transmission ratio calculation of 3K type planetary transmissions have been introduced in many papers as general technical knowledge in the field of planetary gear transmissions, and especially in the past 50 years, domestic and foreign researchers have detailed the various structures and technical parameters such as tooth profiles of 3K type planetary transmissions in many papers. In a transmission with three or more planetary gears, the planet carrier is usually a space frame structure composed of two annular side plates 1 and 2 (or double walls) connected by evenly distributed struts (also called connecting plates). The number of the support posts is the same as the number of the planetary gears, and the lateral dimension of the support posts is determined by the size of the planetary gears. The planetary gear bearings are generally mounted inside the planetary gears, but the diameter of the planetary gears may be small due to the small transmission ratio, so in order to ensure a certain life of the planetary gear bearings, the bearings have to be placed inside the side plates.

[0003] Furthermore, in conventional planetary transmissions, machining and assembly errors in the gears caused problems such as low transmission accuracy, large backlash, and poor load distribution characteristics. In addition, the backlash problem became increasingly serious as the tooth surfaces of the gears wore down with use.

[0004] For this reason, there is a demand for a transmission device that solves the problems of backlash caused by tooth surface wear and processing errors, and improves the life and transmission accuracy of planetary transmission devices. Summary of the Invention [Problem to be solved by the invention]

[0005] In order to overcome the above-mentioned defects, the present invention provides a variable planetary carrier system and a planetary transmission device having the same, which can bring the planetary gear closer to the internal gear by the bulge of the planetary carrier, compressing the backlash between the planetary gear and the internal gear and providing a certain preload, contributing to the improvement of transmission accuracy and load distribution characteristics, and as the tooth surface of the gear wears with use, the variable planetary carrier system continues to vary, thereby extending the life of the transmission device, and particularly in application fields with high backlash requirements such as robots, the life of the transmission device is greatly improved. In addition, as the gear wears with age and the continuous variable adjustment occurs, the meshing efficiency between the planetary gear and the internal gear is further improved, and the vibration during the transmission process gradually decreases according to the wear caused by use. [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 variable planetary carrier system comprising an elastic planetary carrier, a rigid tapered bush, and an axial adjustment mechanism for the rigid tapered bush, The elastic planetary carrier is a planetary carrier in which a part of the inner surface of the side wall is machined into a tapered surface, and has a first space for accommodating a planetary gear, and at least one end in the axial direction of each of the first spaces is provided with a shaft or shaft hole for attaching a planetary gear, and the side wall of the elastic planetary carrier is machined with notches that are arranged alternately to avoid the first spaces, and the notches are used to elastically stretch the side wall circumferential length of the elastic planetary carrier when an external force is applied, thereby causing elastic deformation in the elastic planetary carrier, The rigid tapered bush is fitted into the elastic planetary carrier, and at least a portion of the rigid tapered bush is machined to have a tapered surface that matches the tapered surface of the inner side wall of the elastic planetary carrier, thereby tightly fitting the tapered outer surface of the rigid tapered bush and the tapered inner side wall of the elastic planetary carrier, The axial adjustment mechanism of the rigid tapered bush is an adjustment bolt / nut or elastic body axially attached to the end of the elastic planetary carrier and / or the rigid tapered bush, and is used to apply an axial force to the rigid tapered bush in the direction of the small diameter portion of the rigid tapered bush. The axial adjustment mechanism is used to push the rigid tapered bush axially to expand the elastic planetary carrier, and to cause the planetary gears provided within the elastic planetary carrier to bulge outward, thereby pressing the meshing internal gear, increasing the orbital radius of the planetary gear to eliminate backlash, or to apply a tooth surface preload between the planetary gear and the internal gear.

[0008] In addition, at least a pair of alternatingly arranged notches are machined along the axial / radial directions of the elastic planetary carrier in the side wall of the elastic planetary carrier having a tapered surface, the orientations of the two alternatingly arranged notches are opposite to each other, and the sum of the depths of the pair of alternatingly arranged notches is greater than the wall thickness at the notch position of the elastic planetary carrier before the notches are machined.

[0009] Also, a second space is provided in the side wall of the rigid tapered bushing, which fits into the first space and is adapted to accommodate a planetary gear and / or a sun gear.

[0010] In addition, the axial adjustment mechanism of the rigid tapered bushing is an elastic reed, the outer edge of the elastic reed is fixed to the end face of the elastic planetary carrier with a screw, and the inner edge of the elastic reed is brought into contact with the large diameter end face of the rigid tapered bushing, and the elastic force of the elastic reed is utilized to generate pressure on the rigid tapered bushing in the direction of the small diameter portion.

[0011] Also, a limiting mechanism is further provided for limiting the relative rotation in the circumferential direction between the rigid tapered bush and the elastic planetary carrier.

