阅读说明：本技术 混合锥齿差速减速器 (Mixed bevel gear differential speed reducer ) 是由 赵晓东 于 2021-10-20 设计创作，主要内容包括：本发明是一种混合锥齿差速减速器,其涉及一种减速器,包括输出法兰部件、行星支架部件、交叉滚子轴承、固定筒部件、端板部件、压盖部件、输入轴部件。所述减速器的行星支架结构尺寸不受混合锥齿轮径向尺寸限制、承载能力大,所述减速器在体积不变的情况下额定输出转矩大,并且具备反向自锁功能,所述减速器在相同规格的产品中仅需更换部分零部件即能改变减速比,调节少齿差一、少齿差二能够在小范围内改变减速比,调节少齿差三能够在大范围内改变减速比,增加减速器减速比范围,所述减速器减速比大时能够作为精密减速器,其减速比小时能够作为通用减速器。(The invention discloses a hybrid bevel gear differential speed reducer, and relates to a speed reducer. The planetary support structure size of the speed reducer is not limited by the radial size of a hybrid bevel gear, the bearing capacity is large, the speed reducer has a large rated output torque under the condition that the size is not changed, and the speed reduction ratio is high, the speed reducer has a reverse self-locking function, the speed reduction ratio can be changed within a small range by only replacing part of parts of the speed reducer in a product with the same specification, the speed reduction ratio can be changed within a large range by adjusting the first few tooth differences and the second few tooth differences, the speed reduction ratio can be changed within a large range by adjusting the third few tooth differences, the speed reduction ratio range of the speed reducer is increased, the speed reduction ratio of the speed reducer can be used as a precise speed reducer when being large, and the speed reduction ratio of the speed reducer can be used as a general speed reducer when being small.)

1. A hybrid bevel gear differential speed reducer comprises an output flange component, a planet carrier component, a crossed roller bearing (1), a fixed cylinder component, an end plate component, a gland component and an input shaft component; the output flange part comprises an output flange (12), a second hybrid bevel gear (15), an eccentric ring (10), a third bearing (9), a fourth bearing (11) and a fifth bearing (14); the planet support component comprises a planet support (3), a planet shaft (2), a planet bearing (4), a planet bevel gear (5) and a planet shaft fixing ring (6); the crossed roller bearing (1) comprises a crossed roller bearing inner ring (56), a crossed roller bearing outer ring I (57), a crossed roller bearing outer ring II (59) and crossed arrangement rollers (60); the fixed cylinder component comprises a fixed cylinder (32), a first mixing bevel gear (33) and a sixth bearing (34); the end plate component comprises an end plate (22), a direction-changing bevel gear (20), a bearing seven (21) and a bearing I (24); the gland component comprises a gland (25) and a sealing ring (26); the input shaft part comprises an input shaft (27), a first input gear (23), a first fixing pin (28), a first positioning ring (29), a positioning sleeve (16), a second fixing pin (17), a second bearing (18), a third hybrid bevel gear (19), a second input gear (13), a first keybar (7) and a second positioning ring (8); the output flange component, the planet carrier component, the crossed roller bearing (1), the fixed cylinder component, the end plate component and the gland component are arranged in sequence along the axial direction, the crossed roller bearing inner ring (56) of the crossed roller bearing (1) is fixedly connected with the planet carrier component and the output flange component through a bolt four (61), the first crossed roller bearing outer ring (57) and the second crossed roller bearing outer ring (59) of the crossed roller bearing (1) are connected and fixed with the fixed cylinder part through a third bolt (58), the end plate component and the fixed cylinder component are fixedly connected through a second bolt (31), the gland component and the end plate component are fixedly connected through a first bolt (30), and the input shaft component is respectively arranged on the radial inner sides of the output flange component, the planet carrier component, the crossed roller bearing (1), the fixed cylinder component, the end plate component and the gland component;

in the speed reducer, an output flange (12), a planet support (3) and a crossed roller bearing inner ring (56) are fixedly connected to form an output end, a crossed roller bearing outer ring I (57), a crossed roller bearing outer ring II (59), a fixed cylinder (32), an end plate (22) and a gland (25) are fixedly connected to form a fixed end, and an input gear II (13), an input gear I (23) and an input shaft (27) are fixedly connected to form an input end; the output flange (12), the crossed roller bearing (1) and the fixed cylinder (32) are coaxial with the planet carrier (3) by taking the axis (37) of the planet carrier as a reference, and the mixing bevel gear II (15) and the mixing bevel gear I (33) are coaxial with the planet carrier (3); the input gear II (13), the input gear I (23), the mixing bevel gear III (19) and the input shaft (27) are coaxial with each other by taking the axis (48) of the input shaft as a reference; an eccentric distance delta h is reserved between the axis (37) of the planet carrier and the axis (48) of the input shaft, an eccentric distance delta h is reserved between the axis (100) of the outer surface of the eccentric ring (10) and the axis (99) of the inner surface of the eccentric ring, when the speed reducer operates, the output flange (12) and the planet carrier (3) rotate to any angle, and the eccentric distance delta h reserved between the axis (37) of the planet carrier and the axis (48) of the input shaft is offset by the eccentric ring (10);

the first mixing bevel gear (33), the second mixing bevel gear (15) and the third mixing bevel gear (19) are respectively provided with a cylindrical gear tooth and a conical gear tooth, and the cylindrical gear tooth and the conical gear tooth are coaxial; the outer teeth one (75) of the mixing bevel gear one (33) are conical teeth, the inner teeth one (76) of the mixing bevel gear one (33) are cylindrical teeth, and the inner teeth one (76) are an internal gear; the second outer gear teeth (64) of the second mixing bevel gear (15) are conical gear teeth, the second inner gear teeth (63) of the second mixing bevel gear (15) are cylindrical gear teeth, and the second inner gear teeth (63) are an internal gear; the outer gear teeth III (91) of the mixing bevel gear III (19) are cylindrical gear teeth, and the inner gear teeth III (93) of the mixing bevel gear III (19) are conical gear teeth; the input gear I (23) is conical gear teeth, the input gear II (13) is cylindrical gear teeth, the direction changing bevel gear (20) is conical gear teeth, and the planetary bevel gear (5) is conical gear teeth;

the planetary bevel gear (5) is installed on the radial inner side of the planet support (3) through the planet shaft (2), the number of teeth of a second outer gear tooth (64) of the second mixing bevel gear (15) is equal to the number of teeth of a first outer gear tooth (75) of the first mixing bevel gear (33), the planetary bevel gear (5) is located between the second mixing bevel gear (15) and the first mixing bevel gear (33) in the axial direction, and the planetary bevel gear (5) is meshed with a second outer gear tooth (64) of the second mixing bevel gear (15) and a first outer gear tooth (75) of the first mixing bevel gear (33) respectively; the input gear II (13) and the input gear I (23) are fixedly arranged at two axial ends of the input shaft (27), the mixing bevel gear III (19) is arranged at the axial middle position of the input shaft (27) through a bearing II (18), the outer gear teeth III (91) of the mixing bevel gear III (19) are meshed with the inner gear teeth I (76) of the mixing bevel gear I (33), and the input gear II (13) is meshed with the inner gear teeth II (63) of the mixing bevel gear II (15); the direction-changing bevel gear (20) is arranged on the radial inner side of the end plate (22) through a bearing seven (21), the direction-changing bevel gear (20) is positioned between the third mixing bevel gear (19) and the first input gear (23) in the axial direction, and the direction-changing bevel gear (20) is respectively meshed with the third inner gear (93) of the third mixing bevel gear (19) and the first input gear (23);

the tooth number of the inner side gear tooth II (63) of the second mixing bevel gear (15) and the tooth number of the inner side gear tooth I (76) of the first mixing bevel gear (33) are in a small tooth difference corresponding relation, the difference between the tooth number of the inner side gear tooth II (63) and the tooth number of the inner side gear tooth I (76) is defined as a small tooth difference I, the tooth number of the input gear II (13) and the tooth number of the outer side gear tooth III (91) of the third mixing bevel gear (19) are in a small tooth difference corresponding relation, and the difference between the tooth number of the input gear II (13) and the tooth number of the outer side gear tooth III (91) is defined as a small tooth difference II;

a first meshing eccentric distance is reserved between the axis of the first mixing bevel gear (33) and the axis of the third mixing bevel gear (19), and a second meshing eccentric distance is reserved between the axis of the second mixing bevel gear (15) and the axis of the second input gear (13); when the meshing eccentric distance I is equal to the meshing eccentric distance II and is equal to the eccentric distance delta h between the axis (37) of the planet carrier and the axis (48) of the input shaft, the assembly condition of the speed reducer is met;

the modulus of the inner gear teeth I (76) of the first mixing bevel gear (33) and the modulus of the outer gear teeth III (91) of the third mixing bevel gear (19) are modulus one, the difference between the number of the inner gear teeth I (76) of the first mixing bevel gear (33) and the number of the outer gear teeth III (91) of the third mixing bevel gear (19) is defined as an eccentric distance tooth difference one, and the meshing eccentric distance one is equal to half of the product of the eccentric distance tooth difference one and the modulus one; the modulus of the inner gear teeth II (63) of the second mixing bevel gear (15) and the modulus of the second input gear (13) are a modulus II, the difference between the number of the inner gear teeth II (63) of the second mixing bevel gear (15) and the number of the input gear II (13) is defined as an eccentric distance gear difference II, and the meshing eccentric distance II is equal to half of the product of the eccentric distance gear difference II and the modulus II;

the input torque of the speed reducer is transmitted to a planetary bevel gear (5) through two torque transmission channels, the path of the first torque transmission channel is that the input torque is transmitted to a first hybrid bevel gear (33) sequentially through an input shaft (27), a first fixed pin (28), a first input gear (23), a first direction-changing bevel gear (20) and a third hybrid bevel gear (19), the path of the second torque transmission channel is that the input torque is transmitted to a second hybrid bevel gear (15) sequentially through the input shaft (27), a first keybar (7) and a second input gear (13), and the speed reducer changes the rotation direction of the input torque in the first torque transmission channel through the direction-changing bevel gear (20), so that the rotation direction (49) of the first hybrid bevel gear is opposite to the rotation direction (35) of the second hybrid bevel gear;

if the number of the inner gear teeth III (93) of the third mixing bevel gear (19) is equal to that of the input gear I (23), the rotating speed of the third mixing bevel gear (19) is equal to that of the input gear II (13), the rotating speed of the second mixing bevel gear (15) is not equal to that of the first mixing bevel gear (33) due to the factors of the small tooth difference I and the small tooth difference II, the difference between the rotating speed of the second mixing bevel gear (15) and the rotating speed of the first mixing bevel gear (33) is small, the second mixing bevel gear (15) and the first mixing bevel gear (33) drive the planetary bevel gear (5) to rotate together, the planetary bevel gear (5) also revolves around the planetary support axis (37) while the planetary bevel gear (5) rotates around the planetary shaft axis (42), the planetary bevel gear (5) drives the planetary support (3) to rotate at a low speed, and the rotating speed of the planetary support (3) is equal to the difference between the rotating speed of the second mixing bevel gear (15) and the rotating speed of the first mixing bevel gear (33) The planet carrier (3) transmits output torque to a load device sequentially through a bolt IV (61) and an output flange (12);

