CN101183816B - Decelerator for control motor - Google Patents

Decelerator for control motor Download PDF

Info

Publication number
CN101183816B
CN101183816B CN2007100928250A CN200710092825A CN101183816B CN 101183816 B CN101183816 B CN 101183816B CN 2007100928250 A CN2007100928250 A CN 2007100928250A CN 200710092825 A CN200710092825 A CN 200710092825A CN 101183816 B CN101183816 B CN 101183816B
Authority
CN
China
Prior art keywords
gear
spring bearing
planetary gear
ladder
ladder planetary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2007100928250A
Other languages
Chinese (zh)
Other versions
CN101183816A (en
Inventor
胡捷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chongqing Cuken Technical Co., Ltd.
Original Assignee
胡菱菱
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 胡菱菱 filed Critical 胡菱菱
Priority to CN2007100928250A priority Critical patent/CN101183816B/en
Publication of CN101183816A publication Critical patent/CN101183816A/en
Application granted granted Critical
Publication of CN101183816B publication Critical patent/CN101183816B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

The invention relates to a speed reducer used for controlling a motor, which comprises an input shaft, a step planetary gear, an internal gear, an output shaft, a right housing, a left housing and a plurality of support bearings. The invention has the advantages that: a high rotational speed meshing is arranged for the gear of the speed reducer, so the processing of the gear is simple with low noise and little heat generating, which is especially obvious with the reducing speed ratio increasing; rolling bearing matching is adopted for the gear and the bearing with high efficiency and convenient installation of the output and the input shafts; 4 to 7 gears participate in meshing work when the gear is meshed with good equal load property, little heat generating, low noise and long service life due to low speed meshing of the gear; four gears can form a speed reducer with less than 100 of drive ratio, thereby adapting to requirement of each sequence reduction ratio and facilitating serial production; reasonable addendum coefficient, modification coefficient and serrated angle of pressure are adopted, thereby achieving a higher transmission efficiency.

