CN108006164A - Planetary-gear speed reducer and the electromechanical integration equipment with the planetary-gear speed reducer - Google Patents
Planetary-gear speed reducer and the electromechanical integration equipment with the planetary-gear speed reducer Download PDFInfo
- Publication number
- CN108006164A CN108006164A CN201711267340.0A CN201711267340A CN108006164A CN 108006164 A CN108006164 A CN 108006164A CN 201711267340 A CN201711267340 A CN 201711267340A CN 108006164 A CN108006164 A CN 108006164A
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- Prior art keywords
- gear
- wheel
- star
- planetary
- speed reducer
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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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- 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
Abstract
The invention discloses a kind of planetary-gear speed reducer, including the main shaft for being connected with high speed part, star-wheel, the fixation ring gear of fixed setting and the output ring gear for being connected with low speed part, the axial line of star-wheel is eccentric relative to the axial line of main shaft and is arranged in parallel, central shaft in star-wheel is connected to main shaft, star-wheel can be in itself central shaft rotation, star-wheel includes being used for the first order gear of fixed ring gear engaged transmission and for the second level gear with output ring gear engaged transmission, first order gear is coaxial in each star-wheel and is fixedly installed on the side of second level gear.Star-wheel in the planetary-gear speed reducer carries out two kinds of movements of circular motion and rotation around main shaft, this two kinds movement superpositions reach output ring gear, and so as to make the planetary-gear speed reducer have larger gearratio, the planetary-gear speed reducer is simple in structure, easy to process.The invention also discloses a kind of electromechanical integration equipment for including above-mentioned planetary-gear speed reducer, its planetary-gear speed reducer can ensure gearratio, simple in structure.
Description
Technical field
The present invention relates to retarder technical field, more particularly to a kind of planetary-gear speed reducer.It is moreover, it relates to a kind of
Include the electromechanical integration equipment of above-mentioned planetary-gear speed reducer.
Background technology
Differential type gear reduction is current most advanced robot retarder, mainly includes RV retarders and harmonic wave subtracts
Fast device, its principle are using the small internal-external gear engagement of number of teeth difference, are reached with special on-fixed axis external gear motion mode
Input is with exporting great speed reducing ratio.Differential type gear reduction tends to in transmission series reach in a limited space
Very big gearratio, is widely used in the high leading-edge field such as medical treatment, numerically-controlled machine tool, automobile making, robot, space flight.
RV retarders are that the cycloidal-pin wheel for driving the second level is driven with first order planetary gear train, are connected with crank axle.Separately
Outside, the pin tooth of one only more than the RV number of gears inside the shell, is arranged with equal tooth pitch.If fixing shell rotates input
Axis, then cycloidal pin eccentric motion is also carried out due to the eccentric motion of crank axle.At this time if crankshaft rotation one week, cycloidal pin
A tooth will be rotated along the direction opposite with crank axle.Harmonic speed reducer is in the firm gear wheel identical with modulus is cut out on flexbile gear
Tooth, but the number of teeth is different, i.e., and the number of teeth of the gear ratio firm gear of flexbile gear is two few；Input shaft is connected with wave producer again, sends out flexbile gear
Raw radial deformation and then the smooth engagement of generation, if input shaft rotates one week, then output terminal flexbile gear will rotate in reverse direction
Two teeth.
However, the flexbile gear of harmonic speed reducer is because high-frequency elastic deformation will be born, it is necessary to made by special material
To ensure the service life, therefore processing low module tooth form also becomes more difficult on this material, and nonetheless, harmonic reduction
The flexbile gear service life of device is still limited, it is necessary to be relatively frequently replaced, and also just further increases cost.RV retarders are because pendulum
Line pinwheel tooth Profile Design has limitation, and the high speed reducing ratio of harmonic gear can not be reached in primary transmission, so needing separately to add one
Level planetary gear train transmission, not only increases the number of gear, and adds the complexity of structure, and cost also greatly improves.
As it can be seen that the construction of harmonic wave planetary-gear speed reducer and RV retarders in itself is more complicated, production cost is higher.
Therefore, how to provide it is a kind of can ensure gearratio and retarder simple in structure, be those skilled in the art's mesh
The preceding technical issues that need to address.
