CN109083984A - Retarder, decelerating motor and robot - Google Patents
Retarder, decelerating motor and robot Download PDFInfo
- Publication number
- CN109083984A CN109083984A CN201811187936.4A CN201811187936A CN109083984A CN 109083984 A CN109083984 A CN 109083984A CN 201811187936 A CN201811187936 A CN 201811187936A CN 109083984 A CN109083984 A CN 109083984A
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- CN
- China
- Prior art keywords
- rigid disk
- driving motor
- retarder
- planet carrier
- planetary gear
- 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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- 238000007493 shaping process Methods 0.000 claims description 10
- 238000005461 lubrication Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 230000002093 peripheral effect Effects 0.000 description 8
- 238000011038 discontinuous diafiltration by volume reduction Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008595 infiltration Effects 0.000 description 2
- 238000001764 infiltration Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010791 quenching Methods 0.000 description 2
- 230000000171 quenching effect Effects 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
-
- 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
- F16H57/048—Type of gearings to be lubricated, cooled or heated
- F16H57/0482—Gearings with gears having orbital motion
- F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
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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
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Retarders (AREA)
- Manipulator (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
It includes pin wheel housing, rigid disk, planet carrier, crankshaft, planetary gear, needle roller, needle bearing and Cycloidal Wheel that the present invention, which provides a kind of retarder, decelerating motor and robot, retarder,；Pin wheel housing has working chamber, and rigid disk is installed on the axial first end of working chamber, and planet carrier is installed on the axial second end of working chamber, and between rigid disk and planet carrier, multiple needle rollers are engaged between the outer flank of tooth of Cycloidal Wheel and the inner toothed surface of pin wheel housing Cycloidal Wheel；Crank rotation is connected between rigid disk and planet carrier, and the eccentric part and needle bearing of crankshaft are located in the bearing hole of Cycloidal Wheel；Planetary gear is between rigid disk and Cycloidal Wheel or is located at outside rigid disk.Decelerating motor includes retarder and driving motor, and robot includes decelerating motor.Planetary gear, which is placed on working chamber or is arranged in outside retarder, can cancel the setting that planet carrier gear places position, and the volume for reducing planet carrier makes retarder volume-diminished, and the planetary gear in working chamber is effectively protected and sufficient lubrication.
Description
Technical field
The present invention relates to retarding device technical fields, and in particular to a kind of retarder, decelerating motor and application deceleration electricity
The robot of machine.
Background technique
The integrated connection of progress is docked by flange between existing RV retarder and driving motor.In general, existing
RV retarder includes pin wheel housing, rigid disk, planet carrier, crankshaft, planetary gear, needle roller, needle bearing, Cycloidal Wheel and gear shaft；
Have in the middle part of pin wheel housing through axial working chamber, rigid disk is rotatably installed on axially the of working chamber by first bearing
One end, planet carrier are rotatably installed on the axial second end of working chamber by second bearing, and Cycloidal Wheel is located at rigid disk and row
Between carrier, multiple needle rollers are engaged between the outer flank of tooth of Cycloidal Wheel and the inner toothed surface of pin wheel housing.
Crankshaft is rotatably connected between rigid disk and planet carrier, and needle bearing is sleeved on the eccentric part of crankshaft, partially
Center portion and needle bearing are located in the bearing hole of Cycloidal Wheel.The gear towards the outside of RV retarder is provided on planet carrier to put
Set, planetary gear are mounted on crankshaft and are located at gear and place in position, and planetary gear periphery is protected by planet carrier；Tooth
The flank of tooth end of wheel shaft sequentially pass through after the centre bore of the centre bore of rigid disk, the centre bore of Cycloidal Wheel and planet carrier with planetary gear
Engagement.Pin wheel housing is being connected with first flange close to axial one end of rigid disk, the second flange on driving motor shell and the
The output shaft of the docking of one flange, driving motor is axially docked with gear shaft.
The connection type of existing RV retarder and driving motor the problem is that, due to planetary gear be located at RV slow down
Back on the axial end of driving motor on device, planetary gear in the working chamber of RV retarder not at RV not at also slowing down
Device and driving motor seal the joint, therefore gear is arranged on planet carrier and places position and carries out periphery protection to planetary gear,
Planet carrier can accommodate planetary gear gear placement position because that need to be arranged due to volume increases, accordingly the overall volume of RV retarder
It increases with it, therefore the mounting means of retarder and driving motor in robot is also restricted.
Summary of the invention
The first object of the present invention is to provide a kind of volume and reduces and effective protection planetary gear retarder.
The second object of the present invention is to provide a kind of volume and reduces and effective protection planetary gear decelerating motor.
The third object of the present invention is to provide another volume reduction and effective protection planetary gear decelerating motor.
