CN106763530B - Precise joint speed reducer of robot - Google Patents
Precise joint speed reducer of robot Download PDFInfo
- Publication number
- CN106763530B CN106763530B CN201611268999.3A CN201611268999A CN106763530B CN 106763530 B CN106763530 B CN 106763530B CN 201611268999 A CN201611268999 A CN 201611268999A CN 106763530 B CN106763530 B CN 106763530B
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- planet carrier
- hole
- planet
- wheel
- stage
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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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
- F16H57/082—Planet carriers
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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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- 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
- F16H2057/085—Bearings for orbital gears
Abstract
The invention discloses a precise joint speed reducer of a robot, which comprises a rack, wherein second bearings are fixedly arranged at the left end and the right end of the rack, a third planet carrier is arranged on one side of the second bearings on the left side, a fourth-stage planet wheel is arranged in a fifth through hole on the third planet carrier, the right side of the fourth-stage planet wheel is arranged in a second through hole on the second planet carrier, and the speed reducer is provided with a collective planet carrier to realize four-stage transmission. The product can realize four-stage transmission and achieve 50-400 speed ratio; the product realizes the speed ratio achieved by four-stage transmission by arranging the first-stage planetary gear, the second-stage planetary gear, the duplex sun gear, the third-stage planetary gear and the fourth-stage planetary gear so that the machine body only uses the same machine body length adopted by the first-stage transmission and the second-stage transmission; when the original product is installed, each planet carrier needs to be supported by two bearings, and the product adopts a collective planet carrier and only needs two bearings for supporting, so that the installation is convenient.
Description
Technical Field
The invention relates to the technical field of joint mechanisms of robots, in particular to a precise joint reducer of a robot.
Background
The robot-like joint is used as a precise part on a robot body, and a speed reducer arranged on the robot-like joint is extremely high in requirement, so that not only is the transmission efficiency between the rotation of gears high, but also an extremely high reduction ratio is required, so that the use of the robot is influenced by the fact that climbing teeth and buckling cannot be generated between gears at all levels in the speed reducer when the gears are subjected to external impact, and the precise joint speed reducer for the robot is used for improving the transmission speed ratio and the precision of internal elements.
Disclosure of Invention
The invention aims to provide a precise joint reducer for a robot, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a precise joint speed reducer of robot, which comprises a frame, the inner chamber of frame is equipped with two second bearings, six first bearings, six third bearings, the second planet carrier, three circlips for first hole, six second bolts, duplex sun gear, three second grade planet wheel, first planet carrier, three circlips for second hole, three taper pin, six first bolts, three first holding ring, first oil blanket, three first grade planet wheel, three circlips for first shaft, the input wheel, three fourth grade planet wheel, the third planet carrier, three second holding ring, three tertiary planet wheel, the second oil blanket, three second axle circlips for second, both ends are all fixed mounting of second bearings about the frame, one side of the second bearings of left side is provided with the third planet carrier, install the fourth grade on the third planet carrier, and the left end of fourth grade planet wheel and the fifth through-hole on the third planet carrier mutually block fixed, the right end of fourth grade planet wheel and the third planet wheel are connected with the third planet wheel that sets up on the frame, and the third planet wheel is located the third through-hole that the third bearing is located in the third bearing, the third planet carrier is located in the middle part is advanced to the third bearing, the third through-hole is set up to the third planet carrier;
the right side of the rack is provided with a second planet carrier, a third bearing is clamped between the four-stage planet wheel and the second planet carrier, the right end part of a spline shaft of the four-stage planet wheel extends into the middle part of the third bearing, the right end of the spline shaft of the four-stage planet wheel is sleeved with a first hole elastic retainer ring, the third bearing and the first hole elastic retainer ring are arranged in a second through hole on the second planet carrier, the left end part of the four-stage planet wheel passes through the second shaft elastic retainer ring and is embedded and arranged in a central wheel hole of the three-stage planet wheel, the three-stage planet wheels are connected with a gear disc at the left end of the duplex sun wheel in a meshed mode, and the three-stage planet wheels are arranged on the periphery of a toothed disc at the left end of the duplex sun wheel in a wrapping mode;
