CN104565216A - Cycloidal pin wheel speed reducer and robot - Google Patents
Cycloidal pin wheel speed reducer and robot Download PDFInfo
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- CN104565216A CN104565216A CN201310514583.5A CN201310514583A CN104565216A CN 104565216 A CN104565216 A CN 104565216A CN 201310514583 A CN201310514583 A CN 201310514583A CN 104565216 A CN104565216 A CN 104565216A
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- end cap
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- input end
- cycloid
- planet
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/031—Gearboxes; Mounting gearing therein characterised by covers or lids for gearboxes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/323—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear comprising eccentric crankshafts driving or driven by a gearing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
The invention provides a cycloidal pin wheel speed reducer large in driving torque and low in manufacturing cost and a robot adopting the cycloidal pin wheel speed reducer. The cycloidal pin wheel speed reducer comprises a spindle, a speed reduction mechanism, an input end cover and an output end cover, wherein the spindle is used for inputting power; the input end cover and the output end cover are used for outputting the power; the speed reduction mechanism comprises a pin wheel housing and a gear pin arranged on an inner wall of the pin wheel housing; the gear pin and the pin wheel housing form into a pin wheel; the spindle is located at the center of the pin wheel housing; the input end cover and the output end cover are respectively arranged at the two ends of the pin wheel housing, are fastened through a fastener and can freely rotate relative to the pin wheel housing; the speed reduction mechanism further comprises a pin shaft; the two ends of the pin shaft are respectively resisted against the inner end faces of the input end cover and the output end cover; an axial fixing hole is formed in the center of the pin shaft; the fastener passes through the fixing hole and is used for fixing the pin shaft on the input end cover and the output end cover.
Description
Technical field
The invention provides a kind of planet-cycloid reducer, and adopt the robot of this planet-cycloid reducer.
Background technique
Planet-cycloid reducer is a kind of applying row planetary transmission principle, adopt the novel transmission device of cycloidal pin teeth engagement, (single-stage speed reducing is than between 7 to 87 greatly to have velocity ratio, double reduction is than between 121 to 7569), transmission efficiency high (more than 90%), easy maintenance, volume is little, quality is light, easy accessibility, easily keep in repair, the life-span is long, noise is little etc. a little, has purposes widely in industries such as industrial robot, high-precision machine tool, medical treatment.
This planet-cycloid reducer generally comprises main shaft, for introducing the power of motor; Reducing gear, is down to rational scope by the rotating speed of main shaft; Input end cap and output end cap, for the Power output by reducing gear.Reducing gear generally comprises pin wheel housing, and input end cap and output end cap are arranged on pin wheel housing two ends screw axial and are fixed together, and can rotate relative to pin wheel housing.Input end cap and output terminal cover the axis pin of column also arranging the power receiving reducing gear.As from the foregoing, input end cap and output terminal cover the pin axis hole that need be provided with and pass for axis pin of column and the screw hole passed for attachment screw, in order to reduce the radial dimension of input end cap and output end cap, usually pin axis hole and screw hole are located on same distribution circle.But when the torque ratio that axis pin of column transmits is larger, need to increase pin axis hole, such pin axis hole just may be interfered with screw hole.In order to avoid interfering, screw hole and pin axis hole can only be divided into again two circles to arrange, but the radial dimension of input end cap and output end cap can be increased like this, correspondingly increase the volume of planet-cycloid reducer.