The fourth object of the present invention is to provide another volume reduction and effective protection planetary gear decelerating motor.
The fifth object of the present invention is to provide another volume reduction and effective protection planetary gear decelerating motor.
The sixth object of the present invention is to provide a kind of volume and reduces and effective protection planetary gear robot.
To solve the first object of the present invention, retarder provided by the invention includes pin wheel housing, rigid disk, planet carrier, song
Axis, planetary gear, needle roller, needle bearing and Cycloidal Wheel；Have in the middle part of pin wheel housing through axial working chamber, rigid disk passes through the
One bearing is rotatably installed on the axial first end of working chamber, and planet carrier is rotatably installed on working chamber by second bearing
Axial second end, Cycloidal Wheel between rigid disk and planet carrier, multiple needle rollers be engaged on Cycloidal Wheel the outer flank of tooth and needle tooth
Between the inner toothed surface of shell；Crankshaft is rotatably connected between rigid disk and planet carrier, and needle bearing is sleeved on the bias of crankshaft
In portion, eccentric part and needle bearing are located in the bearing hole of Cycloidal Wheel；Planetary gear is mounted on crankshaft and is located at working chamber
Interior, in the axial direction of pin wheel housing, planetary gear is between rigid disk and Cycloidal Wheel.
By above scheme as it can be seen that due to the working chamber in the middle part of pin wheel housing need to accommodate can switch Cycloidal Wheel, in working chamber
Diameter is larger, and planetary gear, which is placed in working chamber, can then cancel the setting that planet carrier gear places position, reduces planet carrier
Volume and reduce the overall volume of retarder, the planetary gear in working chamber is effectively protected and sufficient lubrication.
Further embodiment is that the flank of tooth of the flank of tooth of the first gear teeth group and the second gear teeth group has for dome arcuation.
Therefore first is engaged using bicircular arcs between gear teeth group and the second gear teeth group, and contact force is made to be evenly distributed,
Flank profil is not easy to wear, bearing capacity is strong, can guarantee the strength of gear teeth in gear manufacturing processes without infiltration quenching technical
And service life.
Further embodiment is that retarder includes at least two Cycloidal Wheels, is provided with and Cycloidal Wheel quantity Matching on crankshaft
Eccentric part.
To solve the second object of the present invention, decelerating motor provided by the invention includes driving motor and retarder, is slowed down
Device uses above-mentioned retarder；The shell of driving motor is fixedly connected with rigid disk, and the output shaft of driving motor is equipped with first
Gear teeth group, the first gear teeth group are engaged with planetary gear second gear teeth group.
By above scheme as it can be seen that the minimum diameter of flow path of pin wheel housing is larger, planetary gear, which is placed in working chamber then, be can use
The planet carrier gear that disappears places the setting of position, reduces the volume of planet carrier and reduces the volume of retarder therewith, decelerating motor
Overall volume also reduce therewith, and the planetary gear being located in working chamber is effectively protected and sufficient lubrication.
Further embodiment is that the output shaft of driving motor is gear shaft, and the first gear teeth group machine-shaping is on output shaft.
Therefore since planetary gear is close to the axial end of rigid disk, the i.e. output shaft of planetary gear and driving motor
Position be closer to, the output shaft of driving motor is not necessarily to external output shaft, and directly processes on the output shaft of driving motor
In first gear teeth group, to reduce the aperture of input shaft bore in the middle part of retarder, the whole body of decelerating motor is further decreased
Product.
Further embodiment is to be locked between rigid disk and the shell of driving motor by bolt.
Therefore it is directly connected between rigid disk and the shell of driving motor to further decrease the body of decelerating motor
Product.
Another further embodiment is that the shell of rigid disk and driving motor is integrally formed.
Therefore after the integrated molding of the end cap of rigid disk and driving motor can reduce driving motor end cap and rigid disk
End, further reduces the axial dimension of decelerating motor.
To solve the third object of the present invention, decelerating motor provided by the invention includes driving motor and retarder, is slowed down
Device uses above-mentioned retarder；The shell of driving motor is fixedly connected with pin wheel housing, and the output shaft of driving motor is equipped with first
Gear teeth group, the first gear teeth group are engaged with planetary gear second gear teeth group.
Therefore the minimum diameter of flow path of pin wheel housing is larger, planetary gear, which is placed in working chamber, can then cancel planet
Frame gear places the setting of position, reduces the volume of planet carrier and reduces the volume of retarder therewith, the entirety of decelerating motor
Volume also reduces therewith, and the planetary gear being located in working chamber is effectively protected and sufficient lubrication.
Further embodiment is that the output shaft of driving motor is gear shaft, and the first gear teeth group machine-shaping is on output shaft.
Further embodiment is to be fixedly connected between pin wheel housing and the shell of driving motor by fixed frame.