[0012] In addition, at least one protrusion or groove is provided on the large diameter end face of the rigid tapered bushing as a limiting mechanism, and a groove or protrusion corresponding to the limiting mechanism is provided at a corresponding position of the elastic reed, which engages with the protrusion or groove of the rigid tapered bushing to limit the relative rotation in the circumferential direction between the rigid tapered bushing and the elastic planetary carrier.

[0013] Moreover, the taper angle of the rigid tapered bushing is less than 16°, and preferably 6 to 12°, in order to achieve a self-locking effect.

[0014] In addition, the axial adjustment mechanism is an adjustment nut, and a male thread that fits the adjustment nut is machined on the small diameter end of the rigid tapered bushing. When the adjustment nut is screwed into the male thread of the rigid tapered bushing, it presses the end face of the elastic planetary carrier, and the tension of the adjustment nut is used to generate tension in the rigid tapered bushing in the direction of the small diameter portion.

[0015] In addition, the elastic planetary carrier comprises a symmetrically arranged annular support top plate and annular support bottom plate, a plurality of planetary carrier support pillars are provided on the upper surface of the support bottom plate, the annular support top plate is provided on the top of the planetary carrier support pillars, the inner surfaces of the support pillars, the annular support top plate and the annular support bottom plate are each machined to have the tapered surfaces, and a pair of alternatingly arranged notches are machined along the radial direction of the elastic planetary carrier at each support pillar position of the elastic planetary carrier.

[0016] A second aspect of the present invention discloses a planetary transmission equipped with the variable planetary carrier system, the planetary transmission being a 3K type planetary transmission, and the axial adjustment mechanism is used to press the rigid tapered bush axially to expand the elastic planetary carrier, and to expand the planetary gears of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or to apply tooth surface preload between the planetary gear and the internal gear.

[0017] A third aspect of the present invention discloses a planetary transmission equipped with the variable planetary carrier system, which is a 3K type planetary transmission omitting a sun gear, and the variable planetary carrier system of the planetary transmission serves as an input end, and the axial adjustment mechanism is used to press the rigid tapered bush axially to expand the elastic planetary carrier, thereby expanding the planetary gears of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or applying tooth surface preload between the planetary gear and the internal gear.

[0018] A fourth aspect of the present invention discloses a planetary transmission equipped with the variable planetary carrier system, which is based on a 3K-type planetary transmission omitting a sun gear, and includes an additional sun gear and at least two additional third planetary gears, the additional sun gear meshes with the third planetary gear to transmit power and rotate the third planetary gear, each of the third planetary gears and one of the planetary gears of the planetary transmission are arranged coaxially and relatively fixed, the additional sun gear of the planetary transmission is an input end, and the axial adjustment mechanism is used to press the rigid tapered bush axially to expand the elastic planetary carrier, and to expand the planetary gears of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, and increasing the orbital radius of the planetary gear to eliminate backlash, or to apply tooth surface preload between the planetary gear and the internal gear.

[0019] A fifth aspect of the present invention discloses a planetary transmission equipped with the variable planetary carrier system, which is a 2K-H type planetary transmission equipped with an internal gear, and the axial adjustment mechanism is used to press the rigid tapered bush axially to expand the elastic planetary carrier and expand the planetary gears of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or applying tooth surface preload between the planetary gear and the internal gear. Effect of the Invention

[0020] Compared with the prior art, the advantageous effects brought about by the technical means of the present invention are: The variable planetary carrier system and planetary transmission equipped with the same of the present invention can bring the planetary gears closer to the internal gear by the bulge of the planetary carrier, compressing the backlash between the planetary gear and the internal gear and providing a certain preload, which contributes to improving the transmission accuracy and load distribution characteristics, and as the tooth surface of the gear wears with use, the variable planetary carrier system continues to vary, which can extend the life of the transmission, and the life of the transmission is greatly improved, especially in application fields with high backlash requirements such as robots. In addition, as the gears wear over time and are continuously variable, the meshing efficiency between the planetary gear and the internal gear is further improved, and vibration during the transmission process gradually decreases with wear due to use. [Brief description of the drawings]