Description

A kind of control motor decelerator
Technical field
The present invention relates to the precision speed reduction device that a kind of suitable control motor is used, belong to the mechanical transmissioning technology field.
Background technology
In the prior art, modal control motor reducer, mainly contain PX, PL series planetary reduction gear, these decelerator central gear processed complexs, the number of gears is many, the cost height, particularly the pinion of power shaft need adapt to the rotating speed height, and the operating time is long, participates in joggleword with three planetary gears simultaneously, quick abrasion, planet carrier processing request height.And, this decelerator speed reducing ratio in tandem product can not increase speed reducing ratio by Serial No. ordering, can only increase by the multiple of radix as 5,8,12,15,20 etc., increases speed reducing ratio, need to increase the number of gears, also will reduce the efficient of gear simultaneously with the increase of progression.Because this series decelerator is by the radial structure planet gear of arranging, under the certain situation of radial dimension, gear and gear shaft are subjected to the restriction of radial dimension, bearing can not be installed, form sliding friction, increase energy consumption, increase with speed reducing ratio, structurally be difficult for the increase modulus yet and improve the strength of gear teeth, in the middle of the speed reducing ratio of same grade, the torsional strength of decelerator and the speed reducing ratio of decelerator do not match.
Summary of the invention
At the prior art above shortcomings, it is simple to the purpose of this invention is to provide a kind of Gear Processing, and noise is low, heating is few, a kind of control motor decelerator that delivery efficiency is high.
The object of the present invention is achieved like this: a kind of control motor decelerator is characterized in that being made of power shaft, two ladder planetary gears, internal gear, output shaft, right shell body, left shell and some spring bearings;
Power shaft is supported on respectively by first spring bearing and second spring bearing in the endoporus of left end of left shell and output shaft, two pairs of off-centre operations that circumferentially differ 180 ° are arranged in the middle of the power shaft, the 3rd spring bearing and the 4th spring bearing are housed on two off-centre operations, and dress has ladder planetary gear and ladder planetary gear respectively on the outer ring of the 3rd spring bearing and the 4th spring bearing; Ladder planetary gear and ladder planetary gear are formed by an external gear and an internal gear; The planetary inner hole sleeve of ladder is on the cylindrical of the 3rd spring bearing of power shaft left end, and the planetary inner hole sleeve of ladder is on off-centre operation the 4th spring bearing cylindrical of power shaft right-hand member; The external gear of ladder planetary gear right-hand member and internal gear engagement, the external gear of ladder planetary gear left end and internal gear engagement; The external tooth of left end engagement on the internal gear of ladder planetary gear right-hand member and the output shaft; The internal gear folder fixes in the middle of left shell and the right shell body, and output shaft is bearing in the endoporus of right shell body by the 5th spring bearing and the 6th spring bearing.
Compared to existing technology, the present invention has following advantage:
1, the faying face of the gear teeth on the decelerator is provided with high rotating speed engagement, thereby Gear Processing is simple, and noise is low, heating is few, and along with the increase of speed reducing ratio, these characteristics are especially obvious.
2, gear and bearing adopt rolling bearing to cooperate, the efficient height, and output, coaxial being convenient to of input are installed.
3, have during gears engaged 4~7 gears to participate in jogglewords, all carrying property of gear are good, and gears engaged is the gear motion of low speed, generate heat little, noise is low, long service life.
4, can form any ratio decelerator below 100 arbitrarily by 4 gears, be fit to the needs of each sequence speed reducing ratio, be convenient to producing in serial form.
5, adopt rational addendum coefficient, modification coefficient and profile of tooth pressure angle can obtain high transmission efficiency.
Description of drawings
Fig. 1 is the first execution mode structural representation of the present invention;
Fig. 2 is the second execution mode structural representation of the present invention.
Embodiment
