CN105221669A - A kind of planetary gear mechanism, robot joint speed reducer and robot - Google Patents
A kind of planetary gear mechanism, robot joint speed reducer and robot Download PDFInfo
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- CN105221669A CN105221669A CN201510592475.9A CN201510592475A CN105221669A CN 105221669 A CN105221669 A CN 105221669A CN 201510592475 A CN201510592475 A CN 201510592475A CN 105221669 A CN105221669 A CN 105221669A
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- crankshaft
- few teeth
- gear
- wheel
- teeth difference
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The invention provides a kind of planetary gear mechanism, comprise sun gear, planet wheel and few tooth difference transmission mechanism, for improving precision, the gear teeth of the gear teeth of two described ring gears and two described few teeth difference wheels are and become the tooth thickness involute gear teeth, the helix angle rotation direction of two described ring gears is contrary, arranges the gap elastomer that disappears described in a pair between few teeth difference wheel.This planetary gear mechanism has that rigidity is large, precision is high, big speed ratio, moment of torsion are large and the advantage that difficulty of processing reduces greatly.Additionally provide a kind of robot joint speed reducer, comprise described planetary gear mechanism, this robot joint speed reducer has design science, volume is little, precision is high, advantage that the large and difficulty of processing of big speed ratio, moment of torsion reduces greatly.Additionally provide a kind of robot, comprise aforementioned machines person joint retarder, there is design science, precision is high, big speed ratio, moment of torsion large and the advantage that difficulty of processing reduces greatly.
Description
Technical field
The present invention relates to a kind of power-transmitting unit, specifically, relate to a kind of planetary gear mechanism.Also relate to a kind of robot joint speed reducer based on this planetary gear mechanism.Also relate to a kind of robot based on above robot joint speed reducer.
Background technique
Robot field, in order to by power and kinematic accuracy accurate transfer to target final controlling element, just need to ensure that the transmission of power performance of robot joint speed reducer is enough high.In robot, extensive use is harmonic speed reducer and cycloidal-pin wheel RV retarder, to realize big speed ratio, small volume, highi degree of accuracy and high moment of torsion, wherein, harmonic speed reducer structure is relatively simple, but what adopt is flexbile gear structure, and rigidity is on the weak side, only can be applied to the less occasion of moment of torsion; Cycloidal-pin wheel RV retarder adopts cycloid wheel transmission, and responsive to foozle, requirement on machining accuracy is very high, and manufacturing equipment belongs to professional equipment, and cost is high, and when small lot batch manufacture, cost significantly increases.
In order to solve above Problems existing, people are seeking a kind of desirable technical solution always.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, thus provide that a kind of rigidity is large, precision is high, planetary gear mechanism that the large and difficulty of processing of big speed ratio, moment of torsion reduces greatly.Also provide that a kind of design science, volume are little, precision is high, robot joint speed reducer that the large and difficulty of processing of big speed ratio, moment of torsion reduces greatly.Additionally provide a kind of robot applying above robot joint speed reducer.
To achieve these goals, the technical solution adopted in the present invention is: a kind of planetary gear mechanism, comprise few teeth difference drive part, the input part of power and the output of outputting power are provided, described few teeth difference drive part comprises by two ring gears, the little gear difference planetary driving mechanism that two few teeth difference wheels and at least one crankshaft are formed, wherein, the gear teeth of the gear teeth of two described ring gears and two described few teeth difference wheels are and become the tooth thickness involute gear teeth, the helix angle rotation direction of two described ring gears is contrary, described in a pair, between few teeth difference wheel, the gap elastomer that disappears is set.
Described on base, described input part comprises sun gear and at least one planet wheel by this sun gear transmission;
The web of two described few teeth difference wheels is respectively arranged with at least one perforation, the perforation of two described few teeth difference wheel upper corresponding two perforation formation one suite arbors, the phase difference of few teeth difference wheel described in a pair is made to be 180 ° in crankshaft perforation described in two eccentric bodies of crankshaft described in every root be set in few teeth difference wheel described in a pair a group, the central axis of every root crankshaft and the centerline axis parallel of described sun gear are arranged, the corresponding planet wheel of crankshaft described in every root is arranged, and one end of described crankshaft is connected in the axle center place of corresponding described planet wheel.
Described on base, described in the gap elastomer that disappears be bellows or spring, the gear teeth of described sun gear and described planet wheel are the change tooth thickness involute gear teeth cooperatively interacted.
