CN205896060U - Planet wheel robot joint reduction gear - Google Patents
Planet wheel robot joint reduction gear Download PDFInfo
- Publication number
- CN205896060U CN205896060U CN201620846782.5U CN201620846782U CN205896060U CN 205896060 U CN205896060 U CN 205896060U CN 201620846782 U CN201620846782 U CN 201620846782U CN 205896060 U CN205896060 U CN 205896060U
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- CN
- China
- Prior art keywords
- gear
- ring gear
- sun
- planet
- planet carrier
- 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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Abstract
The utility model relates to a planet wheel robot joint reduction gear, including box and the input shaft of setting in the box, the output shaft, sun wheelset, the planet wheelset, the rotatable ring gear of tube -shape rigidity, the planet carrier, rigid connection the sun wheelset of compriseing preceding sun gear and rear sun gear on the input shaft, the rotatable ring gear of tube -shape rigidity includes rigid connection's preceding ring gear and back ring gear, they are by rotating the outer bearing position of ring gear on the box inner wall, the planet carrier passes through the rotatable ring gear of tube -shape rigidity by the planet carrier bearing with rotatory ring gear inner bearing and connects on the box, preceding sun gear and rear sun gear are connected with preceding ring gear and back ring gear transmission through move ahead star gear and back row star gear respectively, a planet carrier rear end and output shaft body coupling. The utility model discloses a rational in infrastructure, convenient operation, its flank of tooth atress obviously are less than traditional machine people joint reducer flank of tooth atress, have improved the mechanical properties and the life of product greatly.
Description
Technical field
This utility model content belongs to technical field of mechanical transmission, is related to a kind of planet wheel robot joint and slows down
Device.
Background technology
It is industrial automation it is intended to the flattening benefiting industry with life is merged that the core of industry 4.0 drives.Industrial machine
People, as industrial 4.0 indispensable keys, has defined a kind of industrial chain having a high potential.And as industrial robot core
The joint speed reducer of one of part, because its high-tech, high added value, high repayment rate have become height very powerful and exceedingly arrogant both at home and abroad
New technological industry.But current this area robot joint speed reducer that particularly China produces accordingly also there are mechanical performance
(being especially subject to pressure) is poor, the low deficiency of service life.
Utility model content
The purpose of this utility model is that the problem that prior art is existed is solved, and then provides a kind of structure to close
Reason, planet wheel robot joint speed reducer easy to operate, that product mechanical performance and service life can be greatly improved.
The technical solution adopting for achieving the above object is as described below.
A kind of planet wheel robot joint speed reducer, the input shaft including casing and being arranged in casing, output shaft, the sun
Wheel group, front planetary gear, rear planetary gear, tubular rigidly rotatable ring gear, planet carrier, wherein: input shaft is filled by cabinet front end
Enter casing, be rigidly connected on input shaft the sun gear group being made up of front sun gear and rear sun gear, tubular is rigidly rotatable
Ring gear includes rigidly connected front ring gear and rear ring gear, and they are positioned at by some groups of rotation ring gear outer bearings respectively
On cabinet wall, by planet carrier bearing and rotation ring gear inner bearing, by tubular, rigidly rotatable ring gear is connected to planet carrier
On casing, front sun gear and rear sun gear are passed through front planetary gear and rear planetary gear respectively and are connected with front ring gear and the transmission of rear ring gear
Connect, planet carrier rear end and output shaft integrally connected.
In above-mentioned planet wheel robot joint speed reducer, front sun gear, front planetary gear and front ring gear composition robot close
The front planet circular system of section decelerator, rear sun gear, rear planetary gear and rear ring gear form the rear planet of robot joint speed reducer
Train, when input shaft input power, forward and backward sun gear simultaneously acts on forward and backward ring gear by forward and backward planetary gear respectively
On, so that moment of torsion is exported by output shaft after planet carrier by front planet wheel spindle and rear planet wheel spindle.
Compared with prior art, the maximum feature of planet wheel robot joint speed reducer described in the utility model is: defeated
Enter axle, front sun gear and rear sun gear on a rigidity axle, the tubular rigidly front ring gear on rotatable ring gear and rear interior
On a rigidity cylinder, during work, no matter output shaft bears great moment of torsion to gear ring, and its predominant intermolecular forces is distributed in front planet
On wheel bearing, front planet wheel spindle, rear planet wheel bearing and rear planet wheel spindle, all strength of gear be essentially identical to front sun gear and
The stress of rear sun gear, closes accordingly even when obtaining this planet wheel robot joint speed reducer flank of tooth stress and being significantly less than conventional machines people
Section decelerator flank of tooth stress, substantially increases mechanical performance and the service life of product.
Brief description
Fig. 1 is the structural representation of one specific embodiment of this utility model.
Fig. 2 is outer mounting structure schematic diagram of the present utility model.
The title of each number designation of in figure is respectively: 1- input shaft, sun gear before 2-, 3- rear sun gear, 4- tubular
The rotatable ring gear of rigidity, ring gear before 5-, ring gear after 6-, 7- rotates ring gear outer bearing, 8- casing, 9- planet
Frame, 10- output shaft, 11- planet carrier bearing, 12- rotates ring gear bearing, planetary gear before 13-, planet wheel spindle before 14-
Hold, planet wheel spindle before 15-, planetary gear after 16-, planet wheel bearing after 17-, planet wheel spindle after 18-, 19- inputs shaft mechanical
Sealing, 20- exports shaft mechanical seal.
Specific embodiment
Below with reference to accompanying drawing, this utility model content is described further, but actual fabrication structure of the present utility model
It is not limited in following embodiments.
