CN105114535A - Hollow planetary speed reducer with eccentric input - Google Patents
Hollow planetary speed reducer with eccentric input Download PDFInfo
- Publication number
- CN105114535A CN105114535A CN201510486747.7A CN201510486747A CN105114535A CN 105114535 A CN105114535 A CN 105114535A CN 201510486747 A CN201510486747 A CN 201510486747A CN 105114535 A CN105114535 A CN 105114535A
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- China
- Prior art keywords
- gear
- shaft
- input
- output
- output gear
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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
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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
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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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
- F16H2700/00—Transmission housings and mounting of transmission components therein; Cooling; Lubrication; Flexible suspensions, e.g. floating frames
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention discloses a hollow planetary speed reducer with eccentric input, and belongs to the technical field of mechanical transmission devices. The hollow planetary speed reducer with eccentric input comprises an input shaft, an input shaft gear, an output gear, a sun gear and a speed reducer shell, wherein the input shaft gear is engaged with the sun gear. The hollow planetary speed reducer with eccentric input further comprises a brake output gear shaft and a rotary transformer output gear shaft which are driven through engagement with the sun gear respectively. The hollow planetary speed reducer with eccentric input disclosed by the invention is capable of realizing one input and three outputs by driving the brake output gear shaft and the rotary transformer output gear shaft through the engagement with the sun gear, and a motor, a brake and a coder can be installed simultaneously; due to parallel shafts and an equal-angle decentralized design, the hollow planetary speed reducer with eccentric input is stable in transmission, low in noise, and accurate in data feedback; and through a hollow design of the output shaft, electric cables and optical cables can be threaded, and hidden placement is carried out on various control wires to avoid occupation for an effective space, and the overall dimensions of a mechanical arm can be reduced, and then the weight of the whole transmission device is reduced, meanwhile, protection for the cable wires and the accuracy of data transmission are benefited.
Description
Technical field
The invention belongs to mechanical transmission technical field, be specifically related to a kind of eccentric input hollow planetary reducer.
Background technique
Existing robot planetary reducer often adopts input shaft and output shaft coaxial line to design, an output is had in an input, realize the driving to manipulator, multinomial driving cannot be carried out, other reducing gear need be increased and drive the power unit such as break and rotary transformer, cause the driving mechanism of robot heavy; Meanwhile, the exposed placement of guide line such as cable, optical cable of robot, need take the useful space, increase the boundary dimension of transmission device to a certain extent, and affect protection and the data transmission accuracy of elastic cable paper.
For the problems referred to above; be necessary to improve the structure of planetary reducer; make an input can obtain multiple output; significantly reduce transmission part, make that robot transmission device volume is little, quality is light, simultaneously; also can carry out hidden placement to the guide line such as cable, optical cable; do not take the useful space, thus reduce the boundary dimension of transmission device, and be conducive to the protection of elastic cable paper and the accuracy of data transmission.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of eccentric input hollow planetary reducer, to solve in prior art because an input is had to export and the exposed placement of the guide line such as cable, optical cable and the problem that transmission device volume is large, weight is large that exists to one.
The object of the invention is to be achieved through the following technical solutions:
A kind of eccentric input hollow planetary reducer, comprise input shaft, input shaft gear, output shaft, sun gear and reducer shell, described input shaft gear engages with sun gear and drives, also comprise the break output gear shaft and rotary transformer output gear shaft that drive respectively by sun gear engagement, described output shaft is set to the hollow structure that can hold the guide line such as cable, optical cable.
Further, described sun gear is the different dual gear of modulus, among described dual gear, arbitrary gear engages with input shaft gear, break output gear shaft and rotary transformer output gear shaft respectively, and among described dual gear, another gear is connected with planetary mechanism.
Further, described sun gear is the different triple gear of modulus, among described triple gear, arbitrary gear engages with input shaft gear, among described triple gear, another gear engages with break output gear shaft, rotary transformer output gear shaft respectively, and another gear remaining among described triple gear is connected with planetary mechanism.
Further, described output shaft is arranged on reducer shell center, and described input shaft, break output gear shaft and rotary transformer output gear shaft equal angles scattering device are circumferentially outward extending at output shaft axis.
Further, described input shaft, output shaft, break output gear shaft and rotary transformer output gear shaft be arranged in parallel.
The invention has the beneficial effects as follows:
The present invention is by eccentric setting input shaft and output shaft and engaged by sun gear and drive break output gear shaft and rotary transformer output gear shaft, an input can be realized, three outputs, simultaneously mounted motor, break, encoder (rotary transformer); By parallel axes and equal angles decentralized design, make stable drive, noise is little, and data feedback is accurate; By output shaft hollow design, cable, optical cable can be worn, hidden placement is carried out to various guide line; avoid taking the useful space, manipulator boundary dimension can be reduced, and then alleviate the weight of whole transmission device; meanwhile, the protection of elastic cable paper and the accuracy of data transmission is also conducive to.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized by specification below and obtain.