Hinge structure of the present invention has outstanding substantive distinguishing features and significant progress, and specifically, the present invention is by input queued switches sun gear, then transmission planet-gear, and realize primary speed-down, usual sun gear is the shaftgear that radius is less.Double reduction is realized again by few teeth difference mechanism, but only adopt the transmission accuracy of this structure not high enough, the gear teeth of the gear teeth of two described ring gears and two described few teeth difference wheels are the change tooth thickness involute gear teeth, namely the gear teeth are the inclined-plane gear teeth, be roughly taper, the flank of tooth also can contact in the axial direction, when this kind of gear coordinates, pulling force or pressure is applied at sidepiece, axial clearance is reduced, even reach zero-clearance transmission, promote the transmission performance of gear, in addition, the gear teeth of this kind of structure have easy to process, cost is low, the advantage of bearing capacity can be increased by carburizing roll flute.
Described in a pair, between few teeth difference wheel, the gap elastomer that disappears is set, and two ring gear helix angle rotation directions are contrary, when the while of making two few teeth difference wheels under the elastomeric effect of the gap that disappears to centre pressure or simultaneously to two side pressures, two few teeth difference wheels are pulled to centre or are pushed up to both sides, thus order about the tightr of the gear teeth meshing on ring gear and few teeth difference wheel, eliminate drive gap, and then make transmission more accurate.
Further, the web of a pair few teeth difference wheel is provided with a circle perforation, one or more crankshaft can be passed, two eccentric masss of crankshaft are stuck in this and make this phase difference of taking turns few teeth difference be 180 ° to perforation place of few teeth difference wheel, this engages with ring gear few teeth difference few teeth difference wheel, form small teeth difference planetary mechanism, as double reduction;
Planet wheel rotation drives crankshaft rotation, a pair few teeth difference wheel engages i.e. rotation but also revolves round the sun with ring gear, the other end due to crankshaft is arranged on the eccentric position of output, under the driving of few teeth difference wheel, output is around its center of circle rotation, this mechanism achieve slow down increase turn round while, owing to directly crankshaft being passed perforation, form few teeth difference mechanism, reduce machining accuracy and difficulty of processing, cost lowers greatly, due to employing is rigid gear, and rigidity is large, and planetary structure ensures that its volume is enough little.
The gear teeth of described sun gear and described planet wheel are the change tooth thickness involute gear teeth cooperatively interacted, and further increase the validity of transmission.
This planetary gear mechanism has that rigidity is large, precision is high, big speed ratio, moment of torsion are large and the advantage that difficulty of processing reduces greatly.
A kind of robot joint speed reducer, comprise the first shell dish, the second shell dish, housing and described planetary gear mechanism, two shell dishes rotate the both sides being assemblied in described housing respectively, are fixedly connected with between two shell dishes; Two described ring gears are arranged on the housing, and two described few teeth difference wheels are arranged between two shell dishes, and the two ends of described crankshaft are arranged on two shell dishes respectively by bearing; Two shell dishes or described housing are as output.
Described on base, the crankshaft between two described few teeth differences wheels is provided with support, described in the gap elastomer that disappears install on the bracket.
Described on base, described in the gap elastomer that disappears float and be arranged between two described few teeth differences wheels.
Described on base, described in the gap elastomer that disappears be fixed therein the sidepiece of described few teeth difference wheel described in one or two.
Described on base, the bearing outer ring that the bearing hole wall that the bearing installed between the two ends of described crankshaft and two shell dishes comprises rolling element, retainer, bearing inner race that crankshaft axial plane is formed and shell dish is formed; The eccentric body surface of described crankshaft is as bearing inner race, and described perforation inwall is as bearing outer ring, and the rolling element of mounting strap retainer forms bearing structure between the two.
Described on base, arrange lip seal between described housing and two shell dishes, one end of described crankshaft arranges and prevents planet wheel shaft to the circlip collected together.
