Elastically cushioned planetary carrier and reducer

Abstract

The present application provides an elastic buffer planetary carrier and a reducer that can improve overall transmission accuracy and meshing accuracy. [Solution] This application relates to the field of reducers, and in particular to an elastic buffer planetary carrier, which includes a fixed support base 1 and an enclosed elastic buffer device 2. The fixed support base is stably mounted inside the enclosed elastic buffer device, and at least one central axial hole 14 is installed in the fixed support base, which is used to guide the axial penetration of the output shaft. The enclosed elastic buffer device has a plurality of planetary axial holes 2111 evenly distributed, which are used to pass gear shafts through. The enclosed elastic buffer device can elastically deform in the horizontal, vertical and any oblique direction.

Description

[Technical Field]

[0001] The present application relates to the field of speed reducers, and in particular to elastically damped planet carriers and speed reducers. [Background technology]

[0002] In the field of mechanical transmission, reducer plays a very important role as a key component for reducing input rotation speed and providing suitable output rotation speed, which is widely applied in industrial production, automation equipment, vehicles and many precision transmission fields, such as chip manufacturing, medical equipment, military equipment and diamond grinding.

[0003] However, while the prior art planetary reducer designs employ a rigid connection structure to ensure stable engagement between the gears, the existence of gear processing and assembly errors can cause the planetary gears to receive uneven forces during operation, a phenomenon known as "unbalanced load." Unbalanced load not only reduces the operating efficiency of the reducer, but can also cause gear breakage due to overload, severely impacting the reliability and service life of the equipment and increasing maintenance costs.

[0004] In particular, there are extremely high requirements for the accuracy (small backlash), stability, and reliability of reducers in precision transmission fields such as chip manufacturing, medical equipment, and military equipment, where even a slight error can cause a deterioration in the performance of the entire system or even a failure. Summary of the Invention [Problem to be solved by the invention]

[0005] The object of the present application is to overcome the above technical problems and provide an elastic buffer planetary carrier and a speed reducer. [Means for solving the problem]

[0006] The elastic buffer planet carrier provided in the present application includes a fixed support base and an enclosed elastic buffer device, the fixed support base is mounted inside the enclosed elastic buffer device, the fixed support base has at least one central axial hole for guiding the output shaft to pass through in the axial direction, the enclosed elastic buffer device has a plurality of planetary axial holes evenly distributed for the gear shafts to pass through, and the enclosed elastic buffer device can elastically deform in the horizontal direction, vertical direction and any oblique direction.

[0007] The elastic buffer planetary carrier of the above technical solution can effectively absorb and mitigate assembly and operating errors between gears, ensuring zero-gap transmission between adjacent gears. This avoids the uneven load phenomenon caused by gear processing and assembly errors in traditional planetary reducers and improves the reliability and service life of the reducer. The use of an elastic buffer planetary carrier ensures stable meshing between multiple gears and ensures zero gaps between adjacent gears, thereby achieving the goal of zero-gap transmission, reducing transmission hysteresis, and effectively improving the reliability and service life of the reducer. Compared to rigid planetary carriers, elastic buffer planetary carriers offer greater flexibility in processing requirements, improving overall processing efficiency and reducing the requirements for precision processing of the planetary carrier, thereby reducing the overall processing costs of the planetary carrier. The elastic buffer planetary carrier not only reduces the requirements for component and assembly accuracy, but also improves overall transmission and meshing accuracy.

[0008] Optionally, the surrounding elastic buffer device includes a plurality of elastic buffer units, and two adjacent elastic buffer units are fixedly connected to each other via a connecting bridge, and the fixed support base is fixedly connected to a plurality of the connecting bridges simultaneously, and each elastic buffer unit has elastic deformation ability in any direction, including horizontal, vertical and any diagonal direction.

[0009] The surrounding-type elastic shock absorber according to the above technical solution is composed of a plurality of elastic shock absorbers, and two adjacent elastic shock absorbers are fixedly connected to each other via connecting bridges, and the fixed support base is fixedly connected to the plurality of connecting bridges, so that each elastic shock absorber unit can exhibit good elastic deformation ability in any direction, including horizontal, vertical and any diagonal direction, and can more effectively absorb and mitigate assembly errors and operating errors between gears.

