CN107299970B - 一种摆线钢球减速装置及其在机器人关节中的应用 - Google Patents
一种摆线钢球减速装置及其在机器人关节中的应用 Download PDFInfo
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- CN107299970B CN107299970B CN201710706210.6A CN201710706210A CN107299970B CN 107299970 B CN107299970 B CN 107299970B CN 201710706210 A CN201710706210 A CN 201710706210A CN 107299970 B CN107299970 B CN 107299970B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 217
- 239000010959 steel Substances 0.000 title claims abstract description 217
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 62
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000009467 reduction Effects 0.000 claims abstract description 7
- 238000009826 distribution Methods 0.000 claims description 28
- 239000004519 grease Substances 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 14
- 230000001050 lubricating effect Effects 0.000 description 12
- 238000005299 abrasion Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000005461 lubrication Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 3
- 210000003781 tooth socket Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/06—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion
- F16H13/08—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
- F16H55/02—Toothed members; Worms
- F16H55/08—Profiling
-
- 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
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
-
- 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
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
-
- 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
- F16H57/12—Arrangements for adjusting or for taking-up backlash not provided for elsewhere
- F16H2057/125—Adjustment of backlash during mounting or assembly of gearing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Data Mining & Analysis (AREA)
- Mathematical Analysis (AREA)
- Theoretical Computer Science (AREA)
- Computational Mathematics (AREA)
- Operations Research (AREA)
- Algebra (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- Robotics (AREA)
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Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201710706210.6A CN107299970B (zh) | 2017-08-17 | 2017-08-17 | 一种摆线钢球减速装置及其在机器人关节中的应用 |
Applications Claiming Priority (1)
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CN201710706210.6A CN107299970B (zh) | 2017-08-17 | 2017-08-17 | 一种摆线钢球减速装置及其在机器人关节中的应用 |
Publications (2)
Publication Number | Publication Date |
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CN107299970A CN107299970A (zh) | 2017-10-27 |
CN107299970B true CN107299970B (zh) | 2024-03-15 |
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CN201710706210.6A Active CN107299970B (zh) | 2017-08-17 | 2017-08-17 | 一种摆线钢球减速装置及其在机器人关节中的应用 |
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CN (1) | CN107299970B (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107327543B (zh) * | 2017-08-17 | 2023-10-20 | 安徽一众精密轴业有限公司 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
CN109707802B (zh) * | 2019-02-25 | 2020-12-22 | 燕山大学 | 一种基于导架耦合的双级集成平面活齿减速器 |
CN111173894B (zh) * | 2020-01-06 | 2021-05-04 | 河南烛龙高科技术有限公司 | 一种双级嵌套封闭式根切摆线活齿传动单元 |
CN111173895B (zh) * | 2020-01-06 | 2021-05-04 | 河南烛龙高科技术有限公司 | 一种双级封闭式根切摆线活齿传动单元 |
CN111237397A (zh) * | 2020-03-15 | 2020-06-05 | 河南烛龙高科技术有限公司 | 一种二齿差密排组合齿面摆线活齿传动单元 |