if the tooth number of an inner side gear tooth III (93) of the mixing bevel gear III (19) is not equal to the tooth number of the input gear I (23), the rotating speed of the mixing bevel gear III (19) is not equal to the rotating speed of the input gear II (13), and the difference between the rotating speed of the mixing bevel gear II (15) and the rotating speed of the mixing bevel gear I (33) is further increased by the factors of the small tooth difference I and the small tooth difference II, at the moment, the reduction ratio of the speed reducer is smaller than the reduction ratio of the inner side gear tooth III (93) with the tooth number equal to the tooth number of the input gear I (23);

if the number of the inner side gear teeth III (93) is not equal to that of the input gear I (23), the difference between the number of the inner side gear teeth III (93) and that of the input gear I (23) is defined as a small gear difference III, the reduction ratio range of the speed reducer can be increased by respectively adjusting the small gear difference I, the small gear difference II and the small gear difference III, and the numerical value of the reduction ratio increased or reduced due to the adjustment of the small gear difference I and the small gear difference II is smaller than the numerical value of the reduction ratio increased or reduced due to the adjustment of the small gear difference III;

when the number of teeth of the inner side gear teeth III (93) is not equal to that of the input gear I (23), the axis (45) of the direction change bevel gear is not perpendicular to the axis (48) of the input shaft, an included angle alpha is formed between the axis (45) of the direction change bevel gear and the vertical line (98) of the input shaft, and at the moment, only the mixing bevel gear III (19), the direction change bevel gear (20), the input gear I (23) and the end plate (22) need to be replaced in products with the same specification of the speed reducer;

when the reverse torque generated by a load device in application of the speed reducer is larger than the output torque of the speed reducer, the reverse torque enables the output flange (12) to have a rotating trend, the reverse torque sequentially passes through the output flange (12), the bolt four (61), the planet support (3), the planet shaft (2), the planet bearing (4) and the planet bevel gear (5) to respectively drive the hybrid bevel gear II (15) and the hybrid bevel gear I (33), the reverse torque direction (51) of the hybrid bevel gear II and the reverse torque direction (54) of the hybrid bevel gear I are the same as the reverse torque direction (52) of the planet support, the reverse torque sequentially passes through the hybrid bevel gear II (15), the input gear II (13) and the input shaft (27) to drive the input gear I (23) to rotate along the reverse torque direction (53) of the input shaft, and the reverse torque direction (53) of the input shaft is the same as the reverse torque direction (52) of the planet support, meanwhile, the reverse moment drives the hybrid bevel gear III (19) to rotate along the input shaft reverse moment direction (53) through the hybrid bevel gear I (33), the reverse moment drives the change bevel gear (20) to rotate along the input shaft reverse moment direction (53) around the input shaft axis (48) through the input gear I (23) and the hybrid bevel gear III (19), the change bevel gear (20) is installed on the radial inner side of the end plate (22) through a bearing seven (21), the change bevel gear (20) only has one degree of freedom of rotation around the change bevel gear axis (45), the end plate (22) is a reducer fixing end part, and the end plate (22) prevents the reverse moment from driving the output flange (12) to rotate through the bevel gear (20), so that reverse self-locking of the reducer is realized;

the other end of the mixing bevel gear I (33) which is radially outside and has no outer gear teeth I (75) is a gear teeth journal I (77); the other end of the radial outer side of the second mixing bevel gear (15) without the second outer gear tooth (64) is a second gear tooth journal (62); a third shaft hole (103) is formed in the radial middle of the third mixing bevel gear (19), and a gear bearing mounting hole (92) is formed in the radial inner side of the other end, without the third inner gear (93), of the third mixing bevel gear (19); a first shaft hole (101) is formed in the radial middle of the first input gear (23), and a first radial gear pin hole (94) is formed in the radial outer surface of the first input gear (23); a second shaft hole (102) is formed in the radial middle of the second input gear (13), and an inner key groove (95) is formed in the inner surface of the second shaft hole (102); the other end of the radial outer side of the direction-changing bevel gear (20) without the conical gear teeth is a gear tooth journal III (96); a shaft hole IV (104) is arranged in the radial middle of the planetary bevel gear (5); the planetary bearing (4) is a thrust needle roller combined bearing or a flanging type shaft sleeve, if the planetary bearing (4) is the flanging type shaft sleeve, the radial middle part of the planetary bearing is provided with a shaft hole five (105), and one axial end of the planetary bearing is provided with an annular stopping shaft shoulder I (97); the second bearing (18) is a thrust needle roller combined bearing or a flanging type shaft sleeve, if the second bearing (18) is the thrust needle roller combined bearing, one axial end of the second bearing is the thrust bearing, and the other axial end of the second bearing is the needle roller bearing; the first positioning ring (29) and the second positioning ring (8) are annular; the input shaft (27) is cylindrical, a first input shaft journal (89) and a second input shaft journal (85) are respectively arranged at two ends of the input shaft (27), a first external keyway (90) is arranged on the radial external surface of the first input shaft journal (89), a second external keyway (86) is arranged on the radial external surface of the input shaft (27) close to the second input shaft journal (85), and a second input shaft pin hole (87) and a first input shaft pin hole (88) are sequentially arranged on the radial external surface of the input shaft (27) between the second external keyway (86) and the first external keyway (90); the positioning sleeve (16) is cylindrical, an annular stop shaft shoulder II is arranged at one axial end of the positioning sleeve (16), and a radial positioning sleeve pin hole II is formed in the radial outer surface of the positioning sleeve (16); a radial outer surface at one axial end of the eccentric ring (10) is provided with a ring-shaped stop shaft shoulder III (106), and a radial inner surface at the other axial end of the eccentric ring (10) is provided with a ring-shaped stop shoulder I (107);

the output flange (12) is in a cylinder shape with one closed end, a plurality of internal thread holes four (55) are uniformly distributed on the edges of two axial end faces of the output flange, a bearing four (11) and a bearing five (14) are sequentially arranged in the inner cavity of the output flange (12) from the closed end to the axial outer side, the eccentric ring (10) is arranged on the radial inner side of the bearing four (11), a bearing three (9) is arranged on the radial inner side of the eccentric ring (10), a stop shoulder I (107) of the eccentric ring (10) is positioned at one end of the axial inner side of the output flange (12), a gear tooth journal II (62) of the hybrid bevel gear II (15) is arranged on the radial inner side of the bearing five (14), the axes of the bearing four (11), the bearing five (14) and the hybrid bevel gear II (15) are coincident with the axis of the output flange (12), namely the axes of the bearing four (11), the bearing five (14) and the hybrid bevel gear II (15) are coincident with the axis of the planet support (37), an outer surface axis (100) of the eccentric ring is coincided with an axis (37) of the planet carrier, an input shaft journal II (85) of the input shaft (27) is installed on the radial inner side of the bearing III (9), then an inner surface axis (99) of the eccentric ring is coincided with an axis (48) of the input shaft, and an eccentric distance delta h between the outer surface axis (100) of the eccentric ring (10) and the inner surface axis (99) of the eccentric ring is equal to an eccentric distance delta h between the axis (37) of the planet carrier and the axis (48) of the input shaft;

the planet carrier (3) is annular, a plurality of carrier mounting planes (65) are uniformly distributed on the radial inner surface of the planet carrier (3), a planet shaft fixing hole I (66) is formed in the center of each carrier mounting plane (65), a carrier flange (69) is arranged on the radial outer side of one axial end of the planet carrier (3), a carrier convex spigot (67) is formed in the end face of the carrier flange (69), and a plurality of bolt holes IV (68) are uniformly distributed on the edge of the end face of the carrier flange (69); a plurality of planet shaft fixing holes II are uniformly distributed on the radial outer surface of the planet shaft fixing ring (6); one end of a planet shaft (2) is fixedly arranged in a planet shaft fixing hole I (66) of a planet support (3), the other end of the planet shaft (2) is fixedly arranged in a planet shaft fixing hole II of a planet shaft fixing ring (6), the middle part of the planet shaft (2) is arranged in a shaft hole V (105) of a planet bearing (4), the planet bearing (4) is arranged in a shaft hole IV (104) of a planet bevel gear (5), the planet bearing (4) is a flanging type shaft sleeve, a stop shaft shoulder I (97) of the planet bearing (4) is positioned at one end, without gear teeth, of the planet bevel gear (5), the end surface of the stop shaft shoulder I (97) of the planet bearing (4) is in contact installation with a support mounting plane (65) of the planet support (3), and the planet bevel gear (5) and the planet bearing (4) can rotate around a planet shaft axis (42);

the fixed cylinder (32) is annular, a fixed cylinder flange (74) is arranged on the radial outer side of one axial end of the fixed cylinder (32), a fixed cylinder concave spigot I (73) is arranged on the edge of the end face of the fixed cylinder flange (74), a plurality of internal thread holes III (72) are uniformly distributed on the end face of the fixed cylinder flange (74), a bearing mounting groove (70) is formed in the radial inner side of the fixed cylinder flange (74), and a plurality of internal thread holes II (71) are uniformly distributed on the other axial end of the fixed cylinder (32); a bearing six (34) is arranged in a bearing installation groove (70) of the fixed cylinder (32), a gear tooth journal I (77) of the mixing bevel gear I (33) is arranged on the radial inner side of the bearing six (34), the axes of the bearing six (34) and the mixing bevel gear I (33) are coincident with the axis of the fixed cylinder (32), namely the axes of the bearing six (34) and the mixing bevel gear I (33) are coincident with the axis (37) of the planet carrier;

the end plate (22) is annular, a plurality of bolt holes II (82) are uniformly distributed in the edge of the end face of the end plate (22), an end plate female spigot (84) is arranged at one axial end of the end plate (22), a plurality of internal thread holes I (83) are uniformly distributed in the end plate female spigot (84), an end plate male spigot (81) is arranged at the other axial end of the end plate (22), one or a plurality of end plate fixing bosses (79) are arranged on the axial end face of the end plate male spigot (81), each end plate fixing boss (79) is provided with a radial boss bearing mounting hole (80), a bearing seven (21) is mounted in each boss bearing mounting hole (80), a gear tooth journal III (96) of the direction-changing bevel gear (20) is mounted on the radial inner side of the bearing seven (21), the gear tooth of the direction-changing bevel gear (20) is close to the axis of the end plate (22), and the bearing I (24) is mounted on the radial inner side of the end plate (22); the gland (25) is annular, a plurality of bolt holes I (78) are uniformly distributed on the edge of the end face of the gland (25), and the sealing ring (26) is arranged on the radial inner side of the gland (25);