[0010] Optionally, each of the elastic buffer units includes a movable support member and two elastic connecting arms, the movable support member is located between the two elastic connecting arms, and one end of each elastic connecting arm is fixedly connected to the connecting bridge, and the other end of the elastic connecting arm is tightly fixed to one end of the movable support member, the elastic connecting arms can be flexibly bent in any direction, including horizontal, vertical and any oblique direction, and the planetary shaft hole is opened in the movable support member.

[0011] Each elastic buffer unit according to the above technical solution includes a movable support member and two elastic connecting arms, the movable support member is located between the two elastic connecting arms, one end of each elastic connecting arm is fixedly connected to a connecting bridge, and the other end of the elastic connecting arm is tightly fixed to one end of the movable support member, the elastic connecting arms can be flexibly bent in any direction, including horizontal, vertical and any diagonal direction, and the planetary shaft holes are directly drilled in the movable support member, thereby ensuring zero-gap transmission between two adjacent gears, so that the elastic buffer unit can effectively absorb and mitigate assembly errors and operating errors between the gears, and improve the stability and reliability of the planetary gear transmission.

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

[0013] In the above technical solutions, the arc-shaped structure, U-shaped structure, S-shaped structure, V-shaped structure or C-shaped structure has good elasticity and toughness and can adapt to forces and displacement changes in different directions, thereby more effectively alleviating the problem of unbalanced loads caused by gear processing errors and assembly errors.

[0014] Optionally, the elastic connecting arm includes a first bending section, a second bending section and a third bending section, one end of the first bending section is connected to the connecting bridge, the other end of the first bending section is connected to one end of the second bending section, the other end of the second bending section is connected to one end of the third bending section, and the other end of the third bending section is connected to the movable support member, and this design ensures the elastic connecting arm's flexible bending ability in multiple directions.

[0015] The above technical solution's design of dividing the elastic connecting arm into the first bending section, the second bending section and the third bending section ensures the elastic connecting arm's flexible bending ability in the horizontal direction, the vertical direction and any diagonal direction, thereby improving the elastic buffer planetary carrier's ability to absorb and mitigate assembly errors and operating errors between gears.

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

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

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

[0019] The fixed support according to the above technical solution is composed of a fixed block and a plurality of connecting blocks, a central axial hole is drilled in the fixed block, and the connecting blocks are distributed along the circumferential direction of the fixed block and connected to the fixed block and the connecting bridge, so that the fixed support and the surrounding elastic shock absorber device form a stable structure, which improves the structural stability and overall reliability of the elastic shock absorber planetary carrier.

[0020] Optionally, the fixing block, the two adjacent connecting blocks, and the elastic buffer unit together form a spatial region that allows elastic deformation of the elastic buffer unit.

[0021] The fixed block, the two adjacent connecting blocks and the elastic buffer unit of the above technical solution together form a spatial area that allows the elastic buffer unit to undergo elastic deformation, thereby ensuring that the elastic buffer unit can effectively absorb and mitigate the assembly errors and operating errors between gears, and improving the stability and damping effect of the entire planet carrier structure.

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

[0023] By adopting the above technical solution, the elastic buffer planetary carrier can effectively absorb and mitigate the phenomenon of unbalanced load caused by gear processing errors, assembly errors, and slight vibrations during operation. This buffering effect allows the planetary gears to maintain a more stable meshing state during transmission, thereby ensuring zero gap transmission between adjacent gears, improving the stability and reliability of transmission and reducing the gear wear rate, thereby extending the gear service life. The interlocking design of the planetary gear device and the annular internal gear further optimizes the transmission path and makes energy transmission more efficient.

