CN107131256A - A kind of knuckle decelerator - Google Patents
A kind of knuckle decelerator Download PDFInfo
- Publication number
- CN107131256A CN107131256A CN201710154708.6A CN201710154708A CN107131256A CN 107131256 A CN107131256 A CN 107131256A CN 201710154708 A CN201710154708 A CN 201710154708A CN 107131256 A CN107131256 A CN 107131256A
- Authority
- CN
- China
- Prior art keywords
- pin wheel
- plug
- planet carrier
- wheel housings
- output planetary
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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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- 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
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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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
-
- 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
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
Abstract
A kind of knuckle decelerator, the present invention relates to robotic technology field；Engaged with input gear the bottom of central sun gear, central sun gear is set in support planet carrier, the outside of planet carrier is supported to be provided with spur gear, the outside of support planet carrier is connected by main shaft bearing with No. three pin wheel housings, output planetary frame is connected with by main shaft bearing inside the outer end of No. three pin wheel housings, No. two pin wheel housings and a pin wheel housing are provided between output planetary frame and support planet carrier, eccentric shaft is located in output planetary frame, No. two pin wheel housings, a pin wheel housing and the inside for supporting planet carrier；The outer wall of No. three pin wheel housings, which is provided with several oil storage holes, oil storage hole, is provided with top plug and bottom plug, and machine oil is provided with the space between top plug and bottom plug.Machine oil periodically quantitative can be added to it and be lubricated maintenance, without professional fueling vehicle, and the waste of oil can be avoided, its practicality is stronger.
Description
Technical field
The present invention relates to robotic technology field, and in particular to a kind of knuckle decelerator.
Background technology
Robot is to automatically control being commonly called as machine (Robot), automatically control machine including all simulation human behaviors or
Thought and the machinery (such as robot dog, Doraemon etc.) of simulation other biological.The definition to robot also has many classification in the narrow sense
Method and dispute, also referred to as some computer programs or even robot.In contemporary industry, robot, which refers to, can perform task automatically
Man-made machine device, to replace or assist human work.Highly emulated robot in ideal is senior integral traffic control opinion, machinery
Electronics, computer and artificial intelligence, materialogy and bionic product, current scientific circles research and develop to this direction.
Robot is typically made up of executing agency, drive device, detection means and control system and complicated machinery etc..Wherein
Executing agency is robot body, and its arm typically uses space open chain linkage, kinematic pair (revolute pair or movement therein
It is secondary) joint is frequently referred to, joint number is generally the number of degrees of freedom, of robot.According to joint configuration and coordinates of motion form
Difference, robot actuating mechanism can be divided into the types such as Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type and joint coordinates formula.
For the consideration personalized, the relevant position of robot body is often referred to as pedestal, waist, arm, wrist, hand (folder
Holder or end effector) and running part (for mobile robot) etc..
The control of joint flexion is realized using decelerator in several joint junctions of executing agency.Slow down in joint
Device needs to be added lubricating oil to it in use for some time, is lubricated maintenance to its internal structure, it is ensured that it can
Normal work, this current process is that tank filler sleeve is offered on casing, when needing maintenance, is protected by tank filler sleeve addition machine oil
Support, this method needs another standby host oil, while need machine oil being injected into tank filler sleeve using specific purpose tool, and to the use of machine oil
Amount can not be accurately held, and cause machine oil to waste, it would be highly desirable to improve.
The content of the invention
It is reasonable in design, make in view of the defects and deficiencies of the prior art, the present invention intends to provide one kind is simple in construction
With convenient knuckle decelerator, machine oil periodically quantitative can be added to it and be lubricated maintenance, added without specialty
Oily instrument, and the waste of oil can be avoided, its practicality is stronger.
To achieve the above object, the technical solution adopted by the present invention is：It includes input gear, central sun gear, straight
Gear, support planet carrier, main shaft bearing, pin wheel housing, No. two pin wheel housings, No. three pin wheel housings, needle pin, output planetary frame, partially
Heart axle；The bottom of central sun gear is engaged with input gear, and central sun gear is set in support planet carrier, supports planet
The outside of frame is provided with spur gear, and the outside of support planet carrier is connected by main shaft bearing with No. three pin wheel housings, No. three pin wheel housings
Output planetary frame is connected with by main shaft bearing inside outer end, provided with No. two pin wheel housings between output planetary frame and support planet carrier
With a pin wheel housing, described eccentric shaft is located in output planetary frame, No. two pin wheel housings, a pin wheel housing and support planet carrier
Inside；It also includes oil storage hole, top plug, machine oil, bottom plug；The outer wall of No. three described pin wheel housings is provided with several
It is provided with oil storage hole, oil storage hole in top plug and bottom plug, the space between top plug and bottom plug and is provided with machine oil.
