CN100402888C - Shaft-assembled type serial less-tooth-difference planetary transmission - Google Patents
Shaft-assembled type serial less-tooth-difference planetary transmission Download PDFInfo
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- CN100402888C CN100402888C CNB2005100574257A CN200510057425A CN100402888C CN 100402888 C CN100402888 C CN 100402888C CN B2005100574257 A CNB2005100574257 A CN B2005100574257A CN 200510057425 A CN200510057425 A CN 200510057425A CN 100402888 C CN100402888 C CN 100402888C
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Abstract
The present invention relates to a shaft-assembled type serial less-tooth-difference planetary transmission device, which relates to a planetary transmission speed reducer widely used for various fields of industry. The present invention comprises two-stage K-H-V type less-tooth-difference planetary transmission devices, wherein a first-stage inner gear mechanism is arranged on a bearing of the outer circle of a first-stage output mechanism; the first-stage output mechanism is also a second-stage input mechanism; second-stage inner gears are arranged on a bearing of the outer circle of the second-stage output mechanism and on a bearing of the first-stage inner gear mechanism. Input and output mechanisms are hollow; an outer shell is circular. Different components are selected as input and output components, which can realize single input and single output transmission, single input and multiple output transmission, multiple input and single output transmission and multiple input and multiple output transmission. The present invention solves the problem of series integration of multi-stage K-H-V type less-tooth-difference planetary transmission devices; the volume and the weight are effectively reduced; the seriation and standardization design is manufactured; the installation and the usage are convenient; the present invention can be integrated with a servo driving device; thereby, the transmission ratio range is large, the multiple-stage different speed transmission can be realized, etc.
Description
Technical field
The present invention relates to be widely used in the planetary drive with small teeth difference retarder in each field of industry.
Background technique
Planetary drive with small teeth difference is the kind of drive that is applied to each field of industry of well-known, development and high-quality product demand along with production technology, the growth requirement of automated production such as robot particularly, to drive technology and device at the efficient height, volume is little, quality is little, compact structure, seriation and standardized designs manufacturing, be convenient to install and use, can have higher requirement with aspects such as servo drive are integrated.The series connection form of known multistage planetary drive with small teeth difference is to be the structure of absolute version with each grade, thereby structural volume is big.On April 1st, 1985, the Machinery Inst. in Hubei Prov has been submitted utility application with " drive bearing " to State Patent Office, and application number is 85200923.Be awarded utility model patent on June 11st, 1986.This patent monnolithic case is as common rolling bearing, can integral body directly packs in the main frame, is used for the use occasion of present all kinds of stable drive ratio transmission cases.The deficiency of this device is: the assembling trouble, and off-centre is not or not same plane, and transmission is easy to generate waves, and drive link and guide groove are easy to wear, and gear range is limited etc.This class drive bearing is actually a kind of few tooth difference Oscillating Tooth Gear Reducer.Slovakia company has released trade name TWINSPIN retarder (http://www.twinspin.sk/2005), the major character of its retarder is to adopt the output of hollow rotor formula, two end supports adopts staggered roller type bearing, thereby be referred to as the bearing retarder again, it is a kind of single step arrangement of the few tooth difference transmission of cycloidal-pin wheel of complex form, and its gear range is limited.
Summary of the invention
The present invention is in order to overcome the deficiency of prior art, a kind of shaft-assembled type serial less-tooth-difference planetary transmission has been proposed, to effectively reduce device volume and weight, be easy to seriation and standardized designs manufacturing, be convenient to install and use, can be integrated with servo drive, gear range is big, and can realize multistage differential drive etc.