Embodiment 1: as shown in Figure 1, a kind of control motor decelerator, spring bearing 3,14 by power shaft 1, ladder planetary gear 4,7 (ladder planetary gear 4,7 form by an external gear and internal gear), internal gear 6, output shaft 9, right shell body 10, left shell 2, power shaft 1, the spring bearing 5,8 of two ladder planetary gears 4,7, and the spring bearing 11,12 of output shaft 9 constitutes.Among the figure, 13,15,16 all is ring washers.
Power shaft 1 is supported in the endoporus of left shell 2 and output shaft 9 left ends respectively by first spring bearing 3 and second spring bearing 14, two pairs of off-centre operations that circumferentially differ 180 ° are arranged in the middle of the power shaft 1, the 3rd spring bearing 5, the 4th spring bearing 8 are housed on two off-centre operations, the inner hole sleeve of ladder planetary gear 4 is on the outer ring of off-centre operation the 3rd spring bearing 5 of power shaft 1 left end, and the inner hole sleeve of ladder planetary gear 7 is on the outer ring of off-centre operation the 4th spring bearing 8 of power shaft right-hand member.Wherein, the external gear on ladder planetary gear 4 the right and internal gear 6 engagements, the external gear on ladder planetary gear 7 left sides and internal gear 6 engagements, the external tooth of left end engagement on the internal gear on ladder planetary gear 7 the right and the output shaft 9, internal gear 6 folders fix on the centre of left shell 2 and right shell body 10, and output shaft 9 is bearing in right shell body 10 endoporus by the 5th spring bearing 11, the 6th spring bearing 12.
Power shaft 1 passes to the rotation of motor the external tooth of ladder planetary gear 7 by the eccentric amount e on the 4th spring bearing 8 and the power shaft 1, external tooth z1 on the ladder planetary gear 7 and the tooth z2 of internal gear 6 engagement, the internal tooth z3 while of ladder planetary gear 7 and the external tooth z4 engagement on the output shaft 9, the inner ring of second spring bearing 8 is with power shaft 1 high speed rotating, ladder planetary gear 7 under the reaction of eccentric motion and internal gear 6 tooth z2 with the periodic oppositely rotation of eccentric e, internal gear z3 on the ladder planetary gear 7 is also with this eccentric motion rotation, and the tooth on it periodically inserts and drives output shaft 9 in the teeth groove of the external tooth z4 on the output shaft 9 and oppositely slow down with power shaft 1 and rotate.
The internal tooth z2 of internal gear 6 and the engagement of the external tooth z1 on the stepped gear 7, there is the off-centre operation of a pair of 180 ° of symmetries in the power shaft stage casing, offset is e, the 3rd spring bearing 5, the 4th spring bearing 8 are housed respectively on two off-centre operations, bearing outer ring matches with stepped gear z1, z3 endoporus, internal tooth z2 engagement on its external tooth z1 and the housing, external tooth z4 engagement on right stepped gear the right internal tooth z3 and the output shaft, power shaft the right bearing puts in output shaft left end endoporus, and output shaft the right bearing is supported on the right shell body.Then
Gearratio i = z 1 × z 4 z 1 × z 4 - z 2 × z 3 ; Z1, z3 are respectively ladder planet tooth external tooth and internal tooth, and z2 is the internal tooth on the housing, and z4 is the external tooth on the output shaft, and z1, z2 and z3, z4 tooth difference are 1~5.
Present embodiment mainly is applicable to the situation use that gearratio is less.
Embodiment 2: with first kind of structure difference be: the tooth on the two ladder planetary gears 4,7 all is an external tooth, and left end has a circle internal tooth on the output shaft 9, and all the other structures are the same with first kind of structure.
By shown in Figure 2: decelerator mainly comprises power shaft 1, the first ladder planetary gear 4, the second ladder planetary gear 7, internal gear 6 and output shaft 9, and first spring bearing 3 and second spring bearing 14 that are used to support power shaft 1, be used to support the 3rd spring bearing 5 and the 4th spring bearing 8 of two ladder planetary gears 4,7, be used to support the 5th spring bearing 11 and the 6th spring bearing 12 of output shaft 9.Among the figure, the 2nd, right shell body, the 10th, left shell, the 13rd, back-up ring.