The content of the invention
In view of this, the object of the present invention is to provide a kind of planetary-gear speed reducer, gearratio and simple in structure can be ensured.
It is a further object of the present invention to provide a kind of electromechanical integration equipment for including above-mentioned planetary-gear speed reducer, its planetary-gear speed reducer can
Ensure gearratio and simple in structure.
To achieve the above object, the present invention provides following technical solution：
A kind of planetary-gear speed reducer, including the main shaft for being connected with high speed part, star-wheel, fixed setting fixation ring gear and
For the output ring gear being connected with low speed part, the axial line of the star-wheel is eccentric and parallel relative to the axial line of the main shaft
Set, the central shaft in the star-wheel is connected to the main shaft, the central shaft rotation that the star-wheel can be in itself, the star
Wheel includes being used for the first order gear of the fixed ring gear engaged transmission and for exporting ring gear engaged transmission with described
Second level gear, first order gear described in each star-wheel is coaxial and is fixedly installed on the side of the second level gear.
Preferably, the star-wheel is at least two, and the circumferentially-spaced 180 degree of axial line of at least a pair of star-wheel.
Preferably, the star-wheel is two.
Preferably, the star-wheel is one, and being equipped with the output ring gear can be meshed with the output ring gear
First mate gear of transmission, the central shaft in first mate gear are connected to the central shaft in the star-wheel, and described the
One mate gear can be in itself central shaft rotation, the axial line of first mate gear and the second level gear
The circumferentially-spaced 180 degree of axial line.
Preferably, the central shaft in the star-wheel passes through first connecting rod phase with the central shaft in first mate gear
Even, the first connecting rod is connected with the limit shaft conllinear with the axial line of the main shaft, and the limit shaft is plugged in the output
Ring gear.
Preferably, the first bar portion of the central shaft that the first connecting rod includes being connected in the star-wheel, be connected to it is described
Second bar portion of the central shaft in the first mate gear, first bar portion are rotatably connected at institute with second bar portion
Limit shaft is stated, and is connected between first bar portion and second bar portion for first bar portion and second bar
Portion carries out circumferential the first spacing reed.
Preferably, the second cooperating teeth of the transmission that can be meshed with the fixed ring gear is equipped with the fixed ring gear
Take turns, the central shaft in second mate gear is connected to the main shaft, during second mate gear can be in itself
Mandrel rotation, the axial line of second mate gear and the circumferentially-spaced 180 degree of axial line of the star-wheel.
Preferably, the first order gear, the second level gear, the fixed ring gear, the output ring gear
Modulus is identical.
Preferably, the central shaft in the fixed ring gear in each gear has been respectively fixedly connected with second connecting rod, each described
Second connecting rod is rotatably connected at the main shaft, and is connected between the adjacent second connecting rod for connecting to each described second
Bar carries out circumferential the second spacing reed.
A kind of electromechanical integration equipment, including the planetary-gear speed reducer as described in above-mentioned any one.
Planetary-gear speed reducer provided by the invention includes being used for the main shaft, star-wheel, the fixation of fixed setting being connected with high speed part
Ring gear and the output ring gear for being connected with low speed part, the axial line of star-wheel are eccentric and parallel relative to the axial line of main shaft
Set, the central shaft in star-wheel is connected to main shaft, the central shaft rotation that star-wheel can be in itself, and star-wheel includes being used for and fixation
The first order gear of ring gear engaged transmission and for the second level gear with output ring gear engaged transmission, first in each star-wheel
Level gear is coaxial and is fixedly installed on the side of second level gear.
Cooperation between star-wheel rotation and star-wheel and fixed ring gear is driven by main shaft, star-wheel carries out the circle around main shaft
Two kinds of movements of Zhou Yundong and rotation, and this two kinds movement superpositions reach output ring gear, so as to so that the planetary-gear speed reducer has
There is larger gearratio, meanwhile, the planetary-gear speed reducer is simple in structure, easy to process, cost can be effectively reduced, compared to harmonic wave
Retarder, the planetary-gear speed reducer have abandoned the flexible structure for easily carrying out difficulty of processing, rigidity and service life upper problem to device band, phase
Than in RV retarders, which has abandoned the big cycloidal-pin wheel of difficulty of processing, and in equal space and transmission series
It is lower to reach the speed reducing ratio than RV retarder highers.In addition, the planetary-gear speed reducer has the advantages that compact-sized, light-weight, tool
Have broad application prospects.
