阅读说明：本技术 一种少齿差四齿轮副啮合减速器 (Small tooth difference four-gear pair meshing speed reducer ) 是由 黄子帅 胡仁惠 于 2019-11-28 设计创作，主要内容包括：本发明公开了一种少齿差四齿轮副啮合减速器,两对置安装的交叉滚子轴承中间装配两个对置分布的双联齿轮,各双联齿轮与对应侧的交叉滚子轴承之间均配置一与其啮合的固定齿轮,输出齿轮套设在两双联齿轮的外围,输入曲轴则安装在两双联齿轮的中部,整体的部件数量少,且不含变形件,内部无需提供柔性部件形变缓冲的冗余空间,结构简单紧凑,体积小；再者,其双联齿轮同时与固定齿轮、输出齿轮相啮合,形成了过定位,极大地提高了定位精度,且在一定程度上消除了齿隙的影响,提高了重复定位的精度,此发明用于传动装置技术领域。(The invention discloses a small-tooth-difference four-gear-pair meshing reducer, wherein two duplicate gears which are distributed oppositely are assembled between two oppositely-arranged crossed roller bearings, a fixed gear which is meshed with each duplicate gear is arranged between each duplicate gear and the crossed roller bearing on the corresponding side, an output gear is sleeved on the periphery of the two duplicate gears, an input crankshaft is arranged in the middle of the two duplicate gears, the number of integral parts is small, no deformation part is contained, a redundant space for buffering deformation of a flexible part is not required to be provided in the internal part, the structure is simple and compact, and the size is small; moreover, the duplicate gear is meshed with the fixed gear and the output gear simultaneously to form over-positioning, so that the positioning precision is greatly improved, the influence of backlash is eliminated to a certain extent, and the precision of repeated positioning is improved.)

1. A small tooth difference four-gear pair meshing speed reducer is characterized by comprising:

a pair of crossed roller bearings, the two crossed roller bearings being installed oppositely;

the double gears are oppositely assembled between the two crossed roller bearings, each double gear comprises a small gear ring and a large gear ring which are coaxially arranged, and the large gear ring is an outer gear ring;

the output gear is sleeved on the peripheries of the two duplicate gears, and an inner gear ring of the output gear is meshed with a large gear ring of the two duplicate gears;

the input crankshaft is arranged in the middle of the two duplicate gears, and at least one bearing is respectively arranged between the input crankshaft and the two duplicate gears as well as between the input crankshaft and the two crossed roller bearings;

and a fixed gear is respectively arranged between each duplicate gear and the crossed roller bearing on the corresponding side, and each fixed gear is respectively engaged and assembled with the small gear ring on the corresponding side.

2. The small tooth difference four-gear pair mesh speed reducer according to claim 1, characterized in that: the crossed roller bearing comprises a fixed flange, an output flange and an outer raceway block, wherein the output flange is arranged outside the fixed flange, the outer raceway block is fastened with the output flange, the fixed flange is divided into an inner ring portion and an outer ring portion, a raceway is formed between the outer surfaces of the outer raceway block, the output flange and the outer ring portion, and rollers are arranged in the raceway.

3. The small tooth difference four-gear pair mesh speed reducer according to claim 2, characterized in that: the length of the inner ring portion is larger than that of the outer ring portion, a long hole is formed in the middle of the inner ring portion and the outer ring portion, and the small gear ring is located in the long hole.

4. The small tooth difference four-gear pair mesh speed reducer according to claim 3, characterized in that: the small gear ring is an inner gear ring, the fixed gear adopts an outer gear ring, and the inner wall of the fixed gear is fixedly attached to the inner ring part.

5. The small tooth difference four-gear pair mesh speed reducer according to claim 3, characterized in that: the small gear ring is an outer gear ring, the fixed gear adopts an inner gear ring, and the outer wall of the fixed gear is fixedly attached to the outer ring part.

6. The small tooth difference four-gear pair mesh speed reducer according to claim 5, characterized in that: the outer surface of the outer ring part is provided with a first-stage step, and the bearing is clamped between the first-stage step and the input crankshaft.

7. The small tooth difference four-gear pair mesh speed reducer according to claim 2, characterized in that: the two fixing flanges, the two output flanges and the output gear are fixedly connected through screws respectively.

8. The small tooth difference four-gear pair mesh speed reducer according to claim 1, characterized in that: the input crankshaft is divided into two eccentric circle sections, and the two eccentric circle sections respectively comprise an embedded bearing and two outer sleeve bearings arranged in parallel.

9. The small tooth difference four-gear pair mesh speed reducer according to claim 8, characterized in that: the phase difference of the two eccentric circle sections is 180 degrees, and the eccentricity of the two eccentric circle sections is equal in size.

10. The small tooth difference four-gear pair mesh speed reducer according to claim 1, characterized in that: the bearing is a deep groove ball bearing or an angular contact ball bearing.

Technical Field

The invention relates to the technical field of transmission devices, in particular to a small-tooth-difference four-gear-pair meshing speed reducer.