the second planet carrier is positioned on the right side of the second bearing, a second planet wheel is inserted in the second planet carrier, the right side of the second planet wheel is provided with a first planet carrier in a closing way, the second planet wheel is a spline shaft and a meshing structure of teeth is arranged on the spline shaft, the right end of the spline shaft extends into a seventh through hole on the first planet carrier, the left end of the spline shaft extends into a third through hole of the second planet carrier, first bearings are respectively clamped between the second planet carrier and the second planet wheel and between the second planet wheel and the first planet carrier, the left first bearing is positioned in the third through hole, the right first bearing is positioned in the seventh through hole, the left end of the second planet wheel is clamped with the first bearing in the third through hole, the right end of the spline shaft of the second-stage planet wheel is clamped with a first bearing in a seventh through hole, a second hole elastic check ring and a first positioning ring are sleeved in the seventh through hole, the second hole elastic check ring is positioned on the right side surface of the first bearing, the first positioning ring is positioned on the right side surface of the second hole elastic check ring, the right end part of the spline shaft of the second-stage planet wheel sequentially penetrates through the first bearing, the second hole elastic check ring and the middle hole of the first positioning ring, and is embedded and installed at the center wheel hole of the first-stage planet wheel together with the first shaft elastic check ring, the three first-stage planet wheels are in meshed connection with the input wheel, and the three first-stage planet wheels are arranged on the periphery of a tooth disc at the left end of the input wheel in a wrapping mode;
the three second-level planetary gears are connected with the right end gear disc of the duplex sun gear in a meshed manner, the left side of the duplex sun gear passes through the second planetary frame and the third planetary frame to be connected with the three third-level planetary gears in a meshed manner, the outer side of the first planetary frame is sleeved with a first oil seal, and the outer side of the third planetary frame is sleeved with a second oil seal;
the second bolt passes through a second bolt mounting hole on the second planet carrier, the end part of the second bolt is inserted and mounted into a stud on the third planet carrier, the second planet carrier and the third planet carrier are fixedly mounted, the first bolt passes through a third bolt mounting hole on the first planet carrier and is in threaded connection with a first bolt mounting hole on the second planet carrier, the taper pin passes through a second taper pin mounting hole on the first planet carrier and is fixedly pinned with a first taper pin mounting hole on the second planet carrier, and the first planet carrier is fixedly mounted with the second planet carrier through the arrangement of the first bolt and the taper pin.
Preferably, the center of the second planet carrier is provided with a first through hole, three second through holes and three third through holes are formed in the periphery of the first through hole at equal intervals, two sides of each third through hole are provided with a second bolt mounting hole and a first bolt mounting hole, and three first taper pin mounting holes are uniformly formed in the edge of the second planet carrier.
Preferably, a fourth through hole is formed in the center of the third planet carrier, three fifth through holes are uniformly formed in the edge of the third planet carrier around the fourth through hole, and studs are arranged on two sides of each fifth through hole.
Preferably, a sixth groove is formed in the center of the first planet carrier, three seventh through holes are uniformly formed in the periphery of the sixth groove, three second taper pin mounting holes are uniformly formed in the edge of the first planet carrier, and third bolt mounting holes are formed in two sides of each second taper pin mounting hole.
Preferably, an inner gear ring is arranged in the rack, the inner gear ring is in meshed connection with three four-stage planetary gears, and the three four-stage planetary gears are not meshed with each other.
Preferably, the first planet carrier, the second planet carrier and the third planet carrier are of an integrated structure and are fixedly connected, the first planet carrier, the second planet carrier and the third planet carrier are combined into a collective planet carrier, the collective planet carrier is made of metal materials, and one side of the third planet carrier is provided with an outer bolt hole for connecting an outer fitting.
Preferably, the left end gear disc of the duplex sun gear is smaller than the right end gear disc.