The electromechanical integration equipment provided by the invention for including above-mentioned planetary-gear speed reducer, its planetary-gear speed reducer can ensure to pass
It is dynamic than and it is simple in structure.
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 attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the top view of the specific embodiment two of planetary-gear speed reducer provided by the present invention；
Fig. 2 is the axial sectional view of the specific embodiment two of planetary-gear speed reducer provided by the present invention；
Fig. 3 is the connection main view of main shaft and star-wheel central shaft in the specific embodiment two of planetary-gear speed reducer provided by the present invention
Figure；
Fig. 4 overlooks for the connection of main shaft in the specific embodiment two of planetary-gear speed reducer provided by the present invention and star-wheel central shaft
Figure；
Fig. 5 is the sectional view of the specific embodiment three of planetary-gear speed reducer provided by the present invention；
Fig. 6 is the sectional view of the specific embodiment four of planetary-gear speed reducer provided by the present invention；
Fig. 7 is the sectional view of the specific embodiment five of planetary-gear speed reducer provided by the present invention；
Fig. 8 is the sectional view of the specific embodiment six of planetary-gear speed reducer provided by the present invention.
Fig. 1 is into Fig. 8：
1- main shafts, 2- star-wheels, 201- first order gears, 202- second level gear, 3- second connecting rods, the second reeds of 4-, 5-
Output ring gear, 6- fixation ring gears, the second mate gears of 7-, the first mate gears of 8-, 9- first connecting rods, the first reeds of 10-,
11- third connecting rods, 12- limit shafts.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
The core of the present invention is to provide a kind of planetary-gear speed reducer, can ensure gearratio and simple in structure.The present invention's is another
One core is to provide a kind of electromechanical integration equipment for including above-mentioned planetary-gear speed reducer, its planetary-gear speed reducer can ensure to be driven
Than and it is simple in structure.
In the specific embodiment one of planetary-gear speed reducer provided by the present invention, including main shaft 1, star-wheel 2,6 and of fixed ring gear
Export ring gear 5.Main shaft 1 is used to be connected with high speed part, and output ring gear 5 is used to connect low speed part.Fixed ring gear 6, which is fixed, to be set
Put, in use, fixed ring gear 6 is fixed.The axial line of star-wheel 2 is eccentric relative to the axial line of main shaft 1
And be arranged in parallel, the central shaft in star-wheel 2 is connected to main shaft 1, and in the application, the central shaft in star-wheel 2 and other each gears is equal
For entity structure, geared sleeve is arranged on the central shaft in itself, preferably passes through bearing connection gear and the central shaft in itself, tooth
The axial line of wheel should be overlapped with the axial line of central shaft in itself.Star-wheel 2 can be in itself central shaft rotation.Star-wheel 2 wraps
Include for the first order gear 201 with the fixed engaged transmission of ring gear 6 and for the second level with 5 engaged transmission of output ring gear
Gear 202.In each star-wheel 2, first order gear 201 is coaxial and is fixedly installed on the side of second level gear 202, specifically can be with one
It is body formed.
Wherein, high speed part is arranged on input terminal, and main shaft 1 can be specifically connected on the rotor of high speed part, and fixed ring gear 6 is specific
It can be fixedly connected on the stator of high speed part, low speed part is arranged on output terminal.The angular speed that main shaft 1 rotates and input terminal rotor
Angular speed is identical.Star-wheel 2 does two kinds of movements relative to fixed coordinate system, the first does angle speed for star-wheel 2 around the axial line of main shaft 1
Degree is equal to the circular motion of 1 angular speed of main shaft, which is connected to main shaft 1 by the central shaft in star-wheel 2 and is moved with main shaft 1
Realize；Second is rotation of the star-wheel 2 around central shaft progress in itself, which is that star-wheel 2 passes through with fixing nibbling for ring gear 6
Close what transmission was realized.During second level gear 202 with 5 engaged transmission of output ring gear, two kinds of movement superpositions of star-wheel 2 are made
For exporting ring gear 5, output ring gear 5 acts on low speed part, so as to fulfill the transmission between input terminal and output terminal.
