CN105221669B - A kind of planetary gear transmission mechanism, robot joint speed reducer and robot - Google Patents

A kind of planetary gear transmission mechanism, robot joint speed reducer and robot Download PDF

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Publication number
CN105221669B
CN105221669B CN201510592475.9A CN201510592475A CN105221669B CN 105221669 B CN105221669 B CN 105221669B CN 201510592475 A CN201510592475 A CN 201510592475A CN 105221669 B CN105221669 B CN 105221669B
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gear
shell
crank axle
teeth difference
few teeth
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CN105221669A (en
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吴建红
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吴建红
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H1/00Toothed gearings for conveying rotary motion
    • F16H1/28Toothed gearings for conveying rotary motion with gears having orbital motion
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints

Abstract

The present invention provides a kind of planetary gear transmission mechanism, including sun gear, planetary gear and few tooth difference transmission mechanism, to improve precision, the gear teeth of two ring gears and the gear teeth of two few teeth difference wheels are to become the tooth thickness involute gear teeth, the helical angle of two ring gears is oppositely oriented, and the gap elastomer that disappears is arranged between a pair of few teeth difference wheel.The planetary gear transmission mechanism has the advantages that rigidity is big, precision height, large transmission ratio, torque are big and difficulty of processing substantially reduces.A kind of robot joint speed reducer, including the planetary gear transmission mechanism are additionally provided, which has the advantages that design science, small in size, precision is high, large transmission ratio, torque are big and difficulty of processing substantially reduces.A kind of robot, including aforementioned machines person joint's retarder are additionally provided, has the advantages that design science, precision height, large transmission ratio, torque are big and difficulty of processing substantially reduces.

Description

A kind of planetary gear transmission mechanism, robot joint speed reducer and robot
Technical field
The present invention relates to a kind of power drive mechanisms, specifically, relate to a kind of planetary gear transmission mechanism.It further relates to A kind of robot joint speed reducer based on the planetary gear transmission mechanism.It further relates to a kind of based on the deceleration of the above joint of robot The robot of device.
Background technique
In robot field, in order to by power and kinematic accuracy accurate transfer to target actuator, it is necessary to guarantee machine The power transfer performance of person joint's retarder is sufficiently high.Widely applied in robot is that harmonic speed reducer and cycloidal-pin wheel RV subtract Fast device, to realize large transmission ratio, small size, high-precision and high torque, wherein harmonic speed reducer structure is relatively easy, but adopts It is flexbile gear structure, rigidity is on the weak side, can be only applied to the lesser occasion of torque;Cycloidal-pin wheel RV retarder uses Cycloidal Wheel Transmission, sensitive to foozle, requirement on machining accuracy is very high, and manufacturing equipment belongs to professional equipment, and cost is high, raw in small lot When production, cost is significantly increased.
In order to solve the above problems, people are seeking always a kind of ideal technical solution.
Summary of the invention
The purpose of the present invention is in view of the deficiencies of the prior art, thus provide a kind of rigidity is big, precision is high, large transmission ratio, The planetary gear transmission mechanism that torque is big and difficulty of processing substantially reduces.Also provide a kind of design science, small in size, precision is high, The robot joint speed reducer that large transmission ratio, torque be big and difficulty of processing substantially reduces.Additionally provide a kind of above machine of application The robot of person joint's retarder.
To achieve the goals above, the technical scheme adopted by the invention is that: a kind of planetary gear transmission mechanism, including few Tooth difference running part, provide power importation and output power output par, c, the less teeth difference transmission part include by The little gear difference planetary driving mechanism that two ring gears, two few teeth difference wheels and at least one crank axle are constituted, wherein described in two The gear teeth of the gear teeth of ring gear and two few teeth difference wheels are to become the tooth thickness involute gear teeth, the spiral of two ring gears Angle is oppositely oriented, and the gap elastomer that disappears is arranged between a pair of few teeth difference wheel.
Described on base, the importation includes sun gear and at least one planetary gear for being driven by the sun gear;
It is respectively arranged at least one perforation on the web of two few teeth difference wheels, it is corresponding on two few teeth difference wheels Two perforation constitute the perforation of one group of crank axle, two eccentric bodies of the every crank axle are set in a pair of few tooth In crank axle perforation described in one group of difference wheel and the phase difference of a pair of few teeth difference wheel is made to be 180 °, the center of every crank axle The centerline axis parallel of axis and the sun gear is arranged, the corresponding planetary gear setting of the every crank axle, and the song One end of arbor is connected at the axle center of the corresponding planetary gear.