Further scheme is that fixed frame is annular in shape, and the axial first end of fixed frame is sleeved on outside pin wheel housing, fixed frame
Axial second end be sleeved on outside the shell of driving motor.
Therefore replace original flanged joint that can reduce retarder and decelerating motor using cricoid fixed frame
Radial dimension.
To solve the fourth object of the present invention, decelerating motor provided by the invention includes driving motor and retarder, is slowed down
Device includes pin wheel housing, rigid disk, planet carrier, crankshaft, planetary gear, needle roller, needle bearing and Cycloidal Wheel；Have in the middle part of pin wheel housing
Through axial working chamber, rigid disk is rotatably installed on the axial first end of working chamber by first bearing, and planet carrier is logical
The axial second end that second bearing is rotatably installed on working chamber is crossed, Cycloidal Wheel is multiple between rigid disk and planet carrier
Needle roller is engaged between the outer flank of tooth of Cycloidal Wheel and the inner toothed surface of pin wheel housing；Crankshaft is rotatably connected to rigid disk and planet carrier
Between, needle bearing is sleeved on the eccentric part of crankshaft, and eccentric part and needle bearing are located in the bearing hole of Cycloidal Wheel；Planet
Gear is mounted on crankshaft and is located at outside working chamber, and in the axial direction of pin wheel housing, planetary gear is located on the outside of rigid disk；Driving
The shell of motor is fixedly connected with rigid disk and has gap between shell and rigid disk, and planetary gear is located in gap, drives
The output shaft of motor is equipped with the first gear teeth group, and the first gear teeth group is engaged with planetary gear second gear teeth group.
By above scheme as it can be seen that being arranged planetary gear outside rigid disk, then it can cancel planet carrier gear and place position
Setting reduces the volume of planet carrier and reduces the overall volume of retarder and decelerating motor；And planetary gear is located at rigidity
In gap between disk and driving motor, the fixed frame or flange being connected between retarder and driving motor enclose clearance seal
Around it is not necessary that additionally setting protection mechanism can be to planetary gear effective protection.
Further embodiment is that the flank of tooth of the flank of tooth of the first gear teeth group and the second gear teeth group has for dome arcuation.
Therefore first is engaged using bicircular arcs between gear teeth group and the second gear teeth group, and contact force is made to be evenly distributed,
Flank profil is not easy to wear, bearing capacity is strong, can guarantee the strength of gear teeth in gear manufacturing processes without infiltration quenching technical
And service life.
Further embodiment is that the output shaft of driving motor is gear shaft, and the first gear teeth group machine-shaping is on output shaft.
Further embodiment is to be fixedly connected between rigid disk and the shell of driving motor by fixed frame.
Further embodiment is that fixed frame is annular in shape, and the axial first end of fixed frame is sleeved on outside rigid disk, fixed frame
Axial second end is sleeved on outside the shell of driving motor.
To solve the fifth object of the present invention, decelerating motor provided by the invention includes driving motor and retarder, is slowed down
Device includes pin wheel housing, rigid disk, planet carrier, crankshaft, planetary gear, needle roller, needle bearing and Cycloidal Wheel；Have in the middle part of pin wheel housing
Through axial working chamber, rigid disk is rotatably installed on the axial first end of working chamber by first bearing, and planet carrier is logical
The axial second end that second bearing is rotatably installed on working chamber is crossed, Cycloidal Wheel is multiple between rigid disk and planet carrier
Needle roller is engaged between the outer flank of tooth of Cycloidal Wheel and the inner toothed surface of pin wheel housing；Crankshaft is rotatably connected to rigid disk and planet carrier
Between, needle bearing is sleeved on the eccentric part of crankshaft, and eccentric part and needle bearing are located in the bearing hole of Cycloidal Wheel；Planet
Gear is mounted on crankshaft and is located at outside working chamber, and in the axial direction of pin wheel housing, planetary gear is located on the outside of rigid disk；Driving
The shell of motor is fixedly connected with pin wheel housing, has gap between shell and rigid disk and planetary gear is located in gap, is driven
The output shaft of motor is equipped with the first gear teeth group, and the first gear teeth group is engaged with planetary gear second gear teeth group.
By above scheme as it can be seen that being arranged planetary gear outside rigid disk, then it can cancel planet carrier gear and place position
Setting reduces the volume of planet carrier and reduces the overall volume of retarder and decelerating motor；And planetary gear is located at rigidity
In gap between disk and driving motor, the fixed frame or flange being connected between retarder and driving motor enclose clearance seal
Around it is not necessary that additionally setting protection mechanism can be to planetary gear effective protection.
Further embodiment is that the flank of tooth of the flank of tooth of the first gear teeth group and the second gear teeth group has for dome arcuation.