Hinge structure of the present invention has outstanding substantive distinguishing features and significant progress, specifically, the present invention is based on robot joint speed reducer for transmission accuracy, the requirement of rigidity and volume etc., aforementioned planetary gear mechanism is applied in robot joint speed reducer, adopt the housing with annular cavity, both sides have been rotatably connected shell dish, fixing between two shell dishes, in use, two shell dishes or housing are as output, middle formation installing space, for installing planetary gear mechanism, in the annular cavity of shell, ring gear is set, a pair few teeth difference wheel is located between two shell dishes, one end of crankshaft is arranged on the first shell dish by bearing, the other end is arranged on the second shell dish by bearing, the outer end of crankshaft and the axle center of planet wheel are fixed, planet wheel rotation, drive crankshaft rotation, crankshaft drives a pair few teeth difference wheel to rotate, because a pair few teeth difference wheel engages with ring gear, a pair few teeth difference wheel i.e. rotation but also revolve round the sun, because crankshaft is arranged on the eccentric position of two shell dishes, two shell dishes are driven by a pair few teeth difference wheel and start rotation, final realization deceleration increasing is turned round, due to the rigid wheel adopted, transmission rigidity is large, the gear teeth of the driving gear in few poor toothing adopt and become the tooth thickness involute gear teeth, and arrange the gap elastomer that disappears, and eliminate drive gap, improve transmission accuracy, make up the problem that this structure driven precision is not high enough, do not adopt axle center that the form of eccentric mass is set, but directly crankshaft is passed perforation transmission, reduce the requirement on machining accuracy for crankshaft and gear, greatly reduce processing cost, be planetary structure due to what adopt, volume is enough little, to increase moment of torsion and rigidity, only need to increase many cover planet wheels and crankshaft, structure is simple, easily manufactures.
Further, the gap that disappears elastomer is by support installing, and it is easier to install; Or float and arrange, the inner side of two few teeth difference wheels is established on top, two ends, outwards exerts a force, the helix angle rotation direction correspondence of ring gear is arranged; Or be arranged on the sidepiece of one of them few teeth difference wheel, the other end top is pressed in the inner side of another few teeth difference wheel; Or be fixed on two few teeth difference wheels, this several mounting type, is arranged depending on concrete condition, to meet the different needs.
Further, simplify bearing structure, the volume of whole retarder can be reduced to a certain extent.
Further, lip seal is set, prevents leakage of oil, increase circlip, avoid axially collecting together.
This robot joint speed reducer has design science, volume is little, precision is high, big speed ratio, moment of torsion large and the advantage that difficulty of processing reduces greatly.
A kind of robot, comprises fuselage and is arranged at the described robot joint speed reducer in fuselage.
There is design science, joint compact, transmission accuracy is high, realize big speed ratio, moment of torsion is large and structure is simpler, difficulty of processing reduces greatly, cost of production reduces greatly, in the field of not being strict with precision, this kind equipment of major part can be substituted into when cost is identical, there is higher using value.
Accompanying drawing explanation
Fig. 1 is the transmission principle figure of planetary gear mechanism in the present invention.
Fig. 2 is the power transmission arrangment schematic diagram of robot joint speed reducer in the embodiment of the present invention 2.
Fig. 3 is the power transmission arrangment schematic diagram of robot joint speed reducer in the embodiment of the present invention 3.
In figure: 1. sun gear; 2. planet wheel; 3. the first ring gear; 4. the second ring gear; 5. few teeth difference wheel; 6. crankshaft; 7. eccentric body; 8. bore a hole; 9. the gap that disappears elastomer; 10. rotating mechanism; 11. housings; 12. first shell dishes; 13. second shell dishes; 14. rolling elements; 15. tapered roller bearings; 16. mounting brackets; 17. lip seal; 18. circlips; 19. distance rings; 20. retainers; 21. rolling elements; 22. disappear gap elastomer; 23. angular contact ball bearings; 24. circlips.
Embodiment
Below by embodiment, technological scheme of the present invention is described in further detail.
Embodiment 1
As shown in Figure 1, a kind of planetary gear mechanism, comprises input part, few teeth difference drive part and output, and described input part comprises sun gear 1,2 to 3 planet wheels 2 by this sun gear 1 transmission;
Described few teeth difference drive part comprises the first ring gear 3, second ring gear 4, a pair few teeth difference engaging with two ring gear few teeth differences respectively takes turns 5 and the crankshaft 6 that arranges of the centerline axis parallel of 2 to 3 central axis and described sun gear 1.The gear teeth of two ring gears, two few teeth difference wheels 5 are and become transverse tooth thickness inclined-plane involute gear tooth, namely the gear teeth are the inclined-plane gear teeth, be roughly taper, the flank of tooth also can contact in the axial direction, when this kind of gear coordinates, pulling force or pressure is applied at sidepiece, axial clearance is reduced, even reaches zero-clearance transmission, promote the transmission performance of gear, in addition, the gear teeth of this kind of structure have easy to process, cost is low, can increase the advantage of bearing capacity by carburizing roll flute.