Further, described top plug and bottom plug are monolithic pellicle.
Further, described top plug and bottom plug are constituted by plug side and several films, several glue
The outer wall of piece is connected as a single entity with plug side, and several films are disposed adjacent, and constitutes an entirety.
Further, described oil storage hole is outer intraoral provided with threaded closure plug.
After said structure, the present invention has the beneficial effect that：A kind of knuckle decelerator of the present invention, Neng Gouding
Phase, the quantitative machine oil that is added to it was lubricated maintenance, without professional fueling vehicle, and can avoid the waste of oil, in fact
Stronger with property, the present invention has simple in construction, and it is reasonable to set, the advantages of low manufacture cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the front view of oil storage hole in the present invention.
Description of reference numerals：
Input gear 1, central sun gear 2, spur gear 3, support planet carrier 4, main shaft bearing 5, a pin wheel housing 6, two
Number pin wheel housing 7, No. three pin wheel housings 8, needle pin 9, output planetary frame 10, eccentric shaft 11, oil storage hole 12, top plug 13, machine oil 14,
Bottom plug 15, threaded closure plug 16, plug side 17, film 18.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
Referring to as depicted in figs. 1 and 2, the technical scheme that present embodiment is used is：It comprising input gear 1, in
Heart central gear 2, spur gear 3, support planet carrier 4, main shaft bearing 5, pin wheel housing 6, No. two pin wheel housings 7, No. three pin wheel housings
8th, needle pin 9, output planetary frame 10, eccentric shaft 11；The bottom of central sun gear 2 is engaged with input gear 1, central sun gear
2 are set in support planet carrier 4, and the outside of support planet carrier 4 is provided with spur gear 3, and the outside of support planet carrier 4 passes through spindle shaft
Hold 5 to be connected with No. three pin wheel housings 8, output planetary frame 10 is connected with by main shaft bearing 5 inside the outer end of No. three pin wheel housings 8, it is defeated
Go out between planet carrier 10 and support planet carrier 4 and be provided with No. two pin wheel housings 7 and a pin wheel housing 6, described eccentric shaft 11 is located in
Output planetary frame 10, No. two pin wheel housings 7, a pin wheel housing 6 and the inside for supporting planet carrier 4；It is also comprising oil storage hole 12, top
Portion's plug 13, machine oil 14, bottom plug 15；The outer wall of No. three described pin wheel housings 8 is provided with several oil storage holes 12, oil storage hole 12
Interior be provided with top plug 13 and bottom plug 15, the space between top plug 13 and bottom plug 15 is provided with machine oil 14；Institute
The top plug 13 and bottom plug 15 stated are constituted by plug side 17 and several films 18, and the outer wall of several films 18 is equal
It is connected as a single entity with plug side 17, and several films 18 are disposed adjacent, and constitute an entirety；Described oil storage hole 12 it is outer intraoral
Provided with threaded closure plug 16, threaded closure plug 16 is provided with bar-shaped trough, is easy to utilize rotation of the instrument to threaded closure plug 16.
The operation principle of present embodiment：When needing to be added decelerator inner components machine oil maintenance,
It then can be tucked under the rotary unloading of threaded closure plug 16 using high-pressure air pipe in oil storage hole 12, connect gases at high pressure, now
Gases at high pressure can wash several films 18 open, so that the machine oil 14 in oil storage hole 12 is sent into decelerator whole interior, machine
Oil 14 can slowly penetrate into along the gap between inner components, be lubricated maintenance, connect the oil storage hole 12 of high-pressure air pipe
Quantity can according to addition machine oil number depending on, therefore can quantify addition machine oil, it is to avoid the waste of machine oil.
After said structure, present embodiment has the beneficial effect that：It is a kind of new described in present embodiment
Joint speed reducer, periodically quantitative can be added machine oil to it and be lubricated maintenance, without professional fueling vehicle, and can
The waste of oil is avoided, its practicality is stronger, the present invention has simple in construction, sets reasonable, the advantages of low manufacture cost.