Further embodiment is that the output shaft of driving motor is gear shaft, and the first gear teeth group machine-shaping is on output shaft.
Further embodiment is to be fixedly connected between pin wheel housing and the shell of driving motor by fixed frame.
Further embodiment is that fixed frame is annular in shape, and the axial first end of fixed frame is sleeved on outside pin wheel housing, fixed frame
Axial second end is sleeved on outside the shell of driving motor.
To solve the fifth object of the present invention, robot provided by the invention includes the first component relative to described first
The second component of part rotation, the robot further include such as above-mentioned decelerating motor, and the decelerating motor is connected to described first
Between component and the second component.
By above scheme as it can be seen that equally having the characteristics that small in size, and volume using the robot of above-mentioned decelerating motor
Lesser decelerating motor increases in the mounting means of robot.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of decelerating motor first embodiment of the present invention.
Fig. 2 is the structural schematic diagram of decelerating motor second embodiment of the present invention.
Fig. 3 is the structural schematic diagram of decelerating motor 3rd embodiment of the present invention.
Fig. 4 is the structural schematic diagram of decelerating motor fourth embodiment of the present invention.
Fig. 5 is the structural schematic diagram of the 5th embodiment of decelerating motor of the present invention.
The invention will be further described with reference to the accompanying drawings and embodiments.
Specific embodiment
Retarder and decelerating motor provided by the invention are applied at joint of robot, and robot can be industrial machinery
Arm, industrial machinery arm have the first arm (first component) and the second arm (second component), the first arm and the second arm it
Between there is joint component, retarder or decelerating motor are arranged at joint component, by subtracting between the first arm and the second arm
Fast device or deceleration strip driving motor, which are realized, to be relatively rotated.
Decelerating motor first embodiment
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of decelerating motor first embodiment of the present invention.Decelerating motor is RV retarder 1 and drives
The all-in-one machine that dynamic motor 2 is combined into, RV retarder 1 include pin wheel housing 11, rigid disk 12, planet carrier 13, needle roller 14, Cycloidal Wheel
15, crankshaft 16, needle bearing 162, planetary gear 17, bearing group and oil seal washer 19, bearing group include first bearing 181,
Two bearings 182,3rd bearing 183 and fourth bearing 184.
It is formed in pin wheel housing 11 through its axial working chamber, pin wheel housing 11 is provided with internal tooth on the internal perisporium of working chamber
Face；There is through-hole, rigid disk 12 is rotatably installed on axial the first of working chamber by first bearing 181 in the middle part of rigid disk 12
End, the middle part of planet carrier 13 have a through-hole, and planet carrier 13 is rotatably installed on axial the of working chamber by second bearing 182
Two ends, and oil seal washer 19 is provided between the inner wall of the axial second end of planet carrier 13 and pin wheel housing 11, in the fixation of oil seal washer 19
Embedded in the axial second end of pin wheel housing 11, and oil seal washer 19 and 13 clearance fit of planet carrier.
Two Cycloidal Wheels 15 are arranged in working chamber and between rigid disk 12 and planet carrier 13, have in the middle part of Cycloidal Wheel 15
There is through-hole, the through-hole of the through-hole and planet carrier 13 in the middle part of through-hole, two Cycloidal Wheels 15 in the middle part of rigid disk 12 is interconnected.Pendulum
The periphery of line wheel 15 is provided with the outer flank of tooth, and the number of teeth is less than the number of teeth of the inner toothed surface of 11 inner circumferential of pin wheel housing, multiple needle rollers on the outer flank of tooth
14 are engaged between the outer flank of tooth of Cycloidal Wheel 15 and the inner toothed surface of pin wheel housing 11.It is provided in the axial direction of Cycloidal Wheel 15 through axial
Two bearing holes in direction.
There are two the different eccentric part 161 of eccentric position each other, the axial first ends of crankshaft 16 for the middle part tool of crankshaft 16
It is installed in rotation on rigid disk 12 by 3rd bearing 183, the axial second end of crankshaft 16 can be turned by fourth bearing 184
It is mounted on planet carrier 13 dynamicly, two eccentric parts 161 are respectively positioned in working chamber, and each eccentric part 161 is located at and it
In the bearing hole of the corresponding Cycloidal Wheel 15 of axial position, and needle bearing 162 is sleeved on eccentric part 161, needle bearing 162
Multiple roller rolls are connected between the outer peripheral surface of eccentric part 161 and the inner peripheral surface of the bearing hole of Cycloidal Wheel 15.
Crankshaft 16 passes through rigid disk 12 and stretches out in outside rigid disk 12 from working chamber, and planetary gear 17 is fixedly mounted on crankshaft
On the part for protruding from rigid disk 12 on 16, therefore planetary gear 17 is integrally located at outside working chamber, and is located at the axis of rigid disk 12
Outward.