Compared with the prior art, the invention has the beneficial effects that: the speed reducer is provided with a collective planet carrier, realizes four-stage transmission, and has large transmission ratio range and high transmission efficiency. The product can realize four-stage transmission and achieve 50-400 speed ratio; if the original product is required to reach the speed ratio of four-stage transmission, the machine body can be increased, the weight is increased, and the use is inconvenient, and the machine body can realize the speed ratio reached by the four-stage transmission by arranging the first-stage planetary gear, the second-stage planetary gear, the duplex sun gear, the third-stage planetary gear and the fourth-stage planetary gear so that the machine body only uses the same machine body length adopted by the first-stage transmission and the second-stage transmission; when the original product is installed, each planet carrier needs to be supported by two bearings, and the product adopts a collective planet carrier and only needs two bearings for supporting, so that the installation is convenient.
Drawings
FIG. 1 is an exploded view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the present invention.
Fig. 3 is an inscribed diagram of the overall structure of the present invention.
Fig. 4 is a cross-sectional view of the overall structure of the present invention.
FIG. 5 is a schematic diagram of the half of the overall structure of the present invention.
Fig. 6 is a schematic view of the structure of the frame and the ring gear of the present invention.
Fig. 7 is a top view of the frame and ring gear structure of the present invention.
Fig. 8 is a cross-sectional view of the frame and ring gear structure of the present invention.
Fig. 9 is a schematic view of a first planet carrier structure according to the present invention.
Fig. 10 is a bottom view of the first carrier of the present invention.
Fig. 11 is a schematic view of a second planet carrier structure according to the present invention.
Fig. 12 is a top view of a second carrier of the present invention.
Fig. 13 is a schematic view of a third planet carrier structure according to the present invention.
Fig. 14 is another schematic view of a third carrier structure according to the present invention.
Fig. 15 is a top view of a third carrier structure of the present invention.
FIG. 16 is a schematic view of a tandem solar wheel structure according to the present invention.
FIG. 17 is a schematic view of a first positioning ring according to the present invention.
FIG. 18 is a schematic view of a second retaining ring according to the present invention.
In the figure: 1 frame, 101 ring gear, 2 second bearing, 3 fourth stage planet wheel, 4 third bearing, 5 third planet carrier, 51 fourth through hole, 52 fifth through hole, 53 double screw bolt, 6 second positioning ring, 7 third stage planet wheel, 8 second oil seal, 9 circlip for second shaft, 10 first bearing, 11 second planet carrier, 111 first through hole, 112 second through hole, 113 third through hole, 114 second bolt mounting hole, 115 first bolt mounting hole, 116 first taper pin mounting hole, 12 first hole circlip, 13 second bolt, 14 double sun wheel, 15 second stage planet wheel, 16 first planet carrier, 161 sixth groove, 162 seventh through hole, 163 third bolt mounting hole, 164 second taper pin mounting hole, 17 second hole circlip, 18 first bolt, 19 first positioning ring, 20 first oil seal, 21 first stage planet wheel, 22 first shaft circlip, 23 input wheel, 24 taper pin.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-18, the present invention provides a technical solution: the precise joint speed reducer of the robot comprises a frame 1, wherein the inner cavity of the frame 1 is provided with two second bearings 2, six first bearings 10, six third bearings 4, a second planet carrier 11, three elastic collars 12 for first holes, six second bolts 13, a duplex sun gear 14, three second-stage planet gears 15, a first planet carrier 16, three elastic collars 17 for second holes, three conical pins 24, six first bolts 18, three first positioning rings 19, a first oil seal 20, three first-stage planet gears 21, three first-stage elastic collars 22, an input wheel 23, three fourth-stage planet gears 3, a third planet carrier 5, three second positioning rings 6, three third-stage planet gears 7, a second oil seal 8 and three second-stage elastic collars 9, the left and right ends of the frame 1 are fixedly provided with second bearings 2, one side of the left second bearings 2 is provided with a third planet carrier 5, the third planet carrier 5 is provided with four-stage planet gears 3, the left ends of the four-stage planet gears 3 are inserted into the third bearings 5, the left ends of the four-stage planet gears 3 are clamped with the third planet gears 3, the third planet gears 3 are provided with through holes 52 which are connected with the third bearings 4, and the third bearings 4 are arranged in the middle of the third bearings 4, and the third bearings 4 are connected with the third bearings 4, and the third bearings are provided with through holes 52;