a second positioning ring (8), a second input gear (13), a second positioning sleeve (16), a second bearing (18), a third hybrid bevel gear (19), a first input gear (23) and a first positioning ring (29) are sequentially arranged on the radial outer surface of the input shaft (27) from the second input shaft journal (85) to the first input shaft journal (89), a first keybar (7) is respectively arranged in a second outer keyway (86) of the input shaft (27) and an inner keyway (95) of the second input gear (13), a second fixing pin (17) is respectively arranged and fixed in a second positioning sleeve pinhole (17) of the positioning sleeve (16) and a second input shaft pinhole (87) of the input shaft (27), the second bearing (18) is a needle roller thrust combination bearing, a needle roller bearing of the second bearing (18) is arranged in a gear bearing mounting hole (92) of the third hybrid bevel gear (19), and a thrust bearing of the second bearing (18) is positioned at one axial end of a third outer gear tooth (91) of the third hybrid bevel gear (19), a thrust bearing of the bearing II (18) is in contact installation with a stop shaft shoulder II of the positioning sleeve (16), and a fixing pin I (28) is respectively installed and fixed in a gear pin hole I (94) of the input gear I (23) and an input shaft pin hole I (88) of the input shaft (27);

after the speed reducer is assembled, an input shaft journal I (89) of an input shaft (27) penetrates through a through hole in the radial middle of a gland (25) and a sealing ring (26), the input shaft journal I (89) of the input shaft (27) is positioned on the axial outer side of the gland (25), the sealing ring (26) is in contact installation with the outer surface of the input shaft (27), the gland (25) is installed in an end plate concave spigot (84) of an end plate (22), a bolt I (30) is respectively installed and fixed in a bolt hole I (78) of the gland (25) and an internal thread hole I (83) of the end plate (22), a bolt II (31) is respectively installed and fixed in a bolt hole II (82) of the end plate (22) and an internal thread hole II (71) of a fixed cylinder (32), a bolt III (58) is respectively installed and fixed in a bearing bolt hole I (57) of a crossed roller bearing outer ring II (59) and an internal thread hole III (72) of the fixed cylinder (32), and a fourth bolt (61) is respectively installed and fixed in a bearing bolt hole of the crossed roller bearing inner ring (56), a bolt hole fourth (68) of the planet carrier (3) and an internal thread hole fourth (55) of the output flange (12).

Technical Field

The invention discloses a hybrid bevel differential speed reducer, relates to a speed reducer, and particularly relates to a hybrid bevel differential speed reducer with a planetary support and an output flange positioned on the radial outer side of a hybrid bevel gear and with a large rated output torque.

Background

The reduction ratio of the hybrid bevel differential speed reduction mechanism of application publication No. CN109764108A and the parallel shaft hybrid bevel differential speed reduction mechanism of application publication No. CN109737185A is large, can be used as a precision reducer to be applied to small-sized joint robots, the field of intelligent equipment, the planetary support is positioned at the radial inner side of the hybrid bevel gear III and the hybrid bevel gear IV in the technical scheme, the output shaft is connected with the planetary support through the planetary shaft, the structural size of the output shaft, the planetary shaft and the planetary support is limited by the radial size of the hybrid bevel gear III and the radial size of the hybrid bevel gear IV, the bearing capacity of the above parts is small, and the rated output torque is small under the condition that the size of the reducer is not changed.

The operating state of the speed reducer is that under the condition of constant input power, the output torque is inversely proportional to the output rotating speed, when the speed reducer with large reduction ratio works, the output rotating speed is small, the output torque is large, and the rated output torque of the speed reducer is required to be larger than the output torque when the speed reducer works. The above prior art solution is only suitable for equipment systems with small output torque and large reduction ratio, such as index heads requiring precise positioning.

If the mechanical structure of the above prior art is changed to make the planet carrier located at the radial outer side of the hybrid bevel gear, the limitation of the structural size of the planet carrier to the radial size of the hybrid bevel gear is avoided, and the rated output torque of the improved technical scheme is large under the condition that the size of the speed reducer is not changed, so that the improved technical scheme is suitable for an equipment system with large output torque and large speed reduction ratio, for example, the improved technical scheme is applied to the fields of large-scale joint robots and intelligent equipment as a precision speed reducer. If the improved technical scheme can change the reduction ratio by only replacing parts in products with the same specification, the improved technical scheme is also suitable for large equipment systems with large output torque and small reduction ratio, and is applied to various industries as a universal speed reducer.

The market share of the precision speed reducer only accounts for five percent in the speed reducer product market structure, and if the precision speed reducer is researched and developed by replacing the RV speed reducer and the harmonic speed reducer, research and development cost of a research and development mechanism is extremely high. If the improved technical scheme has large rated output torque and large reduction ratio range under the condition that the size of the speed reducer is not changed, the improved technical scheme not only can be used as a precision speed reducer to be applied to the fields of joint robots and intelligent equipment, but also can be used as a universal speed reducer to be applied to various industries, and the research and development cost, the production cost and the equipment cost are amortized in the huge requirements of various industries on the universal speed reducer, so that a vicious circle that the research and development mechanism increases the research and development investment and weakens the profitability is avoided.

Disclosure of Invention

The invention aims to overcome the defects that the structure size of a planet support is limited by the radial size of a hybrid bevel gear and the bearing capacity of parts is small in the prior art, so that the rated output torque is small in the prior art under the condition that the size of a speed reducer is not changed, and provides the technical scheme of the speed reducer, which has the advantages that the rated output torque is large under the condition that the size of the speed reducer is not changed, the speed reduction ratio can be changed only by replacing part of parts in products with the same specification, the speed reduction ratio can be used as a precision speed reducer when the speed reduction ratio is large, the speed reducer can be used as a universal speed reducer when the speed reduction ratio is small, and the speed reducer has a reverse self-locking function. The embodiments of the present invention are as follows:

the speed reducer comprises an output flange component, a planet support component, a crossed roller bearing, a fixed cylinder component, an end plate component, a gland component and an input shaft component. The output flange part comprises an output flange, a second hybrid bevel gear, an eccentric ring, a third bearing, a fourth bearing and a fifth bearing. The planet support component comprises a planet support, a planet shaft, a planet bearing, a planet bevel gear and a planet shaft fixing ring. The crossed roller bearing comprises a crossed roller bearing inner ring, a crossed roller bearing outer ring I, a crossed roller bearing outer ring II and crossed arrangement rollers. The fixed cylinder component comprises a fixed cylinder, a first mixing bevel gear and a sixth bearing. The end plate component comprises an end plate, a direction-changing bevel gear, a bearing seven and a bearing I. The gland part comprises a gland and a sealing ring. The input shaft part comprises an input shaft, a first input gear, a first fixing pin, a first positioning ring, a positioning sleeve, a second fixing pin, a second bearing, a third hybrid bevel gear, a second input gear, a first key bar and a second positioning ring. The output flange component, the planet carrier component, the crossed roller bearing, the fixed cylinder component, the end plate component and the gland component are sequentially arranged along the axial direction, the crossed roller bearing inner ring of the crossed roller bearing is fixedly connected with the planet carrier component and the output flange component through four bolts, the crossed roller bearing outer ring I and the crossed roller bearing outer ring II of the crossed roller bearing are fixedly connected with the fixed cylinder component through three bolts, the end plate component is fixedly connected with the fixed cylinder component through two bolts, the gland component is fixedly connected with the end plate component through one bolt, and the input shaft component is respectively arranged at the radial inner sides of the output flange component, the planet carrier component, the crossed roller bearing, the fixed cylinder component, the end plate component and the gland component.

In the speed reducer, an output flange, a planet support and a crossed roller bearing inner ring are fixedly connected to form an output end, a crossed roller bearing outer ring I, a crossed roller bearing outer ring II, a fixed cylinder, an end plate and a gland are fixedly connected to form a fixed end, and an input gear II, an input gear I and an input shaft are fixedly connected to form an input end. And the output flange, the crossed roller bearing and the fixed cylinder are coaxial with the planet support by taking the axis of the planet support as a reference, and the second mixing bevel gear and the first mixing bevel gear are coaxial with the planet support. And the input gear II, the input gear I and the mixing bevel gear III are coaxial with the input shaft by taking the axis of the input shaft as a reference. An eccentric distance delta h is formed between the axis of the planet carrier and the axis of the input shaft, an eccentric distance delta h is formed between the axis of the outer surface of the eccentric ring and the axis of the inner surface of the eccentric ring, when the speed reducer operates, the output flange and the planet carrier rotate to any angle, and the eccentric distance delta h between the axis of the planet carrier and the axis of the input shaft is offset by the eccentric ring.

The first mixing bevel gear, the second mixing bevel gear and the third mixing bevel gear are respectively provided with a cylindrical gear tooth and a conical gear tooth, and the cylindrical gear tooth and the conical gear tooth are coaxial. The outer gear teeth of the first mixing bevel gear are conical gear teeth, the inner gear teeth of the first mixing bevel gear are cylindrical gear teeth, and the inner gear teeth are an internal gear. The second outer side gear teeth of the second mixing bevel gear are conical gear teeth, the second inner side gear teeth of the second mixing bevel gear are cylindrical gear teeth, and the second inner side gear teeth are an internal gear. And the outer gear teeth III of the third mixing bevel gear are cylindrical gear teeth, and the inner gear teeth III of the third mixing bevel gear are conical gear teeth. The input gear is conical gear teeth, the input gear is cylindrical gear teeth, the direction changing bevel gear is conical gear teeth, and the planet bevel gear is conical gear teeth.

The planetary bevel gear is installed on the radial inner side of the planetary support through the planetary shaft, the number of teeth of the second outer side gear teeth of the second mixing bevel gear is equal to the number of teeth of the first outer side gear teeth of the first mixing bevel gear, the planetary bevel gear is located between the second mixing bevel gear and the first mixing bevel gear in the axial direction, and the planetary bevel gear is meshed with the second outer side gear teeth of the second mixing bevel gear and the first outer side gear teeth of the first mixing bevel gear respectively. The input gear II and the input gear I are fixedly arranged at two axial ends of the input shaft, the hybrid bevel gear III is arranged at the middle position of the input shaft in the axial direction through a bearing II, the outer gear teeth III of the hybrid bevel gear III are meshed with the inner gear teeth I of the hybrid bevel gear I, and the input gear II is meshed with the inner gear teeth II of the hybrid bevel gear II. And the direction-changing bevel gear is arranged on the radial inner side of the end plate through a bearing seven, is positioned between the third mixing bevel gear and the first input gear in the axial direction, and is respectively meshed with the third inner gear tooth of the third mixing bevel gear and the first input gear.

