CN206268384U - A kind of robot and planetary reducer - Google Patents
A kind of robot and planetary reducer Download PDFInfo
- Publication number
- CN206268384U CN206268384U CN201621327537.XU CN201621327537U CN206268384U CN 206268384 U CN206268384 U CN 206268384U CN 201621327537 U CN201621327537 U CN 201621327537U CN 206268384 U CN206268384 U CN 206268384U
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- planet carrier
- connecting portion
- sun gear
- planetary reducer
- tooth
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Abstract
The utility model discloses a kind of planetary reducer, the planetary reducer includes the planet carrier and sun gear of adjacent two-stage；Wherein, the external tooth of the sun gear forms connecting portion by circumferential cutting, and the connecting portion is directly circumferentially connected with the planet carrier.Compared with the planet carrier and sun gear of the adjacent two-stage of existing planetary reducer are connected by shaft coupling transmission, the adjacent two-stage planet carrier and sun gear of this planetary reducer are directly circumferentially connected, and the axial dimension of planetary reducer is reduced to a certain extent.On this basis, the utility model also provides a kind of robot, and the joint speed reducer of the robot is specially foregoing planetary reducer.
Description
Technical field
The utility model is related to planetary reducer technical field of structures, more particularly to a kind of robot and planetary gear
Decelerator.
Background technology
With continuing to develop for science and technology, robot is more and more applied to production or sphere of life.Based on making
With the consideration in space, miniaturization, lightweight have turned into the inexorable trend of robot development.
Robot generally includes the joint speed reducer of more piece limbs and connection two adjacent sections limbs, at present, robot technology
Field is generally using planetary reducer as joint speed reducer.
However, because self structure is limited, the volume of planetary reducer is generally larger, then increased robot to
The difficulty of miniaturization.
Therefore, how to optimize the structure of planetary reducer, so that its overall volume reduces, then promote robot whole
Body structure, to miniaturization, is those skilled in the art's technical problem urgently to be resolved hurrily.
Utility model content
Goal of the invention of the present utility model is, there is provided a kind of relatively small planetary reducer of volume.In this base
On plinth, the utility model also provides a kind of robot, and the joint speed reducer of the robot is specially foregoing planetary gear speed-reduction
Device.
In order to achieve the above object, planetary reducer provided by the utility model includes the planet carrier of adjacent two-stage
And sun gear；Wherein, the external tooth of the sun gear forms connecting portion by circumferential cutting, and the connecting portion is direct with the planet carrier
Circumferential drive connection.
Alternatively, the connecting portion is the remaining external tooth after cutting, and the planet carrier has corresponding with the remaining external tooth
The internal tooth of setting, the planet carrier is circumferentially connected with the sun gear by the remaining external tooth and the internal tooth.
Alternatively, the former external tooth tooth of a height of sun gear of the tooth of remaining external tooth 30%-60% high.
Alternatively, the connecting portion is optical axis, and the connecting portion is circumferentially connected with the planet carrier by key.
Alternatively, the connecting portion is optical axis, and the connecting portion and the planet carrier pass through the external screw thread being meshed and interior
Screw thread is connected, and the external screw thread is arranged at the connecting portion, and the internal thread is arranged at the planet carrier.
Alternatively, the connecting portion is optical axis, and the connecting portion is circumferentially connected with the planet carrier by expansion set.
In addition to above-mentioned planetary reducer, the utility model also provides a kind of robot, and the robot includes at least two
Segmental appendage body, limbs described in two adjacent sections are connected by joint speed reducer, and, the joint speed reducer is specially row as described above
Star gear reduction unit.
Alternatively, the planetary reducer is specially three-stage planet gear reducer
Planetary reducer provided by the utility model includes the planet carrier and sun gear of adjacent two-stage；Wherein, institute
The external tooth for stating sun gear forms connecting portion by circumferential cutting, and the connecting portion is directly circumferentially connected with the planet carrier.
Compared with the planet carrier and sun gear of the adjacent two-stage of existing planetary reducer are connected by shaft coupling transmission, this
The adjacent two-stage planet carrier and sun gear of this planetary reducer that utility model is provided directly circumferentially are connected,
The axial dimension of planetary reducer is reduced to a certain extent.
