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CN-121993574-A - Composite push rod type movable tooth speed reducer with double uniform load structure

CN121993574ACN 121993574 ACN121993574 ACN 121993574ACN-121993574-A

Abstract

The invention relates to the field of reducers, and discloses a composite push rod type movable tooth reducer with a double uniform load structure. The movable tooth assembly comprises a deformable push rod made of a low elastic modulus material, and a first semicircular groove and a second semicircular groove are respectively formed in two ends of the deformable push rod and used for accommodating tooth tops and tooth bottoms rolling pins to form a double-arc-surface sliding pair, and the side surfaces of the deformable push rod and the radial groove of the movable tooth frame form planar sliding contact, so that friction loss is remarkably reduced. The rolling needle and the tooth form of the inner gear ring and the outer ring of the shock wave device are in line contact rolling friction, so that the transmission efficiency is improved. The inner gear ring adopts a composite structure of a thin-wall steel annular tooth shape and an engineering plastic matrix, and generates controllable radial elastic deformation under the action of multiple movable tooth meshing forces, so that second heavy load uniform distribution is realized. The design realizes high-precision, high-efficiency and low-cost precise speed reduction transmission through the cooperation of elastic deformation and structure of materials.

Inventors

  • CHEN QIAN

Assignees

  • 苏州冷石传动科技有限公司

Dates

Publication Date
20260508
Application Date
20260316

Claims (10)

  1. 1. The composite push rod type movable tooth speed reducer with the double uniform load structure is characterized by comprising a shock wave device assembly, a movable tooth frame assembly, an inner gear ring and a plurality of movable tooth assemblies, wherein the movable tooth assemblies are arranged in the movable tooth frame assembly to realize connection between the inner gear ring and the shock wave device assembly; Wherein the movable tooth assembly is configured to generate elastic deformation when bearing transmission load so as to compensate errors among a plurality of transmission parts and realize uniform distribution of first heavy load; the ring gear is configured to elastically deform radially under a working load to achieve a second heavy load homogenization distribution that cooperates with the oscillating tooth assembly.
  2. 2. The composite push rod type movable tooth reducer with the double uniform load structure according to claim 1, wherein the movable tooth assembly comprises a movable tooth push rod, and the movable tooth push rod is arranged along the radial direction of the movable tooth rack assembly and forms planar sliding contact with a radial sliding groove on the movable tooth rack assembly; The oscillating tooth pushrod is at least partially made of a low modulus of elasticity material to undergo compressive deformation in a radial direction of the oscillating tooth carrier assembly under an operating load.
  3. 3. The composite push rod type movable tooth reducer with the double uniform load structure according to claim 2, wherein the movable tooth assembly further comprises a movable tooth top needle roller and a movable tooth bottom needle roller, and the movable tooth assembly is made into a composite structure; the movable tooth top needle roller and the movable tooth bottom needle roller are respectively arranged at two ends of the movable tooth push rod in the radial direction of the movable tooth frame component; A first semicircular groove and a second semicircular groove for accommodating the movable tooth top needle roller and the movable tooth low needle roller are respectively formed at two ends of the movable tooth push rod; cambered surface sliding contact is formed between the movable tooth top needle roller and the movable tooth low needle roller and the first semicircular groove and the second semicircular groove respectively; And the movable tooth top needle roller and the movable tooth low needle roller respectively form linear rolling contact with the annular gear and the shock wave device component.
  4. 4. The composite push rod type movable tooth reducer with the double uniform load structure according to claim 3, wherein the movable tooth push rod is provided with movable tooth baffle structures for limiting the movement of the movable tooth bottom needle roller and the movable tooth top needle roller along the two sides of the movable tooth bottom needle roller and the movable tooth top needle roller in the axial direction respectively, and the movable tooth baffle structures are used for limiting the axial movement of the movable tooth top needle roller and the movable tooth bottom needle roller.
  5. 5. The composite push rod type movable tooth reducer with double uniform load structure according to claim 1, wherein the inner gear ring is constructed as a composite structure, comprising: The belt-shaped annular gear is of a thin-wall annular structure, and meshing teeth are formed on the inner peripheral surface of the belt-shaped annular gear; an annular gear matrix made of a nonmetallic material and compounded with the strip-shaped annular gear into a whole; The ring gear is provided with radial elasticity for controllable deformation during transmission of the meshing force for load sharing.
  6. 6. The composite push rod type movable tooth speed reducer with the double uniform load structure according to claim 5, wherein the tooth shape of the meshing teeth comprises arc teeth and trapezoid teeth.
  7. 7. The composite push rod type movable tooth speed reducer with the double uniform load structure according to claim 6, wherein the wave number of the shock wave device component is an integer greater than or equal to 1, and when the wave number is 1, the shock wave device component comprises a dynamic balance structure; When the wave number is more than or equal to 2, the outer ring of the shock absorber bearing arranged on the periphery of the shock absorber bearing roller is configured into a deformable flexible structure.
  8. 8. An elastic oscillating tooth assembly for an oscillating tooth reduction gear, comprising: the movable tooth main body piece is made of low elastic modulus material, is used for bearing working stress and generating elastic deformation for compensating manufacturing errors; At least one contact member is mounted in a face-contacting manner at a contact area of the oscillating tooth body member for transmitting force from the oscillating tooth body member to an external transmission member.
  9. 9. The elastic oscillating tooth assembly for an oscillating tooth gear as defined in claim 8, wherein said oscillating tooth body is a push rod having grooves at both ends; the contact piece is a needle roller arranged in the groove, and the needle roller and the groove form a sliding pair in surface contact.
  10. 10. An elastic composite ring gear for a oscillating tooth reduction gear, comprising: A metal bearing layer as a profile of the meshing teeth, the thickness of which is set to be capable of bending deformation with meshing force; an elastic support matrix integrated with the metal bearing layer; wherein, the elastic supporting matrix enables the bending deformation of the metal bearing layer to be controllable.

