CN107327543B - 一种摆线钢球行星传动机构及其机器人关节减速装置 - Google Patents
一种摆线钢球行星传动机构及其机器人关节减速装置 Download PDFInfo
- Publication number
- CN107327543B CN107327543B CN201710706217.8A CN201710706217A CN107327543B CN 107327543 B CN107327543 B CN 107327543B CN 201710706217 A CN201710706217 A CN 201710706217A CN 107327543 B CN107327543 B CN 107327543B
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- China
- Prior art keywords
- steel ball
- disc
- tooth
- planetary
- steel
- 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.)
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 216
- 239000010959 steel Substances 0.000 title claims abstract description 216
- 230000005540 biological transmission Effects 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 239000003638 chemical reducing agent Substances 0.000 title abstract description 51
- 230000009467 reduction Effects 0.000 claims abstract description 8
- 238000009826 distribution Methods 0.000 claims description 26
- 239000004519 grease Substances 0.000 claims description 19
- 230000001050 lubricating effect Effects 0.000 claims description 14
- 210000003781 tooth socket Anatomy 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 14
- 238000005299 abrasion Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 238000005461 lubrication Methods 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005520 cutting process Methods 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
- 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
- 230000002035 prolonged effect 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
-
- 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
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- F16H57/0006—Vibration-damping or noise reducing means specially adapted for gearings
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Friction Gearing (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710706217.8A CN107327543B (zh) | 2017-08-17 | 2017-08-17 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
Applications Claiming Priority (1)
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CN201710706217.8A CN107327543B (zh) | 2017-08-17 | 2017-08-17 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107327543A CN107327543A (zh) | 2017-11-07 |
CN107327543B true CN107327543B (zh) | 2023-10-20 |
Family
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Family Applications (1)
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CN201710706217.8A Active CN107327543B (zh) | 2017-08-17 | 2017-08-17 | 一种摆线钢球行星传动机构及其机器人关节减速装置 |
Country Status (1)
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CN (1) | CN107327543B (zh) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107299970B (zh) * | 2017-08-17 | 2024-03-15 | 安徽一众精密轴业有限公司 | 一种摆线钢球减速装置及其在机器人关节中的应用 |
CN108582149B (zh) * | 2018-05-04 | 2021-02-19 | 安徽工业大学 | 一种机器人转动关节 |
GB201915013D0 (en) * | 2019-10-17 | 2019-12-04 | Genesis Robotics And Motion Tech Lp | Actuator arrangement |
CN110425255B (zh) * | 2019-08-05 | 2021-11-02 | 燕山大学 | 正弦平面二级活齿减速器 |
CN111173896B (zh) * | 2020-01-06 | 2021-07-13 | 河南烛龙高科技术有限公司 | 一种单级根切摆线活齿传动单元 |
CN111022589B (zh) * | 2020-01-06 | 2021-02-26 | 河南烛龙高科技术有限公司 | 一种中心对称双级嵌套式根切摆线活齿减速器 |
CN111120585B (zh) * | 2020-01-06 | 2021-04-13 | 河南烛龙高科技术有限公司 | 一种机电集成嵌套式差动根切摆线活齿减速器 |
EP4119813A4 (en) * | 2020-03-15 | 2023-08-30 | Henan Zhulong Hi-Tech Co., Ltd. | COMBINED CYCLOID GEAR MECHANISM WITH TOOTH SURFACE |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013111986A (ja) * | 2011-11-24 | 2013-06-10 | Jtekt Corp | 電動パワーステアリング装置 |
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 |
CN105508531A (zh) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | 一种二级串联摆线钢球减速器 |
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 |
CN205446591U (zh) * | 2016-03-09 | 2016-08-10 | 江苏泰隆减速机股份有限公司 | 一种二级串联摆线钢球减速器 |
CN107299970A (zh) * | 2017-08-17 | 2017-10-27 | 安徽捷线传动科技有限公司 | 一种摆线钢球减速装置及其在机器人关节中的应用 |
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 |
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 |
-
2017
- 2017-08-17 CN CN201710706217.8A patent/CN107327543B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013111986A (ja) * | 2011-11-24 | 2013-06-10 | Jtekt Corp | 電動パワーステアリング装置 |
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 |
CN105508531A (zh) * | 2016-03-09 | 2016-04-20 | 江苏泰隆减速机股份有限公司 | 一种二级串联摆线钢球减速器 |
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 |
CN205446591U (zh) * | 2016-03-09 | 2016-08-10 | 江苏泰隆减速机股份有限公司 | 一种二级串联摆线钢球减速器 |
CN107299970A (zh) * | 2017-08-17 | 2017-10-27 | 安徽捷线传动科技有限公司 | 一种摆线钢球减速装置及其在机器人关节中的应用 |
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 |
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 |
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Publication number | Publication date |
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CN107327543A (zh) | 2017-11-07 |
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PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
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TA01 | Transfer of patent application right |
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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TA01 | Transfer of patent application right | ||
CB02 | Change of applicant information |
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. |
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CB02 | Change of applicant information | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A cycloidal steel ball planetary transmission mechanism and its robot joint deceleration device Granted publication date: 20231020 Pledgee: Ma'anshan branch of Bank of China Ltd. Pledgor: Anhui Yizhong Precision Shaft Industry Co.,Ltd. Registration number: Y2024980003326 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right |