the right side of the frame 1 is provided with a second planet carrier 11, a third bearing 4 is clamped between the four-stage planet wheel 3 and the second planet carrier 11, the right end part of a spline shaft of the four-stage planet wheel 3 extends into the middle part of the third bearing 4, the right end of the spline shaft of the four-stage planet wheel 3 is sleeved with a first hole elastic retainer ring 12, the third bearing 4 and the first hole elastic retainer ring 12 are arranged in a second through hole 112 on the second planet carrier 11, the left end part of the four-stage planet wheel 3 passes through the second hole elastic retainer ring 9 and is embedded and arranged in a central wheel hole of the three-stage planet wheel 7, the three-stage planet wheels 7 are meshed and connected with a gear disc at the left end of the duplex sun wheel 14, and the three-stage planet wheels 7 are arranged on the periphery of a fluted disc at the left end of the duplex sun wheel 14 in a wrapping manner;
the second planet carrier 11 is positioned at the right side of the second bearing 2, the second planet carrier 11 is inserted with a second planet wheel 15, the right side of the second planet wheel 15 is provided with a first planet carrier 16 in a closing way, the second planet wheel 15 is a spline shaft and a meshing structure of teeth arranged on the spline shaft, the right end of the spline shaft extends into a seventh through hole 162 on the first planet carrier 16, the left end of the spline shaft extends into a third through hole 113 of the second planet carrier 11, a first bearing 10 is clamped between the second planet carrier 11 and the second planet wheel 15 and between the second planet wheel 15 and the first planet carrier 16, the left side first bearing 10 is positioned in the third through hole 113, the right side first bearing 10 is positioned in the seventh through hole 162, the left end of the spline shaft of the second planet wheel 15 is clamped with the first bearing 10 in the third through hole 113, the right end of a spline shaft of the second-stage planetary gear 15 is clamped with the first bearing 10 in the seventh through hole 162, the seventh through hole 162 is also sleeved with a second hole circlip 17 and a first positioning ring 19, the second hole circlip 17 is positioned on the right side surface of the first bearing 10, the first positioning ring 19 is positioned on the right side surface of the second hole circlip 17, the right end part of the spline shaft of the second-stage planetary gear 15 sequentially passes through the first bearing 10, the second hole circlip 17 and the middle hole of the first positioning ring 19, and is embedded and installed at the central wheel hole of the first-stage planetary gear 21 together with the first-shaft circlip 22, the three first-stage planetary gears 21 are in meshed connection with the input wheel 23, and the three first-stage planetary gears 21 are arranged on the periphery of a tooth disc at the left end of the input wheel 23 in a wrapping manner;
the three second-stage planetary gears 15 are in meshed connection with a right end gear disc of the duplex sun gear 14, the left side of the duplex sun gear 14 passes through the second planetary carrier 11, the third planetary carrier 5 and is in meshed connection with the three third-stage planetary gears 7, a first oil seal 20 is sleeved outside the first planetary carrier 16, and a second oil seal 8 is sleeved outside the third planetary carrier 5;
the second bolt 13 passes through a second bolt mounting hole 114 on the second planet carrier 11, the end part of the second bolt 13 is inserted and mounted into a stud 53 on the third planet carrier 5, the second planet carrier 11 and the third planet carrier 5 are fixedly mounted, the first bolt 18 passes through a third bolt mounting hole 163 on the first planet carrier 16 and is in threaded connection with a first bolt mounting hole 115 on the second planet carrier 11, the taper pin 24 passes through a second taper pin mounting hole 164 on the first planet carrier 16 and is fixedly pinned with a first taper pin mounting hole 116 on the second planet carrier 11, and the first planet carrier 16 is fixedly mounted with the second planet carrier 11 through the arrangement of the first bolt 18 and the taper pin 24.