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

[0025] In the above technical solution, elastic grooves are provided between the annular internal gear and the housing, and both ends of each elastic groove along the housing axis are open to ensure that the annular internal gear can elastically deform during operation, thereby further absorbing and mitigating assembly errors and operating errors between the gears, and improving the stability and reliability of the reducer operation. [Effects of the Invention]

[0026] To summarise the above, the present application includes at least one of the following beneficial technical effects. 1. The enclosed elastic buffer device of the present application can effectively elastically deform in the horizontal, vertical and any diagonal directions, thereby ensuring a gap-free transmission between two adjacent gears, thereby absorbing and mitigating the assembly and operation errors between the gears and solving the problem of unbalanced loads caused by gear processing and assembly errors. 2. The elastic connecting arms of the elastic buffer unit have the flexibility to bend horizontally, vertically and in any diagonal direction, allowing the planetary gears to bear forces evenly during operation, thereby preventing a single gear from breaking due to overload. 3. The design of the elastic buffer planetary carrier makes the overall structure of the reducer more compact, reducing the volume and weight, and improving the service life and operating efficiency of the equipment. [Brief explanation of the drawings]

[0027] [Figure 1] FIG. 2 is a schematic structural diagram of an elastic buffer planetary carrier according to the first embodiment of the present invention. [Figure 2] FIG. 10 is a schematic structural diagram of an elastic buffer planetary carrier according to a second embodiment of the present invention. [Figure 3] FIG. 10 is a schematic structural diagram of a reducer according to a third embodiment of the present invention. [Figure 4] FIG. 10 is a schematic diagram illustrating an assembly relationship of a reducer according to a third embodiment of the present invention. [Figure 5] FIG. 10 is a schematic structural diagram of the mounting tube in the third embodiment of the present invention, seen from another angle. [Figure 6] FIG. 10 is a schematic diagram illustrating an assembly relationship of another reducer according to the third embodiment of the present invention. [Figure 7] FIG. 10 is a schematic structural diagram of another reducer according to the third embodiment of the present invention. [Figure 8] FIG. 10 is a schematic diagram of the assembly relationship of the mounting tube in Example 4 of the present application. [Figure 9] FIG. 10 is a schematic structural diagram of an elastic groove in Example 5 of the present application. [Figure 10] FIG. 10 is a schematic structural diagram of an elastic groove in Example 6 of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0028] The present invention will now be described in more detail with reference to FIGS.

[0029] The terms used in this application are used only for the purpose of describing particular embodiments and are not intended to limit the present application. Unless otherwise defined, technical or scientific terms used in this application should have the common meaning understood by those skilled in the art. The words "first," "second," and similar terms used in this application do not denote any order, quantity, or importance, but are merely used to distinguish between different components. Example 1

[0030] The elastic buffer planet carrier provided in this embodiment is applicable to planetary reducers, harmonic drive reducers, or other similar reduction structures. Referring to FIG. 1 , the elastic buffer planet carrier includes a fixed support 1 and an enclosed elastic buffer device 2. The fixed support 1 is attached to the central region of the enclosed elastic buffer device 2, and the fixed support 1 has at least one central shaft hole 14. If one central shaft hole 14 is provided, it is located at the center of the fixed support 1. The central shaft hole 14 is used to guide the output shaft 4 of the reducer. The enclosed elastic buffer device 2 has three planet shaft holes 2111 evenly distributed, through which the gear shafts pass. The enclosed elastic buffer device 2 can effectively elastically deform in the horizontal, vertical, and any diagonal directions, absorbing and mitigating assembly and operating errors between gears, thereby ensuring gap-free power transmission between two adjacent gears.

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

[0032] The surrounding-type elastic shock absorber 2 includes a plurality of elastic shock absorbers 21, of which there are three. Two adjacent elastic shock absorbers 21 are fixedly connected via a connecting bridge 22. Each elastic shock absorber 21 has excellent elastic deformation capacity in the horizontal, vertical, and any oblique directions. Each elastic shock absorber 21 includes a movable support member 211 and two elastic connecting arms 212. The movable support member 211 is located between the two elastic connecting arms 212. One end of each elastic connecting arm 212 is integrally molded with the connecting bridge 22, and the other end is integrally molded with one end of the movable support member 211. The elastic connecting arms 212 can be flexibly bent in any of the horizontal, vertical, and any oblique directions. A planetary shaft hole 2111 is directly drilled at the center of the movable support member 211.