[0021] [Figure 1] FIG. 1 is a front view of a variable planetary carrier system according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a rear view of the variable planetary carrier system according to the first embodiment of the present invention. [Diagram 3] 1 is a three-dimensional diagram of a variable planetary carrier system according to a first embodiment of the present invention. FIG. [Figure 4] FIG. 1 is a perspective exploded view of a variable planetary carrier system according to a first embodiment of the present invention. [Diagram 5]FIG. 1 is a perspective exploded view of a variable planetary carrier system having a key structure according to a first embodiment of the present invention. [Figure 6] FIG. 1 is a schematic configuration diagram of a variable planetary carrier system assembled to a planetary gear according to a first embodiment of the present invention. [Figure 7] FIG. 5 is a schematic diagram showing the structural principle of a planetary transmission device according to a second embodiment of the present invention; [Figure 8] FIG. 6 is a schematic diagram showing the structural principle of a planetary transmission device according to a third embodiment of the present invention; [Figure 9] FIG. 11 is a schematic diagram showing the structural principle of a planetary transmission device according to a fourth embodiment of the present invention; [Figure 10] FIG. 11 is a schematic diagram showing the structural principle of a planetary transmission according to a fifth embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] In order to make the objectives, technical means, advantageous effects and remarkable inventive step of the embodiments of the present invention clearer, the technical means in the embodiments of the present invention will be described in detail and completely below with reference to the drawings provided in the examples, but it goes without saying that the described embodiments are only some of the embodiments of the present invention and not all of the embodiments. Based on the examples provided by the embodiments of the present invention, those skilled in the art can easily understand that, without any creative activity, all other embodiments obtained from the conventional planet carrier shape and the conventional 3K type planetary transmission and the conventional 2K-H type planetary transmission with internal gear are all within the protection scope of the present invention.

[0023] It should be noted that in the present specification and claims, terms such as "first," "second," and "third" are used only to distinguish different elements and are not necessarily used to describe a particular order.

[0024] It should also be noted that the following specific embodiments can be combined with each other, and the same or similar concepts or processes therein may not be repeatedly described in some embodiments. EXAMPLES

[0025] As shown in Figs. 1-3, the variable planetary carrier system 8 is a variable planetary carrier system in a planetary reducer used in a robot or precision automation equipment, and is used to improve the accuracy of transmission, and is composed of an elastic planetary carrier 1, a rigid tapered bush 2, and an axial adjustment mechanism 3. The variable planetary carrier system is a system in which the rigid tapered bush swells when moving in the axial direction toward the small diameter portion to increase the revolution radius of the planetary gear provided on the elastic planetary carrier, or when the rigid tapered bush receives an axial force toward the small diameter portion, it maintains applying a radial force that swells outward to the planetary gear, thereby pressing the internal gear with which the planetary gear meshes, reducing the backlash between the planetary gear and the external gear, and improving the accuracy of transmission. The annular frame planetary carrier of this embodiment has a double-sided plate frame structure, but a single-sided plate structure can also be selected to save space, and the variable planetary carrier system does not interfere with the planetary gear or the sun gear.

[0026] The elastic planetary carrier has an annular structure, an inner wall of which is an annular wall, and comprises an annular support top plate 105 and an annular support bottom plate 102 arranged symmetrically, three planetary carrier support columns 104 are provided on the upper surface of the support bottom plate 102, the annular support top plate 105 is provided on the top of the planetary carrier support columns 104, the inner surfaces of the support columns 104, the annular support top plate 105 and the annular support bottom plate 102 are each machined with the tapered surface, and the support bottom plate 102 between the two planetary carrier support columns 104 is provided with three planetary shaft holes 101 for installing planetary gears, and at the position of each of the support columns 104 of the planetary carrier, a pair of alternatingly arranged notches are machined along the axial direction of the elastic planetary carrier, the orientations of the two alternatingly arranged notches are opposite, and the sum of the depths of the pair of alternatingly arranged notches is greater than the wall thickness of the elastic planetary carrier 1 at the notch position before notch processing. The purpose of providing the notches is to cause minute elastic deformation in the elastic planetary carrier 1 to elastically stretch the sidewall circumferential length of the elastic planetary carrier, i.e., to increase the radius of the mounting position of the planetary gear on the planetary carrier. In addition to the above description, the notches 103 may be machined in the radial direction. Various structures can be considered as structures for causing minute elastic deformation in the elastic planetary carrier 1, and the above is merely an example. Since the essence is the circumferential length of the stretchable ring, the ring on the planetary carrier is not a perfect circle, and various types of notches must be machined to allow the circumferential length to be stretched. In addition, it is optimal for the stretchable notches to be arranged offset from the planetary gears. This allows the distance between the planetary gears to be stretched evenly, and the planetary gears can move better in the radial direction without changing the arrangement phase of the planetary gears during the process of the planetary carrier expanding.

[0027] The top surface of the support top plate 105 is provided with three planetary shaft holes 101 corresponding to the positions of the planetary shaft holes on the support bottom plate, and a number of female screw holes 106 for mounting an axial adjustment mechanism. A first space 107 for accommodating a planetary gear is formed between the two planetary carrier support posts 104 of the elastic planetary carrier.