The center of the second planet carrier 11 is provided with a first through hole 111, three second through holes 112 and three third through holes 113 are arranged around the first through hole 111 at equal intervals, two sides of the third through hole 113 are provided with a second bolt mounting hole 114 and a first bolt mounting hole 115, the edge of the second planet carrier 11 is uniformly provided with three first taper pin mounting holes 116, the center of the third planet carrier 5 is provided with a fourth through hole 51, the edge of the third planet carrier 5 surrounds the fourth through hole 51 and is uniformly provided with three fifth through holes 52, two sides of the fifth through hole 52 are provided with studs 53, the center of the first planet carrier 16 is provided with a sixth groove 161, three seventh through holes 162 are uniformly arranged at the periphery of the sixth groove 161, the edge of the first planet carrier 16 is uniformly provided with three second taper pin mounting holes 164, the two sides of the second taper pin mounting hole 164 are provided with third bolt mounting holes 163, the inner gear ring 101 is arranged in the rack 1, the inner gear ring 101 is in meshed connection with the three four-stage planetary gears 3, the three four-stage planetary gears 3 are not meshed with each other, the first planetary carrier 16, the second planetary carrier 11 and the third planetary carrier 5 are of an integrated structure and are fixedly connected, the integrated planetary carriers are combined into a collective planetary carrier, the outer bolt holes are formed in one side of the third planetary carrier 5 and are used for connecting external accessories, the left end gear disk of the duplex sun gear 14 is smaller than the right end gear disk, the first positioning ring 19 is used for positioning the one-stage planetary gears 21, the three one-stage planetary gears 21 are kept in flat installation, the one-stage planetary gears 21 are kept to stably meshed for rotation, and the second positioning ring 6 is used for keeping the three-stage planetary gears 7 in flat installation, and the three-stage planetary gears 7 are kept to stably meshed for rotation.
Operational relationship of the components: the input wheel 23 is used as input, and when the collective planet carrier is fixed, the frame 1 rotates and the frame 1 is used as output. The input wheel 23 drives three first-stage planetary gears 21 to rotate, drives three second-stage planetary gears 15 to rotate, drives the duplex sun gear 14 to rotate, drives three third-stage planetary gears 7 to rotate, drives three fourth-stage planetary gears 3 to rotate, and drives the inner gear ring 101 to rotate together with the frame 1.
The input wheel 23 is used as an input, and when the frame 1 is fixed, the collective planet carrier rotates and the collective planet carrier is used as an output. The input wheel 23 drives three first-stage planetary gears 21 to rotate, drives three second-stage planetary gears 15 to rotate, drives the duplex sun gear 14 to rotate, drives three third-stage planetary gears 7 to rotate, and drives three fourth-stage planetary gears 3 to rotate. Since the frame 1 is fixed with the ring gear 101, the four-stage planetary gears 3 rotate while the collective carrier rotates together, the collective carrier serving as an output. The product is arranged at the positions of the arm, the leg joint part, the waist part and the like of the robot, and the frame 1 or the collective planet carrier is selected as output according to specific use requirements during the installation.
The speed reducer is provided with a collective planet carrier, realizes four-stage transmission, and has large transmission ratio range and high transmission efficiency. The product can realize four-stage transmission and achieve 50-400 speed ratio; if the original product is required to reach the speed ratio of four-stage transmission, the machine body can be increased, the weight is increased, and the use is inconvenient, and the machine body can realize the speed ratio reached by the four-stage transmission by arranging the first-stage planetary gear, the second-stage planetary gear, the duplex sun gear, the third-stage planetary gear and the fourth-stage planetary gear so that the machine body only uses the same machine body length adopted by the first-stage transmission and the second-stage transmission; when the original product is installed, each planet carrier needs two bearings to support, and the product adopts a collective planet carrier which only needs two bearings to support, so that the installation is convenient; meanwhile, the three-stage planetary gear is fixedly connected with the four-stage planetary gear, and the double sun gear is arranged on the left and right fluted discs, so that the machine is greatly shortened.