In planetary-gear speed reducer provided in this embodiment, rotated by the drive star-wheel 2 of main shaft 1 and star-wheel 2 is with fixing internal tooth
Cooperation between circle 6, can make the planetary-gear speed reducer have larger gearratio, meanwhile, the planetary-gear speed reducer is simple in structure, just
In processing, cost can be effectively reduced, compared to harmonic speed reducer, which has abandoned easily processes to device band
The flexible structure of difficulty, rigidity and service life upper problem, compared to RV retarders, it is big which has abandoned difficulty of processing
Cycloidal-pin wheel, and can reach the speed reducing ratio than RV retarder highers under equal space and transmission series.In addition, the star-wheel subtracts
Fast utensil has the advantages of compact-sized, light-weight, has broad application prospects.
In the specific implementation two of planetary-gear speed reducer provided by the present invention, please referring to Fig.1 to Fig. 3, star-wheel 2 is at least two,
For example, two, three or other quantity.The circumferentially-spaced 180 degree of axial line of at least a pair of of star-wheel 2, this can be right to star-wheel 2
Output ring gear 5 plays radial direction position-limiting action, and without setting bearing spacing to carry out outside output ring gear 5, and this sets in pairs
The centrifugal force that star-wheel 2 is produced around the movement of main shaft 1 can be balanced between the star-wheel 2 put.In the present embodiment, star-wheel 2 is preferably arranged to
Two, be conducive to cost-effective, reduce the occupied space of planetary-gear speed reducer.Preferably, this two star-wheels 2 could be provided as identical
's.
Further, please refer to Fig.3 and Fig. 4, the central shaft in fixed ring gear 6 in each gear can be respectively fixedly connected with
Have second connecting rod 3, since the first order gear 201 of each star-wheel 2 is arranged in fixed ring gear 6, in first order gear 201 in
Mandrel is same axis with the central shaft belonging to the first order gear 201 in star-wheel 2, then the central shaft difference in each star-wheel 2
Correspondence is fixedly connected with second connecting rod 3, and certainly, the central shaft in star-wheel 2 can also be integrally formed with second connecting rod 3.Each second
Connecting rod 3 is rotatably connected at main shaft 1, and is connected between adjacent second connecting rod 3 for carrying out circumferential limit to each second connecting rod 3
Second reed 4 of position, the elastic deformation scope of the second reed 4 could be provided as smaller value.Second connecting rod 3 is rotatably connected at
Main shaft 1 can make the second shaft have certain free degree in the circumferential relative to main shaft 1, and the setting of the second reed 4 can be with
The movable scope of second connecting rod 3 in the circumferential is constrained, so as to so that two star-wheels 2 flank profil it is clockwise with it is inverse
Clockwise can guarantee that to be contacted with fixed ring gear 6, so as to reach seamless engagement, eliminates return difference, it can be achieved that zero return difference, from
And the planetary-gear speed reducer is applied in the electromechanical assembly of the accurate control of needs and occasion, such as：Robot, medical instrument,
Numerically-controlled machine tool, space flight, electronic circuit production line, automobile and airplane industry etc..
When in use, main shaft 1 around Pivot Point Center line rotate when, two star-wheels 2 while being rotated around main shaft 1 and it is fixed in
Gear ring 6 makees seamless gear motion, and at the same time, the second level gear 202 of two star-wheels 2 is engaged with output ring gear 5, the
Secondary gear 202 drives output ring gear 5 to rotate to complete to be driven.
Preferably, first order gear 201, second level gear 202, fixed ring gear 6, export ring gear 5 modulus can be with
It is arranged to identical, at this time, if the number of teeth of fixed ring gear 6 is NH, output ring gear 5 the number of teeth be NO, two star-wheels 2 it is identical
And the number of teeth of first order gear 201 is N1, second level gear 202 the number of teeth be N2, then according to geometry rule：
NO=NH+N2-N1
Star-wheel 2 does two kinds of movements relative to fixed coordinate system, the first does angular speed around main shaft 1 for star-wheel 2 and is equal to main shaft 1
Angular velocity omegaiCircular motion；It is for second the rotation of star-wheel 2, the angular speed of the rotation is：
In second level gear 202 with exporting in 5 engagement process of ring gear, two kinds of movement superpositions of star-wheel 2 are in output
Ring gear 5, then
Then the speed reducing ratio of the planetary-gear speed reducer is：
Wherein, ωiFor input terminal angular speed, ωoFor output terminal angular speed.