[0033] The elastic connecting arm 212 may be arc-shaped, U-shaped, S-shaped, V-shaped, or C-shaped. The arc-shaped, U-shaped, S-shaped, V-shaped, or C-shaped structure has good elasticity and toughness and can adapt to forces and displacement changes in different directions, thereby more effectively mitigating the problem of unbalanced loads caused by gear processing and assembly errors.

[0034] The implementation principle of this embodiment is as follows: the elastic buffer planetary carrier includes a fixed support base 1 and an enclosed elastic buffer device 2, and the elastic buffer unit 21 utilizes an arc-shaped or similarly structured elastic connecting arm 212 to ensure zero gap transmission between two adjacent gears, and can bend flexibly in multiple directions to absorb and mitigate assembly and operating errors between the gears, thereby improving the overall performance and service life of the planetary reducer. Example 2

[0035] Referring to FIG. 2 , the differences between this embodiment and the first embodiment are as follows: The elastic connecting arm 212 is further subdivided into a first bending section 2121, a second bending section 2122, and a third bending section 2123. One end of the first bending section 2121 is integrally formed with the connecting bridge 22, the other end of the first bending section 2121 is integrally formed with one end of the second bending section 2122, the other end of the second bending section 2122 is integrally formed with one end of the third bending section 2123, and finally, the other end of the third bending section 2123 is integrally formed with the movable support member 211. This ensures the elastic connecting arm 212's ability to bend flexibly in multiple directions. The first bending section 2121, the second bending section 2122, and the third bending section 2123 are preferably all arc-shaped. The arc-shaped structure or C-shaped structure may be specifically a major-arc or minor-arc shape to accommodate deformation needs under different conditions.

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

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

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

[0039] This embodiment provides a speed reducer, and referring to Figures 3, 4, 5 and 6, the speed reducer includes a housing 3, an output shaft 4, an annular internal gear 5, at least one elastic buffer planetary carrier as described in embodiment 1 or embodiment 2, and at least one planetary gear device 6, and the number of elastic buffer planetary carriers corresponds to the number of planetary gear devices 6. Specifically, the housing 3 includes a mounting cylinder 31 and a bottom plate cover 32, the mounting cylinder 31 has an integral structure, and the bottom plate cover 32 is removably connected to one end of the mounting cylinder 31. The bottom plate cover 32 is threadedly engaged with the mounting cylinder 31, which improves the convenience of an operator in attaching and detaching the bottom plate cover 32.

[0040] The elastic buffer planet carrier is installed inside the mounting tube 31, and the elastic buffer planet carrier is fixedly connected to the housing 3 or another component of the reducer. A hole 33 is formed in one end of the mounting tube 31, away from the bottom plate cover 32, and a ball bearing 42 is installed in the hole 33. The output shaft 4 passes through the hole 33 and is rotatably connected to the mounting tube 31 via the ball bearing 42. A fixed sleeve 41 is further fixed to the outer periphery of the output shaft 4, and an end of the fixed sleeve 41 abuts against an end of the ball bearing 42, which helps prevent the ball bearing 42 from moving along the axial direction of the output shaft 4, thereby improving the robustness of the ball bearing 42. The number of fixed sleeves 41 and ball bearings 42 may be one, two, or three.

[0041] The output shaft 4 is further fitted with a wave-shaped spacer 43 located between two adjacent ball bearings 42. The wave-shaped spacer 43 plays a very important role between two adjacent ball bearings 42, providing axial positioning, preload, load distribution, improved sealing performance, etc., thereby significantly improving the performance and reliability of the entire transmission system.

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

[0043] Each elastic buffer planetary carrier includes a fixed support 1 and an enclosed elastic buffer device 2. The fixed support 1 is attached to the inner central region of the enclosed elastic buffer device 2. The specific structures of the fixed support 1 and the enclosed elastic buffer device 2 are the same as those in the first embodiment, and therefore will not be described here. The fixed support 1 is provided with a central axial hole 14, and one end of the fixed support 1, located inside the mounting tube 31 of the output shaft 4, passes through the central axial hole 14. The fixed support 1 is fitted onto the output shaft 4 and fixedly connected to the output shaft 4, so that one of the elastic buffer planetary carriers is fixed to an end of the output shaft 4.