Brief description of the drawings
In order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the accompanying drawing to be used needed for description of the prior art is briefly described, it should be apparent that, drawings in the following description are only
It is some embodiments of the present utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is provided the structural representation of pinion frame decelerator specific embodiment by the utility model.
Wherein, the corresponding relation in Fig. 1 between each component Name and respective drawings mark is：
10 first order sun gears, 11 first order planet carriers, 12 first order planetary gears；
20 second level sun gears, 21 second level planet carriers, 22 second level planetary gears；
30 third level sun gears, 31 third level planet carriers, 32 third level planetary gears；
40 first ring gears, 41 second ring gears.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Planetary reducer provided by the utility model is more fully understood for the ease of those skilled in the art, is now tied
Fig. 1 is closed, the concrete structure and operation principle of planetary reducer are illustrated by taking three-stage planet gear reducer as an example, Fig. 1 is
The utility model provides the cross section structure diagram of planetary reducer specific embodiment.
Three-stage planet gear reducer includes input shaft (not shown), first order sun gear 10, first order planet carrier
11st, first order planetary gear 12, second level sun gear 20, second level planet carrier 21, second level planetary gear 22, third level sun gear
30th, third level level planet carrier, third level planetary gear 32, the first ring gear 40 and the second ring gear 41.
Wherein, along power transmission direction, input shaft and first order sun gear 10 are circumferentially connected, first order planetary gear
12 engage with the external tooth of first order sun gear 10 and are engaged with the internal tooth of the first ring gear 40, and first order planetary gear 12 passes through cylindrical roller
Revolution with centration axis by its axis around the axis of first order sun gear 10 passes to first order planet carrier 11；First order planet carrier 11
With the circumferential drive connection of second level sun gear 20, second level planetary gear 22 engaged with the external tooth of second level sun gear 20 and with first in
The internal tooth of gear ring 40 is engaged, and second level planetary gear 22 is by cylindrical roller and centration axis by its axis around the axis of second level sun gear 20
Revolution pass to second level planet carrier 21；Second level planet carrier 21 and the circumferential drive connection of third level sun gear 30, the third level
Planetary gear 32 is engaged with the external tooth of third level sun gear 30 and engaged with the internal tooth of the second ring gear 41, third level planetary gear 31 directly with
Executive component is fixedly connected or is fixedly connected with output shaft, and the first ring gear 40 and the second ring gear 41 are by respective method
Blue disk is fixedly connected, and, first order planetary gear 12, second level planetary gear 22 and third level planetary gear 32 are relative to input shaft
Equally distributed several external gears of circumference, these external gears with each accordingly sun gear external tooth is engaged, the first order
Several external gears of planetary gear 12 and second level planetary gear 22 are engaged with the internal tooth of the first ring gear 40, Section of three planetary gear
Several external gears are engaged with the second external toothing internal tooth.
It should be noted that the quantity of these external gears can be according to decelerator planet carrier sizes at different levels and transmitting torque etc.
It is actually needed, specific number is decided in its sole discretion by those skilled in the art, does not limit herein.
The operation principle of the three-stage planet gear reducer is：The power of power source is transferred to the first order too via input shaft
Sun wheel 10, then via second level sun gear 20 is transferred to after the treatment of the primary speed-down of first order planetary gear 12, processed through primary speed-down
Power afterwards continues to be transferred to third level sun gear 30 after being processed by the double reduction of second level planetary gear 22, is processed through double reduction
Power afterwards is transferred to executive component or output shaft after being processed via the deceleration of third level planetary gear 32 again.
In order to reduce the axial dimension of planetary reducer, the first order planet carrier of above-mentioned three-stage planet gear reducer
11 and second level sun gear 20 directly circumferentially rotate connection, second level planet carrier 21 and third level sun gear 30 are directly circumferentially rotated
Connection.
In detail, the external tooth of second level sun gear 20 forms connecting portion, the connection of second level sun gear 20 by circumferential cutting
Portion and the directly circumferential drive connection of first order planet carrier 11；Equally, the external tooth of third level sun gear 30 is formed by circumferential cutting and connected
Socket part, connecting portion and the directly circumferential drive connection of second level planet carrier 21 of third level sun gear 30.
Compared with the planet carrier and sun gear of the adjacent two-stage of existing planetary reducer are connected by shaft coupling transmission, this
The adjacent two-stage planet carrier and sun gear for planting planetary reducer are directly circumferentially connected, and row is reduced to a certain extent
The axial dimension of star gear reduction unit.