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a precise joint reduction gear of robot, includes frame (1), the inner chamber of frame (1) is equipped with two second bearings (2), six first bearings (10), six third bearings (4), second planet carrier (11), circlip (12) for three first holes, six second bolts (13), duplex sun gear (14), three second planet wheel (15), first planet carrier (16), circlip (17) for three second holes, three taper pin (24), six first bolts (18), three first holding ring (19), first oil blanket (20), three first-level planet wheel (21), circlip (22) for three first shafts, input wheel (23), three fourth-level planet wheel (3), third planet carrier (5), three second holding ring (6), three third-level planet wheel (7), second oil blanket (8), circlip (9) for three second shafts, its characterized in that: the left end and the right end of the rack (1) are fixedly provided with second bearings (2), one side of the left second bearing (2) is provided with a third planet carrier (5), a fourth-stage planet wheel (3) is arranged on the third planet carrier (5), the left end of the fourth-stage planet wheel (3) and a fifth through hole (52) on the third planet carrier (5) are mutually clamped and fixed, the right end of the fourth-stage planet wheel (3) is connected with a second planet carrier (11) arranged on the right side of the rack (1), the right end of the fourth-stage planet wheel (3) extends into a second through hole (112) on the second planet carrier (11), a third bearing (4) is clamped between the third planet carrier (5) and the fourth-stage planet wheel (3), the third bearing (4) is arranged in the fifth through hole (52), a second positioning ring (6) is arranged on the left side face of the third bearing (4) in a fitting mode, and a spline shaft of the fourth-stage planet wheel (3) is inserted into the third bearing (4) and the fifth through hole (52);
the right side of the rack (1) is provided with a second planet carrier (11), a third bearing (4) is clamped between the four-stage planet wheel (3) and the second planet carrier (11), the right end part of a spline shaft of the four-stage planet wheel (3) extends into the middle part of the third bearing (4), the right end of the spline shaft of the four-stage planet wheel (3) is sleeved with a first hole elastic check ring (12), the third bearing (4) and the first hole elastic check ring (12) are arranged in a second through hole (112) on the second planet carrier (11), the left end part of the four-stage planet wheel (3) penetrates through the second shaft elastic check ring (9) to be embedded into a central wheel hole of the three-stage planet wheel (7), the three-stage planet wheels (7) are meshed with a gear disc at the left end of the double sun wheel (14), and the three-stage planet wheels (7) are arranged on the periphery of the left end of the double sun wheel disc in a wrapping mode;
the second planet carrier (11) is positioned at the right side of the second planet carrier (2), a second planet carrier (15) is inserted in the second planet carrier (11), a first planet carrier (16) is arranged on the right side of the second planet carrier (15) in a closing way, the second planet carrier (15) is a spline shaft and a meshing structure with teeth is arranged on the spline shaft, the right end of the spline shaft extends into a seventh through hole (162) on the first planet carrier (16), the left end of the spline shaft extends into a third through hole (113) of the second planet carrier (11), a first bearing (10) is clamped between the second planet carrier (11) and the second planet carrier (15) and between the second planet carrier (15) and the first planet carrier (16), the left first bearing (10) is positioned in the third through hole (113), the right first bearing (10) is positioned in the seventh through hole (162), the left end of the spline shaft of the second planet carrier (15) is clamped with the first bearing (10) in the third through hole (113), the second bearing (15) is clamped with the second bearing (17) in the second through hole (17) and the second bearing (17) is positioned in the first through hole (162), the first positioning ring (19) is positioned on the right side surface of the circlip (17) for the second hole, the right end part of the spline shaft of the secondary planet wheel (15) sequentially passes through the first bearing (10), the circlip (17) for the second hole and the middle hole of the first positioning ring (19), and is embedded and installed at the center wheel hole of the primary planet wheel (21) together with the circlip (22) for the first shaft, the three primary planet wheels (21) are connected with the input wheel (23) in a meshed manner, and the three primary planet wheels (21) are arranged on the periphery of the tooth disc at the left end of the input wheel (23) in a wrapping manner;
the three second-level planetary gears (15) are in meshed connection with a right-end gear disc of the duplex sun gear (14), the left side of the duplex sun gear (14) passes through the second planetary frame (11), the third planetary frame (5) is in meshed connection with the three third-level planetary gears (7), a first oil seal (20) is sleeved on the outer side of the first planetary frame (16), and a second oil seal (8) is sleeved on the outer side of the third planetary frame (5);