[0028] The rigid tapered bush 2 has an annular structure and is fitted into the elastic planetary carrier 1. The upper end and the lower end of the rigid tapered bush 2 have different outer diameters, the outer diameter of the upper end being larger than the outer diameter of the lower end. The lower end of the rigid tapered bush 2 is inserted into the elastic planetary carrier 1, and the upper end faces the axial adjustment mechanism 3. At least a part of the outer wall of the rigid tapered bush 2 is machined with a tapered surface that matches the tapered surface of the inner side wall of the elastic planetary carrier, thereby tightly fitting the outer surface machined with the tapered surface of the rigid tapered bush and the inner side wall machined with the tapered surface of the elastic planetary carrier. A protrusion or a recess is provided on the upper surface of the upper end as a limiting mechanism, and the limiting mechanism is limited by a corresponding limiting mechanism on the axial adjustment mechanism 3, thereby limiting the relative rotation in the circumferential direction between the rigid tapered bush 2 and the elastic planetary carrier 1. As shown in Figs. 4 and 5, the upper surface of the upper end portion is provided with spaced projections, and the size of the projections fits the shape of the lower surface of the inner edge 302 of the axial adjustment mechanism 3, thereby locking the axial adjustment mechanism 3 and the rigid tapered bush 2 together and restricting the relative rotation of the rigid tapered bush 2 and the elastic planetary carrier 1 in the circumferential direction. Optionally, a simple locking structure such as a key fixing is provided on the contact surface between the elastic planetary carrier 1 and the rigid tapered bush 2 to restrict the relative rotation in the circumferential direction and prevent the rigid tapered bush from interfering with the planetary gear due to rotation. As shown in Fig. 5, a second key 121 is provided on the inner wall of the elastic planetary carrier 1, and a key groove 122 that fits the outer wall of the rigid tapered bush is provided, and the addition of a key limits the relative rotation between the two, and at the same time, the fixing by this key can also increase the torsional rigidity of the elastic planetary carrier.

[0029] As shown in FIG. 2, optionally, three first key grooves 12 for torque transmission are additionally machined on the bottom surface of the support bottom plate of the elastic planetary carrier 1, and since the planetary carrier can deform or expand, a similar structure such as an end face radial key groove is provided on the planetary carrier to transmit circumferential torque even when the planetary carrier is deformed.

[0030] The outer wall of the rigid tapered bush 2 is machined with a second space 201 that fits the first space 107 of the elastic planetary carrier 1 and accommodates a planetary gear and / or a sun gear, and the second space 201 may be a groove or a hollow structure according to actual needs. When applied to a reducer with a sun gear, the second space 201 is machined with a hollow structure, and when applied to a reducer without a sun gear, the second space 201 can be machined with a groove or a hollow structure. The outer wall of the rigid tapered bush 2, excluding the second space 201, is machined with a tapered surface that fits the tapered surface of the inner wall of the elastic planetary carrier 1, thereby tightly fitting the outer surface of the rigid tapered bush 2 and the inner surface of the side wall of the elastic planetary carrier 1. The taper angle of the rigid tapered bush 2 is less than 16°, preferably 6 to 12°, in order to achieve a self-locking effect and to avoid the phenomenon that the planetary carrier shrinks and pushes back the tapered bush that is adjusted in the axial direction by the spring when the planetary gear receives a radial component force of a large load.

[0031] The axial adjustment mechanism 3 of the rigid tapered bush is an adjustment bolt / nut or elastic body axially attached to the end of the elastic planetary carrier 1 and / or the rigid tapered bush 2, and is used to apply an axial force to the rigid tapered bush 2 in the direction of the small diameter portion of the rigid tapered bush 2. The axial adjustment mechanism is used to push the rigid tapered bush 2 axially to expand the elastic planetary carrier, thereby causing the planetary gears provided within the elastic planetary carrier to bulge outward, thereby pressing the meshing internal gear, increasing the orbital radius of the planetary gear to eliminate backlash, or applying a tooth surface preload between the planetary gear and the internal gear. As shown in Fig. 4, the axial adjustment mechanism 3 is an elastic reed, which has an inner edge 302 and an outer edge 303, and threaded holes that fit the female screw hole 106 are provided at intervals on the outer edge 303, and the threaded holes are used for fixing the axial adjustment mechanism 3 of the rigid tapered bush to the elastic planetary carrier 1 by inserting the screw 301 through the threaded hole and the female screw hole 106. The inner edge 302 of the elastic reed is brought into contact with the large diameter end surface of the rigid tapered bush 2, and the elastic force of the elastic reed is used to generate pressure on the rigid tapered bush 2 in the direction of the small diameter part. In actual use, the elastic reed is attached after the planetary gear and the internal gear are assembled.

