CN109764092A - Retarder - Google Patents
Retarder Download PDFInfo
- Publication number
- CN109764092A CN109764092A CN201910175732.7A CN201910175732A CN109764092A CN 109764092 A CN109764092 A CN 109764092A CN 201910175732 A CN201910175732 A CN 201910175732A CN 109764092 A CN109764092 A CN 109764092A
- Authority
- CN
- China
- Prior art keywords
- internal gear
- input
- output
- crankshaft
- outer housing
- 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.)
- Pending
Links
- 239000003638 chemical reducing agent Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006880 cross-coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
Abstract
The invention discloses a kind of retarders, including outer housing, input crankshaft, internal gear and output block, internal tooth is provided in the outer housing, the internal gear and outer housing few teeth difference internal messing, input crankshaft are eccentric shaft, and input crankshaft, which protrudes into internal gear, drives internal gear to swing, output block includes output crank shaft, output crank shaft passes through internal gear, and is driven by internal gear around input crank rotation, and output crank shaft can directly or indirectly connect external device (ED).The present invention holds retarder while possessing small and exquisite, the high reduction ratio of harmonic speed reducer, the high-precision high-load of RV retarder, the low cost of planetary reduction gear.
Description
Technical field
The present invention relates to retarder technical fields.
Background technique
Mainstream retarder has planetary reduction gear, harmonic speed reducer, RV retarder but in cost, reduction ratio, structure at present
Compactedness, load capacity, which cut both ways, is difficult to equilibrium.
Such as application No. is the patents of CN201120013773.5 to disclose kind of a harmonic wave speed reducing machine, includes harmonic wave speed reducing machine sheet
Input shaft is distributed in the side of body, harmonic wave speed reducing machine ontology, in which: is connected with flexbile gear on the working end of input shaft.It is corresponding to it
, firm gear is connected on flexbile gear.Stablize for the ease of transmission, auxiliary connecting shaft is installed on flexbile gear.Also, assist connecting shaft
Angular contact bearing is installed between harmonic wave speed reducing machine ontology.In this way, passing through the phase of contact bearing and sliding cross coupling
Mutually cooperation, can effectively eliminate the end-play of bearing, while can eliminate part's machining errors and rigging error and send out wave
The influence of raw device, improves the operating accuracy of wave producer.However the speed reducer is in precision and load capacity still needs to improve.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of small and exquisite, high reduction ratio for possessing harmonic speed reducer simultaneously, RV
The retarder of the high-precision high-load of retarder.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows: a kind of retarder, including it is outer housing, defeated
Enter crankshaft, internal gear and output block, internal tooth is provided in the outer housing, is nibbled in the internal gear and outer housing few teeth difference
It closes, input crankshaft, which protrudes into internal gear, drives internal gear to swing, and output block includes output crank shaft, and output crank shaft passes through internal tooth
Wheel, and being driven by internal gear around input crank rotation, output crank shaft can directly or indirectly connect external device (ED), input crankshaft and
Output crank shaft is all eccentric shaft and eccentricity is identical.
Further, further include two flanges, one is located at input terminal, another is located at output end, and two flanges and
Bearing is provided between outer housing, input crankshaft stretches out the flange of input side, and the both ends of output crank shaft are located at two flanges
In, output crank shaft drives two flange rotations.
Further, the quantity of the internal gear is two, and is arranged in parallel, and the axle center of two internal gears is not same
On straight line.
Further, the axle center of two internal gears is to input the axis of rotation of crankshaft centrosymmetric structure each other.
From above-mentioned technical proposal it can be seen that the invention has the following advantages that the present invention holds retarder while possessing harmonic wave subtracts
Small and exquisite, the high reduction ratio of fast device, the high-precision high-load of RV retarder, the low cost of planetary reduction gear.And it can be innovative
Realize the double flange outputs of uniaxial drive
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is cross-sectional view of the present invention along the direction A-A；
Fig. 3 is cross-sectional view of the present invention along the direction B-B.
Specific embodiment
A specific embodiment of the invention is illustrated below in conjunction with attached drawing.
As shown in Figure 1, Figure 2 and Figure 3, retarder of the invention includes outer housing 7, input crankshaft 2, internal gear 1 and defeated
Crankshaft 5 out, internal tooth is provided in outer housing, and (number of teeth n), the number of teeth of internal gear 1 are m, in internal gear 1 and 7 few teeth difference of outer housing
Engagement, such as number of teeth difference 1；Input crankshaft 5 is eccentric shaft, and input crankshaft, which protrudes into internal gear 1, drives internal gear to swing, output
Crankshaft 5 passes through internal gear, and is driven by internal gear around input crank rotation, and output crank shaft 5 can directly or indirectly connect outside
Device output power, input crankshaft is all eccentric shaft with output crank shaft and eccentricity is identical.
In addition, the invention also includes two flanges, an input side flange 4 and an output side flange 8, and two flanges
Bearing 6 is provided between outer housing, input crankshaft 2 stretches out input side flange, and the both ends of output crank shaft are located at two methods
Lan Zhong, output crank shaft drives two flange rotations, between flange and input crankshaft.Two flanges can connect load in the present invention,
To realize unilateral axis input, bilateral output.
The quantity of the internal gear 1 is two, and is arranged in parallel, and the axle center of two internal gears is to input the rotary shaft of crankshaft
Heart centrosymmetric structure each other.It is symmetrically engaged using two internal gears, is that force dispersion is uniform, by the position for adjusting two gears
Deviation, which can achieve, reduces the purpose for even being eliminated backhaul gap.