In order to solve this technical problem, a kind of scheme that prior art provides axis pin of column and output end cap is made of one (axis pin of column and input end cap can certainly be made of one), when inputting end cap and output terminal cover buckle is closed, axis pin of column abuts the interior edge face of described input end cap, attachment screw screws in described axis pin of column from input end cap exterior edge face, input end cap and output end cap is fixed together.This structure makes axis pin of column and attachment screw can share a mounting point, not only can reduce the volume of planet-cycloid reducer, can also ensure that axis pin of column can transmit moment large as far as possible.Because axis pin of column is used to transmit cycloid wheel spin moment, requirement on machining accuracy is generally higher.Conventional axis pin of column needs to carry out Quenching Treatment, and the hardness after Quenching Treatment will reach HRC58-62, and the machining accuracy of axis pin of column will reach surface roughness 0.4 ~ 0.8 in addition, circumferential locations precision reaches 0.005mm.If axis pin of column is processed separately, above-mentioned requirements can also reach, but after being connected with output end cap, reach above-mentioned requirements, very high to the requirement of working ability, considerably increases the cost of processing, makes domestic level of processing be difficult to reach.In addition for ensureing Rigidity and strength, axis pin of column generally adopts Bearing Steel, after axis pin of column and output end cap are made of one, the material exporting end cap must adopt Bearing Steel, and to export the original material of end cap can be the cast iron more much lower than Bearing Steel cost, (heat treatment level domestic is at present difficult to the hardness of cast iron to be worked into HRC58-62, and therefore axis pin of column equally can not adopt cast iron quality with exporting end cap), improves the cost of material exporting end cap.And, if adopt cast iron quality, first cast-iron blank cast can be become the shape close with part final size, then carry out next step machining.And adopt On The Quality of Bearing Steels, then need the Bearing Steel blank material of pole or plate class shape directly to make final part by the mode of machining.As can be seen here, adopt Bearing Steel to be made into integration and export end cap and axis pin of column, need to cut away most of material when processing axis pin of column, cause the very large waste of Bearing Steel blank material.
Summary of the invention
The object of the present invention is to provide a kind of carry-over moment is large and cost is low planet-cycloid reducer and adopt the robot of this planet-cycloid reducer.
Planet-cycloid reducer provided by the invention, comprises the input end cap of the main shaft of input power, reducing gear and outputting power and exports end cap; Described reducing gear comprises pin wheel housing and is arranged on the gear pin of pin wheel housing inwall, and described gear pin and pin wheel housing form pinwheel; Described main shaft is positioned at the central authorities of pin wheel housing, and described input end cap and output end cap arrange the two ends of described pin wheel housing respectively, be fixed together, freely can rotate relative to pin wheel housing with fixed block; Described reducing gear also comprises axis pin of column; Described axis pin of column two ends abut described input end cap respectively and export the interior edge face of end cap, and axis pin of column central authorities are provided with axial fixed hole, and axis pin of column, through described fixed hole, is fixed on input end cap and output terminal covers by described fixed block.
The interior edge face of described input end cap and output end cap is provided with interior hole, and described axis pin of column abuts the bottom surface in described interior hole.
Described fixed block is screw, and the nut portion of described screw abuts described input end cap exterior edge face, and rod body part is threaded with output end cap, or the nut portion of described screw abuts described output end cap exterior edge face, and rod body part is threaded with described input end cap.The exterior edge face of described input end cap or output end cap is provided with outer hole, and the nut portion of described screw abuts the bottom surface in described outer hole.
Described fixed block is screw rod and nut, and described screw rod two ends are provided with outside thread, outside thread is socketed with the nut being connected to described input end cap respectively and exporting on end cap exterior edge face.The exterior edge face of described input end cap and output end cap is provided with outer hole, and described nut abuts the bottom surface in described outer hole.
Described reducing gear also comprises cycloid wheel, and described main shaft is provided with the eccentric part driving described cycloid wheel to do eccentric swing; Described cycloid wheel engages with pinwheel while doing eccentric swing, produces the rotation contrary with cycloid wheel eccentric swing direction, and the rotation of cycloid wheel, through cycloid wheel, is passed to input end cap and exports end cap by described axis pin of column.
Described eccentric part has 2 ~ 4, is uniformly distributed along main shaft circumferencial direction, a correspondingly sheathed cycloid wheel on each eccentric part.
Be provided with rotary arm bearing between the eccentric part of described cycloid wheel and described main shaft, described rotary arm bearing has inner ring without the roller bearing of outer ring or without the needle bearing of Internal and external cycle only with retainer.