The number of the second internal gear teeth of the second mixing bevel gear and the number of the first internal gear teeth of the first mixing bevel gear are in a small tooth difference corresponding relationship, the difference between the number of the second internal gear teeth and the number of the first internal gear teeth is defined as a small tooth difference, the number of the second input gear teeth and the number of the third external gear teeth of the third mixing bevel gear are in a small tooth difference corresponding relationship, and the difference between the number of the second input gear teeth and the number of the third external gear teeth is defined as a small tooth difference.

And a first meshing eccentric distance is arranged between the first axis of the mixing bevel gear and the third axis of the mixing bevel gear, and a second meshing eccentric distance is arranged between the second axis of the mixing bevel gear and the second axis of the input gear. And when the meshing eccentric distance I is equal to the meshing eccentric distance II and is equal to the eccentric distance delta h between the axis of the planet carrier and the axis of the input shaft, the assembly condition of the speed reducer is met.

The modulus of the inner gear teeth I of the first mixing bevel gear and the modulus of the outer gear teeth III of the third mixing bevel gear are modulus one, the difference between the number of the inner gear teeth I of the first mixing bevel gear and the number of the outer gear teeth III of the third mixing bevel gear is defined as the eccentric distance gear difference one, and the meshing eccentric distance one is equal to half of the product of the eccentric distance gear difference one and the modulus one. And the modulus of the second inner side gear tooth of the second mixing bevel gear and the modulus of the second input gear are a modulus two, the difference between the number of the second inner side gear tooth of the second mixing bevel gear and the number of the second input gear tooth is defined as an eccentric distance tooth difference two, and the meshing eccentric distance two is equal to half of the product of the eccentric distance tooth difference two and the modulus two.

The input torque of the speed reducer is transmitted to the planetary bevel gear by two torque transmission channels, the path of the first torque transmission channel is that the input torque is transmitted to the first hybrid bevel gear sequentially through the input shaft, the first fixed pin, the first input gear, the first direction-changing bevel gear and the third hybrid bevel gear, the path of the second torque transmission channel is that the input torque is transmitted to the second hybrid bevel gear sequentially through the input shaft, the first key bar and the second input gear, and the speed reducer changes the rotation direction of the input torque in the first torque transmission channel by the aid of the direction-changing bevel gear so that the rotation direction of the first hybrid bevel gear is opposite to that of the second hybrid bevel gear.

If the number of the third teeth on the inner side of the third mixing bevel gear is equal to the number of the first teeth on the input gear, the rotating speed of the third mixing bevel gear is equal to the rotating speed of the second input gear, and the rotating speed of the second mixing bevel gear is not equal to the rotating speed of the first mixing bevel gear due to the factors of the first small tooth difference and the second small tooth difference, the difference between the rotating speed of the second mixing bevel gear and the rotating speed of the first mixing bevel gear is small, the second mixing bevel gear and the first mixing bevel gear drive the planetary bevel gears to rotate together, the planetary bevel gears rotate around the axis of the planetary shaft, the planet bevel gear also revolves around the axis of the planet support, the planet bevel gear drives the planet support to rotate at a low rotating speed, the rotating speed of the planet support is equal to half of the difference between the second rotating speed of the mixing bevel gear and the first rotating speed of the mixing bevel gear, and the planet support transmits output torque to the load device through the fourth bolt and the output flange in sequence.

If the number of the three inner side gear teeth of the third mixing bevel gear is not equal to the number of the first input gear teeth, the rotating speed of the third mixing bevel gear is not equal to the rotating speed of the second input gear, and the difference between the rotating speed of the second mixing bevel gear and the rotating speed of the first mixing bevel gear is further increased by the factor of the first small gear difference and the second small gear difference, at this moment, the reduction ratio of the speed reducer is smaller than the reduction ratio of the third inner side gear teeth and the first input gear teeth.

If the number of the three inner gear teeth is not equal to the number of the one input gear, the difference between the number of the three inner gear teeth and the number of the one input gear is defined as a small gear difference three, the reduction ratio range of the speed reducer can be increased by adjusting the small gear difference one, the small gear difference two and the small gear difference three respectively, and the reduction ratio is increased or decreased by adjusting the small gear difference one and the small gear difference two to be smaller than the reduction ratio increased or decreased by adjusting the small gear difference three.

When the number of the three teeth of the inner side gear teeth is not equal to the number of the one teeth of the input gear, the axis of the change bevel gear is not perpendicular to the axis of the input shaft, an included angle alpha is formed between the axis of the change bevel gear and the vertical line of the input shaft, and at the moment, only the third change bevel gear, the first input gear and the end plate need to be replaced in products with the same specification of the speed reducer.

When the reverse torque generated by the load device in application of the speed reducer is larger than the output torque of the speed reducer, the reverse torque enables the output flange to have a rotating trend, the reverse torque sequentially passes through the output flange, the bolt IV, the planet support, the planet shaft, the planet bearing and the planet bevel gear to respectively drive the mixing bevel gear II and the mixing bevel gear I, the reverse torque direction of the mixing bevel gear II and the reverse torque direction of the mixing bevel gear I are the same as the reverse torque direction of the planet support, the reverse torque sequentially passes through the mixing bevel gear II, the input gear II and the input shaft to drive the input gear I to rotate along the reverse torque direction of the input shaft, the reverse torque direction of the input shaft is the same as the reverse torque direction of the planet support, meanwhile, the reverse torque drives the mixing bevel gear III to rotate along the reverse torque direction of the input shaft through the mixing bevel gear I, and the mixing bevel gear III to respectively drive the change bevel gear around the axis of the input shaft through the input gear I and the change bevel gear III The direction of the reverse moment is rotated, the direction-changing bevel gear is arranged on the radial inner side of the end plate through the bearing seven, the direction-changing bevel gear only has one degree of freedom rotating around the axis of the direction-changing bevel gear, the end plate is a part at the fixed end of the speed reducer, and the end plate prevents the reverse moment from driving the output flange to rotate through the direction-changing bevel gear, so that the reverse self-locking of the speed reducer is realized.

The other end of the radially outer side of the mixing bevel gear without the outer gear teeth I is the gear teeth journal I. And the other end of the radial outer side of the second mixing bevel gear without the second outer gear is a second gear journal. And a third shaft hole is formed in the radial middle of the third mixing bevel gear, and a gear bearing mounting hole is formed in the radial inner side of the other end of the third mixing bevel gear, which is not provided with the third inner gear teeth. A first axial hole is formed in the radial middle of the input gear, and a first radial gear pin hole is formed in the radial outer surface of the input gear. The second radial middle of the input gear is provided with a second shaft hole, and the inner surface of the second shaft hole is provided with an inner key groove. And the other end of the radial outer side of the direction-changing bevel gear, which is not provided with the conical gear teeth, is a gear tooth journal III. The radial middle of the planet bevel gear is provided with a shaft hole IV. The planet bearing is a thrust needle roller combined bearing or a flanging type shaft sleeve, if the planet bearing is the flanging type shaft sleeve, a shaft hole five is arranged in the radial middle of the planet bearing, and an annular stop shaft shoulder I is arranged at one axial end of the planet bearing. The second bearing is a thrust needle roller combined bearing or a flanging type shaft sleeve, if the second bearing is the thrust needle roller combined bearing, one axial end of the second bearing is the thrust bearing, and the other axial end of the second bearing is the needle roller bearing. The first positioning ring and the second positioning ring are annular. The input shaft is cylindrical, the two ends of the input shaft are respectively provided with a first input shaft journal and a second input shaft journal, the radial outer surface of the first input shaft journal is provided with a first outer key groove, the radial outer surface of the input shaft, close to the second input shaft journal, is provided with a second outer key groove, and the radial outer surface of the input shaft between the second outer key groove and the first outer key groove is sequentially provided with a second input shaft pin hole and a first input shaft pin hole. The positioning sleeve is cylindrical, an annular stop shaft shoulder II is arranged at one axial end of the positioning sleeve, and a radial positioning sleeve pin hole II is formed in the radial outer surface of the positioning sleeve. The radial outer surface of one axial end of the eccentric ring is provided with a third annular stop shaft shoulder, and the radial inner surface of the other axial end of the eccentric ring is provided with a first annular stop shoulder.

The output flange is a cylinder with one closed end, a plurality of internal thread holes IV are uniformly distributed on the edges of two axial end faces of the output flange, a bearing IV and a bearing V are sequentially arranged in the inner cavity of the output flange from the closed end to the axial outer side, the eccentric ring is arranged on the radial inner side of the bearing IV, the bearing III is arranged on the radial inner side of the eccentric ring, a stop shoulder of the eccentric ring is positioned at one end of the axial inner side of the output flange, a gear tooth journal II of the mixing bevel gear II is arranged on the radial inner side of the bearing V, the axes of the bearing IV, the bearing V and the mixing bevel gear II are coincided with the axis of the output flange, namely the axes of the bearing IV, the bearing V and the mixing bevel gear II are coincided with the axis of the planet support, the outer surface axis of the eccentric ring is coincided with the axis of the planet support, the inner surface axis of the eccentric ring is arranged on the radial inner side of the bearing III, and the eccentric distance delta h between the outer surface axis of the eccentric ring is equal to the axis of the planet support and the axis of the input shaft The eccentric distance deltah between the shaft axes.

The planet support is annular, and the radial internal surface equipartition of planet support a plurality of support mounting plane, and there is a planet axle fixed orifices one at each support mounting plane center, and there is the support flange radial outside of planet support axial one end, and support flange terminal surface has the support tang, and support flange terminal surface edge equipartition a plurality of bolt hole is four. And a plurality of second planet shaft fixing holes are uniformly distributed on the radial outer surface of the planet shaft fixing ring. One end of the planet shaft is fixedly arranged in a first planet shaft fixing hole of the planet support, the other end of the planet shaft is fixedly arranged in a second planet shaft fixing hole of the planet shaft fixing ring, the middle part of the planet shaft is arranged in a fifth shaft hole of the planet bearing, the planet bearing is arranged in a fourth shaft hole of the planet bevel gear, if the planet bearing is a flanging type shaft sleeve, a stop shaft shoulder of the planet bearing is positioned at one end of the planet bevel gear, which does not have gear teeth, one end surface of the stop shaft shoulder of the planet bearing is in contact with a support mounting plane of the planet support, and the planet bevel gear and the planet bearing can rotate around the axis of the planet shaft.

The solid fixed cylinder is the annular, and there is the solid fixed cylinder flange in the radial outside of solid fixed cylinder axial one end, and solid fixed cylinder flange end face edge has the female tang of solid fixed cylinder one, and solid fixed cylinder flange terminal surface equipartition a plurality of internal thread hole is three, and there is the bearing mounting groove solid fixed cylinder flange radial inboard, and solid fixed cylinder axial other end equipartition a plurality of internal thread hole is two. The bearing six is arranged in a bearing mounting groove of the fixed cylinder, the gear tooth journal I of the mixing bevel gear I is arranged on the radial inner side of the bearing six, and the axes of the bearing six and the mixing bevel gear I are coincided with the axis of the fixed cylinder, namely the axes of the bearing six and the mixing bevel gear I are coincided with the axis of the planet carrier.