Shaft-assembled type serial less-tooth-difference planetary transmission technical solution involved in the present invention is: this transmission device comprises secondary K-H-V type planetary drive with small teeth difference, wherein, first order K-H-V type planetary drive with small teeth difference is by first order input mechanism 1, the external gear mechanism 5 of first order planetary drive with small teeth difference, first order internal gear mechanism 6, first order output mechanism 7 compositions such as grade; Second level K-H-V type planetary drive with small teeth difference that is to say first order output mechanism by second level input mechanism 7, the external gear mechanism 11 of second level planetary drive with small teeth difference, second level internal gear mechanism 12, second level output mechanism 14 compositions such as grade.First order external gear mechanism 5 is installed on the bearing 3 on first order input mechanism 1 eccentric shaft of hollow, profile on this grade external gear and the bearing 8 that is installed in first order output mechanism 7 cylindrical places is meshed for internal gear in the circular first order internal gear mechanism 6, and constitutes first order K-H-V type planetary drive with small teeth difference with first order output mechanism 7 is common; The second level input mechanism 7 that second level external gear mechanism 11 is installed in hollow that is to say on the bearing 15 at eccentric shaft place of first order output mechanism, be meshed for the internal gear in the circular second level internal gear mechanism 12 with the profile on the bearing 13 that is installed in second level output mechanism 14 cylindrical places and the first order internal gear mechanism 6 place's bearings 9, and constitute second level K-H-V type planetary drive with small teeth difference jointly with second level output mechanism 14; Select different component to realize the single output of single input transmission, the many output of single input transmission, many input single output transmissions and multiple-input and multiple-output transmission as input link and output link; The input and output mechanism of this device is a hollow, and the shell of this device is circular.
The present invention compared with the prior art, its technique effect is: by internal gear being placed on its output mechanism cylindrical at the same level place bearing, again the internal gear of second level planetary drive with small teeth difference being placed on the bearing at first order internal gear place simultaneously, the in-line planetary drive with small teeth difference that is constituted has characteristics and is: structure is very compact, effectively reduce device volume and weight, be easy to seriation and standardized designs manufacturing, be convenient to install and use, can be integrated with servo drive; Owing to be that two-stage K-H-V planetary drive with small teeth difference is integrated, velocity ratio calculates easily, and scope is big; Because of its structural feature, realize the synthetic transmission of promptly confluxing of many input motions easily, or many output movements shunting transmission.
Description of drawings
Fig. 1 is the sectional view of shaft-assembled type serial less-tooth-difference planetary transmission of the present invention.
Among the figure:
1-first order input mechanism 2,3-bearing 4-end cap
The 6-of the external gear mechanism first order internal gear 7-of the mechanism first order output mechanism of 5-first order planetary drive with small teeth difference
8,9-bearing 10-pressure ring (second level input mechanism)
The 13-of the internal gear mechanism bearing 11-second level, 12-second level external gear mechanism
15,16,17-bearing 14-second level output mechanism
Embodiment
Below in conjunction with accompanying drawing, further describe as follows to shaft-assembled type serial less-tooth-difference planetary transmission specific embodiments involved in the present invention:
First order input mechanism 1 is as input component, and when first order internal gear mechanism 6 is fixing when not rotating, then first order output mechanism 7 is exported and partial input component for the first order; Under this condition, the output of this device has 2 kinds of selections, and first second level internal gear mechanism 12 fixes and do not rotate (this kind situation can be removed bearing 9, is connected with first order internal gear mechanism 6), and second level output mechanism 14 just is the output link of this device; Two to be that second level output mechanism 14 is fixing do not rotate for it, and second level internal gear mechanism 12 is the output link of this device.This is typical K-H-V type serial less-tooth-difference Gear Planet Transmission.
1) differential drive of 2DOF input, two kinds of selections are arranged, the first, first order planetary drive with small teeth difference is differential drive, that is: first order input mechanism 1, first order internal gear mechanism 6 are as input component, first order output mechanism 7 is first order output and partial input component, fixes when not rotating when second level internal gear mechanism 12, and second level output mechanism 14 just is the output link of this device; When second level output mechanism 14 is fixing when not rotating, second level internal gear mechanism 12 is the output link of this device.It two is, second level planetary drive with small teeth difference is differential drive, that is: first order input mechanism 1 is fixed and is not rotated as input component, first order internal gear mechanism 6, first order output mechanism 7 is first order output and partial input, also conduct input of second level internal gear mechanism 12 simultaneously, second level output mechanism 14 just is the output link of this device.
2) differential drive of 3DOF input: the first order and second level planetary drive with small teeth difference are differential drive, be first order input mechanism 1, first order internal gear mechanism 6, second level internal gear mechanism 12 all as input component, second level output mechanism 14 just is the output link of this device.
First order input mechanism 1 is as input component, select in first order internal gear mechanism 6, second level internal gear mechanism 12, the second level output mechanism 14 any one fixing do not rotate or this three member all fixing, then unfixed member so just constitutes the differential drive of 2DOF output or the differential drive of 3DOF output just as output member.