Described in a pair, between few teeth difference wheel 5, the gap elastomer 9 that disappears is set, and two ring gear helix angle rotation directions are contrary, when the while of making two few teeth difference wheels under the elastomeric effect of the gap that disappears to centre pressure or simultaneously to two side pressures, two few teeth difference wheels are pulled to centre or are pushed up to both sides, thus order about the tightr of the gear teeth meshing on ring gear and few teeth difference wheel, eliminate drive gap, and then make transmission more accurate.
The gear teeth of described sun gear 1 and described planet wheel 2 are the change tooth thickness involute gear teeth cooperatively interacted, and further can increase the levels of precision of transmission.
At least 2 to 3 perforation 8 offered by the web of described few teeth difference wheel 5, usually on web, a circle circular hole is offered around the center of circle, the weight of gear can be alleviated, on few teeth difference wheel 5 described in a pair, corresponding two perforation 8 form a suite arbors perforation, make the phase difference of few teeth difference wheel described in a pair be 180 ° in crankshaft perforation described in two eccentric bodies 7 of crankshaft described in every root be set in few teeth difference wheel described in a pair a group.The quantity of perforation 8 can be arranged according to actual needs, a pair few teeth difference wheel 5, crankshaft 6 and two ring gears form few teeth difference mechanism jointly, realize slowing down and increasing the effect turned round, in the mechanism of use 2 planet wheels 2 and 2 crankshafts 6, two planet wheels 2 are symmetrical centered by sun gear 1 to be installed, crankshaft 6 is located in the perforation 8 of corresponding position, use in the mechanism of 3 planet wheels 2 and 3 crankshafts 6, 3 planet wheels 2 are equidistantly installed around sun gear 1, crankshaft 6 is located in corresponding perforation 8, its object is to the stability increasing transmission, increase rigidity and the moment of torsion of transmission,
The corresponding described planet wheel 2 of crankshaft 6 described in every root is arranged, and one end of described crankshaft 6 is connected in the axle center place of corresponding planet wheel 2, both complete appearance;
Described output comprises a rotating mechanism 10, and the other end of described crankshaft 6 is arranged in the axis hole of described rotating mechanism 10 eccentric position.
In other embodiments, described output comprises the housing 11 be connected with described ring gear, the other end of described crankshaft 6 is arranged in the axis hole on a fixed body, and described housing 11 is rotatably assorted with described fixed body, and the axis coinciding of the axle center of described housing 11 and described ring gear.
When specifically using, housing 11 both can have been kept motionless, rotating mechanism rotates and outputs power, and also rotating mechanism can be fixed, and housing 11 is rotated and exports.
Carrying out practically principle: sun gear 1 provides initial driving force, transmission planet-gear 2 rotation, planet wheel 2 rotation drives crankshaft 6 rotation, 2 eccentric bodies 7 on crankshaft 6 do revolution motion, eccentric body 7 is through in the perforation 8 of a pair few teeth difference wheel 5, crankshaft 6 can drive this to do revolution motion to few teeth difference wheel 5, again because this engages with ring gear few teeth difference wheel 5, when ring gear is fixed, this takes turns 5 with the axle center rotation of ring gear to few teeth difference, not only this revolves round the sun to few teeth difference wheel 5 i.e. rotation, crankshaft 6 i.e. rotation is driven to revolve round the sun again, the other end due to crankshaft 6 is arranged on the eccentric position of output, under the drive of crankshaft 6, output is around its axle center rotation, thus reach deceleration and increase the effect turned round.
This device middle gear is rigid gear, rigidity is large, simultaneously, utilize crankshaft 6 to be directly installed in perforation 8, form few teeth difference mechanism, the axle center place that compares arranges crankshaft 6, namely the machining accuracy of cycloidal-pin wheel RV retarder reduces greatly, cost decreases, and limited and precision has certain requirements in situation at cost, replaceable ability is strong.
Embodiment 2
As shown in Figure 2, a kind of robot joint speed reducer based on aforesaid planetary gear mechanism, comprise the first shell dish 12, second shell dish 13 and housing 11, two shell dishes are rotatably assorted in the both sides of described housing 11 respectively by tapered roller bearing 15, be fixedly connected with bolt by pin between two shell dishes, integrally increasing the motion after turning round and Power output by slowing down, between described housing 11 and two shell dishes, lip seal 17 being set, preventing leakage of oil.
