阅读说明：本技术 一种高性能刚柔耦合减速器 (High-performance rigid-flexible coupling speed reducer ) 是由 莫帅 宋文浩 李旭 侯茂祥 宋裕玲 杨振宁 岳宗享 党合玉 石丽娟 邹振兴 武凯 于 2019-11-11 设计创作，主要内容包括：本发明提出了一种高性能刚柔耦合减速器,其特征在于第一级为行星传动系统,第二级为谐波齿轮传动系统；第一级行星传动系统中的太阳轮通过键安装在输入轴上与安装在行星架上的若干一级行星轮啮合,一级行星轮通过行星轮支撑轴承安装在行星架上,行星轮与固接在一级外齿壳上的内齿圈相啮合；第二级谐波齿轮传动系统动力由法兰轴提供,凸轮通过键安装在法兰轴上,柔性轴承通过凸轮轴用弹性挡圈固定在凸轮外侧,柔轮固定在柔性轴承外侧,与固接在二级外壳上的刚轮相啮合；有益效果是构型独特、结构紧凑、传动比大、集成度高,在传动领域应用前景广泛,即可以填补了技术空白,又可产生较大的社会效应与经济效应。(The invention provides a high-performance rigid-flexible coupling speed reducer which is characterized in that a first stage is a planetary transmission system, and a second stage is a harmonic gear transmission system; a sun gear in the first-stage planetary transmission system is arranged on an input shaft through a key and is meshed with a plurality of first-stage planetary gears arranged on a planet carrier, the first-stage planetary gears are arranged on the planet carrier through a planetary gear supporting bearing, and the planetary gears are meshed with an inner gear ring fixedly connected to a first-stage outer gear shell; the power of the second-stage harmonic gear transmission system is provided by a flange shaft, a cam is arranged on the flange shaft through a key, a flexible bearing is fixed on the outer side of the cam through an elastic retainer ring for a cam shaft, and a flexible wheel is fixed on the outer side of the flexible bearing and meshed with a rigid wheel fixedly connected on a second-stage shell; the transmission mechanism has the advantages of unique configuration, compact structure, large transmission ratio, high integration level and wide application prospect in the transmission field, can fill up the technical blank, and can generate larger social effect and economic effect.)

1. A high-performance rigid-flexible coupling speed reducer is characterized in that a first stage is a planetary transmission system, and a second stage is a harmonic gear transmission system; the power is connected with an input shaft through a key, a step through hole is formed in the inner side of the input shaft, a sun wheel in a first-stage planetary transmission system is installed on the input shaft through the key and is meshed with a plurality of first-stage planetary wheels installed on a planetary carrier, the first-stage planetary wheels are installed on the planetary carrier through a planetary wheel supporting bearing, a boss is arranged in an inner hole of each planetary wheel, the planetary wheel supporting bearing is axially positioned through a sleeve and the boss, and the planetary wheels are meshed with an inner gear ring fixedly connected to a first-; the planet carrier is of an integrated structure and is arranged on an input shaft through a planet carrier supporting bearing, a main bearing is arranged between the planet carrier and a first-stage shell, the main bearing at the input side is axially positioned by an elastic retainer ring through a hole of a right-side shell, a screw hole is arranged at the output side of the planet carrier and is connected with a flange shaft through a bolt to transmit power to the next stage, and the shell is provided with screw holes which are respectively connected with an inner gear ring through bolts;

the power of the second-stage harmonic gear transmission system is provided by a flange shaft, a cam is arranged on the flange shaft through a key, a flexible bearing is fixed on the outer side of the cam through an elastic retainer ring for the cam shaft, a flexible wheel is fixed on the outer side of the flexible bearing and is meshed with a rigid wheel fixedly connected on a second-stage shell, the flexible wheel is arranged on the flange shaft through the cam and a flexible wheel supporting bearing arranged at the bottom of a cup, a screw hole is formed in the bottom of the flexible wheel cup and is connected with an output flange through a bolt to output the power, a screw hole is formed in the outer side of the rigid wheel and is connected to a shell; the output flange is arranged on the flange shaft through a flange supporting bearing, an elastic retainer ring for the flange shaft is arranged on the flange shaft, a diamond-shaped groove is arranged on the outer side of the output flange, a crossed roller bearing is arranged between the output flange and the secondary shell, and the secondary shell and the rigid wheel are fixedly connected with the primary shell through bolts.