[0032] Optionally, the axial adjustment mechanism 3 of the rigid tapered bush can also select a screw structure such as an adjustment nut (different from the diagram in this embodiment), and a male thread that fits the adjustment nut is machined on the small diameter end of the rigid tapered bush 2, and the adjustment nut is screwed into the pre-formed male thread of the rigid tapered bush 2 to press the end face of the elastic planetary carrier, and the tension of the adjustment nut is used to generate tension in the direction of the small diameter part of the rigid tapered bush 2. In actual use, the planetary gear and the internal gear are assembled before the adjustment screw is tightened, so that the planetary gear of the planetary carrier that has been pre-expanded cannot be assembled into the internal gear. In actual application, the expansion stroke of the planetary carrier is very small, so the axial adjustment stroke of the rigid tapered bush 2 relative to the elastic planetary carrier is very small, and the required radial expansion usually does not exceed half the gear thickness of the planetary gear, so the adjustment of the tapered bush does not require the design of a large adjustment stroke, whether by screw or spring, and when the precision level of each component of the planetary transmission device is high, it can also be designed as a micro-variable planetary carrier system, and in this case it is only necessary to machine a notch 103 on the planetary carrier that can meet the micro-elastic deformation amount.

[0033] FIG. 6 is a schematic configuration diagram of a variable planetary carrier system assembled to a planetary gear according to the first embodiment of the present invention. EXAMPLES

[0034] As shown in FIG. 7, the present invention also discloses a planetary transmission with a variable planetary carrier system, which is a 3K type planetary transmission with a first internal gear 6, a second internal gear 7, compound planetary gears 9 and 10, a sun gear 5, and a variable planetary carrier system 8. The variable planetary carrier system 8 is composed of an elastic planetary carrier 1, a rigid tapered bush 2, and an axial adjustment mechanism 3 for the rigid tapered bush, as shown in FIG. 4 to FIG. 5, and the compound planetary gear includes 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 of the first embodiment, so a detailed description thereof will be omitted here. Optionally, the planetary transmission can be a 3K-II type planetary transmission, in which the parameters of the compound planetary gears are exactly the same and can be processed into one gear.

[0035] Most conventional 3K type planetary transmissions use a frame-type planetary carrier with side plates, but the present invention replaces the planetary carrier of the conventional 3K type planetary transmission with the above-mentioned variable planetary carrier system 8, and after the planetary gears 9, 10 are installed, they are pressed against the two internal gears 6, 7 as the planetary carrier 1 bulges, and this method of increasing the orbital radius of the planetary gears effectively eliminates backlash and applies a constant tooth surface preload between the planetary gears and the internal gears, so that even if the tooth surfaces of the planetary gears 9, 10 or the internal gears 6, 7 are worn, the bulge of the planetary carrier can be adjusted to maintain tooth surface contact and tooth surface preload. Since the two internal gears share a set of planetary gears and planetary carrier, the effect of eliminating backlash and reducing vibration caused by using the variable planetary carrier system 8 of the present invention to press the planetary gears outward against the internal gear is more significant, and since there is a high transmission ratio between the planetary carrier and the internal gear of the 3K type planetary transmission device, the backlash between the sun gear 5 and the planetary gear 9 has less impact on the output backlash when the planetary transmission device of the present invention is used as a reducer.

[0036] In the application of the planetary transmission of the present invention as a planetary reducer used in a robot or precision automation equipment, the output internal gear 7 is connected to the output shaft 16, the sun gear 5 is the high-speed end of the transmission, and the input shaft 15 drives the sun gear 5 to make the planetary gears roll while meshing with the internal gears 6 and 7, thereby rotating the variable planetary carrier system 8, and rotating the output internal gear 7 to rotate the output shaft 16. In actual assembly, the planetary gears 9 and 10 and the variable planetary carrier system 8 are first assembled into the internal gears 6 and 7, and then the axial adjustment mechanism 3 of the rigid tapered bush is adjusted according to actual needs so that the planetary gears bulge outward, and then the sun gear 5 is assembled, thereby allowing the selection of a sun gear 5 that is more compatible with the planetary gears, which helps to reduce the backlash between the sun gear 5 and the planetary gears 9. Preferably, the sun gear 5 and the input shaft and other components can be assembled in advance or processed into a single unit before being assembled into the planetary transmission. In the conventional 3K type planetary reducer, by replacing the planetary carrier with the variable planetary carrier system proposed by the present invention, the performance such as transmission accuracy can be greatly improved, including but not limited to the 3K-I type, 3K-II type and 3K-III type in the prior art. EXAMPLES

[0037] As shown in FIG. 8, the present invention also discloses a planetary transmission equipped with the variable planetary carrier system, the planetary transmission is a 3K planetary transmission omitting a sun gear, and includes a first internal gear 6, a second internal gear 7, compound planetary gears 9 and 10, a sun gear 5, and a variable planetary carrier system 8, the variable planetary carrier system 8 being composed of an elastic planetary carrier 1, a rigid tapered bush 2, and an axial adjustment mechanism 3 for the rigid tapered bush as shown in FIG. 4-FIG. 5, and the compound planetary gear includes 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.