Robot provided by the invention, comprise mechanical arm, mechanism hand, joint of robot, described mechanical arm is connected by described joint of robot with between mechanical arm and between described mechanical arm with described mechanism hand, described joint of robot comprises housing, motor and above-mentioned planet-cycloid reducer, described planet-cycloid reducer is positioned at described housing, described motor is connected with the input shaft of planet-cycloid reducer, drive described planet-cycloid reducer, by input end cap or output terminal cover strip mobile robot articulation.
Adopt technological scheme of the present invention, axis pin of column central authorities are provided with the through hole passed for fixed block, and fixed block and axis pin of column can share a mounting point, and axis pin of column diameter can increase as far as possible, so that transmit larger moment.While increase axis pin of column carry-over moment, axis pin of column and fixed block also can not produce interference.Simultaneously, axis pin of column used fixed block to be fixed on input end cap and output terminal covers, therefore axis pin of column and can export end cap and separates and manufacture with input end cap, such output end cap and input end cap can adopt lower-cost cast iron manufacture, reduce the cost of material manufacturing and export end cap and input end cap, then axis pin of column can with the close Bearing Steel of its volume through quench and machining is made, avoid with export end cap with input end cap one-body molded time need to cut away the bearing steel material more than its volume several times.In addition, the mechanical processing technique difficulty of the axis pin of column made separately also reduces greatly.
Accompanying drawing explanation
In order to be illustrated more clearly in the technological scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1; The right elevation of planet-cycloid reducer
Fig. 2; Along the axial section that Figure 1A-A hatching is done
Fig. 3; Input end cap sectional drawing
Fig. 4; Export end cap sectional drawing
Fig. 5; Axis pin of column sectional drawing
Fig. 6; The explosive view of planet-cycloid reducer
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technological scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one
As Fig. 1,2, shown in 5 and 6, the planet-cycloid reducer that the present embodiment provides comprises the input end cap 121 of the main shaft 150 of input power, reducing gear and outputting power and exports end cap 122; Described reducing gear comprises pin wheel housing 110 and is arranged on the gear pin 160 of pin wheel housing 110 inwall, and described gear pin 160 forms pinwheel with pin wheel housing 110; Described main shaft 150 is positioned at the central authorities of pin wheel housing 110, and described input end cap 121 and output end cap 122 arrange the two ends of described pin wheel housing 110 respectively, be fixed together, freely can rotate relative to pin wheel housing 110 with fixed block 180; Described reducing gear also comprises axis pin of column 170; Described axis pin of column 170 two ends abut described input end cap 121 respectively and export the interior edge face of end cap 122, axis pin of column 170 central authorities are provided with fixed hole 171, axis pin of column 170, through described fixed hole 171, is fixed on input end cap 121 and exports on end cap 122 by described fixed block 180.
Described axis pin of column 170 directly can be connected to input end cap 121 and export on the end face of end cap 122, certainly interior hole 101 can also be provided with at the interior edge face of described input end cap 121 and output end cap 122, described axis pin of column 170 two ends abut the bottom surface in described interior hole 101, so that preposition axis pin of column 170 better in a pre-installation.Described axis pin of column 170 also has other modes with input end cap 121 with the preposition exporting end cap 122, but is not construed as limiting the invention.
Shown in composition graphs 3,4, described fixed block 180 can be screw.The nut portion of described screw abuts described input end cap 121 exterior edge face, and rod body part is threaded with output end cap 122, and the exterior edge face of described input end cap 121 is provided with outer hole 102, and the nut portion of described screw abuts the bottom surface in described outer hole 102.Or the nut portion of described screw abuts described output end cap 122 exterior edge face, and rod body part is threaded with described input end cap 121, the exterior edge face of described output end cap is provided with outer hole 102, and the nut portion of described screw abuts the bottom surface in described outer hole 102.Nut portion due to screw is positioned at input end cap 121 at least partly or exports the outer hole 120 of end cap 122, can reduce planet-cycloid reducer axial length like this, and then reduce the volume of planet-cycloid reducer.