Driving motor 2 has shell 21, and shell 21 includes the end cap 211 positioned at axial one end, and end cap 211 has in the axial direction
The lug boss 212 of lateral protrusions, end cap 211 form a stepped part in the circumferential position of lug boss 212, and driving motor 2 also wraps
The output shaft 22 stretched out at one end from end cap 211 is included, the first gear teeth group is provided on the circumferential surface of the end of output shaft 22, is driven
The output shaft 22 of motor 2 is gear shaft, and the first gear teeth group machine-shaping is on output shaft 22.
Connection is realized by fixed frame 3 between driving motor 2 and retarder 1, fixed frame 3 is whole annular in shape, and in fixation
On the radial section of frame 3, fixed frame 3 is L-shaped, and the axial first end of fixed frame 3 has the first fixed part 31 radially extended,
The axial second end of fixed frame 3 has the second fixed part 32 axially extended, and the second fixed part 32 is top-down in Fig. 1
Radially extend to axis direction, the first fixed part 31 is fixedly set on the outer peripheral surface of rigid disk 12, the second fixed part
32 are fixedly set on the lug boss 212 of end cap 211.Gap of the planetary gear 17 between rigid disk 12 and driving motor 2
In.
The output shaft 22 of driving motor 2 extends between two planetary gears 17, and face by the middle part of rigid disk 12 through-hole,
The interconnected input through-hole 10 of the through-hole of through-hole and planet carrier 13 in the middle part of two Cycloidal Wheels 15.The first round of output shaft 22
Tooth group is engaged with the second gear teeth group of planetary gear 17, and the second of the flank of tooth of the first gear teeth group of output shaft 22 and planetary gear 17
The flank of tooth of gear teeth group has for dome arcuation.
Planetary gear 17 is arranged outside rigid disk 12, then can cancel the setting that 13 gear of planet carrier places position, is reduced
The volume of planet carrier 13 and make the overall volume of retarder and decelerating motor reduce, and planetary gear 17 be located at rigid disk 12 and
In gap between driving motor 2, the fixed frame 3 being connected between retarder 1 and driving motor 2 surrounds clearance seal, nothing
Protection mechanism need to additionally be arranged can be to planetary gear effective protection.
Referring to fig. 2, Fig. 2 is the structural schematic diagram of decelerating motor second embodiment of the present invention.The periphery of pin wheel housing 11 is arranged
Have axially through first through hole 111, fixed frame 4 through to section on it is L-shaped, the axial first end of fixed frame 4 has
Prolong the first fixed part 41 radially extended, be provided on the first fixed part 41 axially through the second through-hole 411, fixed frame 4
Axial second end have axially extend and radially to axis direction extend the second fixed part 42, the first fixed part
41 are fixedly set on the outer peripheral surface of rigid disk 12, and first through hole 111 is penetrated through in the second through-hole 411, and it is logical that bolt passes through first
Cooperate behind hole 111 and the second through-hole 411 with nut to realize being fixedly connected between retarder 1 and fixed frame 4, the second fixed part
42 are fixedly set on the lug boss 212 of end cap 211.
Referring to Fig. 3, Fig. 3 is the structural schematic diagram of decelerating motor 3rd embodiment of the present invention.Decelerating motor is RV retarder 5
The all-in-one machine being combined into driving motor 6, RV retarder 5 is by pin wheel housing 51, rigid disk 52, planet carrier 53, needle roller 54, Cycloidal Wheel
55, crankshaft 56, needle bearing 562, planetary gear 57, bearing group and oil seal washer 59, bearing group include first bearing 581,
Two bearings 582,3rd bearing 583 and fourth bearing 584.
It is formed in pin wheel housing 51 through its axial working chamber 510, pin wheel housing 51 is arranged on the internal perisporium of working chamber 510
There is inner toothed surface；There is through-hole, rigid disk 52 is rotatably installed on the axis of working chamber by first bearing 581 in the middle part of rigid disk 52
To first end, the middle part of planet carrier 53 has through-hole, and planet carrier 53 is rotatably installed on working chamber by second bearing 582
510 axial second end, and oil seal washer 59, oil sealing are provided between the inner wall of the axial second end of planet carrier 53 and pin wheel housing 51
The fixed axial second end for being embedded in pin wheel housing 51 of circle 59, and oil seal washer 59 and 53 clearance fit of planet carrier.