When outer housing is fixed, motor drives input crank rotation one week, and pinion gear is swung one week, and output crank shaft also can be certainly
Rotation one week；The external tooth of pinion gear and n tooth of interior tooth engagement of shell, pinion gear have m tooth simultaneously, then pinion gear reversely rotates
N-m tooth, output shaft is around input shaft revolution (n-m)/n circle, i.e. output flange rotation (n-m)/n circle.The deceleration of retarder at this time
Than for n/ (n-m), input is opposite with steering is exported.
Wherein each two of the quantity of output shaft and connecting column, but be not limited to two, can according to specific size and load into
Line number amount increases.
This retarder can be connected to the motor by drive mechanism, be reached using (but unlimited) in pedipulator, joint of mechanical arm
Drive the purpose of pedipulator, manipulator motion.Shell can be not limited to existing shape as fixing piece, can make as the case may be
For pedipulator, the structural member of mechanical arm.Two sides output flange is also not necessarily limited to circular flange, and two pieces can be changed to according to specific environment
Stripe board is directly as executive component.Retarder has fixed structure while not increasing part and executes structure in this way.
This certain retarder is fixed and execution unit can be exchanged, and reduction ratio is that m/ (n-m) input is identical as output steering at this time.
To sum up, a kind of bearing retarder of the present invention possesses small and exquisite, the high reduction ratio of harmonic speed reducer simultaneously, RV retarder
High-precision high-load, the low cost of planetary reduction gear.And it innovative can realize the double flange outputs of uniaxial drive.
Claims (4)
1. a kind of retarder, including outer housing, input crankshaft, internal gear and output block, be provided in the outer housing in
Tooth, it is characterised in that: the internal gear and outer housing few teeth difference internal messing, input crankshaft, which protrudes into internal gear, drives internal gear pendulum
Dynamic, output block includes output crank shaft, and output crank shaft passes through internal gear, and is driven by internal gear around input crank rotation, output
Crankshaft can directly or indirectly connect external device (ED), and input crankshaft is all eccentric shaft with output crank shaft and eccentricity is identical.
2. retarder according to claim 1, it is characterised in that: further include two flanges, one is located at input terminal, another
It is a to be located at output end, and two are provided with bearing between flange and outer housing, input crankshaft stretches out the flange of input side, and output is bent
The both ends of axis are located in two flanges, and output crank shaft drives two flange rotations.
3. retarder according to claim 2, it is characterised in that: the quantity of the internal gear is two, and is arranged in parallel,
And the axle center of two internal gears is not on the same line.
4. retarder according to claim 3, it is characterised in that: the axle center of two internal gears is to input the rotary shaft of crankshaft
Heart centrosymmetric structure each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175732.7A CN109764092A (en) | 2019-03-08 | 2019-03-08 | Retarder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175732.7A CN109764092A (en) | 2019-03-08 | 2019-03-08 | Retarder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109764092A true CN109764092A (en) | 2019-05-17 |
Family
ID=66456767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910175732.7A Pending CN109764092A (en) | 2019-03-08 | 2019-03-08 | Retarder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109764092A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395827Y (en) * | 1999-07-19 | 2000-09-13 | 燕山大学 | Contra-parallelogram mechanism mould non-sinusoidal vibration generator |
| JP2010007841A (en) * | 2008-06-30 | 2010-01-14 | Nabtesco Corp | Ring gear, and gear transmission provided with ring gear |
| CN104565218A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission |
| RU164225U1 (en) * | 2016-03-21 | 2016-08-20 | Акционерное Общество "Сибирские Приборы И Системы" | PLANETARY CHAIN TRANSMISSION |
| CN106678341A (en) * | 2017-02-17 | 2017-05-17 | 黄溧震 | Miniature reducer |
| CN106911222A (en) * | 2017-03-31 | 2017-06-30 | 昆山格兰德机器人科技有限公司 | coaxial two ends output driver |
| CN206478171U (en) * | 2017-01-12 | 2017-09-08 | 太微机器人技术（北京）有限公司 | Robot miniature high-precision fewer differential teeth planetary decelerator |
-
2019
- 2019-03-08 CN CN201910175732.7A patent/CN109764092A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395827Y (en) * | 1999-07-19 | 2000-09-13 | 燕山大学 | Contra-parallelogram mechanism mould non-sinusoidal vibration generator |
| JP2010007841A (en) * | 2008-06-30 | 2010-01-14 | Nabtesco Corp | Ring gear, and gear transmission provided with ring gear |
| CN104565218A (en) * | 2013-10-29 | 2015-04-29 | 北京精密机电控制设备研究所 | RV speed reducer based on CTC (Centralized Traffic Control) circular arc and single circular arc few tooth difference planetary transmission |
| RU164225U1 (en) * | 2016-03-21 | 2016-08-20 | Акционерное Общество "Сибирские Приборы И Системы" | PLANETARY CHAIN TRANSMISSION |
| CN206478171U (en) * | 2017-01-12 | 2017-09-08 | 太微机器人技术（北京）有限公司 | Robot miniature high-precision fewer differential teeth planetary decelerator |
| CN106678341A (en) * | 2017-02-17 | 2017-05-17 | 黄溧震 | Miniature reducer |
| CN106911222A (en) * | 2017-03-31 | 2017-06-30 | 昆山格兰德机器人科技有限公司 | coaxial two ends output driver |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190517 |