Described fixed block 180 can also be screw rod and nut, described screw rod two ends are provided with outside thread, outside thread is socketed with the nut being connected to described input end cap 121 respectively and exporting on end cap 122 exterior edge face, the exterior edge face of described input end cap 121 and output end cap 122 is provided with outer hole, and described nut abuts the bottom surface in described outer hole.Fixed block 180 can also adopt a lot of mode, and concrete structure is not construed as limiting the invention.
Described reducing gear also comprises the cycloid wheel 140 be located in pin wheel housing 110.Described main shaft 150 two ends are supported on input end cap 121 respectively by deep groove ball bearing 132 and export in the center hole of end cap 122, the middle part of described main shaft 150 is through cycloid wheel 140, and the position through cycloid wheel 140 is provided with eccentric part, the eccentric part of described main shaft 150 can drive cycloid wheel 140 to do eccentric swing.Described cycloid wheel 140 engages with pinwheel while eccentric swing, produces the rotation contrary with its eccentric swing direction.The rotation of described cycloid wheel 140 passes to input end cap 121 by described axis pin of column 170 and exports end cap 122.Described input end cap 121 and output end cap 122 are supported on the inwall of pin wheel housing 110 by tapered roller bearing 131, the described gear pin 160 being arranged on the inwall of pin wheel housing 110 has multiple, along the circumferential direction distribute, 160 two ends of gear pin are by tapered roller bearing 131 axial limiting.Coordinate the structure realizing slowing down can also have other implementation with pinwheel in described reducing gear, but be not construed as limiting the invention.
The moment that the number of cycloid wheel 140 passes to input end cap 121 and output end cap 122 according to it is arranged, be generally 2 ~ 4, main shaft 150 can set corresponding number drives cycloid wheel 140 to do the eccentric part of eccentric swing, and eccentric part is uniformly distributed along main shaft circumferencial direction.The cycloid wheel 140 that the present embodiment is arranged is 3, and main shaft 150 is correspondingly provided with 3 eccentric parts, and the phase difference between these 3 eccentric parts is 120 degree.The number that cycloid wheel 140 is arranged, and the eccentric part number that on main shaft 150, the drive cycloid wheel 140 of relative set swings is not construed as limiting the invention.
Rotary arm bearing 190 is also arranged with between the eccentric part of main shaft 150 and cycloid wheel 140.In order to improve the use life of rotary arm bearing 190 under the condition of same size, rotary arm bearing 190 chooses the roller bearing having inner ring without outer ring, because the bearing capacity of this roller bearing is higher.When satisfied carrying condition, rotary arm bearing 190 can also be chosen to adopt without the needle bearing of Internal and external cycle only with retainer, but this needle bearing using main shaft 150 directly as raceway in roller, higher to the requirement on machining accuracy of main shaft 150.Certain rotary arm bearing can also select the bearing of other type, and concrete bearing type selecting is not construed as limiting the invention.
The working principle of planet-cycloid reducer is: main shaft 150 rotates clockwise under the driving of motor (can certainly rotate counterclockwise), then cycloid wheel 140 eccentric swing is clockwise driven by the eccentric part on main shaft 150, the pinwheel internal messing that cycloid wheel 140 is formed while doing eccentric swing and by pin wheel housing 110 and gear pin 160, produces the rotation contrary with its eccentric swing direction.Under pinwheel fixing situation, main shaft 150 often turns around clockwise, and cycloid wheel 140 will rotation tooth counterclockwise.The rotation of cycloid wheel 140 passes to input end cap 121 by axis pin of column 170 and exports end cap 122, realizes final deceleration and exports.