Referring to accompanying drawing, planet wheel robot joint speed reducer described in the utility model by casing 8 and is arranged on casing 8
Interior input shaft 1, output shaft 10, sun gear group, front planetary gear 13, rear planetary gear 16, tubular rigidly rotatable ring gear 4, OK
Carrier 9 grade part forms.Power input shaft 1 gun iron link front sun gear 2 and rear sun gear 3, the rotatable internal tooth of tubular rigidity
There is one group of ring gear in circle 4, respectively front ring gear 5 and rear ring gear, the rotatable ring gear of tubular rigidity 4 is by several groups of rotations
Gear ring outer bearing 7 is positioned on the inwall of casing 8.Planet carrier 9 and output shaft 10 are integrated；Planet carrier 9 is by planet carrier bearing 11
Rigidly rotatable ring gear 4 is connected on casing 8 to pass through tubular with rotation ring gear inner bearing 12, and planet carrier 9 passes through its planet
Frame bearing 11 and rotation ring gear inner bearing 12 form the unified centre of gyration with the rotatable ring gear of tubular rigidity 4.This practicality
It is additionally provided with front planetary gear 13 and front planet wheel bearing 14, front planet wheel spindle 15, rear planetary gear 16 and rear planetary gear in new structure
Bearing 17, rear planet wheel spindle 18, front sun gear 2, rear sun gear 3 pass through front planetary gear 13, rear planetary gear 16 and front internal tooth respectively
Circle 5, rear ring gear 6 are in transmission connection, and that is, the front sun gear 2 in this utility model, front planetary gear 13 and front ring gear 5 constitute machine
The front planet circular system of device person joint's decelerator, rear sun gear 3, rear planetary gear 16 and rear ring gear 6 constitute joint of robot and subtract
The rear planet circular system of fast device.The sealing of this planet wheel robot joint speed reducer is by inputting shaft mechanical seal 19 and output shaft mechanical
Sealing 20 composition, internal lubrication lubricates for ester.
The characteristics of motion of planet wheel robot joint speed reducer described in the utility model is: when input shaft 1 input power,
Front sun gear 2 and rear sun gear 3 simultaneously act on the front ring gear of rotation ring gear 4 by front planetary gear 13 and rear planetary gear 16
5 and rear ring gear 6 on, front ring gear 5 in front sun gear 2 in input shaft 1, rear sun gear 3 and rotation ring gear 4, interior afterwards
The difference of gear ring 6 size will form the gear ratio of whole planet wheel decelerator, and its powerful moment of torsion passes through front planet wheel spindle 15 He
Planet wheel spindle 18 is eventually transferred on planet carrier 9 afterwards, and then makes power output by output shaft 10 again.
Claims (2)
1. a kind of planet wheel robot joint speed reducer, including casing (8) and be arranged in casing (8) input shaft (1), output
Axle (10), sun gear group, front planetary gear (13), rear planetary gear (16), tubular rigidly rotatable ring gear (4), planet carrier (9),
It is characterized in that: input shaft (1) by casing (8) front side end load casing (8), input shaft (1) is rigidly connected by front too
Sun takes turns the sun gear group that (2) and rear sun gear (3) form, and rigidly rotatable ring gear (4) inclusion is rigidly connected front interior for tubular
Gear ring (5) and rear ring gear (6), they are positioned on casing (8) inwall by some groups of rotations ring gear outer bearing (7) respectively,
Planet carrier (9) passes through tubular by planet carrier bearing (11) and rotation ring gear inner bearing (12), and rigidly rotatable ring gear (4) connects
Be connected on casing (8), front sun gear (2) and rear sun gear (3) pass through respectively front planetary gear (13) and rear planetary gear (16) with front
Ring gear (5) and rear ring gear (6) are in transmission connection, planet carrier (9) rear end and output shaft (10) integrally connected.
2. planet wheel robot joint speed reducer according to claim 1 it is characterised in that: front sun gear (2), front planet
Wheel (13) and the front planet circular system of front ring gear (5) composition robot joint speed reducer, rear sun gear (3), rear planetary gear (16)
Form the rear planet circular system of robot joint speed reducer, when input shaft (1) input power, the forward and backward sun with rear ring gear (6)
Wheel (2,3) is simultaneously acted on forward and backward ring gear (5,6) by forward and backward planetary gear (13,16) respectively, makes moment of torsion pass through to move ahead
Spider gear shaft (15) and rear planet wheel spindle (18) are exported by output shaft (10) after planet carrier (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620846782.5U CN205896060U (en) | 2016-08-05 | 2016-08-05 | Planet wheel robot joint reduction gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620846782.5U CN205896060U (en) | 2016-08-05 | 2016-08-05 | Planet wheel robot joint reduction gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205896060U true CN205896060U (en) | 2017-01-18 |
Family
ID=57783035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620846782.5U Active CN205896060U (en) | 2016-08-05 | 2016-08-05 | Planet wheel robot joint reduction gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205896060U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106090148A (en) * | 2016-08-05 | 2016-11-09 | 李晨光 | A kind of planet wheel robot joint speed reducer |
-
2016
- 2016-08-05 CN CN201620846782.5U patent/CN205896060U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106090148A (en) * | 2016-08-05 | 2016-11-09 | 李晨光 | A kind of planet wheel robot joint speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190613 Address after: 100055 Beijing Xicheng District Guang'an Menwai Street 305 2 District 4 Building 7 Floor 802 Patentee after: Beijing delay Technology Co., Ltd. Address before: 710089 No. 21, 1208 Park Street, Yanliang District, Xi'an City, Shaanxi Province Co-patentee before: Wang Jianwen Patentee before: Li Chenguang |