First ring gear 3 and the second ring gear 4 are all arranged on the inner ring of described housing 11, few teeth difference wheel 5 described in a pair to be arranged between two shell dishes and with two ring gears respectively few teeth differences engage, form few teeth difference mechanism, play main deceleration increasing torsion effect.
Wherein, the gear teeth of the first ring gear 3, second ring gear 4, a pair few teeth difference wheel 5 are and become the tooth thickness involute gear teeth, mounting bracket 16 on crankshaft 6 described in a pair between few teeth difference wheel 5, the gap elastomer 9 that disappears installed by this support, and the two ends of this gap elastomer 9 that disappears connect few teeth difference wheel 5 described in a pair respectively.Its objective is and utilize the gap elastomer 9 that disappears to exert pressure at the sidepiece of few teeth difference wheel 5, utilize the structural characteristics becoming the tooth thickness involute gear teeth, realize the effect eliminating back lash, promote transmission performance.
Herein, the gap that disappears elastomer 9 can be bellows or spring, also mounting bracket 16 can not be cancelled, the gap elastomer 9 that makes to disappear floats between two few teeth differences wheels 5, or be at least fixed therein on the side of a few teeth difference wheel 5, or be arranged on the sidepiece of two few teeth difference wheels 5, above pro forma difference, object is to adapt to different installation requirements.
The two ends of described crankshaft 6 are arranged on the eccentric position of two shell dishes respectively by tapered roller bearing 15, the outer end of crankshaft 6 and the axle center of planet wheel 2 are fixed by spline, planet wheel 2 is by sun gear 1 transmission, and sun gear 1 is shaftgear, connects the output shaft of motor.
Preferred, the rolling element 14 of band retainer is set between the eccentric body 7 of described crankshaft 6 and described perforation 8, eccentric body 7 plays the action of inner of bearing, the inwall of perforation 8 plays the outer ring effect of bearing, rolling element 14 rolls with both and coordinates, as the kinematic mount of few teeth difference wheel 5, the volume of whole equipment can be reduced.
The end of described crankshaft 6 arranges the circlip 18 preventing planet wheel 2 from axially collecting together.
The arranged outside distance ring 19 of few teeth difference wheel 5 described in corresponding a pair on described crankshaft 6, supporting on described rolling element 14 have retainer 20, one end of this retainer 20 contacts with the shaft shoulder of described crankshaft 6, and the other end contacts with described distance ring 19, increases the stability of structure.
Its working principle is identical with the planetary gear mechanism in embodiment 1, the power input that motor provides by sun gear 1, the rotation of transmission each planet wheel 2, planet wheel 2 is fixed by spline and crankshaft 6, drives few teeth difference mechanism to run, reach the object of slowing down and increasing and turning round, during carrying out practically, both can pass through stationary housing, be outputed power by the first shell dish 12 and the second shell dish 13, also by fixing described first shell dish 12 and the second shell dish 13, can be outputed power by housing.
In other embodiments, the gear teeth of ring gear and few teeth difference wheel 5 also can be straight-tooth.
Embodiment 3
As shown in Figure 3, the bearing be arranged on crankshaft two ends and two shell dishes can use the rolling element 21 with holder to replace, rolling element 21 is by circlip 24 axially locating be arranged on crankshaft, bearing between two shell dishes and housing becomes angular contact ball bearing 23, two shell dishes play bearing outer ring simultaneously, simplified structure, volume can be reduced further, also reduce cost, in the present embodiment, the gap that disappears elastomer 22 floats and is arranged between two few teeth difference wheels, is a ring structure, covers the inner side of whole few teeth difference wheel.
Embodiment 4
A kind of robot, comprises fuselage and is arranged at the described robot joint speed reducer in fuselage.
There is design science, joint compact, transmission accuracy is high, realize big speed ratio, moment of torsion is large and structure is simpler, difficulty of processing reduces greatly, cost of production reduces greatly, in the field of not being strict with precision, this kind equipment of major part can be substituted into when cost is identical, there is higher using value.
Finally should be noted that: above embodiment is only in order to illustrate that technological scheme of the present invention is not intended to limit; Although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the field are to be understood that: still can modify to the specific embodiment of the present invention or carry out equivalent replacement to portion of techniques feature; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technological scheme scope of request of the present invention protection.