Two Cycloidal Wheels 55 are arranged in working chamber and between rigid disk 52 and planet carrier 53, have in the middle part of Cycloidal Wheel 55
There is through-hole, the through-hole of the through-hole and planet carrier 53 in the middle part of through-hole, two Cycloidal Wheels 55 in the middle part of rigid disk 52 is interconnected.Pendulum
The periphery of line wheel 55 is provided with the outer flank of tooth, and the number of teeth is less than the number of teeth of the inner toothed surface of 51 inner circumferential of pin wheel housing, multiple needle rollers on the outer flank of tooth
54 are engaged between the outer flank of tooth of Cycloidal Wheel 55 and the inner toothed surface of pin wheel housing 51.It is provided in the axial direction of Cycloidal Wheel 55 through axial
Two bearing holes in direction.
There are two the different eccentric part 561 of eccentric position each other, the axial first ends of crankshaft 56 for the middle part tool of crankshaft 56
It is installed in rotation on rigid disk 52 by 3rd bearing 583, the axial second end of crankshaft 56 can be turned by fourth bearing 584
Be mounted on planet carrier 53 dynamicly, two eccentric parts 561 are respectively positioned in working chamber 510, and each eccentric part 561 be located at
In the bearing hole of the corresponding Cycloidal Wheel 55 of its axial position, and needle bearing 562 is sleeved on eccentric part 561, needle bearing
562 multiple roller rolls are connected between the outer peripheral surface of eccentric part 561 and the inner peripheral surface of the bearing hole of Cycloidal Wheel 55.
In working chamber 510, there is space between Cycloidal Wheel 55 and rigid disk 52, planetary gear 57 is fixedly mounted on crankshaft
On 56, and planetary gear 57 is located in 510 and in the space between Cycloidal Wheel 55 and rigid disk 52.Driving motor 6 has
Shell 61, shell 61 include the end cap 611 positioned at axial one end, and driving motor 6 further includes stretching out at one end from end cap 611
Output shaft 62 is provided with the first gear teeth group on the circumferential surface of the end of output shaft 62, and the output shaft 62 of driving motor 6 is gear shaft,
First gear teeth group machine-shaping is on output shaft 62.
It is locked between driving motor 6 and retarder 5 by bolt.It is provided on end cap 611 and passes through for bolt 63
Through-hole, threaded hole is provided in the axial external surface of rigid disk 52, and bolt 63 passes through on the through-hole and rigid disk 52 of end cap 611
Threaded hole locking cooperation, and then realize being fixed to each other between driving motor 6 and retarder 5.Optionally, rigid disk 52 and drive
The end cap 611 of dynamic motor 6 be integrally formed with substitute the bolt in the present embodiment connection.
The output shaft 62 of driving motor 6 is extended back across the through-hole at the middle part of rigid disk 52 to two planetary gears 57, and
The face input through-hole 50 interconnected by the through-hole of through-hole and planet carrier 53 in the middle part of two Cycloidal Wheels 55.Output shaft 62
First gear teeth group is engaged with the second gear teeth group of planetary gear 57, the flank of tooth and planetary gear 57 of the first gear teeth group of output shaft 62
The flank of tooth of the second gear teeth group have for dome arcuation.
510 internal diameter of working chamber of pin wheel housing 51 is larger, and planetary gear 57, which is placed in working chamber 510, can then cancel planet
53 gear of frame places the setting of position, reduces the volume of planet carrier 53 and reduces the volume of retarder 5 therewith, decelerating motor
Overall volume also reduces therewith, and the planetary gear 57 being located in working chamber 510 is effectively protected and sufficient lubrication.
Referring to fig. 4, Fig. 4 is the structural schematic diagram of decelerating motor fourth embodiment of the present invention.In the present embodiment, with third reality
It applies example to compare, planetary gear 57 is similarly disposed in working chamber 510, between Cycloidal Wheel 55 and rigid disk 7.Implement with upper one
Unlike example, rigid disk 7 is provided with the installation position 71 of invagination on axial outer end face, convex on the end cap 611 of driving motor 6
Portion 612 is played to snap fitted in installation position 71 to realize fixation.Certainly, the cooperation of bolt screw hole can be increased between end cap 611 and rigid disk 7
It is consolidated.
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of the 5th embodiment of decelerating motor of the present invention.In the present embodiment, planetary gear
57 are similarly disposed in working chamber 510, between Cycloidal Wheel 55 and rigid disk 8.Pass through between retarder 5 and driving motor 6
Fixed frame 9 realizes connection, and fixed frame 9 includes annularly that on the radial section of fixed frame 9, fixed frame 9 is L-shaped, fixed frame 9
Axial first end there is the first fixed part 91 for axially extending, the axial second end of fixed frame 9, which has, to be radially extended
Second fixed part 92, the first fixed part 91 are sleeved on the outer peripheral surface of pin wheel housing 51, and the second fixed part 92 is sleeved on driving motor 6
End cap 611 lug boss 612 outer peripheral surface on, between the axial outer end face and end cap 611 of rigid disk 8 have gap, with protect
Card rigid disk 8 can be relatively rotated relative to end cap 611.