[0044] One of the planetary gear devices 6 is mounted on the elastic buffer planet carrier and includes a first sun gear 61, three first planetary gears 62, and three first gear shafts 63. Each of the three movable support members 211 of the surrounding-type elastic buffer device 2 has a planetary shaft hole 2111, so that the first gear shafts 63 correspond one-to-one to the planetary shaft holes 2111 and the first planetary gears 62. One end of each first gear shaft 63 passes through the planetary shaft hole 2111 and is fixedly connected to the elastic buffer planet carrier. Each first planetary gear 62 is fitted onto the other end of the corresponding first gear shaft 63 and fixedly connected to the first gear shaft 63. The first sun gear 61 is rotatably mounted between the three first planetary gears 62 and meshes with the three first planetary gears 62 to realize rotational movement. The three first planetary gears 62 are meshed with the annular internal gear 5, respectively, to form one of the planetary gear transmission systems.

[0045] A connecting shaft 64 is fixedly installed at one end of the first sun gear 61, and the other elastic buffer planetary carrier is fitted onto and fixedly connected to the connecting shaft 64. An annular sun tooth spacer 7 is further fitted onto the connecting shaft 64, and the sun tooth spacer 7 is located between the first sun gear 61 and the elastic buffer planetary carrier. The other planetary gear device 6 includes a second sun gear 65, three second planetary gears 66, and three second gear shafts 67. Each of the three movable support members 211 of the surrounding-type elastic buffer device 2 is provided with a planetary shaft hole 2111, so that the second gear shafts 67 correspond one-to-one to the planetary shaft holes 2111 of the elastic buffer planetary carrier and the second planetary gears 66. One end of each second gear shaft 67 passes through the planetary shaft hole 2111 and is fixedly connected to the elastic buffer planetary carrier. Each second planetary gear 66 is fitted onto the other end of the second gear shaft 67 and fixedly connected to the second gear shaft 67. The second sun gear 65 is rotatably installed between the three second planetary gears 66 and meshes with the three second planetary gears 66 to realize rotational movement. The three second planetary gears 66 mesh with the annular internal gear 5 to form a planetary gear transmission system.

[0046] 4, an annular bottom plate spacer 8 is installed between the planetary gear set 6 and the bottom plate cover 32. A through hole 34 is formed in the center of the bottom plate cover 32, through which the motor shaft passes. Driven by the motor, one of the planetary gear sets 6 operates, which in turn drives the other planetary gear set 6 to operate, ultimately driving the output shaft 4 of the reducer to rotate.

[0047] The two planetary gear devices 6 can be set to different reduction ratios independently, thereby realizing a multi-stage reduction function and effectively improving the flexibility and application range of the reducer.

[0048] Because the planet carrier and the internal gear both have elastic buffering functions, the planetary reducer can mitigate the impact of errors that occur during component manufacturing and assembly on the overall machine performance (e.g., stability, noise, efficiency, and service life). Furthermore, by pre-setting reasonable interference between the sun gear, planet gear, and internal gear, the planetary reducer can achieve backlash-free transmission (zero-backlash transmission), thereby achieving accurate transmission effects and resolving the current situation in the planetary reducer industry where the smaller the backlash, the higher the component precision and the higher the cost.

[0049] Naturally, the elastic buffer planetary carrier is similarly suitable for the circular spline elastic buffer structure of a harmonic drive reducer, and can achieve a smaller backlash than a harmonic drive reducer of the same dimensions, making transmission more stable and accurate, and if an appropriate interference is pre-added between the flexspline and the circular spline, zero backlash can also be achieved. Naturally, the elastic buffer planetary carrier can have the same effect when applied to other reduction structures.