The end plate is the annular, end plate's terminal surface edge equipartition a plurality of bolt hole two, end plate axial one end has end plate female spigot, equipartition a plurality of internal thread hole is one in the end plate female spigot, the end plate axial other end has end plate male spigot, end plate male spigot axial terminal surface has one or has the fixed boss of a plurality of end plate, each end plate fixed boss has a radial boss bearing mounting hole, install bearing seven in each boss bearing mounting hole, bearing seven radial inboards are installed to diversion bevel gear's teeth of a cogwheel axle journal three, diversion bevel gear's the teeth of a cogwheel are close to the axis of end plate, bearing one is installed in end plate radial inboardly. The gland is annular, and a plurality of bolt hole I is evenly distributed at the edge of the end face of the gland, and the sealing ring is installed on the radial inner side of the gland.

A second positioning ring, a second input gear, a positioning sleeve, a second bearing, a third hybrid bevel gear, a first input gear and a first positioning ring are sequentially arranged on the radial outer surface of the input shaft from the second input shaft journal to the first input shaft journal, a first spline is respectively arranged in an outer key groove of the input shaft and an inner key groove of the second input gear, the second fixing pin is respectively installed and fixed in a second positioning sleeve pin hole of the positioning sleeve and a second input shaft pin hole of the input shaft, if the bearing II is a thrust needle roller combined bearing, the needle roller bearing of the bearing II is arranged in a gear bearing mounting hole of the hybrid bevel gear III, the thrust bearing of the second bearing is positioned at one axial end of the outer gear tooth three of the third hybrid bevel gear, the thrust bearing of the second bearing is in contact with the second stop shaft shoulder of the positioning sleeve, and the first fixing pin is fixedly arranged in the first gear pin hole of the first input gear and the first input shaft pin hole of the input shaft respectively.

After the reducer is assembled, an input shaft journal I of an input shaft penetrates through a through hole in the radial middle of a gland and a sealing ring, the input shaft journal I of the input shaft is located on the axial outer side of the gland, the sealing ring is installed in a contact mode with the outer surface of the input shaft, the gland is installed in an end plate concave spigot of an end plate, a bolt I is installed and fixed in a bolt hole I of the gland and an inner thread hole I of the end plate respectively, a bolt II is installed and fixed in a bolt hole II of the end plate and an inner thread hole II of a fixing cylinder respectively, a bolt III is installed and fixed in a bearing bolt hole I of an outer ring of a crossed roller bearing, a bearing bolt hole II of an outer ring of the crossed roller bearing and an inner thread hole III of the fixing cylinder respectively, and a bolt IV is installed and fixed in a bearing bolt hole of an inner ring of a crossed roller bearing, a bolt hole IV of a planet support and an inner thread hole IV of an output flange respectively.

The running process of the speed reducer is as follows: the prime mover is fixedly connected with an input shaft journal of the input shaft, the prime mover drives the input shaft to rotate around the axis of the input shaft along the rotation direction of the input shaft, the input shaft drives the first input gear and the second input gear to rotate in the same direction, the rotation speed of the second input gear is equal to the rotation speed of the input shaft, if the number of teeth of the first input gear is equal to the number of teeth of the third mixing bevel gear, the rotation speed of the third mixing bevel gear is equal to the rotation speed of the input shaft, the rotation direction of the third mixing bevel gear is opposite to the rotation direction of the input shaft, the third outer teeth of the third mixing bevel gear drives the first inner teeth of the first mixing bevel gear to rotate in the same direction, the second input gear drives the second inner teeth of the second mixing bevel gear to rotate in the same direction, the rotation direction of the first mixing bevel gear is opposite to the rotation direction of the second mixing bevel gear, the first outer teeth of the first mixing bevel gear and the second outer teeth of the second mixing bevel gear jointly drive the planetary bevel gear to rotate around the axis along the rotation direction of the planetary bevel gear, the rotation speed of the second mixing bevel gear is unequal to that of the first mixing bevel gear due to the factors of the first small tooth difference and the second small tooth difference, the planetary bevel gear also revolves around the axis of the planetary support while rotating around the axis of the planetary shaft, the planetary bevel gear drives the planetary support to rotate at a low rotation speed, the rotation speed of the planetary support is equal to half of the difference between the rotation speed of the second mixing bevel gear and the rotation speed of the first mixing bevel gear, and the planetary support sequentially passes through the fourth bolt and the output flange to transmit output torque to a load device.

The planet carrier of the speed reducer is axially arranged with the first mixing bevel gear and the second mixing bevel gear, the planet support is positioned at the radial outer side of the first mixing bevel gear and the second mixing bevel gear, the structure sizes of the planet support, the planet shaft, the planet bearing and the planet bevel gear are not limited by the radial sizes of the first mixing bevel gear and the second mixing bevel gear, the bearing capacities of the planet support, the planet shaft, the planet bearing and the planet bevel gear are large, the rated output torque of the speed reducer is large under the condition that the volume of the speed reducer is not changed, the reduction gear has the advantages that the reduction gear can be changed only by replacing parts of the speed reducer in products with the same specification, the reduction gear range of the speed reducer can be increased by respectively adjusting the small tooth difference I, the small tooth difference II and the small tooth difference III, and the reduction gear is increased or decreased by adjusting the small tooth difference I and the small tooth difference II to be smaller than the reduction gear increased or decreased by adjusting the small tooth difference III. The reduction gear can regard as accurate reduction gear when reduction ratio is big, can regard as general reduction gear when its reduction ratio is little, the reduction gear not only can regard as accurate reduction gear to be applied to joint robot, intelligent equipment field, can also regard as general reduction gear to be applied to each trade.

Drawings

FIG. 1 is a schematic diagram of the input shaft part driving the planet carrier part to rotate through the direction-changing bevel gear, the first mixing bevel gear and the second mixing bevel gear in the speed-reducing running state of the speed reducer. In the figure, UII is larger than UI, and then the rotation directions of UIII and UII are the same. And if the number of teeth of the input gear I is equal to the number of teeth of the inner side gear teeth of the mixing bevel gear III, the reduction ratio of the speed reducer is large.

FIG. 2 is a schematic diagram of the torque relationship among the input shaft component, the direction-changing bevel gear, the first hybrid bevel gear, the second hybrid bevel gear and the planet carrier component when the speed reducer is in a reverse self-locking state.

Fig. 3 is a schematic view of the reducer taken along the axis.

Fig. 4 is an axial sectional view of the speed reducer.

FIG. 5 is an axial cross-sectional view of the output flange member.

Fig. 6 is an axial cross-sectional view of the crossed roller bearing.

FIG. 7 is an isometric view of a second mixing bevel gear.

FIG. 8 is an axial cross-sectional view of the eccentric ring.

FIG. 9 is an axial cross-sectional view of the planet carrier assembly member.

Fig. 10 is an axial sectional view of the planet carrier.

Fig. 11 is an axial cross-sectional view of the stationary barrel part.

Fig. 12 is an axial cross-sectional view of the fixed cylinder.

FIG. 13 is an isometric view of a first mixing bevel gear.

Figure 14 is an axial cross-sectional view of the gland member.

Fig. 15 is an axial cross-sectional view of the end plate member.

Fig. 16 is an axial cross-sectional view of the end plate.

Fig. 17 is an axial cross-sectional view of the input shaft member.

Fig. 18 is an isometric view of the input shaft.

Fig. 19 is a shaft-side sectional view of the hybrid bevel gear three.

Fig. 20 is a sectional view of the input gear i taken on the axis.

Fig. 21 is a perspective view of the second input gear.

Figure 22 is an isometric view of a direction changing bevel gear.

FIG. 23 is an isometric view of a planetary bevel gear.

Fig. 24 is an isometric view of a planetary bearing.

FIG. 25 is a schematic diagram of an angle α formed between the axis of the direction-changing bevel gear and the vertical line of the input shaft when the number of teeth of the first input gear of the speed reducer is not equal to the number of teeth of the third internal gear of the hybrid bevel gear. And if the number of teeth of the input gear I is not equal to the number of teeth of the inner side gear teeth of the mixing bevel gear III, the reduction ratio of the speed reducer is small. In the figure, the number of teeth of the input gear I is smaller than that of the inner gear teeth III of the mixing bevel gear III.

In fig. 1, U i is a linear speed of the first outside gear tooth pitch circle position rotation of the first hybrid bevel gear, U ii is a linear speed of the second outside gear tooth pitch circle position rotation of the second hybrid bevel gear, and U iii is a linear speed of the planetary carrier at a position equal to the first outside gear tooth pitch circle radius of the first hybrid bevel gear or equal to the second outside gear tooth pitch circle radius of the second hybrid bevel gear.

In fig. 5 and 8, Δ h is an eccentric distance between the planet carrier axis and the input shaft axis, and is also an eccentric distance between the first mixing bevel gear and the third mixing bevel gear, and is also an eccentric distance between the second mixing bevel gear and the second input gear, and is also an eccentric distance between the outer surface axis of the eccentric ring and the inner surface axis of the eccentric ring.