Finally it is emphasized that the above description is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention,
Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.
Claims (22)
1. retarder, including pin wheel housing, rigid disk, planet carrier, crankshaft, planetary gear, needle roller, needle bearing and Cycloidal Wheel；
Have in the middle part of the pin wheel housing through itself axial working chamber, the rigid disk is rotatably mounted by first bearing
In the axial first end of the working chamber, the planet carrier is rotatably installed on the axial direction of the working chamber by second bearing
Second end, for the Cycloidal Wheel between the rigid disk and the planet carrier, multiple needle rollers are engaged on the Cycloidal Wheel
The outer flank of tooth and the pin wheel housing inner toothed surface between；
The crankshaft is rotatably connected between the rigid disk and the planet carrier, and the needle bearing is sleeved on the song
On the eccentric part of axis, the eccentric part and the needle bearing are located in the bearing hole of the Cycloidal Wheel；
It is characterized by:
The planetary gear is mounted on the crankshaft and is located in the working chamber, described in the axial direction of the pin wheel housing
Planetary gear is between the rigid disk and the Cycloidal Wheel.
2. retarder according to claim 1, it is characterised in that:
The flank of tooth of first gear teeth group and the flank of tooth of second gear teeth group have for convex arc surface.
3. retarder according to claim 1 or 2, it is characterised in that:
The retarder includes at least two Cycloidal Wheels, and the institute with the Cycloidal Wheel quantity Matching is provided on the crankshaft
State eccentric part.
4. decelerating motor, including driving motor and retarder, it is characterised in that:
The retarder uses the described in any item retarders of the claims 1 to 3；
The shell of the driving motor is fixedly connected with the rigid disk, and the output shaft of the driving motor is equipped with first gear teeth
Group, first gear teeth group are engaged with second gear teeth of the planetary gear group.
5. decelerating motor according to claim 4, it is characterised in that:
The output shaft of the driving motor is gear shaft, and first gear teeth group machine-shaping is on the output shaft.
6. decelerating motor according to claim 4 or 5, it is characterised in that:
It is bolted to connection between the rigid disk and the shell of the driving motor.
7. decelerating motor according to claim 4 or 5, it is characterised in that:
The shell of the rigid disk and the driving motor is integrally formed.
8. decelerating motor, including driving motor and retarder, it is characterised in that:
The retarder uses the described in any item retarders of the claims 1 to 3；
The shell of the driving motor is fixedly connected with the pin wheel housing, and the output shaft of the driving motor is equipped with first gear teeth
Group, first gear teeth group are engaged with second gear teeth of the planetary gear group.
9. decelerating motor according to claim 8, it is characterised in that:
The output shaft of the driving motor is gear shaft, and first gear teeth group machine-shaping is on the output shaft.
10. decelerating motor according to claim 8 or claim 9, it is characterised in that:
It is fixedly connected between the pin wheel housing and the shell of the driving motor by fixed frame.
11. decelerating motor according to claim 10, it is characterised in that:
The fixed frame is annular in shape, and the axial first end of the fixed frame is sleeved on outside the pin wheel housing, the axis of the fixed frame
It is sleeved on to second end outside the shell of the driving motor.
12. decelerating motor, including driving motor and retarder, the retarder include pin wheel housing, rigid disk, planet carrier, crankshaft,
Planetary gear, needle roller, needle bearing and Cycloidal Wheel；
Have in the middle part of the pin wheel housing through axial working chamber, the rigid disk is rotatably installed on institute by first bearing
The axial first end of working chamber is stated, the planet carrier is rotatably installed on axial the second of the working chamber by second bearing
End, for the Cycloidal Wheel between the rigid disk and the planet carrier, multiple needle rollers are engaged on the outer of the Cycloidal Wheel
Between the flank of tooth and the inner toothed surface of the pin wheel housing；
The crankshaft is rotatably connected between the rigid disk and the planet carrier, and the needle bearing is sleeved on the song
On the eccentric part of axis, the eccentric part and the needle bearing are located in the bearing hole of the Cycloidal Wheel；
It is characterized by:
The planetary gear is mounted on the crankshaft and is located at outside the working chamber, described in the axial direction of the pin wheel housing
Planetary gear is located on the outside of the rigid disk；
The shell of the driving motor is fixedly connected with the rigid disk, between the shell and the rigid disk have gap and
The planetary gear is located in the gap, and the output shaft of the driving motor is equipped with the first gear teeth group, first gear teeth
Group is engaged with second gear teeth of the planetary gear group.
13. decelerating motor according to claim 12, it is characterised in that:
The flank of tooth of first gear teeth group and the flank of tooth of second gear teeth group have for convex arc surface.