[0038] Compared with the conventional 3K planetary transmission, the planetary transmission omits the sun gear 5, and the present invention replaces the planetary carrier of the conventional 3K planetary transmission with the variable planetary carrier system 8. The structure of the variable planetary carrier system 8 is the same as that of the first embodiment, so the detailed description thereof is omitted here. Optionally, the compound planetary gear of the planetary transmission can be processed into one gear because the parameters of the compound planetary gear are exactly the same.

[0039] In the application of the planetary transmission of this embodiment as a planetary reducer used in a robot or precision automation equipment, the planetary gears 9, 10 are pressed against the two internal gears 6, 7 with the expansion of the variable planetary carrier system 8 after installation, and the method of increasing the revolution radius of the planetary gears effectively eliminates backlash and applies a certain tooth surface preload between the planetary gears and the internal gears, and even if the tooth surfaces of the planetary gears 9, 10 or the internal gears 6, 7 are worn, the expansion of the planetary carrier can be adjusted to maintain the tooth surface contact and tooth surface preload. The variable planetary carrier system 8 is the high-speed end of the transmission, that is, the input shaft 15 is connected to the variable planetary carrier system 8 to directly drive the variable planetary carrier system 8, and inputs torque from the variable planetary carrier system 8 to rotate the variable planetary carrier system 8, causing the planetary gears 9, 10 to roll while meshing with the internal gears 6, 7, and the output internal gear 7 is connected to the output shaft. The first planetary gear 9 and the second planetary gear 10 are synchronously rotating compound gears mounted on a variable planetary carrier system 8, so that the second planetary gear 10 drives the output internal gear 7 to rotate the output shaft 16.

[0040] Since this embodiment does not require a sun gear, it is possible to avoid transmission backlash and the resulting vibrations caused by the meshing between the sun gear 5 and the planetary gears 9 and 10. An end face key groove for transmitting torque to the input shaft 15 is provided on the outer wall of the elastic planetary carrier 1, and since the variable planetary carrier system 8 can deform and expand, a structure such as an end face radial key groove is provided on the elastic planetary carrier 1 to transmit axial torque even when the planetary carrier is variable. EXAMPLES

[0041] As shown in Fig. 9, this planetary transmission is equipped with a variable planetary carrier system, and the planetary transmission is similar in structure to that of the third embodiment. Based on the 3K-type planetary transmission omitting the sun gear, this planetary transmission is equipped with 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. Since the structure is the same as that of the third embodiment, a detailed description thereof will be omitted here, and only the differences will be described below. The planetary transmission is equipped with an additional third planetary gear 14 and an additional sun gear 55, and the additional sun gear 55 transmits while meshing with the third planetary gear 14, and the third planetary gear 14 and the first planetary gear 9 are arranged coaxially and relatively fixed, and the additional sun gear of the planetary transmission is the input end.

[0042] In the application of the planetary transmission device of this embodiment as a planetary reducer used in a robot or precision automation equipment, the additional sun gear 55 serves as a high-speed input end, the input shaft 15 drives the additional sun gear 55, and the additional sun gear 55 meshes with the third planetary gear 14 to transmit power and rotate the third planetary gear 14. The third planetary gear 14 is fixed coaxially with the first planetary gear 9 and in the circumferential direction, so that the first planetary gear 9 rotates while revolving the variable planetary carrier system 8, driving the internal gear 7 to rotate the output shaft 16, thereby realizing a transmission path similar to that of a conventional 3K type planetary transmission. In the conventional 3K type planetary transmission structure, the planetary gear meshes with both the internal gear and the sun gear, so that the parameters of each gear are highly correlated with each other, making it difficult to design and match the gears. The sun gear of the conventional 3K type planetary transmission proposed in this embodiment is removed, and the planetary gear is provided with an additional planetary gear and an additional sun gear 55 meshing structure, which reduces the requirements for gear parameter design and helps to maximize and optimize the torque load, reduction ratio, vibration, backlash and other performances of the transmission. Optionally, not all planetary gears have additional planetary gears, for example, among six planetary gears, three or two are sufficient, and the additional sun gear and the additional planetary gear can be designed with a smaller module than the planetary gear meshing with the internal gear to better eliminate backlash and improve smoothness. EXAMPLES