Scheme 4, multiple-input and multiple-output transmission:
First order transmission is as the differential drive of 2DOF input, and the second level is as the differential drive of 2DOF output.Scheme 5, because the peculiar structure of apparatus of the present invention, in above type transmission, first order output mechanism 7 can be selected another output link independently as this device.
In addition, bearing 8, bearing 9 and bearing 13 adopt standard rolling bearing, or the structure of solid matter cylindrical roller or solid matter ball.
Claims (9)
1. shaft-assembled type serial less-tooth-difference planetary transmission, comprise secondary K-H-V type planetary drive with small teeth difference, wherein, first order K-H-V type planetary drive with small teeth difference is by first order input mechanism (1), the external gear mechanism (5) of first order planetary drive with small teeth difference, first order internal gear mechanism (6), first order output mechanism compositions such as (7); Second level K-H-V type planetary drive with small teeth difference that is to say first order output mechanism by second level input mechanism (7), the external gear mechanism (11) of second level planetary drive with small teeth difference, second level internal gear mechanism (12), second level output mechanism compositions such as (14); It is characterized in that: the external gear mechanism (5) of first order planetary drive with small teeth difference is installed on the bearing (3) on first order input mechanism (1) eccentric shaft of hollow, profile on this grade external gear and the bearing (8) that is installed in first order output mechanism (7) cylindrical place goes up internal gear for circular first order internal gear mechanism (6) and is meshed, and constitutes first order K-H-V type planetary drive with small teeth difference jointly with first order output mechanism (7); The second level input mechanism (7) that second level external gear mechanism (11) is installed in hollow that is to say on the bearing (15) at eccentric shaft place of first order output mechanism, the profile of locating on the bearing (9) with bearing (13) that is installed in second level output mechanism (14) cylindrical place and first order internal gear mechanism (6) is meshed for the internal gear in the circular second level internal gear mechanism (12), and constitutes second level K-H-V type planetary drive with small teeth difference jointly with second level output mechanism (14).
2. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, it is characterized in that being installed in first order output mechanism (7) cylindrical place bearing (8), be installed in the bearing (9) that first order internal gear mechanism (6) locates and the bearing (13) that is installed in second level output mechanism (14) cylindrical place adopted standard rolling bearing, or the structure of solid matter cylindrical roller or solid matter ball.
3. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, it is characterized in that selecting the single output of single input transmission: first order input mechanism (1) is as input component, when first order internal gear mechanism (6) is fixing when not rotating, then first order output mechanism (7) is exported partial input component for the first order; Under this condition, the output of this device has 2 kinds of selection schemes, and the first can be removed bearing (9), and second level internal gear mechanism (12) and first order internal gear mechanism (6) are connected, second level internal gear mechanism (12) is fixing does not rotate, and second level output mechanism (14) just is the output link of this device; Two to be that second level output mechanism (14) is fixing do not rotate for it, and second level internal gear mechanism (12) is the output link of this device.
4. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, it is characterized in that selecting that many inputs of differential drive of 2DOF input are single exports transmissions, two kinds of selection schemes are arranged: the first, first order planetary drive with small teeth difference is differential drive, first order input mechanism (1) and first order internal gear mechanism (6) are all as input component, first order output mechanism (7) is first order output and partial input component, when second level internal gear mechanism (12) is fixing when not rotating, second level output mechanism (14) just is the output link of this device; When second level output mechanism (14) is fixing when not rotating, second level internal gear mechanism (12) is the output link of this device; It two is, second level planetary drive with small teeth difference is differential drive, first order input mechanism (1) is fixed as input component, first order internal gear mechanism (6) and is not rotated, first order output mechanism (7) is first order output and partial input, also conduct input of second level internal gear mechanism (12) simultaneously, second level output mechanism (14) just is the output link of this device.
5. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, it is characterized in that selecting the single output of the many inputs transmission of 3DOF input differential drive: the first order and second level planetary drive with small teeth difference are differential drive, be first order input mechanism (1), first order internal gear mechanism (6), second level internal gear mechanism (12) all as input component, second level output mechanism (14) just is the output link of this device.
6. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, it is characterized in that selecting the many output of single input transmission: first order input mechanism (1) is as input component, select in first order internal gear mechanism (6), second level internal gear mechanism (12), the second level output mechanism (14) any one fixing do not rotate or this three member all fixing, then unfixed member so just constitutes the differential drive of 2DOF output or the differential drive of 3DOF output just as output member.
7. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, it is characterized in that selecting the multiple-input and multiple-output transmission: first order planetary drive with small teeth difference is as the differential drive of 2DOF input, and second level planetary drive with small teeth difference is as the differential drive of 2DOF output.
8. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1, another that it is characterized in that first order output mechanism (7) can be used as this device be output link independently.
9. shaft-assembled type serial less-tooth-difference planetary transmission according to claim 1 is characterized in that the input and output mechanism of this device is a hollow, and the shell of this device is circular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100574257A CN100402888C (en) | 2005-12-09 | 2005-12-09 | Shaft-assembled type serial less-tooth-difference planetary transmission |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100574257A CN100402888C (en) | 2005-12-09 | 2005-12-09 | Shaft-assembled type serial less-tooth-difference planetary transmission |
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| CN1776252A CN1776252A (en) | 2006-05-24 |
| CN100402888C true CN100402888C (en) | 2008-07-16 |
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| CNB2005100574257A Expired - Fee Related CN100402888C (en) | 2005-12-09 | 2005-12-09 | Shaft-assembled type serial less-tooth-difference planetary transmission |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152430A1 (en) * | 2016-03-09 | 2017-09-14 | 江苏泰隆减速机股份有限公司 | Two-stage serial cycloid ball reducer |
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| CN100434753C (en) * | 2007-06-08 | 2008-11-19 | 重庆大学 | Pure rolling speed reducer |
| CN101251167B (en) * | 2008-03-27 | 2010-10-06 | 重庆大学 | Large transmission ratio mixed epicyclic transmission device |
| US20120044538A1 (en) * | 2009-05-06 | 2012-02-23 | Hewlett-Packard Development Company, L.P. | System and method for printing via virtual machines |
| CN105065582B (en) * | 2015-05-20 | 2018-01-05 | 华南理工大学 | The drive method and device of a kind of coaxial output rotation and revolution |
| CN106438859A (en) * | 2016-08-18 | 2017-02-22 | 上海未来伙伴机器人有限公司 | Gearbox |
| CN110630699A (en) * | 2019-08-21 | 2019-12-31 | 中冶华天工程技术有限公司 | Serial-type few tooth difference speed reduction transmission |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85200923U (en) * | 1985-04-01 | 1986-02-12 | 湖北省机械研究所 | Driving bearing |
| CN2136363Y (en) * | 1992-10-12 | 1993-06-16 | 王卫东 | Heavy, slow-speed and low-tooth difference speed reducer |
| CN1286212A (en) * | 2000-10-19 | 2001-03-07 | 上海交通大学 | Planetary gear driver for lifter, especially elevator |
| CN2721967Y (en) * | 2004-06-29 | 2005-08-31 | 石家庄科一重工有限公司 | Direct coupled planetary reducer |
-
2005
- 2005-12-09 CN CNB2005100574257A patent/CN100402888C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85200923U (en) * | 1985-04-01 | 1986-02-12 | 湖北省机械研究所 | Driving bearing |
| CN2136363Y (en) * | 1992-10-12 | 1993-06-16 | 王卫东 | Heavy, slow-speed and low-tooth difference speed reducer |
| CN1286212A (en) * | 2000-10-19 | 2001-03-07 | 上海交通大学 | Planetary gear driver for lifter, especially elevator |
| CN2721967Y (en) * | 2004-06-29 | 2005-08-31 | 石家庄科一重工有限公司 | Direct coupled planetary reducer |
Non-Patent Citations (4)
| Title |
|---|
| 少齿差行星传动. 杨锡和.雷达与对抗，第3期. 1999 |
| 少齿差行星传动. 杨锡和.雷达与对抗，第3期. 1999 * |
| 用于机器人驱动的新型摆线传动技术. 张俊芳等.杭州电子工业学院学报，第22卷第3期. 2002 |
| 用于机器人驱动的新型摆线传动技术. 张俊芳等.杭州电子工业学院学报，第22卷第3期. 2002 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017152430A1 (en) * | 2016-03-09 | 2017-09-14 | 江苏泰隆减速机股份有限公司 | Two-stage serial cycloid ball reducer |
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| CN1776252A (en) | 2006-05-24 |
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