The drawing is marked with a crossed roller bearing 1, a planet shaft 2, a planet carrier 3, a planet bearing 4, a planet bevel gear 5, a planet shaft fixing ring 6, a keybar I7, a positioning ring II 8, a bearing III 9, an eccentric ring 10, a bearing IV 11, an output flange 12, an input gear II 13, a bearing V14, a hybrid bevel gear II 15, a positioning sleeve 16, a fixing pin II 17, a bearing II 18, a hybrid bevel gear III 19, a direction-changing bevel gear 20, a bearing VII 21, an end plate 22, an input gear I23, a bearing I24, a gland 25, a seal ring 26, an input shaft 27, a fixing pin I28, a positioning ring I29, a bolt I30, a bolt II 31, a fixing cylinder 32, a hybrid bevel gear I33, a bearing VI 34, a hybrid bevel gear II rotation direction 35, a hybrid bevel gear II rotation track 36, a planet carrier axis 37, a planet carrier rotation direction 38, a planet carrier rotation track 39, a planet bevel gear rotation track 40, a, A planetary bevel gear rotation direction 41, a planetary shaft axis 42, a change bevel gear rotation trajectory 43, a change bevel gear rotation direction 44, a change bevel gear axis 45, an input shaft rotation trajectory 46, an input shaft rotation direction 47, an input shaft axis 48, a hybrid bevel gear one rotation direction 49, a hybrid bevel gear one rotation trajectory 50, a hybrid bevel gear two counter torque direction 51, a planetary carrier counter torque direction 52, an input shaft counter torque direction 53, a hybrid bevel gear one counter torque direction 54, an internal threaded bore four 55, a cross roller bearing inner race 56, a cross roller bearing outer race one 57, a bolt three 58, a cross roller bearing outer race two 59, a cross arrangement roller 60, a bolt four 61, a gear journal two 62, an internal gear two 63, an external gear two 64, a carrier mounting plane 65, a planetary shaft fixing bore one 66, a carrier male spigot 67, a bolt hole four 68, a support mounting plane 65, a support mounting plane one 66, a support male spigot 67, a bolt hole four 68, Bracket flange 69, bearing mounting groove 70, internal threaded hole two 71, internal threaded hole three 72, fixed cylinder female spigot one 73, fixed cylinder flange 74, external gear tooth one 75, internal gear tooth one 76, gear tooth journal one 77, bolt hole one 78, end plate fixing boss 79, boss bearing mounting hole 80, end plate male spigot 81, bolt hole two 82, internal threaded hole one 83, end plate female spigot 84, input shaft journal two 85, external keyway two 86, input shaft pin hole two 87, input shaft pin hole one 88, input shaft journal one 89, external keyway one 90, external gear tooth three 91, gear bearing mounting hole 92, internal gear tooth three 93, gear pin hole one 94, internal keyway 95, gear tooth journal three 96, stop shaft shoulder one 97, input shaft vertical line 98, eccentric ring internal surface axis 99, eccentric ring external surface axis 100, shaft hole one 101, shaft hole two 102, shaft hole three 103, shaft hole four 104, shaft hole five 105, stop shaft neck three 96, stop shaft shoulder one 97, input shaft vertical line 98, eccentric ring internal surface axis 99, eccentric ring external surface axis 100, shaft hole one 101, shaft hole two 102, shaft hole three 103, shaft hole four 104, shaft hole five 105, and stop ring, A third stop shoulder 106 and a first stop shoulder 107.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1 to 4, fig. 25, the speed reducer includes an output flange member, a planet carrier member, a cross roller bearing 1, a fixed cylinder member, an end plate member, a gland member, an input shaft member. The output flange part comprises an output flange 12, a second mixing bevel gear 15, an eccentric ring 10, a third bearing 9, a fourth bearing 11 and a fifth bearing 14. The planet carrier component comprises a planet carrier 3, a planet shaft 2, a planet bearing 4, a planet bevel gear 5 and a planet shaft fixing ring 6. The cross roller bearing 1 includes a cross roller bearing inner ring 56, a cross roller bearing outer ring one 57, a cross roller bearing outer ring two 59, and cross arrangement rollers 60. The fixed cylinder part comprises a fixed cylinder 32, a first mixing bevel gear 33 and a sixth bearing 34. The end plate component comprises an end plate 22, a direction-changing bevel gear 20, a bearing seven 21 and a bearing one 24. The gland member includes a gland 25 and a packing 26. The input shaft part comprises an input shaft 27, a first input gear 23, a first fixing pin 28, a first positioning ring 29, a positioning sleeve 16, a second fixing pin 17, a second bearing 18, a third hybrid bevel gear 19, a second input gear 13, a first keybar 7 and a second positioning ring 8. The output flange component, the planet carrier component, the crossed roller bearing 1, the fixed cylinder component, the end plate component and the gland component are sequentially arranged along the axial direction, a crossed roller bearing inner ring 56 of the crossed roller bearing 1 is fixedly connected with the planet carrier component and the output flange component through a bolt four 61, a crossed roller bearing outer ring I57 and a crossed roller bearing outer ring II 59 of the crossed roller bearing 1 are fixedly connected with the fixed cylinder component through a bolt three 58, the end plate component is fixedly connected with the fixed cylinder component through a bolt two 31, the gland component is fixedly connected with the end plate component through a bolt one 30, and the input shaft component is respectively arranged on the radial inner side of the output flange component, the planet carrier component, the crossed roller bearing 1, the fixed cylinder component, the end plate component and the gland component.

In the speed reducer, an output flange 12, a planet carrier 3 and a crossed roller bearing inner ring 56 are connected and fixed together to form an output end, a crossed roller bearing outer ring I57, a crossed roller bearing outer ring II 59, a fixed cylinder 32, an end plate 22 and a gland 25 are connected and fixed together to form a fixed end, and an input gear II 13, an input gear I23 and an input shaft 27 are connected and fixed together to form an input end. The output flange 12, the cross roller bearing 1, and the fixed cylinder 32 are coaxial with the planet carrier 3 with respect to the planet carrier axis 37, and the second mixing bevel gear 15 and the first mixing bevel gear 33 are coaxial with the planet carrier 3. The second input gear 13, the first input gear 23, and the third mixing bevel gear 19 are coaxial with the input shaft 27 with respect to the input shaft axis 48. An eccentric distance delta h is reserved between the axis 37 of the planet carrier and the axis 48 of the input shaft, an eccentric distance delta h is reserved between the axis 100 of the outer surface of the eccentric ring 10 and the axis 99 of the inner surface of the eccentric ring, when the speed reducer operates, the output flange 12 and the planet carrier 3 rotate to any angle, and the eccentric distance delta h reserved between the axis 37 of the planet carrier and the axis 48 of the input shaft is offset by the eccentric ring 10.

The first mixing bevel gear 33, the second mixing bevel gear 15 and the third mixing bevel gear 19 respectively have a cylindrical gear tooth and a conical gear tooth, and the cylindrical gear tooth and the conical gear tooth are coaxial. The outer gear teeth one 75 of the mixing bevel gear one 33 are conical gear teeth, the inner gear teeth one 76 of the mixing bevel gear one 33 are cylindrical gear teeth, and the inner gear teeth one 76 are an internal gear. The second outer gear teeth 64 of the second mixing bevel gear 15 are conical gear teeth, the second inner gear teeth 63 of the second mixing bevel gear 15 are cylindrical gear teeth, and the second inner gear teeth 63 are an internal gear. The outer gear teeth three 91 of the mixing bevel gear three 19 are cylindrical gear teeth and the inner gear teeth three 93 of the mixing bevel gear three 19 are conical gear teeth. The first input gear 23 is conical gear teeth, the second input gear 13 is cylindrical gear teeth, the direction change bevel gear 20 is conical gear teeth, and the planetary bevel gear 5 is conical gear teeth.

The planetary bevel gear 5 is installed on the radial inner side of the planet support 3 through the planet shaft 2, the number of teeth of an outer gear tooth II 64 of the mixing bevel gear II 15 is equal to the number of teeth of an outer gear tooth I75 of the mixing bevel gear I33, the planetary bevel gear 5 is located between the mixing bevel gear II 15 and the mixing bevel gear I33 in the axial direction, and the planetary bevel gear 5 is meshed with the outer gear tooth II 64 of the mixing bevel gear II 15 and the outer gear tooth I75 of the mixing bevel gear I33 respectively. The second input gear 13 and the first input gear 23 are fixedly arranged at two axial ends of the input shaft 27, the third mixing bevel gear 19 is arranged at the middle position of the input shaft 27 in the axial direction through the second bearing 18, the third outer gear teeth 91 of the third mixing bevel gear 19 are meshed with the first inner gear teeth 76 of the first mixing bevel gear 33, and the second input gear 13 is meshed with the second inner gear teeth 63 of the second mixing bevel gear 15. The direction-changing bevel gear 20 is installed on the radial inner side of the end plate 22 through a bearing seven 21, the direction-changing bevel gear 20 is located between the third mixing bevel gear 19 and the first input gear 23 in the axial direction, and the direction-changing bevel gear 20 is meshed with the third inner gear 93 of the third mixing bevel gear 19 and the first input gear 23 respectively.

The number of the inner gear teeth two 63 of the second mixing bevel gear 15 and the number of the inner gear teeth one 76 of the first mixing bevel gear 33 are in a small gear difference corresponding relationship, the difference between the number of the inner gear teeth two 63 and the number of the inner gear teeth one 76 is defined as a small gear difference one, the number of the input gear teeth two 13 and the number of the outer gear teeth three 91 of the third mixing bevel gear 19 are in a small gear difference corresponding relationship, and the difference between the number of the input gear teeth two 13 and the number of the outer gear teeth three 91 is defined as a small gear difference two.

And a meshing eccentric distance I is arranged between the axis of the first mixing bevel gear 33 and the axis of the third mixing bevel gear 19, and a meshing eccentric distance II is arranged between the axis of the second mixing bevel gear 15 and the axis of the second input gear 13. When the meshing eccentric distance one is equal to the meshing eccentric distance two, which is equal to the eccentric distance delta h between the planet carrier axis 37 and the input shaft axis 48, the assembly condition of the speed reducer is satisfied.

The moduli of the inner teeth one 76 of the mixing bevel gear one 33 and the outer teeth three 91 of the mixing bevel gear three 19 are modulo one, and the difference between the number of teeth of the inner teeth one 76 of the mixing bevel gear one 33 and the number of teeth of the outer teeth three 91 of the mixing bevel gear three 19 is defined as an eccentric distance tooth difference one, which is equal to half of the product of the eccentric distance tooth difference one and the moduli one. The modulus of the inner gear teeth II 63 of the second mixing bevel gear 15 and the modulus of the second input gear 13 are two, the difference between the number of the inner gear teeth II 63 of the second mixing bevel gear 15 and the number of the input gear teeth 13 is defined as an eccentric distance gear difference II, and the meshing eccentric distance II is equal to half of the product of the eccentric distance gear difference II and the modulus two.

The input torque of the speed reducer is transmitted to the front of the planetary bevel gear 5 through two torque transmission channels, the path of the first torque transmission channel is that the input torque is transmitted to the first hybrid bevel gear 33 through the input shaft 27, the first fixed pin 28, the first input gear 23, the first direction change bevel gear 20 and the third hybrid bevel gear 19 in sequence, the path of the second torque transmission channel is that the input torque is transmitted to the second hybrid bevel gear 15 through the input shaft 27, the first keybar 7 and the second input gear 13 in sequence, and the speed reducer adopts the direction change bevel gear 20 to change the rotation direction of the input torque in the first torque transmission channel, so that the rotation direction 49 of the first hybrid bevel gear is opposite to the rotation direction 35 of the second hybrid bevel gear.