[0043] As shown in FIG. 10, the planetary transmission with a variable planetary carrier system is a 2K-H type planetary transmission with an internal gear, and includes an internal gear 11, a planetary wheel 4, a sun gear 5, and a variable planetary carrier system 8. The variable planetary carrier system 8 is composed of an elastic planetary carrier 1, a rigid tapered bush 2, and an axial adjustment mechanism 3 for the rigid tapered bush, as shown in FIG. 4-FIG. 5. The structure of the variable planetary carrier system 8 is the same as that of the first embodiment, so a detailed description thereof will be omitted here. The planetary wheel 4 meshes with the sun gear 5 and the internal gear 11 and is attached to the variable planetary carrier system 8. In the 2K-H type planetary transmission, the technical effect of adopting the variable planetary carrier system described in the first embodiment is not as obvious as that of the 3K type, but it reduces the backlash between the planetary gear and the internal gear, provides a certain preload between the planetary wheel 4 and the internal gear 11, and improves the accuracy and smoothness of the transmission.

[0044] In the application of the planetary transmission of the present invention as a planetary reducer used in a robot or precision automation equipment, the internal gear 11 is fixed, and the input shaft 15 drives the sun gear 5 to rotate the planetary wheel 4 while meshing with the internal gear 11, thereby rotating the variable planetary carrier system 8, and the variable planetary carrier system 8 and the output shaft 16 fix the output torque in the circumferential direction. During actual assembly, the planetary wheel 4 and the variable planetary carrier system 8 are first assembled into the internal gear 11, the axial adjustment mechanism 3 of the rigid taper bush of the variable planetary carrier system 8 is adjusted, and finally the sun gear is assembled, so that a better matching sun gear can be selected after the planetary gear bulges outward, which is helpful in reducing the backlash between the sun gear and the planetary gear, and further, the sun gear and the input shaft and other components can be assembled in advance or processed into a single unit before being assembled into the reducer.

[0045] The planetary transmission of the present invention can also be used as an accelerator, and since its structure is the same as that of a reducer, a detailed description thereof will be omitted here.

[0046] The above-mentioned embodiments are only used to explain the technical means of the present invention, and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the above-mentioned embodiments, it is obvious to those skilled in the art that the technical means described in the above-mentioned embodiments can be modified or part or all of the technical features can be replaced with an equivalent range, and such modifications or replacements do 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 and adjustments or replacements made by those skilled in the art based on the contents of this specification are included in the scope of protection sought by the present invention. [Explanation of symbols]

[0047] 10 2nd planetary gear 101 Planetary shaft hole 102 First keyway 103 Notch 104 Planet carrier support column 105 Support top plate 106 Female thread hole 107 1st space 1 Elastic planet carrier 11 Internal gear 12 First keyway 121 Second Key 122 Second keyway 14 3rd planetary gear 15 Input shaft 16 Output shaft 2 Rigid tapered bushing 201 2nd space 3 Axial adjustment mechanism 301 Screw 302 Common-law marriage 303 Outer Edge 4 Planetary Gears 5. Sun Gear 55 Additional sun gear 6 First internal gear 7 Second internal gear 8 Variable Planetary Carrier System 9 First planetary gear

Claims

1. A variable planetary carrier system, comprising: a flexible planetary carrier; a rigid tapered bush; and an axial adjustment mechanism for the rigid tapered bush; The elastic planetary carrier is a planetary carrier in which a part of the inner surface of a side wall is machined into a tapered surface, and has a first space for accommodating a planetary gear, and at least one end in the axial direction of each of the first spaces is provided with a shaft or a shaft hole for attaching the planetary gear, and the side wall of the elastic planetary carrier is machined with notches that are arranged alternately to avoid the first spaces, and the notches are used to elastically stretch the side wall circumferential length of the elastic planetary carrier when an external force is applied, thereby causing elastic deformation in the elastic planetary carrier, The rigid tapered bush is fitted into the elastic planetary carrier, and a tapered surface is machined on at least a portion of the rigid tapered bush to match the tapered surface of the inner sidewall of the elastic planetary carrier, thereby tightly fitting the outer surface of the rigid tapered bush with the inner sidewall of the elastic planetary carrier, on which the tapered surface is machined; The axial adjustment mechanism of the rigid tapered bush is an adjustment bolt / nut or elastic body axially attached to the end of the elastic planetary carrier and / or the rigid tapered bush, and is used to apply an axial force to the rigid tapered bush in the direction of the small diameter portion of the rigid tapered bush. The axial adjustment mechanism is used to push the rigid tapered bush axially to expand the elastic planetary carrier, and to expand the planetary gear provided in the elastic planetary carrier outward, thereby pressing the meshing internal gear, increasing the orbital radius of the planetary gear to eliminate backlash, or to apply tooth surface preload between the planetary gear and the internal gear. A variable planetary carrier system comprising:

2. The variable planetary carrier system according to claim 1, characterized in that the side wall of the elastic planetary carrier having the tapered surface is machined with at least a pair of alternatingly arranged notches along the axial / radial direction of the elastic planetary carrier, the orientations of the two alternatingly arranged notches are opposite to each other, and the sum of the depths of the pair of alternatingly arranged notches is greater than the wall thickness of the elastic planetary carrier at the notch position before notch machining.