Adopt technological scheme of the present invention, axis pin of column central authorities are provided with the through hole passed for fixed block, and such fixed block and axis pin of column can share a mounting point, and axis pin of column diameter can increase as far as possible, so that transmit larger moment.While increase axis pin of column carry-over moment, axis pin of column and fixed block also can not produce interference.Simultaneously, axis pin of column used fixed block to be fixed on input end cap and output terminal covers, therefore axis pin of column and can export end cap and separates and manufacture with input end cap, such output end cap and input end cap can adopt lower-cost cast iron manufacture, reduce the cost of material manufacturing and export end cap and input end cap, then axis pin of column can with the close Bearing Steel of its volume through quench and machining is made, avoid with export end cap with input end cap one-body molded time need to cut away the bearing steel material more than its volume several times.In addition, the mechanical processing technique difficulty of the axis pin of column made separately also reduces greatly.
Embodiment two
The present embodiment provides a kind of robot, comprise mechanical arm, mechanism hand, joint of robot, described mechanical arm is connected by described joint of robot with between mechanical arm and between described mechanical arm with described mechanism hand, described joint of robot comprises housing, motor and above-mentioned planet-cycloid reducer, described planet-cycloid reducer is positioned at described housing, described motor is connected with the input shaft of planet-cycloid reducer, drive described planet-cycloid reducer, by input end cap or output terminal cover strip mobile robot articulation.Described planet-cycloid reducer comprises the input end cap of the main shaft of input power, reducing gear and outputting power and exports end cap; Described reducing gear comprises pin wheel housing and is arranged on the gear pin of pin wheel housing inwall, and described gear pin and pin wheel housing form pinwheel; Described main shaft is positioned at the central authorities of pin wheel housing, and described input end cap and output end cap arrange the two ends of described pin wheel housing respectively, be fixed together, freely can rotate relative to pin wheel housing with fixed block; Described reducing gear also comprises axis pin of column; Described axis pin of column two ends abut described input end cap respectively and export the interior edge face of end cap, and axis pin of column central authorities are provided with axial fixed hole, and axis pin of column, through described fixed hole, is fixed on input end cap and output terminal covers by described fixed block.
Apply specific case herein to set forth principle of the present invention and mode of execution, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, in sum, this description should not be construed as limitation of the present invention.
Claims (10)
1. a planet-cycloid reducer, is characterized in that, comprises the input end cap of the main shaft of input power, reducing gear and outputting power and exports end cap;
Described reducing gear comprises pin wheel housing and is arranged on the gear pin of pin wheel housing inwall, and described gear pin and pin wheel housing form pinwheel; Described main shaft is positioned at the central authorities of pin wheel housing, and described input end cap and output end cap arrange the two ends of described pin wheel housing respectively, be fixed together, freely can rotate relative to pin wheel housing with fixed block;
Described reducing gear also comprises axis pin of column; Described axis pin of column two ends abut described input end cap respectively and export the interior edge face of end cap, and axis pin of column central authorities are provided with axial fixed hole, and axis pin of column, through described fixed hole, is fixed on input end cap and output terminal covers by described fixed block.
2. planet-cycloid reducer according to claim 1, is characterized in that, the interior edge face of described input end cap and output end cap is provided with interior hole, and described axis pin of column abuts the bottom surface in described interior hole.
3. planet-cycloid reducer according to claim 1 and 2, it is characterized in that, described fixed block is screw, the nut portion of described screw abuts described input end cap exterior edge face, rod body part is threaded with output end cap, or the nut portion of described screw abuts described output end cap exterior edge face, and rod body part is threaded with described input end cap.
4. planet-cycloid reducer according to claim 3, is characterized in that, the exterior edge face of described input end cap or output end cap is provided with outer hole, and the nut portion of described screw abuts the bottom surface in described outer hole.
5. planet-cycloid reducer according to claim 1 and 2, is characterized in that, described fixed block is screw rod and nut, and described screw rod two ends are provided with outside thread, outside thread is socketed with the nut being connected to described input end cap respectively and exporting on end cap exterior edge face.
6. planet-cycloid reducer according to claim 5, is characterized in that, the exterior edge face of described input end cap and output end cap is provided with outer hole, and described nut abuts the bottom surface in described outer hole.