For example, in NH=100, N1=40, N2N when=39O=99, speed reducing ratio 66:1；And for example, in NH=120, N1=
55、N2N when=54O=119, speed reducing ratio 6545:65, about 100.7:1, in flank profil modulus and with size RV and harmonic reduction
In the case that device is suitable, which can reach the speed reducing ratio of higher.
In the specific embodiment three of planetary-gear speed reducer provided by the present invention, Fig. 5 is refer to, star-wheel 2 could be provided as one,
First mate gear 8 of transmission of being meshed with output ring gear 5 is equipped with output ring gear 5, in the first mate gear 8
Central shaft is connected to the central shaft in star-wheel 2, the central shaft rotation that the first mate gear 8 can be in itself, the first cooperating teeth
The axial line of wheel 8 and the circumferentially-spaced 180 degree of axial line of second level gear 202.Wherein, in the first mate gear 8 with output
Between gear ring 5, output ring gear 5 is driving gear, and the first mate gear 8 is driven gear, and the first mate gear 8 plays elimination
The effect of return difference and a part of centrifugal force of balance.
Since in specific embodiment two, star-wheel 2 is at least two, and to avoid interference with, the maximum radius of star-wheel 2 is usually not
It can exceed that the half of the radius of fixed ring gear 6.And in the present embodiment, star-wheel 2 sets one, and the radius of star-wheel 2 can be big
In the half of the radius of fixed ring gear 6, speed reducing ratio can be further improved, while using in the second mate gear 7 and output
Gear ring 5, which is engaged, can eliminate return difference.If first order gear 201, second level gear 202, fixed ring gear 6, output ring gear 5
Modulus be arranged to identical, then the formula in specific embodiment two, specifically, in NH=100, N1=75, N2When=74
NO=99, speed reducing ratio 297:1, in NH=120, N1=90, N2N when=89O=119, speed reducing ratio 357:1.
Wherein, the central shaft in star-wheel 2 can be connected with the central shaft in the first mate gear 8 by first connecting rod 9, the
One connecting rod 9 is connected with the limit shaft 12 conllinear with the axial line of main shaft 1, and limit shaft 12 is plugged in output ring gear 5, so as to
Further improve the stability of the first mate gear 8 movement.Wherein, limit shaft 12 can be connected to output ring gear by bearing
5。
In the specific embodiment four of planetary-gear speed reducer provided by the present invention, Fig. 6 is refer to, can be in specific embodiment three
On the basis of first connecting rod 9 is arranged to include being connected in star-wheel 2 central shaft the first bar portion, be connected to the first mate gear
Second bar portion of the central shaft in 8, the first bar portion and the second bar portion are rotatably connected at limit shaft 12, and the first bar portion with
It is connected between second bar portion for carrying out circumferential the first spacing reed 10 to the first bar portion and the second bar portion.First bar portion,
Second bar portion, which is rotatably connected at limit shaft 12, can be such that the first bar portion, the second bar portion has in the circumferential relative to limit shaft 12
There is certain free degree, and the setting of the first reed 10 can carry out the free degree of the first bar portion, the second bar portion in the circumferential
Constraint, so as to so that star-wheel 2, the first mate gear 8 ring gear 5 is seamless engages with output, elimination return difference.
In the specific embodiment five of planetary-gear speed reducer provided by the present invention, Fig. 7 is refer to, can be in specific embodiment four
On the basis of, the second mate gear 7 of the transmission that can be meshed with fixed ring gear 6 is set in fixed ring gear 6, and second coordinates
Central shaft in gear 7 is connected to main shaft 1, the central shaft rotation that the second mate gear 7 can be in itself, the second mate gear
7 axial line and the circumferentially-spaced 180 degree of axial line of star-wheel 2.The setting of second mate gear 7 can play balance star-wheel 2
The effect of the centrifugal force of first order gear 201.