3. 2. The variable planet carrier system according to claim 1, characterized in that a side wall of the rigid tapered bushing is provided with a second space that fits into the first space and accommodates the planet gears and / or sun gear.

4. 2. The variable planetary carrier system according to claim 1, wherein the axial adjustment mechanism is an elastic reed, an outer edge of the elastic reed is fixed to the end face of the elastic planetary carrier with a screw, and an inner edge of the elastic reed is contacted with the large diameter end face of the rigid tapered bushing, and the elastic force of the elastic reed is used to generate pressure on the rigid tapered bushing in the direction of the small diameter portion.

5. 2. The variable planet carrier system of claim 1, further comprising a limiting mechanism for limiting relative circumferential rotation of said rigid tapered bushing and said resilient planet carrier.

6. The variable planetary carrier system according to claim 4, characterized in that at least one protrusion or groove is provided on the large diameter end surface of the rigid tapered bush as a limiting mechanism, and a groove or protrusion corresponding to the limiting mechanism is provided at a corresponding position of the elastic reed, which engages with the protrusion or groove of the rigid tapered bush to limit the relative rotation in the circumferential direction between the rigid tapered bush and the elastic planetary carrier.

7. The variable planetary carrier system according to claim 4, characterized in that the taper angle of the rigid tapered bush is 6 to 12 degrees to achieve a self-locking effect.

8. 2. The variable planetary carrier system according to claim 1, wherein the axial adjustment mechanism is an adjustment nut, and a male thread that fits the adjustment nut is machined on the small diameter end of the rigid tapered bushing, and the adjustment nut is screwed into the male thread of the rigid tapered bushing to press the end face of the elastic planetary carrier, and the tension of the adjustment nut is used to generate tension in the rigid tapered bushing in the direction of the small diameter portion.

9. 2. The variable planetary carrier system according to claim 1, characterized in that the elastic planetary carrier comprises a symmetrically arranged annular support top plate and an annular support bottom plate, a plurality of planetary carrier support pillars are provided on the upper surface of the support bottom plate, the annular support top plate is provided on the top of the planetary carrier support pillars, the support pillars, the annular support top plate and the annular support bottom plate are each machined with a tapered surface on the inner surface, and a pair of alternatingly arranged notches are machined along the radial direction of the elastic planetary carrier at each support pillar position of the planetary carrier.

10. A planetary transmission, wherein a planetary carrier in the planetary transmission is a variable planetary carrier system according to any one of claims 1 to 9, and the planetary transmission is a 3K type planetary transmission, and the axial adjustment mechanism is used to push the rigid tapered bush axially to expand the elastic planetary carrier, thereby expanding the planetary gear of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or applying tooth surface preload between the planetary gear and the internal gear.

11. A planetary transmission, wherein the planetary carrier in the planetary transmission is the variable planetary carrier system according to any one of claims 1 to 9, the planetary transmission is a 3K type planetary transmission omitting a sun gear, the variable planetary carrier system of the planetary transmission is an input end, and the axial adjustment mechanism is used to press the rigid tapered bush axially to expand the elastic planetary carrier, thereby expanding the planetary gear of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or applying tooth surface preload between the planetary gear and the internal gear.

12. A planetary transmission, in which a planetary carrier in the planetary transmission is a variable planetary carrier system according to any one of claims 1 to 9, the planetary transmission is based on a 3K type planetary transmission in which a sun gear is omitted, and includes an additional sun gear and at least two additional third planetary gears, the additional sun gear meshes with the third planetary gear to transmit power, and rotates the third planetary gear, and each of the third planetary gears and one of the planetary gears of the planetary transmission are arranged coaxially, and the corresponding the additional sun gear of the planetary transmission is an input end, and the axial adjustment mechanism is used to axially push the rigid tapered bush to expand the elastic planet carrier, thereby expanding the planet gears of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or applying tooth surface preload between the planetary gear and the internal gear.

13. A planetary transmission, wherein a planetary carrier in the planetary transmission is a variable planetary carrier system according to any one of claims 1 to 9, the planetary transmission is a 2K-H type planetary transmission equipped with an internal gear, and the axial adjustment mechanism is used to push the rigid tapered bush in the axial direction to expand the elastic planetary carrier, thereby expanding the planetary gear of the planetary transmission outward, thereby pressing the internal gear of the planetary transmission, increasing the orbital radius of the planetary gear to eliminate backlash, or applying a tooth surface preload between the planetary gear and the internal gear.

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