the second bolts (13) penetrate through second bolt mounting holes (114) in the second planet carrier (11), the end parts of the second bolts (13) are inserted into studs (53) in the third planet carrier (5) in a penetrating mode, the second planet carrier (11) and the third planet carrier (5) are fixedly mounted, the first bolts (18) penetrate through third bolt mounting holes (163) in the first planet carrier (16) and are in threaded connection with first bolt mounting holes (115) in the second planet carrier (11), the taper pins (24) penetrate through second taper pin mounting holes (164) in the first planet carrier (16) and are fixedly pinned with first taper pin mounting holes (116) in the second planet carrier (11), and the first planet carrier (16) is fixedly mounted with the second planet carrier (11) through arrangement of the first bolts (18) and taper pins (24); the center of the second planet carrier (11) is provided with a first through hole (111), three second through holes (112) and three third through holes (113) are formed around the first through hole (111) at equal intervals, two sides of each third through hole (113) are provided with a second bolt mounting hole (114) and a first bolt mounting hole (115), and three first taper pin mounting holes (116) are uniformly formed in the edge of the second planet carrier (11);
a fourth through hole (51) is formed in the center of the third planet carrier (5), three fifth through holes (52) are uniformly formed in the edge of the third planet carrier (5) around the fourth through hole (51), and studs (53) are arranged on two sides of each fifth through hole (52);
a sixth groove (161) is formed in the center of the first planet carrier (16), three seventh through holes (162) are uniformly formed in the periphery of the sixth groove (161), three second taper pin mounting holes (164) are uniformly formed in the edge of the first planet carrier (16), and third bolt mounting holes (163) are formed in two sides of the second taper pin mounting holes (164);
an inner gear ring (101) is arranged in the rack (1), the inner gear ring (101) is in meshed connection with three four-stage planetary gears (3), and the three four-stage planetary gears (3) are not meshed with each other;
the first planet carrier (16), the second planet carrier (11) and the third planet carrier (5) are of an integrated structure and are fixedly connected to form a collective planet carrier, the collective planet carrier is made of metal, an outer bolt hole is formed in one side of the third planet carrier (5) and is used for connecting an outer accessory, and a gear disc at the left end of the double-linked sun gear (14) is smaller than a gear disc at the right end.
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| CN201611268999.3A CN106763530B (en) | 2016-12-31 | 2016-12-31 | Precise joint speed reducer of robot |
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| CN106763530A CN106763530A (en) | 2017-05-31 |
| CN106763530B true CN106763530B (en) | 2023-09-01 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN108999937B (en) * | 2018-09-18 | 2020-04-10 | 宿迁学院 | Multi-speed output speed reducer for electric compressor system |
| CN109488560B (en) * | 2018-10-26 | 2020-08-14 | 宿迁学院 | High-efficient intelligent operation's motor compressor device |
| CN109848976A (en) * | 2019-03-27 | 2019-06-07 | 曾林旺 | A kind of multiaxis independent control mechanical arm |
| CN113333911B (en) * | 2021-05-25 | 2024-03-01 | 常州工学院 | Mounting device and arc fuse material adding equipment |
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|---|---|---|---|---|
| CN203214786U (en) * | 2013-02-28 | 2013-09-25 | 沈观耕 | Planetary gear speed reducer with quaternary planet carrier mechanism |
| CN104214280A (en) * | 2014-09-12 | 2014-12-17 | 无锡麻德克斯精机有限公司 | Three-stage planetary gear speed reducing machine |
| WO2015120076A1 (en) * | 2014-02-04 | 2015-08-13 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
| CN105836644A (en) * | 2016-06-06 | 2016-08-10 | 索特传动设备有限公司 | Speed reducer and winch |
| CN206487835U (en) * | 2016-12-31 | 2017-09-12 | 杨绍俊 | A kind of accurate joint speed reducer of robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203214786U (en) * | 2013-02-28 | 2013-09-25 | 沈观耕 | Planetary gear speed reducer with quaternary planet carrier mechanism |
| WO2015120076A1 (en) * | 2014-02-04 | 2015-08-13 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
| CN104214280A (en) * | 2014-09-12 | 2014-12-17 | 无锡麻德克斯精机有限公司 | Three-stage planetary gear speed reducing machine |
| CN105836644A (en) * | 2016-06-06 | 2016-08-10 | 索特传动设备有限公司 | Speed reducer and winch |
| CN206487835U (en) * | 2016-12-31 | 2017-09-12 | 杨绍俊 | A kind of accurate joint speed reducer of robot |
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