Further, the central shaft in each gear in fixed ring gear 6 has been respectively fixedly connected with second connecting rod 3, i.e. the
Central shaft in two mate gears 7 has been respectively fixedly connected with second connecting rod 3 with the central shaft in star-wheel 2, and second connecting rod 3 is rotatable
Ground is connected to main shaft 1, and the second reed 4 is equipped between this two second connecting rods 3, and the second reed 4 can carry out week to second connecting rod 3
To spacing, the cooperation of the second reed 4 and second connecting rod 3 can make star-wheel 2, the first mate gear 8 and output ring gear 5 seamless
Engagement, eliminates return difference.
In the specific embodiment six of planetary-gear speed reducer provided by the present invention, Fig. 8 is refer to, can be by specific embodiment five
Second connecting rod 3 be changed to middle part and be fixedly connected on the third connecting rod 11 of main shaft 1, the both ends of the third connecting rod 11 connect the respectively
Central shaft in two mate gears 7 and the central shaft in star-wheel 2, are easily installed.
Except above-mentioned planetary-gear speed reducer, present invention also offers one kind to include planetary-gear speed reducer disclosed in the various embodiments described above
Electromechanical integration equipment, which can protect as a result of above-mentioned planetary-gear speed reducer, its planetary-gear speed reducer
Demonstrate,prove gearratio and simple in structure.Electromechanical integration equipment is specifically as follows robot, mechanical arm etc..
Specifically, planetary-gear speed reducer can be arranged at joint of robot.Modular joint of robot is by motor, deceleration
Device, sensor and control circuit composition.Wherein, under the auxiliary of sensor and control circuit, motor can realize speed
And moment of torsion control.However, the characteristics of usual motor is that rotating speed is fast, 10000rpm is can reach, and output torque is limited, is usually
Number Ncm, and requirement contrast of the industrial machine arm to joint, it is necessary to speed is slow and accurate control and high load and strong
Big torque output.Then, the speed reducing ratio of retarder is exactly the key of whole joint performance：Speed reducing ratio is bigger, and output speed is got over
Slowly, control is more accurate, and output torque is also stronger, and load is bigger.Using the planetary-gear speed reducer, because its speed reducing ratio is high, can substitute
RV retarders and harmonic speed reducer are used for industrial robot joint.The structure of other each several parts of the robot refer to existing skill
Art, repeats no more herein.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Planetary-gear speed reducer provided by the present invention and the electromechanical integration equipment with the planetary-gear speed reducer are carried out above
It is discussed in detail.Specific case used herein is set forth the principle of the present invention and embodiment, above example
Explanation be only intended to help understand the present invention method and its core concept.It should be pointed out that for the common of the art
For technical staff, without departing from the principle of the present invention, some improvement and modification can also be carried out to the present invention, these
Improve and modification is also fallen into the protection domain of the claims in the present invention.
Claims (10)
1. a kind of planetary-gear speed reducer, it is characterised in that set including the main shaft (1) for being connected with high speed part, star-wheel (2), fixation
The fixation ring gear (6) and the output ring gear (5) for being connected with low speed part put, the axial line of the star-wheel (2) relative to
The axial line of the main shaft (1) is eccentric and is arranged in parallel, and the central shaft in the star-wheel (2) is connected to the main shaft (1), described
Star-wheel (2) can be in itself central shaft rotation, the star-wheel (2) includes being used to the fixed ring gear (6) engage biography
Dynamic first order gear (201) and for the second level gear (202) with output ring gear (5) engaged transmission, it is each described
First order gear (201) described in star-wheel (2) is coaxial and is fixedly installed on the side of the second level gear (202).
2. planetary-gear speed reducer according to claim 1, it is characterised in that the star-wheel (2) is at least two, and at least one
To the circumferentially-spaced 180 degree of axial line of the star-wheel (2).
3. planetary-gear speed reducer according to claim 2, it is characterised in that the star-wheel (2) is two.