Power shaft 1 is supported in the endoporus of left shell 2 and output shaft 9 left ends respectively by first spring bearing 3 and second bearing 14, two pairs of off-centre operations that circumferentially differ 180 ° are arranged in the middle of the power shaft 1, be equipped with on two off-centre operations and be used to support two ladder planetary gears 4,7 the 3rd spring bearing 5 and the 4th spring bearing 8 (ladder planetary gear 4 and ladder planetary gear 7 are housed respectively on the outer ring of the 3rd spring bearing 5 and the 4th spring bearing 8), ladder planetary gear 4 inner hole sleeves are on off-centre operation spring bearing 5 cylindricals of power shaft 1 left end, ladder planetary gear 7 is enclosed within on off-centre operation spring bearing 8 cylindricals of power shaft 1 right-hand member, ladder planetary gear 4 is made up of two external gears, as shown in Figure 2, the external gear on ladder planetary gear 4 the right and internal gear 6 engagements; Ladder planetary gear 7 also is made up of two external gears, as shown in Figure 2, ladder planetary gear 7 upper left external tooths also mesh with internal gear 6, the internal tooth of left end engagement on the external tooth on ladder planetary gear 7 the right and the output shaft 9, internal gear 6 folders fix in the middle of left shell 2 and the right shell body 10, and output shaft 9 is bearing in the right shell body 10 interior shoulder holes by the 5th spring bearing 11 and the 6th spring bearing 12.
Power shaft 1 is the rotation of motor, pass ladder planetary gear 7 by the eccentric amount e on the 4th spring bearing 8 and the power shaft 1, external tooth z1 on the ladder planetary gear 7 and the tooth z2 of internal gear 6 engagement, the external tooth z3 while of ladder planetary gear 7 and the internal tooth z4 engagement on the output shaft 9, the inner ring of the 3rd spring bearing 5 is with power shaft 1 high speed rotating, ladder planetary gear 7 under the reaction of eccentric motion and tooth z2 and internal gear 6 with the periodic oppositely rotation of eccentric e, external tooth z3 on the ladder planetary gear 7 is also with this eccentric motion rotation, and the tooth on it periodically inserts and drives the rotation of slowing down in the same way of output shaft 9 and power shaft 1 in the teeth groove of the internal gear on the output shaft 9.
Gearratio i = z 1 × z 4 z 1 × z 4 - z 2 × z 3 ; Z1, z3 are the external tooth of ladder planetary gear 7, and z2 is the tooth of internal tooth 6, and z4 is the internal tooth that is fixed on output shaft 9 left ends.
Z1=z3 is during z4-z2=1, then: gearratio i=z4
In product seriation design if guarantee that two pairs of gear centres are certain apart from e, external tooth engagement in z1 and the z2, modulus is m1, external tooth engagement in z3 and the z4, modulus is m2, m2-m1=0.25, z1=z3 is under the prerequisite of z4-z2=1, z4=30,31,32 ... 99,100 o'clock, just can obtain corresponding i=30,31,32 ... 99,100 sequence gearratio.
Present embodiment mainly is applicable to the situation use that gearratio is bigger.
Embodiment 3: omit accompanying drawing, two ladder planetary gears all are external gears, and the modulus of the first order and second level gear differs 0.25 in the gears engaged inside and outside two-stage, is 1.25 as the first order, the second level is 1.5, guarantees that by adjusting modification coefficient x two pairs of gear centres are apart from being e.
Gearratio i = z 1 × z 4 z 1 × z 4 - z 2 × z 3 ; Zi, z3 are the planetary external tooth of ladder, and z2 is the internal tooth of internal gear 6; Z4 is the internal tooth that is fixed on output shaft.
Z1=z3 is during z4-z2=1, then: gearratio i=z4
In product seriation design if guarantee that two pairs of gear centres are certain apart from e, external tooth engagement in z1 and the z2, modulus is m1, external tooth engagement in z3 and the z4, modulus is m2, m2-m1=0.25, z1=z3 is under the prerequisite of z4-z2=1, z4=30,31,32 ... 99,100 o'clock, just can obtain corresponding i=30,31,32 ... 99,100 sequence gearratio.
Present embodiment mainly be applicable to gearratio need by 30,31,32 ... situation when 100 sequence numbers are arranged is used.
Another characteristics of the present invention are: the translation that forms owing to eccentric motion when planet stepped gear z1, z3 and internal gear z2, output shaft tooth z4 engagement and the compound motion of rotation, in order to reduce the radial component of gears engaged, getting pressure angle is a=9 °~20 °, and addendum coefficient is taken as 0.5 ... 0.3 to improve transmission efficiency, to avoid tooth top to interfere.
The capacity eccentric bearing inner ring is fixed on the eccentric step of power shaft, ladder planetary gear inner ring is fastened on this bearing outer ring, bearing inner race is with the power shaft high speed rotating, because the effect of eccentric motion drives the stepped gear z1 on the bearing outer ring, z3 revolves round the sun around power shaft, its external tooth z1, z3 inserts in internal tooth z2 and the output shaft z4 teeth groove, because internal tooth z2, the reaction force of output shaft internal tooth z4 makes the reverse rotation of its generation around the capacity eccentric bearing axle center, this rotation is with rotating than the periodic low-speed motion of i, so the gear motion of the flank of tooth is a kind of transmission of low speed, the high-speed motion of motor is born by the high capacity eccentric bearing of precision, finishes retarded motion thus.