Description

Composite push rod type movable tooth speed reducer with double uniform load structure Technical Field The invention relates to the technical field of reducers, in particular to a composite push rod type movable tooth reducer with a double uniform load structure. Background The joint speed reducers are key parts of the intelligent system of the body such as the current humanoid robot, the robot dog and the like, and the number of the main joint speed reducers in one humanoid robot can reach 40-50. However, the existing joint speed reducer has the disadvantages of large gap, low precision, poor impact resistance and short service life, and the development of joint speed reducer products with higher comprehensive cost performance is urgently required. The joint speed reducers mainly adopted in the development of the current humanoid robot comprise a planetary speed reducer, a harmonic speed reducer, a planetary roller screw and a recently rising miniature cycloid speed reducer. The harmonic reducer converts sliding motion of the movable teeth into deformation of the flexible gear, the number of parts is greatly reduced, but the size of the tooth form of the flexible gear is limited due to large stress in the deformation process, and the harmonic reducer is a root cause of large number of teeth of the harmonic reducer and large reduction ratio. The advantages are that the torque can be amplified many times through one-stage speed reduction, the speed reduction ratio is very large, the flexible gear has very thin wall thickness, very small gear teeth and easy tooth jump, and usually only 20-30% of the teeth can enter the meshing state, the gears mainly have linear contact sliding friction, and the transmission efficiency is very low, generally only about 70%. Meanwhile, the transmission process of the humanoid robot is easy to break due to falling of the robot, and the working safety is not high. The planetary reducer has high transmission efficiency, but the gear of each planetary gear is large, each planetary reducer can only accommodate 3-5 planetary gears, and the number of teeth participating in load transmission is small, so that the rigidity of the system is low. The single-stage reduction ratio of the planetary reducer is only 3-10, each stage has only 3 planetary gears, the bearing capacity is low, the rigidity is poor, and the 2-3 stages of planetary reducers are required to be connected in series to achieve a larger reduction ratio, so that the planetary reducer has large volume and heavy weight and is difficult to control, the transmission clearance is large, the transmission clearance can be over 3-15 arc minutes generally, and the improvement of joint precision and the light weight of a robot are very unfavorable. The cycloidal pin gear speed reducer has a simple structure, but has the problem that the cycloidal gears and the output through rod have overlarge pressure angle, and the lifting of the bearing capacity is greatly limited. The planetary roller screw has high bearing capacity, but has larger volume, large manufacturing difficulty and high manufacturing cost, and needs to develop a structure for replacing the speed reducer. The flexible gear is used as a potential technology beyond the scheme, and the advantages of the compact structure of the harmonic reducer and the high rigidity of planetary transmission are combined theoretically by dispersing the continuously-transmitted flexible gear into a plurality of independent movable teeth. For example, the micro-oscillating tooth decelerator solution developed by the company Weitantan, germany, improves performance by introducing a slipper structure to improve the contact between the shock cam and the oscillating tooth to "near surface contact", see patent number RU2757102C2. However, the contact area of the proposal is still limited, the structure among the movable teeth, the inner teeth and the sliding shoes is complex, and extreme requirements are put on the processing and assembling precision of the whole parts, especially the inner gear ring and the movable teeth, so that the processing cost is greatly increased. Other designs using multiple layers of multiple rolling bodies, while solving the friction problem with pure rolling contact, introduce a large number of tiny parts, high assembly complexity, and likewise difficult manufacturing cost reduction. In summary, the main contradiction between the current mainstream small-size reducer technologies is that ‌ cannot realize low cost and easy manufacturing in batches while ensuring high bearing and long service life. This contradiction is largely due to the implementation of "equal load". The load is evenly shared by all the transmission teeth at the same time, the traditional load is dependent on extremely high part precision, and extremely high manufacturing precision leads to sharp increase of cost. Therefore, how to achieve even better transmission efficiency, bearing capacity and wor