If the number of the inner teeth three 93 of the third mixing bevel gear 19 is equal to the number of the teeth of the first input gear 23, the rotational speed of the third mixing bevel gear 19 is equal to the rotational speed of the second input gear 13, the rotational speed of the second mixing bevel gear 15 is not equal to the rotational speed of the first mixing bevel gear 33 due to the factors of the first small tooth difference and the second small tooth difference, the difference between the rotational speed of the second mixing bevel gear 15 and the rotational speed of the first mixing bevel gear 33 is small, the second mixing bevel gear 15 and the first mixing bevel gear 33 drive the planet bevel gear 5 to rotate together, the planet bevel gear 5 revolves around the planet carrier axis 37 while rotating around the planet shaft axis 42, the planet carrier 5 drives the planet carrier 3 to rotate at a low speed, the rotational speed of the planet carrier 3 is equal to half of the difference between the rotational speed of the second mixing bevel gear 15 and the rotational speed of the first mixing bevel gear 33, and the planet carrier 3 sequentially passes through the bolts four 61, The output flange 12 transmits the output torque to the load device.

If the number of teeth of the third inner gear 93 of the third mixing bevel gear 19 is not equal to the number of teeth of the first input gear 23, the rotating speed of the third mixing bevel gear 19 is not equal to the rotating speed of the second input gear 13, and the difference between the rotating speed of the second mixing bevel gear 15 and the rotating speed of the first mixing bevel gear 33 is further increased due to the factors of the first small difference and the second small difference, at this time, the reduction ratio of the speed reducer is smaller than the reduction ratio of the third inner gear 93 of the teeth of the first mixing bevel gear 23.

If the number of the inner gear teeth three 93 is not equal to the number of the input gear teeth 23, the difference between the number of the inner gear teeth three 93 and the number of the input gear teeth 23 is defined as a small gear difference three, the reduction ratio range of the speed reducer can be increased by adjusting the small gear difference one, the small gear difference two and the small gear difference three respectively, and the numerical value of the reduction ratio increased or decreased by adjusting the small gear difference one and the small gear difference two is smaller than the numerical value of the reduction ratio increased or decreased by adjusting the small gear difference three.

When the number of teeth of the third inner gear tooth 93 is not equal to that of the first input gear tooth 23, the axis 45 of the direction change bevel gear is not perpendicular to the axis 48 of the input shaft, an included angle alpha is formed between the axis 45 of the direction change bevel gear and the vertical line 98 of the input shaft, and at the moment, only the third mixing bevel gear 19, the direction change bevel gear 20, the first input gear tooth 23 and the end plate 22 need to be replaced in products with the same specification of the speed reducer.

When the reverse torque generated by the load device in the application of the speed reducer is larger than the output torque of the speed reducer, the reverse torque makes the output flange 12 have a rotation trend, the reverse torque sequentially passes through the output flange 12, the bolt four 61, the planet support 3, the planet shaft 2, the planet bearing 4 and the planet bevel gear 5 to respectively drive the second hybrid bevel gear 15 and the first hybrid bevel gear 33, the direction 51 of the second hybrid bevel gear reverse torque and the direction 54 of the first hybrid bevel gear reverse torque are the same as the direction 52 of the planet support reverse torque, the reverse torque sequentially passes through the second hybrid bevel gear 15, the input gear 13 and the input shaft 27 to drive the first input gear 23 to rotate along the direction 53 of the input shaft reverse torque, the direction 53 of the input shaft reverse torque is the same as the direction 52 of the planet support reverse torque, and simultaneously, the reverse torque drives the third hybrid bevel gear 19 to rotate along the direction 53 of the input shaft reverse torque through the first hybrid bevel gear 33, reverse moments drive the change bevel gear 20 to rotate around the input shaft axis 48 along the input shaft reverse moment direction 53 through the input gear I23 and the hybrid bevel gear III 19 respectively, because the change bevel gear 20 is installed on the radial inner side of the end plate 22 through the bearing VII 21, the change bevel gear 20 only has one degree of freedom of rotation around the change bevel gear axis 45, the end plate 22 is a part at the fixed end of the speed reducer, and the end plate 22 prevents the reverse moments from driving the output flange 12 to rotate through the change bevel gear 20, so that reverse self-locking of the speed reducer is realized.

Referring to fig. 3-25, the other end of the mixing bevel gear one 33, which is radially outward of the outer gear teeth one 75, is gear tooth journal one 77. The other end of the radially outer side of the second mixing bevel gear 15, which has no outer gear teeth 64, is a gear teeth journal two 62. The radial middle of the third mixing bevel gear 19 is provided with a third shaft hole 103, and the other end of the third mixing bevel gear 19 without the third inner gear 93 is provided with a gear bearing mounting hole 92 on the radial inner side. The first input gear 23 has a first axial hole 101 in the radial middle thereof, and the first input gear 23 has a first radial gear pin hole 94 in the radial outer surface thereof. The second input gear 13 is provided with a second shaft hole 102 in the radial middle, and the inner surface of the second shaft hole 102 is provided with an inner key groove 95. The other end of the direction-changing bevel gear 20, which is radially outside without conical gear teeth, is a gear-tooth journal three 96. The radial middle of the planet bevel gear 5 is provided with a shaft hole four 104. The planet bearing 4 is a thrust needle roller combined bearing or a flanging type shaft sleeve, if the planet bearing 4 is the flanging type shaft sleeve, the radial middle of the planet bearing is provided with a shaft hole five 105, and one axial end of the planet bearing is provided with a first annular stop shaft shoulder 97. The second bearing 18 is a thrust needle roller combined bearing or a flanged type shaft sleeve, if the second bearing 18 is the thrust needle roller combined bearing, one axial end of the second bearing is the thrust bearing, and the other axial end of the second bearing is the needle roller bearing. The first positioning ring 29 and the second positioning ring 8 are annular. The input shaft 27 is cylindrical, the two ends of the input shaft 27 are respectively provided with a first input shaft journal 89 and a second input shaft journal 85, the radial outer surface of the first input shaft journal 89 is provided with a first outer key groove 90, the radial outer surface of the input shaft 27 close to the second input shaft journal 85 is provided with a second outer key groove 86, and the radial outer surface of the input shaft 27 between the second outer key groove 86 and the first outer key groove 90 is sequentially provided with a second input shaft pin hole 87 and a first input shaft pin hole 88. The positioning sleeve 16 is cylindrical, an annular stop shaft shoulder II is arranged at one axial end of the positioning sleeve 16, and a radial positioning sleeve pin hole II is formed in the radial outer surface of the positioning sleeve 16. The radial outer surface of one axial end of the eccentric ring 10 is provided with a ring-shaped stop shaft shoulder III 106, and the radial inner surface of the other axial end of the eccentric ring 10 is provided with a ring-shaped stop shoulder I107.

The output flange 12 is in a cylinder shape with one closed end, a plurality of internal thread holes IV 55 are uniformly distributed on the edges of two axial end faces of the output flange 12, a bearing IV 11 and a bearing V14 are sequentially arranged in the inner cavity of the output flange 12 from the closed end to the axial outer side, the eccentric ring 10 is arranged on the radial inner side of the bearing IV 11, the bearing III 9 is arranged on the radial inner side of the eccentric ring 10, a stop shoulder I107 of the eccentric ring 10 is positioned at one end of the axial inner side of the output flange 12, a gear tooth journal II 62 of the hybrid bevel gear II 15 is arranged on the radial inner side of the bearing V14, the axes of the bearing IV 11, the bearing V14 and the hybrid bevel gear II 15 are coincident with the axis of the output flange 12, namely the axes of the bearing IV 11, the bearing V14 and the hybrid bevel gear II 15 are coincident with the planet support axis 37, the outer surface axis 100 of the eccentric ring is coincident with the planet support axis 37, and the input shaft journal II 85 of the input shaft 27 is arranged on the radial inner side of the bearing III 9, the eccentric ring inner surface axis 99 coincides with the input shaft axis 48 and the eccentric distance ah between the eccentric ring outer surface axis 100 of the eccentric ring 10 and the eccentric ring inner surface axis 99 is equal to the eccentric distance ah between the planet carrier axis 37 and the input shaft axis 48.

The planet carrier 3 is annular, and the radial internal surface equipartition of planet carrier 3 has a plurality of support mounting plane 65, and there is a planet axle fixed orifices one 66 in each support mounting plane 65 center, and the radial outside of 3 axial one ends of planet carrier has support flange 69, and support flange 69 terminal surface has support tang 67, and support flange 69 terminal surface edge equipartition has a plurality of bolt hole four 68. A plurality of planet shaft fixing holes II are uniformly distributed on the radial outer surface of the planet shaft fixing ring 6. One end of the planet shaft 2 is fixedly arranged in a first planet shaft fixing hole 66 of the planet support 3, the other end of the planet shaft 2 is fixedly arranged in a second planet shaft fixing hole of the planet shaft fixing ring 6, the middle part of the planet shaft 2 is arranged in a fifth shaft hole 105 of the planet bearing 4, the planet bearing 4 is arranged in a fourth shaft hole 104 of the planet bevel gear 5, if the planet bearing 4 is a flanging type shaft sleeve, a first stop shaft shoulder 97 of the planet bearing 4 is positioned at one end of the planet bevel gear 5 without gear teeth, the end surface of the first stop shaft shoulder 97 of the planet bearing 4 is contacted and arranged with the support mounting plane 65 of the planet support 3, and the planet bevel gear 5 and the planet bearing 4 can rotate around the planet shaft axis 42.

The fixed cylinder 32 is the annular, and there is a fixed cylinder flange 74 radial outside of the axial one end of fixed cylinder 32, and fixed cylinder flange 74 end face edge has a fixed cylinder female spigot 73, and fixed cylinder flange 74 end face equipartition a plurality of internal thread hole is three 72, and there is bearing mounting groove 70 fixed cylinder flange 74 radial inboard, and fixed cylinder 32 axial other end equipartition a plurality of internal thread hole is two 71. The bearing six 34 is mounted in the bearing mounting groove 70 of the fixed cylinder 32, the gear journal one 77 of the mixing bevel gear one 33 is mounted radially inside the bearing six 34, and the axes of the bearing six 34 and the mixing bevel gear one 33 coincide with the axis of the fixed cylinder 32, i.e., the axes of the bearing six 34 and the mixing bevel gear one 33 coincide with the planet carrier axis 37.

The end plate 22 is annular, a plurality of bolt holes II 82 are uniformly distributed in the edge of the end face of the end plate 22, an end plate female spigot 84 is arranged at one axial end of the end plate 22, a plurality of internal thread holes I83 are uniformly distributed in the end plate female spigot 84, an end plate male spigot 81 is arranged at the other axial end of the end plate 22, one or a plurality of end plate fixing bosses 79 are arranged on the axial end face of the end plate male spigot 81, each end plate fixing boss 79 is provided with a radial boss bearing mounting hole 80, a bearing seven 21 is mounted in each boss bearing mounting hole 80, a gear tooth journal three 96 of the direction-changing bevel gear 20 is mounted on the radial inner side of the bearing seven 21, the gear tooth of the direction-changing bevel gear 20 is close to the axis of the end plate 22, and a bearing I24 is mounted on the radial inner side of the end plate 22. The gland 25 is annular, and a plurality of bolt holes 78 are evenly distributed on the edge of the end face of the gland 25, and the sealing ring 26 is installed on the radial inner side of the gland 25.