[0050] The implementation principle of this embodiment is as follows: by integrating the elastic buffer planetary carrier and the planetary gear unit into the reducer, the elastic buffer planetary carrier can effectively absorb and mitigate the assembly and operating errors between the gears, thereby ensuring a zero-gap transmission between two adjacent gears, thereby avoiding the uneven load phenomenon caused by the gear processing and assembly errors in the conventional planetary reducer, and improving the reliability and service life of the reducer. Example 4

[0051] 6 and 7, the present embodiment differs from Example 2 as follows: The mounting tube 31 includes a plurality of annular cylindrical units 311, and when these cylindrical units are joined and fastened sequentially along the axial direction of the reducer, the complete reducer housing 3 is formed. The annular internal gear 5 is also divided into a plurality of independent parts corresponding to the cylindrical units of the housing 3, and the annular internal gear 5 of each part is confined within the corresponding cylindrical unit. This design not only simplifies the installation process of the reducer and improves maintainability, but also allows each part of the annular internal gear 5 to elastically deform independently when subjected to load or vibration, thereby improving the stability and durability of the entire reducer. Example 5

[0052] Referring to FIG. 9 , the present embodiment differs from the third embodiment as follows: an elastic groove 9 is provided between each annular internal gear 5 and the housing 3, and both ends of each elastic groove 9 along the axis of the housing 3 are open to ensure that the annular internal gear 5 can elastically deform during operation. There are multiple elastic grooves 9, and the multiple elastic grooves 9 are centrosymmetrical along the circumferential direction. Each elastic groove 9 includes a first arc-shaped section 91, a second arc-shaped section 92, and an inclined section 93. The diameter of the first arc-shaped section 91 is smaller than the diameter of the second arc-shaped section 92, but the length of the first arc-shaped section 91 is greater than the length of the second arc-shaped section 92. One end of the inclined section 93 communicates with the end of the first arc-shaped section 91, and the other end of the inclined section 93 communicates with the end of the second arc-shaped section 92. A connection portion 94 is formed between the adjacent first arc-shaped section 91 and second arc-shaped section 92, and one end of the connection portion 94 is fixedly connected to the outer wall of the annular internal gear 5, and the other end of the connection portion 94 is fixedly connected to the inner wall of the housing.

[0053] The implementation principle of this embodiment is as follows: The elastic grooves 9 allow the annular internal gear 5 to elastically deform during operation, thereby further improving the stability and durability of the reducer. The circumferentially symmetrical distribution of the elastic grooves 9 ensures uniform deformation, and the connection portions 94 ensure a stable connection between the annular internal gear 5 and the housing 3. Example 6

[0054] The differences between this embodiment and the fifth embodiment are as follows: The elastic groove 9 of this embodiment includes a plurality of fourth arc-shaped sections 95 and a plurality of fifth arc-shaped sections 96, and the fifth arc-shaped sections 96 may have the same or different radius of curvature as the fourth arc-shaped sections 95. When the fifth arc-shaped sections 96 have the same radius of curvature as the fourth arc-shaped sections 95, the two are alternately arranged along the circumferential direction. When the radius of curvature of the fifth arc-shaped sections 96 is larger than the radius of curvature of the fourth arc-shaped sections 95, the plurality of fourth arc-shaped sections 95 and the plurality of fifth arc-shaped sections 96 are both uniformly arranged along the circumferential direction to improve the overall elastic performance of the elastic groove 9.

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

[0056] 1...Fixed support base, 11...Fixed block, 12...Connection block, 13...Spatial area, 14...Central shaft hole, 2...Surrounding type elastic buffer device, 21...Elastic buffer unit, 211...Moveable support member, 2111...Planet shaft hole, 212...Elastic connecting arm, 2121...First bending section, 2122...Second bending section, 2123...Third bending section, 22...Connection bridge, 3...Housing, 31...Mounting cylinder, 311...Annular cylinder unit, 32...Bottom plate cover, 33...Hole, 34...Through hole, 4...Output shaft, 41...fixed sleeve, 42...ball bearing, 43...wavy spacer, 5...annular internal gear, 6...planetary gear device, 61...first sun gear, 62...first planetary gear, 63...first gear shaft, 65...second sun gear, 66...second planetary gear, 67...second gear shaft, 64...connecting shaft, 7...sun tooth spacer, 8...bottom plate spacer, 9...elastic groove, 91...first arc-shaped section, 92...second arc-shaped section, 93...inclined section, 94...connecting portion, 95...fourth arc-shaped section, 96...fifth arc-shaped section.