Accompanying drawing explanation
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, wherein:
Fig. 1 is the plan view of the first embodiment of a kind of bias input of this practicality hollow planetary reducer;
Fig. 2 is the plan view of Fig. 1;
Fig. 3 is the sectional view of Fig. 2.
Embodiment
Hereinafter with reference to accompanying drawing, the preferred embodiments of the present invention are described in detail.Should be appreciated that preferred embodiment only in order to the present invention is described, instead of in order to limit the scope of the invention.
First embodiment:
As Figure 1-3, for the first example structure schematic diagram of a kind of bias input of the present embodiment hollow planetary reducer, the one bias input hollow planetary reducer of the present embodiment, comprise input shaft 1, input shaft gear 2, output shaft 3, sun gear 4, reducer shell 5, break output gear shaft 6 and rotary transformer output gear shaft 7, sun gear 4 is the different dual gear of modulus, different speed ratio can be transmitted, input shaft gear 2 engages with sun gear, because both are external gear engagement, so input shaft 1 and output shaft 3 are not on the same axis, be set for the eccentric, among dual gear arbitrary gear respectively with input shaft gear 2, break output gear shaft 6 and the engagement of rotary transformer output gear shaft, among dual gear, another gear is connected with planetary mechanism, by input shaft gear 2 by transmission of power on sun gear 4, sun gear 4 again by transmission of power to planetary mechanism, break output gear shaft 6 and rotary transformer output gear shaft 7 engage, like this, an input can be realized, three outputs, simultaneously, the modulus of dual gear is different, the speed ratio being delivered to planetary mechanism can be made different from the speed ratio being delivered to break output gear shaft 6 and rotary transformer output gear shaft 7, thus obtain driving rotating speed required separately.
Working procedure of the present invention is: input shaft → sun gear → break output gear shaft, rotary transformer output gear shaft, planet wheel 9 → planetary mechanism → output shaft.
Working principle of the present invention: first rotated by motor driven belts driven input shaft 1, input shaft gear 2 drives the first line of a couplet gear of sun gear 4 to rotate, sun gear 4 first line of a couplet gear drives the second line of a couplet gear of sun gear 4 and break output gear shaft 6 and rotary transformer output gear shaft 7 to rotate simultaneously, the second line of a couplet gear of sun gear 4 drives output shaft 3 to rotate by planetary mechanism, realizes the output of speed and moment.
As the improvement of the present embodiment, described output shaft is arranged on reducer shell 5 center, described input shaft 1, break output gear shaft 6 and rotary transformer output gear shaft 7 equal angles scattering device circumferentially outward extending at output shaft 3 axis, the present embodiment three becomes 120 ° of angle distributions, sun gear 4 can be made in the uniform force in three directions, reduce wear, improve working life, simultaneously, by input shaft, output shaft, break output gear shaft 6 and rotary transformer output gear shaft 7 be arranged in parallel, avoid axially loaded, make stable drive, noise is little, data feedback is accurate.
As the improvement of the present embodiment; described output shaft 3 is set to the hollow structure 8 that can hold the guide line such as cable, optical cable; cable, optical cable can be worn; hidden placement is carried out to various guide line; avoid taking the useful space, manipulator boundary dimension can be reduced, and then alleviate the weight of whole transmission device; meanwhile, the protection of elastic cable paper and the accuracy of data transmission is also conducive to.
Second embodiment:
Be the different triple gear of modulus from the first embodiment unlike the sun gear of: the present embodiment, among described triple gear, arbitrary gear engages with input shaft gear, among described triple gear, another gear engages with break output gear shaft, rotary transformer output gear shaft respectively, and another gear remaining among described triple gear is connected with planetary mechanism.Adopt this structure can make to obtain independent velocity ratio between input shaft and sun gear, thus make reducing gear realize abundanter ratio coverage.
What finally illustrate is, above embodiment is only in order to illustrate technological scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technological scheme of the present invention or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of right of the present invention.
Claims (5)
1. an eccentric input hollow planetary reducer, comprise input shaft, input shaft gear, output shaft, sun gear and reducer shell, it is characterized in that: also comprise the break output gear shaft and rotary transformer output gear shaft that engage with sun gear respectively and drive, described output shaft is set to the hollow structure that can hold the guide line such as cable, optical cable.
2. a kind of eccentric input hollow planetary reducer according to claim 1, it is characterized in that: described sun gear is the different dual gear of modulus, among described dual gear, arbitrary gear engages with input shaft gear, break output gear shaft and rotary transformer output gear shaft respectively, and among described dual gear, another gear is connected with planetary mechanism.