4. planetary-gear speed reducer according to claim 1, it is characterised in that the star-wheel (2) is one, the output internal tooth
The first mate gear (8) for the transmission that can be meshed with the output ring gear (5), first cooperating teeth are equipped with circle (5)
Central shaft in wheel (8) is connected to the central shaft in the star-wheel (2), and first mate gear (8) can be in itself
Central shaft rotation, the axial line of first mate gear (8) and the axial line of the second level gear (202) are circumferentially-spaced
180 degree.
5. planetary-gear speed reducer according to claim 4, it is characterised in that central shaft in the star-wheel (2) and described the
Central shaft in one mate gear (8) is connected by first connecting rod (9), and the first connecting rod (9) is connected with and the main shaft (1)
The conllinear limit shaft (12) of axial line, the limit shaft (12) is plugged in the output ring gear (5).
6. planetary-gear speed reducer according to claim 5, it is characterised in that the first connecting rod (9) includes being connected to described
Second bar portion of the first bar portion of the central shaft in star-wheel (2), the central shaft being connected in first mate gear (8), institute
State the first bar portion and second bar portion and be rotatably connected at the limit shaft (12), and first bar portion and described the
It is connected between two bar portions for carrying out circumferential spacing the first reed (10) to first bar portion and second bar portion.
7. planetary-gear speed reducer according to claim 5, it is characterised in that being equipped with the fixed ring gear (6) can be with
The fixed ring gear (6) is meshed the second mate gear (7) of transmission, and the central shaft in second mate gear (7) connects
It is connected to the main shaft (1), the central shaft rotation that second mate gear (7) can be in itself, second mate gear
(7) the circumferentially-spaced 180 degree of axial line of axial line and the star-wheel (2).
8. planetary-gear speed reducer according to claim 7, it is characterised in that the first order gear (201), the second level
Gear (202), the fixed ring gear (6), the modulus of the output ring gear (5) are identical.
9. according to the planetary-gear speed reducer described in claim 1 to 8 any one, it is characterised in that in the fixed ring gear (6)
Central shaft in each gear has been respectively fixedly connected with second connecting rod (3), and each second connecting rod (3) is rotatably connected at described
Main shaft (1), and be connected between the adjacent second connecting rod (3) circumferential spacing for being carried out to each second connecting rod (3)
Second reed (4).
10. a kind of electromechanical integration equipment, it is characterised in that slow down including the star-wheel as described in claim 1 to 9 any one
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711267340.0A CN108006164B (en) | 2017-12-05 | 2017-12-05 | Planetary-gear speed reducer and electromechanical integration equipment with the planetary-gear speed reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711267340.0A CN108006164B (en) | 2017-12-05 | 2017-12-05 | Planetary-gear speed reducer and electromechanical integration equipment with the planetary-gear speed reducer |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108757845A (en) * | 2018-06-26 | 2018-11-06 | 李诗濛 | Planetary-gear speed reducer and electromechanical equipment |
| CN109538705A (en) * | 2018-11-30 | 2019-03-29 | 熊忠 | Different gear reducer |
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| CN105134885A (en) * | 2015-06-17 | 2015-12-09 | 重庆大学 | Uniform load system of planet mechanism |
| CN107939933A (en) * | 2017-11-17 | 2018-04-20 | 中国人民解放军陆军装甲兵学院 | A kind of gear connecting rod pulse-type continuously variable transmission |
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| JP2010174926A (en) * | 2009-01-27 | 2010-08-12 | Hitachi Constr Mach Co Ltd | Differential gear device |
| CN103148168A (en) * | 2013-02-21 | 2013-06-12 | 黄希国 | Novel tooth difference speed reducer |
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| JP2015083329A (en) * | 2013-10-25 | 2015-04-30 | 住友重機械工業株式会社 | Method for manufacturing eccentric oscillation type speed reducer |
| CN104864038A (en) * | 2015-01-31 | 2015-08-26 | 张秘来 | Duplex variable-torque planet gear transmission system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108757845A (en) * | 2018-06-26 | 2018-11-06 | 李诗濛 | Planetary-gear speed reducer and electromechanical equipment |
| CN109538705A (en) * | 2018-11-30 | 2019-03-29 | 熊忠 | Different gear reducer |
| WO2020107955A1 (en) * | 2018-11-30 | 2020-06-04 | 熊忠 | Differential reducer |
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| CN108006164B (en) | 2019-03-05 |
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