Background

In the industry fields of aerospace, industrial robots, processing equipment and the like, three generally used reducers are respectively a harmonic reducer, an RV reducer and a planet wheel reducer, but the harmonic reducer and the RV reducer are overlarge in size and weight, low in precision, small in reduction ratio range, large in processing difficulty and high in manufacturing cost; the planetary reducer has the problem of low precision, generally 1-3 angular divisions, and the input shaft has a large eccentric amount, so that in the operation process, the input shaft needs to bear eccentric torque, so that the highest rotating speed is very low.

Furthermore, the three types of speed reducers described above have a common drawback: there is no self-locking. If the load torque received by the output end is larger than the driving torque, the output end of the output end can be carried away by the load, if the output end is installed on a robot or an aerospace vehicle and other equipment, serious safety accidents can be caused, the current solution is to add a brake mechanism at the input end of a speed reducer, but the weight and the volume of the whole component module can be increased, and the reliability cannot be guaranteed.

Disclosure of Invention

The invention aims to solve at least one technical problem in the prior art and provides a small-size, compact-structure and high-precision four-gear-pair meshing speed reducer with small tooth difference.

The technical scheme adopted by the invention is as follows:

a small tooth difference four-gear pair meshing speed reducer comprises:

a pair of crossed roller bearings, the two crossed roller bearings being installed oppositely;

the double gears are oppositely assembled between the two crossed roller bearings, each double gear comprises a small gear ring and a large gear ring which are coaxially arranged, and the large gear ring is an outer gear ring;

the output gear is sleeved on the peripheries of the two duplicate gears, and an inner gear ring of the output gear is meshed with a large gear ring of the two duplicate gears;

the input crankshaft is arranged in the middle of the two duplicate gears, and at least one bearing is respectively arranged between the input crankshaft and the two duplicate gears as well as between the input crankshaft and the two crossed roller bearings;

and a fixed gear is respectively arranged between each duplicate gear and the crossed roller bearing on the corresponding side, and each fixed gear is respectively engaged and assembled with the small gear ring on the corresponding side.

As a further improvement of the technical scheme of the invention, the crossed roller bearing comprises a fixed flange, an output flange sleeved outside the fixed flange, and an outer raceway block fastened with the output flange, wherein the fixed flange is divided into an inner ring part and an outer ring part, raceways are formed among the outer raceway block, the output flange and the outer surface of the outer ring part, and rollers are arranged in the raceways.

Further as an improvement of the technical scheme of the invention, the length of the inner ring part is longer than that of the outer ring part, a long hole is formed in the middle of the inner ring part and the outer ring part, and the small gear ring is positioned in the long hole.

The technical scheme of the invention is further improved in that the small gear ring is an inner gear ring, the fixed gear adopts an outer gear ring, and the inner wall of the fixed gear is fixedly attached to the inner ring part.

The technical scheme of the invention is further improved in that the small gear ring is an outer gear ring, the fixed gear adopts an inner gear ring, and the outer wall of the fixed gear is fixedly attached to the outer ring part.

As the improvement of the technical scheme of the invention, the outer surface of the outer ring part is provided with a first-stage step, and the bearing is clamped between the first-stage step and the input crankshaft.

As further improvement of the technical scheme of the invention, the two fixing flanges, the two output flanges and the output gear are respectively and fixedly connected through screws.

As further improvement of the technical scheme of the invention, the input crankshaft is divided into two eccentric circle sections, and the two eccentric circle sections respectively comprise an embedded bearing and two outer sleeve bearings arranged in parallel.

As a further improvement of the technical scheme of the invention, the phase difference of the two eccentric circle segments is 180 degrees, and the eccentric distances of the two eccentric circle segments are equal.

Further as an improvement of the technical scheme of the invention, the bearing is a deep groove ball bearing or an angular contact ball bearing.

The invention has the beneficial effects that: according to the four-gear-pair meshing speed reducer with the small tooth difference, two duplicate gears which are distributed in an opposite mode are assembled between two opposite crossed roller bearings, a fixed gear meshed with each duplicate gear is configured between each duplicate gear and the corresponding crossed roller bearing, an output gear is sleeved on the periphery of the two duplicate gears, an input crankshaft is installed in the middle of the two duplicate gears, the number of integral components is small, a deformation piece is not contained, a redundant space for deformation buffering of a flexible component is not required to be provided inside the input crankshaft, the structure is simple and compact, and the size is small; moreover, the duplicate gear is meshed with the fixed gear and the output gear simultaneously, so that over-positioning is formed, the positioning precision is greatly improved, the influence of backlash is eliminated to a certain extent, and the precision of repeated positioning is improved.

Drawings

The invention will be further described with reference to the accompanying drawings in which:

FIG. 1 is a front view of an assembled structure according to one embodiment of the present invention;

FIG. 2 is a cross-sectional view of an assembled structure in accordance with an embodiment of the present invention;

FIG. 3 is an exploded schematic view of one embodiment of the present invention;

FIG. 4 is a cross-sectional view of an assembled structure of another embodiment of the present invention;

fig. 5 is an exploded schematic view of another embodiment of the present invention.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.