7. the planet-cycloid reducer according to claim 1 to 6 any one, is characterized in that: described reducing gear also comprises cycloid wheel, and described main shaft is provided with the eccentric part driving described cycloid wheel to do eccentric swing; Described cycloid wheel engages with pinwheel while doing eccentric swing, produces the rotation contrary with cycloid wheel eccentric swing direction, and the rotation of cycloid wheel, through cycloid wheel, is passed to input end cap and exports end cap by described axis pin of column.
8. planet-cycloid reducer according to claim 7, is characterized in that: described eccentric part has 2 ~ 4, is uniformly distributed along main shaft circumferencial direction, a correspondingly sheathed cycloid wheel on each eccentric part.
9. planet-cycloid reducer according to claim 7, it is characterized in that: be provided with rotary arm bearing between the eccentric part of described cycloid wheel and described main shaft, described rotary arm bearing has inner ring without the roller bearing of outer ring or without the needle bearing of Internal and external cycle only with retainer.
10. a robot, comprise mechanical arm, mechanism hand, joint of robot, described mechanical arm is connected by described joint of robot with between mechanical arm and between described mechanical arm with described mechanism hand, it is characterized in that, described joint of robot comprises housing, motor and the planet-cycloid reducer according to claim 1 to 9 any one, described planet-cycloid reducer is positioned at described housing, described motor is connected with the input shaft of planet-cycloid reducer, drive described planet-cycloid reducer, rotated by input end cap or output end cap joint of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310514583.5A CN104565216A (en) | 2013-10-28 | 2013-10-28 | Cycloidal pin wheel speed reducer and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310514583.5A CN104565216A (en) | 2013-10-28 | 2013-10-28 | Cycloidal pin wheel speed reducer and robot |
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| CN104565216A true CN104565216A (en) | 2015-04-29 |
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| CN201310514583.5A Pending CN104565216A (en) | 2013-10-28 | 2013-10-28 | Cycloidal pin wheel speed reducer and robot |
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| CN107606067A (en) * | 2016-07-12 | 2018-01-19 | 纳博特斯克有限公司 | Geared system |
| CN108412965A (en) * | 2017-02-09 | 2018-08-17 | 安徽聚隆机器人减速器有限公司 | A kind of eccentric oscillation gear device |
| CN108869641A (en) * | 2017-05-12 | 2018-11-23 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
| CN109048883A (en) * | 2018-11-02 | 2018-12-21 | 重庆大学 | A kind of industrial robot joint steering engine based on Cycloidal pin-wheel drive |
| CN109751366A (en) * | 2017-11-02 | 2019-05-14 | 住友重机械工业株式会社 | Epicyclic reduction gear unit |
| CN111216117A (en) * | 2020-01-18 | 2020-06-02 | 上海大学 | Integrative joint of robot of nested type two-stage planet speed reduction structure |
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| CN107606067A (en) * | 2016-07-12 | 2018-01-19 | 纳博特斯克有限公司 | Geared system |
| CN107606067B (en) * | 2016-07-12 | 2022-04-19 | 纳博特斯克有限公司 | Gear device |
| CN108412965A (en) * | 2017-02-09 | 2018-08-17 | 安徽聚隆机器人减速器有限公司 | A kind of eccentric oscillation gear device |
| CN108869641A (en) * | 2017-05-12 | 2018-11-23 | 昆山光腾智能机械有限公司 | Needle tooth cycloidal reducer and industrial robot |
| CN108869641B (en) * | 2017-05-12 | 2021-07-23 | 昆山光腾智能机械有限公司 | Pin gear cycloid speed reducer and industrial robot |
| CN109751366A (en) * | 2017-11-02 | 2019-05-14 | 住友重机械工业株式会社 | Epicyclic reduction gear unit |
| CN109048883A (en) * | 2018-11-02 | 2018-12-21 | 重庆大学 | A kind of industrial robot joint steering engine based on Cycloidal pin-wheel drive |
| CN111216117A (en) * | 2020-01-18 | 2020-06-02 | 上海大学 | Integrative joint of robot of nested type two-stage planet speed reduction structure |
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Application publication date: 20150429 |