It is described above, it is merely illustrative of the technical solution of the present invention and unrestricted, those of ordinary skill in the art are to this hair
Other modifications or equivalent substitution that bright technical scheme is made, without departing from the spirit and scope of technical solution of the present invention,
It all should cover among scope of the presently claimed invention.
Claims (4)
1. a kind of knuckle decelerator, it includes input gear, central sun gear, spur gear, support planet carrier, spindle shaft
Hold, pin wheel housing, No. two pin wheel housings, No. three pin wheel housings, needle pin, output planetary frame, an eccentric shafts；The bottom of central sun gear
Engaged with input gear, central sun gear is set in support planet carrier, the outside of support planet carrier is provided with spur gear, support
The outside of planet carrier is connected by main shaft bearing with No. three pin wheel housings, is connected inside the outer end of No. three pin wheel housings by main shaft bearing
There is output planetary frame, No. two pin wheel housings and a pin wheel housing, described bias are provided between output planetary frame and support planet carrier
Axle is located in output planetary frame, No. two pin wheel housings, a pin wheel housing and the inside for supporting planet carrier；It is characterized in that：It is also
Include oil storage hole, top plug, machine oil, bottom plug；The outer wall of No. three described pin wheel housings is provided with several oil storage holes, oil storage
It is provided with hole in top plug and bottom plug, the space between top plug and bottom plug and is provided with machine oil.
2. a kind of knuckle decelerator according to claim 1, it is characterised in that：Described top plug and bottom glue
Plug is monolithic pellicle.
3. a kind of knuckle decelerator according to claim 1, it is characterised in that：Described top plug and bottom glue
Plug is constituted by plug side and several films, and the outer wall of several films is connected as a single entity with plug side, and several films
It is disposed adjacent, constitutes an entirety.
4. a kind of knuckle decelerator according to claim 1, it is characterised in that：The outer of described oil storage hole intraoral is set
There is threaded closure plug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710154708.6A CN107131256B (en) | 2017-03-15 | 2017-03-15 | Joint speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710154708.6A CN107131256B (en) | 2017-03-15 | 2017-03-15 | Joint speed reducer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107131256A true CN107131256A (en) | 2017-09-05 |
| CN107131256B CN107131256B (en) | 2019-12-20 |
Family
ID=59720915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710154708.6A Active CN107131256B (en) | 2017-03-15 | 2017-03-15 | Joint speed reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107131256B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111237417A (en) * | 2020-01-08 | 2020-06-05 | 广东亿嘉和科技有限公司 | Rotary-type series elastic driving mechanism |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011038575A (en) * | 2009-08-10 | 2011-02-24 | Ntn Corp | Rolling stock driving unit |
| JP2015055343A (en) * | 2013-09-13 | 2015-03-23 | Ntn株式会社 | In-wheel motor drive unit |
| CN105020345A (en) * | 2014-04-21 | 2015-11-04 | 天津职业技术师范大学 | Hollow shaft type precision 2K-V transmission device |
| CN204828503U (en) * | 2015-07-06 | 2015-12-02 | 上海大学 | Double pendulum line RV reduction gear for robot |
| CN106481744A (en) * | 2016-12-05 | 2017-03-08 | 吴小杰 | Industrial robot end-tooth vuilt-up crankshaft formula RV decelerator |
-
2017
- 2017-03-15 CN CN201710154708.6A patent/CN107131256B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011038575A (en) * | 2009-08-10 | 2011-02-24 | Ntn Corp | Rolling stock driving unit |
| JP2015055343A (en) * | 2013-09-13 | 2015-03-23 | Ntn株式会社 | In-wheel motor drive unit |
| CN105020345A (en) * | 2014-04-21 | 2015-11-04 | 天津职业技术师范大学 | Hollow shaft type precision 2K-V transmission device |
| CN204828503U (en) * | 2015-07-06 | 2015-12-02 | 上海大学 | Double pendulum line RV reduction gear for robot |
| CN106481744A (en) * | 2016-12-05 | 2017-03-08 | 吴小杰 | Industrial robot end-tooth vuilt-up crankshaft formula RV decelerator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111237417A (en) * | 2020-01-08 | 2020-06-05 | 广东亿嘉和科技有限公司 | Rotary-type series elastic driving mechanism |
| CN111237417B (en) * | 2020-01-08 | 2021-09-24 | 广东亿嘉和科技有限公司 | Rotary-type series elastic driving mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107131256B (en) | 2019-12-20 |
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