14. decelerating motor according to claim 12, it is characterised in that:
The output shaft of the driving motor is gear shaft, and first gear teeth group machine-shaping is on the output shaft.
15. 2 to 14 described in any item decelerating motors according to claim 1, it is characterised in that:
It is fixedly connected between the rigid disk and the shell of the driving motor by fixed frame.
16. decelerating motor according to claim 15, it is characterised in that:
The fixed frame is annular in shape, and the axial first end of the fixed frame is sleeved on outside the rigid disk, the axis of the fixed frame
It is sleeved on to second end outside the shell of the driving motor.
17. decelerating motor, including driving motor and retarder, the retarder include pin wheel housing, rigid disk, planet carrier, crankshaft,
Planetary gear, needle roller, needle bearing and Cycloidal Wheel；
Have in the middle part of the pin wheel housing through axial working chamber, the rigid disk is rotatably installed on institute by first bearing
The axial first end of working chamber is stated, the planet carrier is rotatably installed on axial the second of the working chamber by second bearing
End, for the Cycloidal Wheel between the rigid disk and the planet carrier, multiple needle rollers are engaged on the outer of the Cycloidal Wheel
Between the flank of tooth and the inner toothed surface of the pin wheel housing；
The crankshaft is rotatably connected between the rigid disk and the planet carrier, and the needle bearing is sleeved on the song
On the eccentric part of axis, the eccentric part and the needle bearing are located in the bearing hole of the Cycloidal Wheel；
It is characterized by:
The planetary gear is mounted on the crankshaft and is located at outside the working chamber, described in the axial direction of the pin wheel housing
Planetary gear is located on the outside of the rigid disk；
The shell of the driving motor is fixedly connected with the pin wheel housing, between the shell and the rigid disk have gap and
The planetary gear is located in the gap, and the output shaft of the driving motor is equipped with the first gear teeth group, first gear teeth
Group is engaged with second gear teeth of the planetary gear group.
18. decelerating motor according to claim 17, it is characterised in that:
The flank of tooth of first gear teeth group and the flank of tooth of second gear teeth group have for convex arc surface.
19. decelerating motor according to claim 17, it is characterised in that:
The output shaft of the driving motor is gear shaft, and first gear teeth group machine-shaping is on the output shaft.
20. 7 to 19 described in any item decelerating motors according to claim 1, it is characterised in that:
It is fixedly connected between the pin wheel housing and the shell of the driving motor by fixed frame.
21. decelerating motor according to claim 20, it is characterised in that:
The fixed frame is annular in shape, and the axial first end of the fixed frame is sleeved on outside the pin wheel housing, the axis of the fixed frame
It is sleeved on to second end outside the shell of the driving motor.
22. robot, including the first component and relative to the second component of first component rotation, it is characterised in that:
The robot further includes such as the described in any item decelerating motors of the claims 4 to 21, the decelerating motor connection
Between the first component and the second component.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187936.4A CN109083984A (en) | 2018-10-12 | 2018-10-12 | Retarder, decelerating motor and robot |
| JP2021514997A JP7213958B2 (en) | 2018-10-12 | 2018-12-21 | Reduction gears, reduction motors and robots |
| PCT/CN2018/122845 WO2020073496A1 (en) | 2018-10-12 | 2018-12-21 | Speed reducer, geared motor, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811187936.4A CN109083984A (en) | 2018-10-12 | 2018-10-12 | Retarder, decelerating motor and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109083984A true CN109083984A (en) | 2018-12-25 |
Family
ID=64843578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811187936.4A Pending CN109083984A (en) | 2018-10-12 | 2018-10-12 | Retarder, decelerating motor and robot |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP7213958B2 (en) |
| CN (1) | CN109083984A (en) |
| WO (1) | WO2020073496A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113653767A (en) * | 2021-08-12 | 2021-11-16 | 珠海格力电器股份有限公司 | Speed reducing mechanism and robot with same |
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| CN113824264B (en) * | 2020-06-19 | 2024-06-04 | 普拉希斯国际有限公司 | Hub motor with high torque force volume ratio |
| CN111946801B (en) * | 2020-09-11 | 2024-02-09 | 福建中维动力科技股份有限公司 | Transmission power coupling system and working method thereof |
| CN112211960A (en) * | 2020-10-31 | 2021-01-12 | 重庆大学 | Built-in hollow type precision speed reducer of industrial robot gear |
| CN115638231A (en) * | 2022-10-10 | 2023-01-24 | 南京传仕重工科技有限公司 | Special planetary gear box of full-electric type large-torque injection molding machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2022503732A (en) | 2022-01-12 |
| WO2020073496A1 (en) | 2020-04-16 |
| JP7213958B2 (en) | 2023-01-27 |
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