Claims

1. An elastic buffer planet carrier includes a fixed support (1) and an enclosed elastic buffer device (2), the fixed support (1) is mounted inside the enclosed elastic buffer device (2), the fixed support (1) has at least one central shaft hole (14) for guiding the axial penetration of the output shaft (4), the enclosed elastic buffer device (2) has a plurality of planet shaft holes (2111) evenly distributed for the gear shafts to pass through, and the enclosed elastic buffer device (2) can elastically deform in the horizontal direction, the vertical direction and any oblique direction; The surrounding-type elastic buffer device (2) includes a plurality of elastic buffer units (21), two adjacent elastic buffer units (21) are fixedly connected to each other via a connecting bridge (22), the fixed support base (1) is fixedly connected to a plurality of the connecting bridges (22) simultaneously, and each elastic buffer unit (21) has the ability to elastically deform in any direction, including the horizontal direction, the vertical direction, and any diagonal direction.

2. 2. The elastic buffer planet carrier according to claim 1, wherein each of the elastic buffer units (21) comprises a movable support member (211) and two elastic connecting arms (212), the movable support member (211) is located between the two elastic connecting arms (212), and a first end of each elastic connecting arm (212) is fixedly connected to the connecting bridge (22), and a second end of the elastic connecting arm (212) is tightly fixed to one end of the movable support member (211), the elastic connecting arms (212) can be flexibly bent in any direction, including horizontal, vertical and any diagonal direction, and the planet shaft hole (2111) is opened in the movable support member (211).

3. The elastic buffer planet carrier according to claim 2, characterized in that the elastic connecting arm (212) is an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure or a C-shaped structure.

4. 3. The elastic buffer planet carrier according to claim 2, characterized in that the elastic connecting arm (212) comprises a first bending section (2121), a second bending section (2122) and a third bending section (2123), a first end of the first bending section (2121) is connected to the connecting bridge (22), a second end of the first bending section (2121) is connected to a first end of the second bending section (2122), a second end of the second bending section (2122) is connected to a first end of the third bending section (2123), and a second end of the third bending section (2123) is connected to the movable support member (211).

5. 5. The elastic buffer planet carrier according to claim 4, wherein at least one of the first bending section (2121), the second bending section (2122) and the third bending section (2123) is an arc-shaped structure, a U-shaped structure, an S-shaped structure, a V-shaped structure or a C-shaped structure.

6. 3. The elastic buffer planet carrier according to claim 2, wherein the fixed support base (1) comprises a fixed block (11) and a plurality of connecting blocks (12), the central axial hole (14) is drilled in the fixed block (11), the plurality of connecting blocks (12) are distributed along the circumferential direction of the fixed block (11), a first end of each connecting block (12) is fixedly connected to the fixed block (11), and a second end of each connecting block (12) is fixedly connected to the connecting bridge (22).

7. 7. The elastic damping planet carrier according to claim 6, wherein the fixing block (11), the two adjacent connecting blocks (12), and the elastic damping unit (21) together form a spatial region (13) that allows elastic deformation of the elastic damping unit (21).

8. A speed reducer comprising: a housing; at least one elastic buffer planetary carrier according to any one of claims 1 to 7; and at least one planetary gear device, wherein an annular internal gear is installed inside the housing; the elastic buffer planetary carrier is installed inside the housing; the elastic buffer planetary carrier is fixedly connected to other members of the speed reducer; the planetary gear device is fixedly or rotatably connected to a power input member of the speed reducer; and the planetary gear device is interlocked with the annular internal gear.

9. The reducer according to claim 8, characterized in that an elastic groove (9) is provided between the annular internal gear (5) and the housing (3), and both ends of each elastic groove (9) along the axis of the housing (3) are open to ensure that the annular internal gear (5) can elastically deform during operation.

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