Described on base, for bellows or spring, the gear teeth of the sun gear and the planetary gear are the gap elastomer that disappears The mutually matched change tooth thickness involute gear teeth.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, and specifically, the present invention is logical Input driving sun gear, then transmission planet-gear are crossed, realizes that primary speed-down, usual sun gear are the lesser shaft gear of radius.Lead to again It crosses few teeth difference mechanism and realizes double reduction, but it is not high enough only with the transmission accuracy of this structure, by two ring gears The gear teeth and two few teeth difference wheels the gear teeth be become the tooth thickness involute gear teeth, i.e., the gear teeth be the inclined-plane gear teeth, substantially bore Shape, addendum flank can also contact in the axial direction, when this kind of gear cooperates, apply pulling force or pressure in side, so that axial Gap reduce, even up to zero-clearance be driven, promote the transmission performance of gear, in addition, the gear teeth of this kind of structure have it is easy to process, at This is low, can carburizing roll flute the advantages of increasing bearing capacity.
The gap elastomer that disappears is set between a pair of few teeth difference wheel, and two ring gear helical angles are oppositely oriented, so that two Few teeth difference wheel under the action of disappearing gap elastomer simultaneously to intermediate pressure or simultaneously in the case where two side pressures, two few teeth difference wheels It is pulled to centre or is biased toward both sides, to drive even closer, the elimination biography of ring gear and the gear teeth meshing on few teeth difference wheel Dynamic gap, and then make to be driven more accurate.
Further, the web of a pair of of few teeth difference wheel is equipped with a circle perforation, can pass through one or more crank axles, Two eccentric blocks of crank axle are stuck at the perforation to few teeth difference wheel so that the phase difference to few teeth difference wheel is 180 °, this is right Few teeth difference wheel is engaged with ring gear few teeth difference, small teeth difference planetary mechanism is formed, as double reduction;
Planetary gear rotation drives crankshaft rotation, and a pair of of few teeth difference wheel engages i.e. rotation with ring gear and revolves again, due to song The other end of arbor is mounted on the eccentric position of output par, c, and output par, c surrounds its center of circle certainly under the driving of few teeth difference wheel Turn, while which realizes deceleration torque increase, since crank axle is directly passed through perforation, forms few teeth difference mechanism, reduce Machining accuracy and difficulty of processing, cost lower significantly, since using rigid gear, rigidity is big, and planetary structure guarantees its body Product is sufficiently small.
The gear teeth of the sun gear and the planetary gear are the mutually matched change tooth thickness involute gear teeth, further to increase The accuracy of transmission.
The planetary gear transmission mechanism has rigid big, precision height, large transmission ratio, torque greatly and difficulty of processing substantially reduces The advantages of.
A kind of robot joint speed reducer, including first shell disk, second shell disk, shell and the Planetary Gear Transmission machine Structure, two shell disk difference rolling assemblings are fixedly connected between the two sides of the shell, two shell disks;Two ring gears are set It sets on the housing, two few teeth difference wheels are arranged between two shell disks, and the both ends of the crank axle pass through axis respectively It holds and is mounted on two shell disks;Two shell disks or the shell are as output par, c.
It is described on base, bracket, the gap elastomer installation that disappears are installed on the crank axle between two few teeth difference wheels On the bracket.
Described on base, the gap elastomer that disappears, which floats, to be arranged between two few teeth difference wheels.
Described on base, the gap elastomer that disappears is fixed therein the side of one or two few teeth difference wheel.
Described on base, the bearing installed between the both ends of the crank axle and two shell disks includes rolling element, retainer, song The bearing outer ring that the bearing hole wall of bearing inner race and shell disk that arbor axial plane is constituted is constituted;Make on the eccentric body surface of the crank axle For bearing inner race, the perforation inner wall installs the rolling element with retainer between the two and constitutes bearing arrangement as bearing outer ring.
It is described on base, lip packing is set between the shell and two shell disks, and one end setting of the crank axle prevents Circlip of the planet wheel spindle to moving.