Technical Field

The invention relates to the field of precision mechanical transmission, in particular to a high-performance rigid-flexible coupling speed reducer.

Background

Mechanical transmission is one of the most classical core technologies of mechanical engineering subjects, a mechanical transmission system is widely applied in the industrial field, and the mechanical transmission system is almost needed to be used for speed change in all occasions with prime movers, so that speed matching of a working machine is realized, and speed-up torque reduction or speed-down torque increase is completed.

However, with the progress of society and the continuous development of industry, scientific technology is changing day by day. The requirements on transmission products with large transmission ratio, small volume and high power density are increasingly strong. Precision robots, space manipulators, aircraft engines, helicopter main reducers, ship transmission systems, tank transmission systems and the like all need high-quality speed reduction and change transmission systems, and almost relate to various high-tech fields such as aviation, aerospace, marine equipment, weaponry and the like. National defense equipment needs technical upgrading and product upgrading, and increasingly new transmission systems are required to seek the upgrading and leap of equipment technology.

In order to solve the problems of small transmission ratio, low output torque and the like of the conventional speed reducer, the invention provides a high-performance rigid-flexible coupling speed reducer which has the advantages of large transmission ratio, large output torque, mature manufacturing process, convenience in installation and the like; can effectively meet the market demand, has wide prospect in the transmission field, and can generate larger social effect and economic effect.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a high-performance rigid-flexible coupling speed reducer which is large in transmission ratio, large in output torque, mature in manufacturing process and high in integration level.

A high-performance rigid-flexible coupling speed reducer is characterized in that a first stage is a planetary transmission system, and a second stage is a harmonic gear transmission system; the power is connected with an input shaft through a key, a step through hole is formed in the inner side of the input shaft, a sun wheel in a first-stage planetary transmission system is installed on the input shaft through the key and is meshed with a plurality of first-stage planetary wheels installed on a planetary carrier, the first-stage planetary wheels are installed on the planetary carrier through a planetary wheel supporting bearing, a boss is arranged in an inner hole of each planetary wheel, the planetary wheel supporting bearing is axially positioned through a sleeve and the boss, and the planetary wheels are meshed with an inner gear ring fixedly connected to a first-; the planet carrier is of an integrated structure and is arranged on an input shaft through a planet carrier supporting bearing, a main bearing is arranged between the planet carrier and a first-stage shell, the main bearing at the input side is axially positioned by an elastic retainer ring through a hole of a right-side shell, a screw hole is arranged at the output side of the planet carrier and is connected with a flange shaft through a bolt to transmit power to the next stage, and the shell is provided with screw holes which are respectively connected with an inner gear ring through bolts;

furthermore, the power of the second-stage harmonic gear transmission system is provided by a flange shaft, a cam is arranged on the flange shaft through a key, a flexible bearing is fixed on the outer side of the cam through an elastic retainer ring for the cam shaft, a flexible wheel is fixed on the outer side of the flexible bearing and is meshed with a rigid wheel fixedly connected on the second-stage shell, the flexible wheel is arranged on the flange shaft through the cam and a flexible wheel supporting bearing arranged at the bottom of a cup, the bottom of the flexible wheel cup is provided with a screw hole and is connected with an output flange through a bolt to output the power, and the outer side of the rigid wheel is provided with a screw hole and is connected on the; the output flange is arranged on the flange shaft through a flange supporting bearing, an elastic retainer ring for the flange shaft is arranged on the flange shaft, a diamond-shaped groove is arranged on the outer side of the output flange, a crossed roller bearing is arranged between the output flange and the secondary shell, and the secondary shell and the rigid wheel are fixedly connected with the primary shell through bolts.

Compared with the prior art, the invention has the following beneficial effects: the transmission ratio is large, the transmission precision is high, the output torque is large, the manufacturing process is mature, the installation is convenient, the integration level is high, the market demand can be effectively met, the prospect in the transmission field is wide, and the social effect and the economic effect can be generated greatly.

Drawings

Fig. 1 is a sectional view of a high-performance rigid-flexible coupling speed reducer.

Fig. 2 is a three-dimensional view of a high performance rigid-flexible coupling reducer.

Fig. 3 is a three-dimensional view (in cross-section) of a high performance rigid-flexible coupling reducer.

FIG. 4 is an isometric view (in cross-section) of a high performance rigid-flex coupling retarder.