Claims (10)
1. a planetary gear mechanism, comprise few teeth difference drive part, the output of the input part of power and outputting power is provided, it is characterized in that: described few teeth difference drive part comprises the little gear difference planetary driving mechanism be made up of two ring gears, two few teeth difference wheels and at least one crankshaft, wherein, the gear teeth of the gear teeth of two described ring gears and two described few teeth difference wheels are and become the tooth thickness involute gear teeth, the helix angle rotation direction of two described ring gears is contrary, arranges the gap elastomer that disappears described in a pair between few teeth difference wheel.
2. planetary gear mechanism according to claim 1, is characterized in that:
Described input part comprises sun gear and at least one planet wheel by this sun gear transmission;
The web of two described few teeth difference wheels is respectively arranged with at least one perforation, the perforation of two described few teeth difference wheel upper corresponding two perforation formation one suite arbors, the phase difference of few teeth difference wheel described in a pair is made to be 180 ° in crankshaft perforation described in two eccentric bodies of crankshaft described in every root be set in few teeth difference wheel described in a pair a group, the central axis of every root crankshaft and the centerline axis parallel of described sun gear are arranged, the corresponding planet wheel of crankshaft described in every root is arranged, and one end of described crankshaft is connected in the axle center place of corresponding described planet wheel.
3. planetary gear mechanism according to claim 1, is characterized in that: described in the gap elastomer that disappears be bellows or spring, the gear teeth of described sun gear and described planet wheel are the change tooth thickness involute gear teeth cooperatively interacted.
4. a robot joint speed reducer, it is characterized in that: it comprises the first shell dish, the second shell dish, housing and the planetary gear mechanism described in claim 1-3, two shell dishes rotate the both sides being assemblied in described housing respectively, are fixedly connected with between two shell dishes; Two described ring gears are arranged on the housing, and two described few teeth difference wheels are arranged between two shell dishes, and the two ends of described crankshaft are arranged on two shell dishes respectively by bearing; Two shell dishes or described housing are as output.
5. robot joint speed reducer according to claim 4, is characterized in that: the crankshaft between two described few teeth differences wheels is provided with support, described in the gap elastomer that disappears install on the bracket.
6. robot joint speed reducer according to claim 4, is characterized in that: described in disappear gap elastomer be fixed therein the wheel of few teeth difference described in one or two sidepiece or described in the gap elastomer that disappears float and be arranged between two described few teeth differences wheels.
7. the robot joint speed reducer according to any one of claim 4-6, is characterized in that: the bearing outer ring that the bearing hole wall that the bearing installed between the two ends of described crankshaft and two shell dishes comprises rolling element, retainer, bearing inner race that crankshaft axial plane is formed and described shell dish is formed.
8. robot joint speed reducer according to claim 7, is characterized in that: the eccentric body surface of described crankshaft is as bearing inner race, and described perforation inwall is as bearing outer ring, and the rolling element of mounting strap retainer forms bearing structure between the two.
9. the robot joint speed reducer according to any one of claim 4-7, is characterized in that: arrange lip seal between described housing and two shell dishes, and one end of described crankshaft arranges and prevents planet wheel shaft to the circlip collected together.
10. a robot, is characterized in that: comprise fuselage and be arranged at the robot joint speed reducer described in claim 4-9 in fuselage.
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| CN201510592475.9A CN105221669B (en) | 2015-09-17 | 2015-09-17 | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot |
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| CN201510592475.9A CN105221669B (en) | 2015-09-17 | 2015-09-17 | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot |
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Cited By (8)
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| CN105757221A (en) * | 2016-03-10 | 2016-07-13 | 陈志同 | Robot double-grade joint speed reducer comprising NN transmission mechanisms |
| CN106276319A (en) * | 2016-08-26 | 2017-01-04 | 仲恺农业工程学院 | Ultrafine powder feeder |
| CN107514444A (en) * | 2017-09-27 | 2017-12-26 | 无锡威孚中意齿轮有限责任公司 | A kind of accurate duplex planet speed reducer structure |
| CN109891125A (en) * | 2016-10-19 | 2019-06-14 | 三菱电机株式会社 | Deceleration device and robot |
| WO2020134807A1 (en) * | 2018-12-26 | 2020-07-02 | 前沿驱动（北京）技术有限公司 | Epicyclic reducer and robot |
| CN111828557A (en) * | 2020-07-31 | 2020-10-27 | 中国科学院宁波材料技术与工程研究所 | Anti-backlash planetary gear reducer |
| CN113404819A (en) * | 2021-06-29 | 2021-09-17 | 重庆大学 | Gap-adjustable helical gear speed reducer |
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