Claims (2)

1. a control motor decelerator is characterized in that being made of power shaft (1), two groups of ladder planetary gears (4,7), first internal gear (6), output shaft (9), right shell body (10), left shell (2) and spring bearing (3,14,5,8,11,12);
Power shaft (1) is supported on respectively by first spring bearing (3) and second spring bearing (14) in the endoporus of left end of left shell (2) and output shaft (9), two pairs of off-centre operations that circumferentially differ 180 ° are arranged in the middle of the power shaft (1), the 3rd spring bearing (5) and the 4th spring bearing (8) are housed on two off-centre operations, and dress has the first ladder planetary gear (4) and the second ladder planetary gear (7) respectively on the outer ring of the 3rd spring bearing (5) and the 4th spring bearing (8); The first ladder planetary gear (4) and the second ladder planetary gear (7) are formed by an external gear and an internal gear; The inner hole sleeve of the first ladder planetary gear (4) is on the cylindrical of the 3rd spring bearing (5) of power shaft (1) left end, and the inner hole sleeve of the second ladder planetary gear (7) is on off-centre operation the 4th spring bearing (8) cylindrical of power shaft (1) right-hand member; The external gear of first ladder planetary gear (4) right-hand member and first internal gear (6) engagement, the external gear of second ladder planetary gear (7) left end and first internal gear (6) engagement; The secondary annulus of second ladder planetary gear (7) right-hand member and output shaft (9) are gone up the external tooth engagement of left end; First internal gear (6) folder fixes in the middle of left shell (2) and the right shell body (9), and output shaft (9) is bearing in the endoporus of right shell body (10) by the 5th spring bearing (11) and the 6th spring bearing (12).
2. a control motor decelerator is characterized in that being made of power shaft (1), two groups of ladder planetary gears (4,7), internal gear (6), output shaft (9), right shell body (10), left shell (2) and spring bearing (3,14,5,8,11,12);
Power shaft (1) is supported on respectively by first spring bearing (3) and second spring bearing (14) in the endoporus of left end of left shell (2) and output shaft (9), two pairs of off-centre operations that circumferentially differ 180 ° are arranged in the middle of the power shaft (1), the 3rd spring bearing (5) and the 4th spring bearing (8) are housed on two off-centre operations, and dress has the first ladder planetary gear (4) and the second ladder planetary gear (7) respectively on the outer ring of the 3rd spring bearing (5) and the 4th spring bearing (8); The first ladder planetary gear (4) and the second ladder planetary gear (7) are formed by two external gears; The inner hole sleeve of the first ladder planetary gear (4) is on the cylindrical of the 3rd spring bearing (5) of power shaft (1) left end, and the inner hole sleeve of the second ladder planetary gear (7) is on off-centre operation the 4th spring bearing (8) cylindrical of power shaft (1) right-hand member; The external gear of first ladder planetary gear (4) right-hand member and internal gear (6) engagement, the external gear of second ladder planetary gear (7) left end and internal gear (6) engagement; The external gear of second ladder planetary gear (7) right-hand member and output shaft (9) are gone up the internal tooth engagement of left end; Internal gear (6) folder fixes in the middle of left shell (2) and the right shell body (9), and output shaft (9) is bearing in the endoporus of right shell body (10) by the 5th spring bearing (11) and the 6th spring bearing (12).
CN2007100928250A 2007-10-09 2007-10-09 Decelerator for control motor Expired - Fee Related CN101183816B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2007100928250A CN101183816B (en) 2007-10-09 2007-10-09 Decelerator for control motor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2007100928250A CN101183816B (en) 2007-10-09 2007-10-09 Decelerator for control motor

Publications (2)

Publication Number Publication Date
CN101183816A CN101183816A (en) 2008-05-21
CN101183816B true CN101183816B (en) 2010-11-17

Family

ID=39448946

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2007100928250A Expired - Fee Related CN101183816B (en) 2007-10-09 2007-10-09 Decelerator for control motor

Country Status (1)