CN111237398A (zh) * | 2020-03-15 | 2020-06-05 | 河南烛龙高科技术有限公司 | 一种单级密排组合齿面摆线活齿传动单元 |
CN112780728B (zh) * | 2021-01-07 | 2022-05-17 | 重庆大学 | 圆柱环槽式双摆线少齿差行星减速器 |
CN113486476B (zh) * | 2021-08-11 | 2023-04-18 | 重庆大学 | 一种磨削双圆弧谐波减速器刚轮插刀的砂轮齿廓设计方法 |
CN117052850A (zh) * | 2023-09-12 | 2023-11-14 | 广东粤凯科技装备制造有限公司 | 一种摆珠减速器 |
Citations (10)
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---|---|---|---|---|
JPH06241292A (ja) * | 1993-02-19 | 1994-08-30 | Hitachi Metals Ltd | 磁石式ボール遊星変速装置 |
CN101290059A (zh) * | 2008-04-10 | 2008-10-22 | 燕山大学 | 时时无回差传动精密钢球行星减速器 |
CN203614711U (zh) * | 2013-12-16 | 2014-05-28 | 重庆齿轮箱有限责任公司 | 一种回转支撑装置及rv减速机 |
CN103883683A (zh) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | 单级硬齿面摆线钢球行星减速机 |
CN104907637A (zh) * | 2015-06-10 | 2015-09-16 | 西安交通大学 | 一种摆线齿轮齿廓修形的方法 |
CN205331214U (zh) * | 2016-02-03 | 2016-06-22 | 常州神力热喷涂技术有限公司 | 大型平面轴承 |
CN205350235U (zh) * | 2016-03-09 | 2016-06-29 | 江苏泰隆减速机股份有限公司 | 一种二级并联摆线钢球减速器 |
CN107327543A (zh) * | 2017-08-17 | 2017-11-07 | 安徽捷线传动科技有限公司 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
CN207093691U (zh) * | 2017-08-17 | 2018-03-13 | 安徽捷线传动科技有限公司 | 一种摆线钢球减速装置及其机器人关节 |
CN207093681U (zh) * | 2017-08-17 | 2018-03-13 | 安徽捷线传动科技有限公司 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
-
2017
- 2017-08-17 CN CN201710706210.6A patent/CN107299970B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06241292A (ja) * | 1993-02-19 | 1994-08-30 | Hitachi Metals Ltd | 磁石式ボール遊星変速装置 |
CN101290059A (zh) * | 2008-04-10 | 2008-10-22 | 燕山大学 | 时时无回差传动精密钢球行星减速器 |
CN203614711U (zh) * | 2013-12-16 | 2014-05-28 | 重庆齿轮箱有限责任公司 | 一种回转支撑装置及rv减速机 |
CN103883683A (zh) * | 2014-03-19 | 2014-06-25 | 江苏泰隆减速机股份有限公司 | 单级硬齿面摆线钢球行星减速机 |
CN104907637A (zh) * | 2015-06-10 | 2015-09-16 | 西安交通大学 | 一种摆线齿轮齿廓修形的方法 |
CN205331214U (zh) * | 2016-02-03 | 2016-06-22 | 常州神力热喷涂技术有限公司 | 大型平面轴承 |
CN205350235U (zh) * | 2016-03-09 | 2016-06-29 | 江苏泰隆减速机股份有限公司 | 一种二级并联摆线钢球减速器 |
CN107327543A (zh) * | 2017-08-17 | 2017-11-07 | 安徽捷线传动科技有限公司 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
CN207093691U (zh) * | 2017-08-17 | 2018-03-13 | 安徽捷线传动科技有限公司 | 一种摆线钢球减速装置及其机器人关节 |
CN207093681U (zh) * | 2017-08-17 | 2018-03-13 | 安徽捷线传动科技有限公司 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
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Effective date of registration: 20220704 Address after: 243000 building 14, intelligent equipment Industrial Park, Yushan Economic Development Zone, Maanshan City, Anhui Province Applicant after: MAANSHAN YIZHONG ELECTROMECHANICAL Co.,Ltd. Address before: 243000 6 intelligent equipment Industrial Park in Yushan Economic Development Zone, Ma'anshan, Anhui Applicant before: ANHUI JIEXIAN TRANSMISSION TECHNOLOGY CO.,LTD. |
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Country or region after: China Address after: 243000 building 14, intelligent equipment Industrial Park, Yushan Economic Development Zone, Maanshan City, Anhui Province Applicant after: Anhui Yizhong Precision Shaft Industry Co.,Ltd. Address before: 243000 building 14, intelligent equipment Industrial Park, Yushan Economic Development Zone, Maanshan City, Anhui Province Applicant before: MAANSHAN YIZHONG ELECTROMECHANICAL Co.,Ltd. Country or region before: China |
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