The present invention has substantive distinguishing features outstanding and significant progress compared with the prior art, specifically, base of the present invention In requirement of the robot joint speed reducer for transmission accuracy, rigidity and volume etc., by aforementioned planetary gear transmission mechanism application Into robot joint speed reducer, using the shell with annular cavity, two sides, which rotate, is connected with shell disk, solid between two shell disks Fixed, when in use, two shell disks or shell are as output par, c, and centre forms installation space, for installing Planetary Gear Transmission Ring gear is arranged in the annular cavity of shell for mechanism, and a pair of of few teeth difference wheel is set between two shell disks, and one end of crank axle passes through axis It holds and is mounted on first shell disk, the other end is mounted on second shell disk by bearing, the outer end of crank axle and the axle center of planetary gear Fixed, planetary gear rotation drives crankshaft rotation, and crank axle drives a pair of of few teeth difference wheel rotation, due to a pair of of few teeth difference wheel with Ring gear engagement, a pair of of few teeth difference wheel, that is, rotation is revolved again, since crank axle is mounted on the eccentric position of two shell disks, two shell disk quilts A pair of of few teeth difference wheel, which drives, starts rotation, and final to realize deceleration torque increase, due to the rigid wheel of use, transmission rigidity is big;Few poor tooth The gap elastomer that disappears is arranged using the change tooth thickness involute gear teeth in the gear teeth of transmission gear in structure, eliminates drive gap, improves Transmission accuracy makes up the not high enough problem of this structure driven precision;Not using the form of axle center setting eccentric block, but directly It connects and crank axle is passed through into perforation transmission, reduce the requirement on machining accuracy for crank axle and gear, greatly reduce and add Work cost, since using planetary structure, volume is sufficiently small, to increase torque and rigidity, it is only necessary to increase more set planets Wheel and crank axle, structure is simple, easy to manufacture.
Further, the gap that disappears elastomer is installed by bracket, is easily installed;Or setting of floating, both ends top set two The inside of few teeth difference wheel, exerts a force outward, and the helical angle rotation direction of ring gear is correspondingly arranged;Or it is installed therein a few teeth difference wheel Side, the other end presses against the inside of another few teeth difference wheel;Or it is fixed on two few teeth difference wheels, these types of installation side Formula is configured depending on concrete condition, to meet the needs of different.
Further, simplify bearing arrangement, the volume of entire retarder can be reduced to a certain extent.
Further, lip packing is set, oil leak is prevented, increases circlip, avoids axial moving.
The robot joint speed reducer has that design science, small in size, precision is high, large transmission ratio, torque are big and difficult processing The advantages of degree substantially reduces.
A kind of robot, including fuselage and the robot joint speed reducer being set in fuselage.
With design science, joint compact, high transmission accuracy, realize that large transmission ratio, torque be big and structure more Add simply, difficulty of processing substantially reduces, and production cost substantially reduces, in the field not being strict with to precision, in cost phase Most of such equipment, application value with higher can be substituted into in the case where.
Detailed description of the invention
Fig. 1 is the transmission principle figure of planetary gear transmission 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 gears;2. planetary gear;3. the first ring gear;4. the second ring gear;5. few teeth difference wheel;6. crank axle; 7. eccentric body;8. perforation;9. the gap that disappears elastomer;10. rotating mechanism;11. shell;12. first shell disk;13. second shell disk;14. Rolling element;15. tapered roller bearing;16. mounting bracket;17. lip packing;18. circlip;19. distance collar;20. keeping Frame;21. rolling element;22. the gap that disappears elastomer;23. angular contact ball bearing;24. circlip.
Specific embodiment
Below by specific embodiment, technical scheme of the present invention will be described in further detail.
Embodiment 1
As shown in Figure 1, a kind of planetary gear transmission mechanism, including importation, less teeth difference transmission part and output par, c, 2 to 3 planetary gears 2 that the importation includes sun gear 1, is driven by the sun gear 1;
The less teeth difference transmission part include the first ring gear 3, the second ring gear 4, respectively with two ring gear few teeth differences The crank axle 6 that the centerline axis parallel of a pair of of few teeth difference wheel 5 of engagement and 2 to 3 central axis and the sun gear 1 is arranged. Two ring gears, two few teeth difference wheels 5 the gear teeth be become transverse tooth thickness inclined-plane involute gear tooth, i.e., the gear teeth be the inclined-plane gear teeth, substantially For taper, addendum flank can also be contacted in the axial direction, when this kind of gear cooperates, apply pulling force or pressure in side, so that Axial gap reduces, and even up to zero-clearance is driven, and the transmission performance of gear is promoted, in addition, the gear teeth of this kind of structure have processing side Just, at low cost, can carburizing roll flute increase bearing capacity the advantages of.