Country Link
CN (1) CN101183816B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102231586A (en) * 2011-01-10 2011-11-02 常州乐士雷利电机有限公司 Gear reduction mini-motor
CN104948578A (en) * 2015-06-09 2015-09-30 孙美娜 Self-aligning ball bearing integrated with planet gear speed reducing device
CN105041864A (en) * 2015-06-09 2015-11-11 孙美娜 Double-row angular contact ball bearing of integrated planetgear speed reducer
CN104912924A (en) * 2015-06-09 2015-09-16 孙美娜 Conical roller bearing of integrated planetary gear speed reducing device
CN105041863A (en) * 2015-06-09 2015-11-11 孙美娜 Angular contact ball bearing of integrated planet gear speed reduction device
CN104912923A (en) * 2015-06-09 2015-09-16 孙美娜 Cylindrical roller bearing of integrated planetary gear speed reducing device
CN105041862A (en) * 2015-06-09 2015-11-11 孙美娜 Self-aligning roller bearing of integrated planet wheel speed reducing device
CN105946188B (en) * 2016-06-30 2018-12-04 广州一道注塑机械股份有限公司 More motor linkages drive plasticizing apparatus
CN111336224B (en) * 2020-03-30 2021-09-14 浙江东方机电有限公司 Integrated motor for dragging system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201080991Y (en) * 2007-10-09 2008-07-02 胡菱菱 Decelerator for controlling electric motor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201080991Y (en) * 2007-10-09 2008-07-02 胡菱菱 Decelerator for controlling electric motor

Also Published As

Publication number Publication date
CN101183816A (en) 2008-05-21

Similar Documents

Publication Publication Date Title
CN101183816B (en) Decelerator for control motor
CN101907149B (en) Double cycloid single-stage reducer of industrial robot
CN102252062B (en) Complex precise cycloidal speed reducer
CN104121335A (en) Planetary speed reducer with two planetary gears
WO2019114033A1 (en) Thickness-variable transmission structure for robot joint
CN110966355B (en) Gear-needle dual-mode meshing small-tooth-difference planetary gear pair and precision speed reducer
CN102359555A (en) Precise cycloidal movable tooth transmission speed reducer
CN202203344U (en) Precision cycloidal speed reducer
KR20150012043A (en) Differential speed reducer with conjugate dual cycloid tooth profile
CN102230519B (en) Face gear-type planetary reduction gearbox
JP5540442B1 (en) Speed reducer series and speed reducer
CN201080991Y (en) Decelerator for controlling electric motor
CN102242795B (en) Precision cycloid decelerator
CN101191531A (en) Planet decelerating method and device for differential gear
CN202251727U (en) Precise cycloid oscillating tooth transmission reducer
RU2423634C1 (en) Cage-less planetary gear
CN203730666U (en) Planet and small tooth difference structure integrated speed reducer
CN108757856B (en) Multi-stage eccentric gear transmission speed change device
CN202326939U (en) Coaxial cylindrical-surface-identical multi-stage forward/reverse rotation gearbox
CN100526677C (en) Mechanical reduction gear and rim motor including the same
EP3175142A2 (en) Gear mechanism
CN101363516B (en) Circular mobile tooth and small tooth difference variable-speed drive device
CN102003498B (en) Planetary gearbox with supper large speed ratio and small teeth difference
CN104696460B (en) Bearing decelerator
CN106917847A (en) The robot double uniform many modulus gear train assemblies in parallel of microminiature planetary gear

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
ASS Succession or assignment of patent right

Owner name: CHONGQING CUKEN TECHNICAL CO., LTD.

Free format text: FORMER OWNER: HU LINGLING

Effective date: 20140208

COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 400030 SHAPINGBA, CHONGQING TO: 401122 YUBEI, CHONGQING

TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20140208

Address after: 3, 1 building, 1 HSBC Road, 401122 north, Chongqing

Patentee after: Chongqing Cuken Technical Co., Ltd.

Address before: Chongqing city Shapingba District Street 400030 Xiaolongkan No. 96 No. 14 of peace building two unit 3-1 (8 in)

Patentee before: Hu Lingling

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20101117

Termination date: 20161009