In fig. 1:

1. an input shaft; 2. The right planet carrier hole is provided with an elastic retainer ring;

3. the right planet carrier supports the bearing; 4. A sun gear;

5. the elastic retainer ring is used for the right side shell hole; 6. A right side main bearing;

7. a primary right side housing; 8. An inner gear ring;

9. the left planet carrier supports the bearing; 10. The elastic retainer ring is used for the left planet carrier hole;

11. a left main bearing; 12. A primary left side housing;

13. a circlip for a camshaft; 14. A compliant bearing;

15. a rigid wheel; 16. A flexible gear;

17. a secondary right side housing; 18. A crossed roller bearing;

19. a secondary left side housing; 20. An output flange;

21. a flexspline support bearing; 22. A flange support bearing;

23. a flange shaft; 24. The elastic retainer ring is used for the flange shaft;

25. a cam; 26. A left side sleeve;

27. the left planet wheel supports the bearing; 28. A primary planet wheel;

29. a right-side planet shaft support bearing; 30. A right sleeve;

31. a planet carrier; 32. Planet wheel installation axle.

Detailed Description

Embodiments of the present invention will be described with reference to the accompanying drawings, which are described below with reference to fig. 1 to 3.

A high-performance rigid-flexible coupling speed reducer comprises an input shaft 1, an elastic retainer ring 2 for a right planet carrier hole, a right planet carrier supporting bearing 3, a sun gear 4, an elastic retainer ring 5 for a right outer shell hole, a right main bearing 6, a primary right outer shell 7, an inner gear ring 8, a left planet carrier supporting bearing 9, an elastic retainer ring 10 for a left planet carrier hole, a left main bearing 11, a primary left outer shell 12, an elastic retainer ring 13 for a camshaft, a flexible bearing 14, a rigid wheel 15 and a flexible wheel 16, a secondary right-side housing 17, a cross roller bearing 18, a secondary left-side housing 19, an output flange 20, a flexible gear support bearing 21, a flange support bearing 22, a flange shaft 23, a flange shaft circlip 24, a cam 25, a left-side sleeve 26, a left-side planetary gear support bearing 27, a primary planetary gear 28, a right-side planetary gear support bearing 29, a right-side sleeve 30, a planetary carrier 31, and a planetary carrier mounting shaft 32.

The shell mainly comprises a primary right side shell 7, an inner gear ring 8, a primary left side shell 12, a rigid wheel 15, a secondary right side shell 17 and a secondary left side shell 19.

The input shaft 1 is mounted on the carrier 31 through the right side carrier support bearing 3 and the left side carrier support bearing 9, the right side carrier support bearing 3 is axially positioned through the circlip 2 for the right side carrier hole, and the left side carrier support bearing 9 is positioned through the circlip 10 for the left side carrier hole.

The sun gear 4 is mounted on the input shaft 1 in meshing engagement with the primary planet gears 28. The primary planet gears 28 are mounted on a planet mounting shaft 32 by a left planet support bearing 27 and a right planet support bearing 29, the left planet support bearing 27 being axially located by the left sleeve 26 and the right planet support bearing 29 being axially located by the right sleeve 30.

The planet carrier 31 is respectively arranged on a first-level right side shell 7 and a first-level left side shell 12 through a right side main bearing 6 and a left side main bearing 11, the first-level right side shell 7 is axially positioned through a right side shell hole by an elastic retainer ring 5, and the first-level right side shell 7, the inner gear ring 8 and the first-level left side shell 12 are connected together.

The flange shaft 23 is connected with the planet carrier 31 through bolts, the cam 25 is fixed on the flange shaft 23, the flexible bearing is fixed on the outer side of the cam 25 through the elastic retainer ring 13 for the cam shaft, the flexible gear 16 is installed on the flange shaft 23 through the flexible bearing 14 and the flexible gear supporting bearing 21, the flexible gear 16 is meshed with the rigid gear 15, and the rigid gear 15 is connected with the first-stage left shell 12.

The output flange 20 is installed on a flange shaft 23 through a flange supporting bearing 22, the flange supporting bearing 22 is axially positioned through a flange shaft elastic retainer ring 24, the output flange 20 and the flexible wheel 16 are connected together through bolts, the output flange 20 is provided with a crossed roller bearing 18, the crossed roller bearing is installed on a secondary left side shell 19 and a secondary right side shell 17, and the secondary left side shell 19 and the secondary right side shell 17 are installed with a rigid wheel 15 through bolts.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and all modifications, alterations, and equivalents of the above embodiments according to the principles of the present invention are within the scope of the present invention.