3. a kind of eccentric input hollow planetary reducer according to claim 1, it is characterized in that: described sun gear is the different triple gear of modulus, among described triple gear, arbitrary gear engages with input shaft gear, among described triple gear, another gear engages with break output gear shaft, rotary transformer output gear shaft respectively, and another gear remaining among described triple gear is connected with planetary mechanism.
4. a kind of eccentric input hollow planetary reducer according to claim 1, it is characterized in that: described output shaft is arranged on reducer shell center, described input shaft, break output gear shaft and rotary transformer output gear shaft equal angles scattering device are circumferentially outward extending at output shaft axis.
5. a kind of eccentric input hollow planetary reducer according to claim 1, is characterized in that: described input shaft, output shaft, break output gear shaft and rotary transformer output gear shaft be arranged in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510486747.7A CN105114535A (en) | 2015-08-10 | 2015-08-10 | Hollow planetary speed reducer with eccentric input |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510486747.7A CN105114535A (en) | 2015-08-10 | 2015-08-10 | Hollow planetary speed reducer with eccentric input |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105114535A true CN105114535A (en) | 2015-12-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510486747.7A Pending CN105114535A (en) | 2015-08-10 | 2015-08-10 | Hollow planetary speed reducer with eccentric input |
Country Status (1)
| Country | Link |
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| CN (1) | CN105114535A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945984A (en) * | 2016-05-28 | 2016-09-21 | 东莞市联洲知识产权运营管理有限公司 | Transport robot of which manipulator is rotatable |
| CN109667890A (en) * | 2017-10-16 | 2019-04-23 | 深圳卓创传动科技有限公司 | Hollow rotating formula accurate retarding machine |
| CN109751368A (en) * | 2019-02-22 | 2019-05-14 | 陕西捷泰智能传动股份有限公司 | A kind of large speed ratio hollow type planetary reducer |
| CN112211965A (en) * | 2020-10-28 | 2021-01-12 | 重庆清平机械有限责任公司 | Wheel-side speed reducing structure with diaphragm clutch |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002106650A (en) * | 2000-09-29 | 2002-04-10 | Teijin Seiki Co Ltd | Reduction gear having motor |
| JP2011043246A (en) * | 2010-12-03 | 2011-03-03 | Nabtesco Corp | Eccentric differential type reduction gear |
| JP2011236960A (en) * | 2010-05-10 | 2011-11-24 | Nabtesco Corp | Gear device and method of manufacturing the same |
| EP2261531B1 (en) * | 2008-03-28 | 2013-02-20 | Nabtesco Corporation | Gear device |
| CN204061744U (en) * | 2014-07-22 | 2014-12-31 | 常州市金致机械制造有限公司 | Eccentric input planetary speed reducer |
| CN204828505U (en) * | 2015-08-10 | 2015-12-02 | 重庆清平机械有限责任公司 | Eccentric input cavity planet gear |
-
2015
- 2015-08-10 CN CN201510486747.7A patent/CN105114535A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002106650A (en) * | 2000-09-29 | 2002-04-10 | Teijin Seiki Co Ltd | Reduction gear having motor |
| EP2261531B1 (en) * | 2008-03-28 | 2013-02-20 | Nabtesco Corporation | Gear device |
| JP2011236960A (en) * | 2010-05-10 | 2011-11-24 | Nabtesco Corp | Gear device and method of manufacturing the same |
| JP2011043246A (en) * | 2010-12-03 | 2011-03-03 | Nabtesco Corp | Eccentric differential type reduction gear |
| CN204061744U (en) * | 2014-07-22 | 2014-12-31 | 常州市金致机械制造有限公司 | Eccentric input planetary speed reducer |
| CN204828505U (en) * | 2015-08-10 | 2015-12-02 | 重庆清平机械有限责任公司 | Eccentric input cavity planet gear |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945984A (en) * | 2016-05-28 | 2016-09-21 | 东莞市联洲知识产权运营管理有限公司 | Transport robot of which manipulator is rotatable |
| CN105945984B (en) * | 2016-05-28 | 2018-03-20 | 海南大学 | A kind of rotatable transfer robot of manipulator |
| CN109667890A (en) * | 2017-10-16 | 2019-04-23 | 深圳卓创传动科技有限公司 | Hollow rotating formula accurate retarding machine |
| CN109751368A (en) * | 2019-02-22 | 2019-05-14 | 陕西捷泰智能传动股份有限公司 | A kind of large speed ratio hollow type planetary reducer |
| CN109751368B (en) * | 2019-02-22 | 2023-06-02 | 陕西捷泰智能传动有限公司 | Hollow planetary reducer with large speed ratio |
| CN112211965A (en) * | 2020-10-28 | 2021-01-12 | 重庆清平机械有限责任公司 | Wheel-side speed reducing structure with diaphragm clutch |
| CN112211965B (en) * | 2020-10-28 | 2023-08-22 | 重庆清平机械有限责任公司 | Wheel side speed reducing structure with diaphragm clutch |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151202 |