The gap elastomer 9 that disappears is set between a pair of few teeth difference wheel 5, and two ring gear helical angles are oppositely oriented, so that two A few teeth difference wheel under the action of disappearing gap elastomer simultaneously to intermediate pressure or simultaneously in the case where two side pressures, two few teeth differences Wheel is pulled to centre or is biased toward both sides, to drive even closer, the elimination of ring gear and the gear teeth meshing on few teeth difference wheel Drive gap, and then make to be driven more accurate.
The gear teeth of the sun gear 1 and the planetary gear 2 are the mutually matched change tooth thickness involute gear teeth, can be further Increase transmission levels of precision.
At least 2 to 3 perforation 8 are opened up on the web of the few teeth difference wheel 5, open up a circle around the center of circle usually on web Circular hole can reduce the weight of gear, and corresponding two perforation 8 constitute one group of crank axle perforation on a pair of few teeth difference wheel 5, Two eccentric bodies 7 of the every crank axle are set in crank axle perforation described in one group of a pair of few teeth difference wheel simultaneously The phase difference for making a pair of few teeth difference wheel is 180 °.The quantity of perforation 8 can be set according to actual needs, a pair of of few teeth difference wheel 5, crank axle 6 and two ring gears collectively constitute few teeth difference mechanism, realize the effect slowed down with torque increase, are using 2 planetary gears 2 And in the mechanism of 2 crank axles 6, two planetary gears 2 are symmetrically installed centered on sun gear 1, and crank axle 6 is threaded through corresponding position Perforation 8 in, in the mechanism using 3 planetary gear 2 and 3 crank axles 6,3 planetary gears 2 are equidistantly installed around sun gear 1, Crank axle 6 is threaded through in corresponding perforation 8, its object is to increase the stability of transmission, increases the rigidity and torque of transmission;
The corresponding planetary gear 2 of the every crank axle 6 is arranged, and one end of the crank axle 6 is connected in correspondence Planetary gear 2 axle center at, the complete appearance of the two;
The output par, c includes a rotating mechanism 10, and the other end of the crank axle 6 is mounted on the rotating mechanism 10 In the axis hole of eccentric position.
In other embodiments, the output par, c includes the shell 11 being connected with the ring gear, the crank axle 6 The other end is mounted in the axis hole on a fixed body, and the shell 11 is rotatably assorted with the fixed body, and the shell 11 Axle center is overlapped with the axle center of the ring gear.
When specifically used, both shell 11 can be kept motionless, rotating mechanism rotation outputs power, and can also will rotate Mechanism is fixed, and the rotation output of shell 11 is made.
Carrying out practically principle: sun gear 1 provides initial driving force, 2 rotation of transmission planet-gear, and 2 rotation of planetary gear drives crank 6 rotation of axis, 2 eccentric bodies 7 on crank axle 6 do revolution motion, and eccentric body 7 is through in the perforation 8 of a pair of of few teeth difference wheel 5, bent Arbor 6 will drive this and do revolution motion to few teeth difference wheel 5, and since this engages few teeth difference wheel 5 with ring gear, ring gear is fixed In the case where, this is to few teeth difference wheel 5 with the axle center rotation of ring gear, i.e., this is that rotation is revolved again to few teeth difference wheel 5, drives crank Axis 6 is that rotation is revolved again, since the other end of crank axle 6 is mounted on the eccentric position of output par, c, in the drive of crank axle 6 Under, output par, c surrounds its axle center rotation, to achieve the effect that deceleration and torque increase.
The device middle gear is rigid gear, and rigidity is big, meanwhile, it is directly installed in perforation 8, is formed using crank axle 6 Crank axle 6 is arranged at the axle center that compares for few teeth difference mechanism, i.e. the machining accuracy of cycloidal-pin wheel RV retarder substantially reduces, cost It decreases, limited in cost and in the case that precision there are certain requirements, replaceable ability is strong.