The second positioning ring 8, the second input gear 13, the second positioning sleeve 16, the second bearing 18, the third hybrid bevel gear 19, the first input gear 23 and the first positioning ring 29 are sequentially installed on the radial outer surface of the input shaft 27 from the second input shaft journal 85 to the first input shaft journal 89, the first keybar 7 is installed in the second outer keyway 86 of the input shaft 27 and the inner keyway 95 of the second input gear 13 respectively, the second fixing pin 17 is installed and fixed in the second positioning sleeve pin hole of the second positioning sleeve 16 and the second input shaft pin hole 87 of the input shaft 27 respectively, the second bearing 18 is a needle roller thrust combined bearing, a needle roller bearing of the second bearing 18 is installed in a gear bearing installation hole 92 of the third hybrid bevel gear 19, a thrust bearing of the second bearing 18 is located at one axial end of the third outer gear tooth 91 of the third hybrid bevel gear 19, a thrust bearing of the second bearing 18 is installed together in contact with the second stop shaft shoulder of the second positioning sleeve 16, and a first fixing pin 28 is installed and fixed in a gear pin hole 94 of the first input gear 23 and a pin hole 88 of the input shaft 27 respectively In (1).

After the speed reducer is assembled, the input shaft journal I89 of the input shaft 27 passes through the through hole in the radial middle of the gland 25 and the sealing ring 26, the input shaft journal I89 of the input shaft 27 is positioned at the axial outer side of the gland 25, the sealing ring 26 is contacted and installed with the outer surface of the input shaft 27, the gland 25 is installed in the end plate female spigot 84 of the end plate 22, the first bolts 30 are respectively installed and fixed in the first bolt holes 78 of the gland 25 and the first internal thread holes 83 of the end plate 22, the second bolts 31 are respectively installed and fixed in the second bolt holes 82 of the end plate 22 and the second internal thread holes 71 of the fixed cylinder 32, the third bolt 58 is respectively installed and fixed in the bearing bolt holes of the first crossed roller bearing outer ring 57 and the second crossed roller bearing outer ring 59 and the third internal thread hole 72 of the fixed cylinder 32, and a fourth bolt 61 is fixedly installed in a bearing bolt hole of the crossed roller bearing inner ring 56, a fourth bolt hole 68 of the planet carrier 3 and a fourth internal thread hole 55 of the output flange 12.

Referring to fig. 1 to 4, the retarder operation process is: the prime mover is fixedly coupled to the input shaft journal one 89 of the input shaft 27, the prime mover drives the input shaft 27 to rotate about the input shaft axis 48 in the input shaft rotational direction 47, the input shaft 27 drives the input gear one 23 and the input gear two 13 to rotate in the same direction, the input gear two 13 rotates at a speed equal to the rotational speed of the input shaft 27, if the input gear one 23 has a number of teeth equal to the number of teeth of the inner side three of the mixing bevel gear three 93, the mixing bevel gear three 19 rotates at a speed equal to the rotational speed of the input shaft 27, the mixing bevel gear three 19 rotates in the opposite direction to the input shaft rotational direction 47, the outer side three 91 of the mixing bevel gear three 19 drives the inner side one 76 of the mixing bevel gear one 33 to rotate in the same direction, the input gear two 13 drives the inner side two 63 of the mixing bevel gear two 15 to rotate in the same direction, the mixing bevel gear one rotational direction 49 is opposite to the mixing bevel gear two rotational direction 35, the first outer teeth 75 of the first mixing bevel gear 33 and the second outer teeth 64 of the second mixing bevel gear 15 jointly drive the second planet bevel gear 5 to rotate around the planet shaft axis 42 along the rotation direction 41 of the first planet bevel gear, the rotation speed of the second mixing bevel gear 15 is not equal to the rotation speed of the first mixing bevel gear 33 due to the factors of the small tooth difference I and the small tooth difference II, the second planet bevel gear 5 revolves around the planet carrier axis 37 while the second planet bevel gear 5 rotates around the planet shaft axis 42, the second planet bevel gear 5 drives the second planet carrier 3 to rotate at a low speed, the rotation speed of the first planet carrier 3 is equal to half of the difference between the rotation speed of the second mixing bevel gear 15 and the rotation speed of the first mixing bevel gear 33, and the planet carrier 3 sequentially transmits output torque to a load device through the fourth bolt 61 and the output flange 12.

Taking the parameters of each gear in the drawings of the present application as an example, in order to simplify the calculation, it is assumed that each gear module is equal to 1 mm. Case one knows: the number of teeth Za1 of the outer gear tooth three 91 is equal to 32, the number of teeth Zb1 of the inner gear tooth one 76 is equal to 36, the number of teeth Za2 of the input gear two 13 is equal to 34, the number of teeth Zb2 of the inner gear tooth two 63 is equal to 38, the number of teeth Zc1 of the input gear one 23 is equal to 18, the number of teeth Zd1 of the inner gear tooth three 93 is equal to 18, the rotating speed of the input shaft 27 is equal to 100r/min, and the reduction ratio is solved.

The meshing eccentricity distance is equal to half of the product of the eccentricity distance tooth difference and the modulus, namely Δ h1= (Zb1-Za1) × m1 ÷ 2= (36-32) × 1 ÷ 2=2 mm,

the meshing eccentric distance II is equal to half of the product of the eccentric distance tooth difference II and the modulus II, namely delta h2= (Zb2-Za 2). times.m 2= 2= (38-34). times.1 ÷ 2=2 mm, the meshing eccentric distance I is equal to the meshing eccentric distance II, the assembly condition of the speed reducer is met,

the rotational speed V2 of the bevel gear combination two 15 is 100r/min ÷ (Zb2 ÷ Za2) ÷ 100r/min ÷ (38 ÷ 34) ═ 89.4737r/min,

the rotational speed V1 of the mixing bevel gear wheel 33 is 100r/min ÷ (Zb1 ÷ Za1) ÷ 100r/min ÷ (36 ÷ 32) ═ 88.8889r/min,

the rotation speed V3 of the planet carrier 3 is (V2-V1) ÷ 2 ═ 89.4737r/min-88.8889r/min ÷ 2 ═ 0.2924r/min,

the reduction ratio i of the reducer case one is 100 r/min/0.2924 r/min ≈ 342: 1.

And adjusting the first small tooth difference and the second small tooth difference to change the speed reduction ratio, wherein the second case is known as follows: the number of teeth Za1 of the outer gear tooth three 91 is equal to 32, the number of teeth Zb1 of the inner gear tooth one 76 is equal to 36, the number of teeth Za2 'of the input gear two 13 is equal to 35, the number of teeth Zb 2' of the inner gear tooth two 63 is equal to 39, the number of teeth Zc1 of the input gear one 23 is equal to 18, the number of teeth Zd1 of the inner gear tooth three 93 is equal to 18, the rotating speed of the input shaft 27 is equal to 100r/min, and the reduction ratio is solved.

The meshing eccentricity distance is equal to half of the product of the eccentricity distance tooth difference and the modulus, namely Δ h1= (Zb1-Za1) × m1 ÷ 2= (36-32) × 1 ÷ 2=2 mm,

the meshing eccentric distance of two is equal to half of the product of the eccentric distance tooth difference of two and the modulus of two, namely delta h2 ' = (Zb2 ' -Za2 '). times.m 2 ÷ 2= (39-35). times.1 ÷ 2=2 mm, the meshing eccentric distance of one is equal to the meshing eccentric distance of two, the assembly condition of the speed reducer is met,

the rotational speed V2 ═ 100r/min ÷ (Zb2 ÷ Za 2')/100 r/min ÷ (39 ÷ 35) ═ 89.7436r/min for the second mixing bevel gear 15,

the rotational speed V1 of the mixing bevel gear wheel 33 is 100r/min ÷ (Zb1 ÷ Za1) ÷ 100r/min ÷ (36 ÷ 32) ═ 88.8889r/min,

the rotational speed V3 of the planet carrier 3 is (V2' -V1) ÷ 2 ═ 89.7436 r/min-88.8889r/min ÷ 2 ═ 0.4274r/min,

the reduction ratio i' of the second reduction case is 100 r/min/0.4274 r/min ≈ 234: 1.

Adjusting the small tooth difference three changes the speed reduction ratio, and case three is known: the number of teeth Za1 of the outer gear tooth three 91 is equal to 32, the number of teeth Zb1 of the inner gear tooth one 76 is equal to 36, the number of teeth Za2 of the input gear two 13 is equal to 34, the number of teeth Zb2 of the inner gear tooth two 63 is equal to 38, the number of teeth Zc1 of the input gear one 23 is equal to 17, the number of teeth Zd1 of the inner gear tooth three 93 is equal to 18, the rotating speed of the input shaft 27 is equal to 100r/min, and the reduction ratio is solved.

The meshing eccentricity distance is equal to half of the product of the eccentricity distance tooth difference and the modulus, namely Δ h1= (Zb1-Za1) × m1 ÷ 2= (36-32) × 1 ÷ 2=2 mm,

the meshing eccentric distance II is equal to half of the product of the eccentric distance tooth difference II and the modulus II, namely delta h2= (Zb2-Za 2). times.m 2= 2= (38-34). times.1 ÷ 2=2 mm, the meshing eccentric distance I is equal to the meshing eccentric distance II, the assembly condition of the speed reducer is met,

the rotational speed V2 of the bevel gear combination two 15 is 100r/min ÷ (Zb2 ÷ Za2) ÷ 100r/min ÷ (38 ÷ 34) ═ 89.4737r/min,

the rotational speed V1 ″ -100 r/min ÷ ((Zb1 ÷ Za1) × (Zd1 ÷ Zc1)) -100 r/min ÷ ((36 ÷ 32) × (18 ÷ 17)) -83.9506r/min,

the planet carrier 3 rotational speed V3 ″, is (V2-V1 ″, 2 ═ 89.4737r/min-83.9506r/min ÷ 2 ═ 2.7616r/min,

the reduction ratio i ″, of the reducer case three, is 100r/min ÷ 2.7616r/min ≈ 36: 1.

It is known from the above-mentioned case, the speed reduction ratio when the tooth number of the inboard teeth of a cogwheel three 93 of reduction gear is unequal with the tooth number of the input gear 23 is less than the speed reduction ratio when the tooth number of the inboard teeth of a cogwheel three 93 is equal with the tooth number of the input gear 23, adjust few tooth difference one, few tooth difference two, few tooth difference three respectively can increase the speed reduction ratio scope of reduction gear, adjust few tooth difference one, few tooth difference two lead to the speed reduction ratio increase or the numerical value that reduces that the tooth difference three leads to the speed reduction ratio increase or reduce is less than adjusting few tooth difference three.