Embodiment 2
As shown in Fig. 2, a kind of robot joint speed reducer based on planetary gear transmission mechanism above-mentioned, including first shell Disk 12, second shell disk 13 and shell 11, two shell disks pass through tapered roller bearing 15 respectively and are rotatably assorted in the shell 11 Two sides are fixedly connected between two shell disks with bolt by pin, as a whole by after deceleration torque increase movement and power it is defeated Out, lip packing 17 is set between the shell 11 and two shell disks, prevents oil leak.
First ring gear 3 and the second ring gear 4 are arranged at the inner ring of the shell 11, and a pair of few teeth difference wheel 5 is set It sets between two shell disks and is engaged with two ring gear difference few teeth differences, form few teeth difference mechanism, play main deceleration and increase Torsion effect.
Wherein, the first ring gear 3, the second ring gear 4, a pair of of few teeth difference wheel 5 the gear teeth be to become the tooth thickness involute gear teeth, Mounting bracket 16 on crank axle 6 between a pair of few teeth difference wheel 5, installation disappears gap elastomer 9 on the bracket, gap elasticity that disappears The both ends of body 9 are separately connected a pair of few teeth difference wheel 5.The purpose is to be applied using gap elastomer 9 is disappeared in the side of few teeth difference wheel 5 Pressure realizes the effect for eliminating back lash using the architectural characteristic for becoming the tooth thickness involute gear teeth, promotes transmission performance.
Here, the gap that disappears elastomer 9 can be bellows or spring, can not also cancel mounting bracket 16, make the gap that disappears Elastomer 9 floats between two few teeth difference wheels 5, or is fastened at least on the side of one of few teeth difference wheel 5, Huo Zhean Mounted in the side of two few teeth difference wheels 5, the above formal difference, it is therefore intended that adapt to different installation requirements.
The both ends of the crank axle 6 pass through the eccentric position that tapered roller bearing 15 is mounted on two shell disks, crank respectively The outer end of axis 6 and the axle center of planetary gear 2 are fixed by spline, and planetary gear 2 is driven by sun gear 1, and sun gear 1 is shaft gear, even Connect the output shaft of motor.
It is furthermore preferred that the rolling element 14 with retainer is arranged between the eccentric body 7 of the crank axle 6 and the perforation 8, partially Heart body 7 plays the role of the action of inner of bearing, and 8 inner wall of perforating plays the outer ring of bearing, rolling element 14 and both roll and cooperate, As the kinematic mount of few teeth difference wheel 5, the volume of whole equipment can be reduced.
The end setting of the crank axle 6 prevents the circlip 18 of the axial moving of planetary gear 2.
Distance collar 19 is arranged in the outside of corresponding a pair of few teeth difference wheel 5 on the crank axle 6, matches on the rolling element 14 It is cased with retainer 20, one end of the retainer 20 is contacted with the shaft shoulder of the crank axle 6, and the other end connects with the distance collar 19 Touching, increases the stability of structure.
Its working principle is identical as the planetary gear transmission mechanism in embodiment 1, and the power that sun gear 1 provides motor is defeated Enter, be driven each 2 rotation of planetary gear, planetary gear 2 is fixed by spline and crank axle 6, drives the operation of few teeth difference mechanism, reaches deceleration The purpose of torque increase both can be defeated by power by first shell disk 12 and second shell disk 13 by fixed shell when carrying out practically Out, it can also be outputed power by the fixation first shell disk 12 and second shell disk 13 by shell.
In other embodiments, the gear teeth of ring gear and few teeth difference wheel 5 are also possible to straight-tooth.
Embodiment 3
As shown in figure 3, the rolling element with holder can be used in the bearing being mounted on crank axle both ends and two shell disks 21 replace, and by 24 axially position of circlip that is mounted on crank axle, the bearing between two shell disks and shell becomes rolling element 21 For angular contact ball bearing 23, two shell disks play bearing outer ring simultaneously, simplify structure, can further reduce volume, It reducing costs, in the present embodiment, 22 floating mount of the gap that disappears elastomer is a cyclic structure between two few teeth difference wheels, It is covered on the inside of entire few teeth difference wheel.
Embodiment 4
A kind of robot, including fuselage and the robot joint speed reducer being set in fuselage.
With design science, joint compact, high transmission accuracy, realize that large transmission ratio, torque be big and structure more Add simply, difficulty of processing substantially reduces, and production cost substantially reduces, in the field not being strict with to precision, in cost phase Most of such equipment, application value with higher can be substituted into in the case where.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof;To the greatest extent The present invention is described in detail with reference to preferred embodiments for pipe, it should be understood by those ordinary skilled in the art that: still It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced;Without departing from this hair The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.

Claims (3)

1. a kind of planetary gear transmission mechanism, including less teeth difference transmission part, the importation of offer power and output power Output par, c, it is characterised in that: the less teeth difference transmission part includes by two ring gears, two few teeth difference wheels and at least one The little gear difference planetary driving mechanism that crank axle is constituted, wherein the gear teeth of two ring gears and two few teeth difference wheels The gear teeth are to become the tooth thickness involute gear teeth, and the helical angle of two ring gears is oppositely oriented, between a pair of few teeth difference wheel The gap elastomer that disappears is set, bracket is installed, the gap elastomer that disappears is mounted on the crank axle between two few teeth difference wheels On the bracket, the gap elastomer that disappears be fixed therein one or two few teeth difference wheel side or it is described disappear gap elasticity Body, which floats, to be arranged between two few teeth difference wheels, and the importation includes sun gear and is driven at least by the sun gear One planetary gear;
At least one perforation is respectively arranged on the web of two few teeth difference wheels, corresponding two on two few teeth difference wheels A perforation constitutes one group of crank axle perforation, and two eccentric bodies of the every crank axle are set in a pair of few teeth difference wheel One group described in crank axle perforation and the phase difference of a pair of few teeth difference wheel is made to be 180 °, the central axis of every crank axle It is arranged with the centerline axis parallel of the sun gear, the corresponding planetary gear setting of the every crank axle, and the crank axle One end be connected at the axle center of the corresponding planetary gear, the gear teeth of the sun gear and the planetary gear are mutually matched Become the tooth thickness involute gear teeth.
2. a kind of robot joint speed reducer, it is characterised in that: it includes first shell disk, second shell disk, shell and claim 1 The planetary gear transmission mechanism, two shell disk difference rolling assemblings are fixed between the two sides of the shell, two shell disks Connection;On the housing, two few teeth difference wheels are arranged between two shell disks, the song for two ring gear settings The both ends of arbor pass through bearing respectively and are mounted on two shell disks;Two shell disks or the shell are as output par, c, two institutes It states and bracket is installed on the crank axle between few teeth difference wheel, described to disappear the installation of gap elastomer on the bracket, the gap bullet that disappears Property body be fixed therein the side of one or two few teeth difference wheel or the gap elastomer that disappears floats setting described in two Between few teeth difference wheel, the bearing installed between the both ends of the crank axle and two shell disks includes rolling element, retainer, crank axle Make on the eccentric body surface of the bearing outer ring that the bearing hole wall of bearing inner race and the shell disk that axial plane is constituted is constituted, the crank axle For bearing inner race, the perforation inner wall installs the rolling element with retainer between the two and constitutes bearing arrangement as bearing outer ring, Lip packing is set between the shell and two shell disks, and one end setting of the crank axle prevents bullet of the planet wheel spindle to moving Property retaining ring.
3. a kind of robot, it is characterised in that: including fuselage and the robot of any of claims 1 or 2 being set in fuselage Joint speed reducer.
CN201510592475.9A 2015-09-17 2015-09-17 A kind of planetary gear transmission mechanism, robot joint speed reducer and robot Active CN105221669B (en)

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CN105757221B (en) * 2016-03-10 2019-02-05 陈志同 A kind of robot twin-stage joint speed reducer comprising NN transmission mechanism
CN106276319A (en) * 2016-08-26 2017-01-04 仲恺农业工程学院 Ultrafine powder feeder
WO2018074008A1 (en) * 2016-10-19 2018-04-26 三菱電機株式会社 Speed reducer and robot
CN109595302A (en) * 2018-12-26 2019-04-09 前沿驱动(北京)技术有限公司 Planetary reduction gear 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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