Further, since the first order planet carrier 11 of above-mentioned planetary reducer is directly circumferential with second level sun gear 20 passing
Dynamic connection, so as to preferably ensure that the axiality of first order planet carrier 11 and second level sun gear 20.Equally, second level planet
Frame 21 and third level sun gear 30 are also directly circumferential drive connection, and second level planet carrier 21 and the are then also ensure that well
The axiality of three-level sun gear 30.
It should be noted that more fully understanding inventive point of the present utility model for the ease of those skilled in the art, connect down
To illustrate adjacent two-stage by taking both second level sun gear 20 and first order planet carrier 11 of three-stage planet gear reducer as an example
The specific embodiment that sun gear and planet carrier are directly circumferentially connected.Certainly, second level sun gear 20 and first order planet
Both are directly circumferentially connected relational manner suitable for third level sun gear 30 and second level planet carrier 21 with frame 11, so herein
It is not repeated here herein.
The first implementation method is：The connecting portion of second level sun gear 20 is the remaining external tooth after cutting, first order planet
Frame 11 has the internal tooth being correspondingly arranged with remaining external tooth, and first order planet carrier 11 passes through internal tooth and external tooth with second level sun gear 20
Circumferential drive connection.
Specifically, along the transmission direction of planetary reducer, the external tooth of machining second level sun gear 20, cutting adds
Remaining external tooth after work is the connecting portion being connected with first order planet carrier 11, and the connecting portion can be understood as gear shaft.In order to
The connecting portion formed Foothed wheel with internal external tooth engagement connection, it is necessary in first order planet carrier 11 the corresponding internal tooth of hole machined.
During assembling, external tooth of the internal tooth of first order planet carrier 11 directly with the connecting portion of second level sun gear 20 is engaged.Adopt
Use this connected mode, it is possible to reduce to the machining workload of second level sun gear 20, directly using remaining outer after cutting
Tooth is connected with the internal tooth of first order planet carrier 11.The axial dimension of planetary reducer is reduced, while reducing planetary gear
The cost of decelerator.
Further, in order to ensure gear-driven reliability and stable drive, after preferred machining, the second level is too
The former external tooth tooth 30%-60% high of a height of protosun wheel of remaining external tooth tooth of sun wheel 20.
Certainly, the remaining external tooth tooth of the second level sun gear 20 former external tooth tooth with protosun wheel high is at high proportion after machining
Relation is not limited to above-mentioned number range, and those skilled in the art can be adjusted according to the concrete structure of planetary reducer
It is whole.
Second implementation method be：The connecting portion of second level sun gear 20 is the optical axis after cutting, connecting portion and the first order
Planet carrier 11 is circumferentially connected by key.
Specifically, along the transmission direction of planetary reducer, the external tooth of machining second level sun gear 20, until cutting
It is optical axis to be whittled into, i.e., connecting portion is optical axis.In order to be connected with first order planet carrier 11, the present embodiment is used to be bonded and connect, so
Needs process keyway on connecting portion optical axis, and install the key matched with connecting portion keyway, accordingly in first order planet carrier
Also the keyway matched with the key is processed on 11 endoporus.The keyway of the connecting portion of second level sun gear 20 is connected with key,
And, key is connected with the keyway on the endoporus of first order planet carrier 11, so as to form second level sun gear 20 and first order planet
Frame 11 circumferentially rotates connection by key.
The method reduces the axial dimension of planetary reducer, while reducing being fabricated to for planetary reducer
This, while be bonded connecing, centering is good, assembly and disassembly, it is easy to maintenance.
The third implementation method is：The connecting portion of second level sun gear 20 is the optical axis after cutting, connecting portion and the first order
Planet carrier 11 passes through the external screw thread that is meshed and internal thread is threadedly coupled, and external screw thread is arranged at connecting portion, and internal thread is arranged at the
Primary planet carrier 11.
Specifically, along planetary reducer transmission direction, the external tooth of machining second level sun gear 20, until cutting
It is optical axis, the threading on connecting portion optical axis, accordingly on the endoporus of first order planet carrier 11 as optical axis, i.e. connecting portion
The internal thread that processing matches with external screw thread on optical axis.
The connecting portion of second level sun gear 20 and first order planet carrier 11 pass through the external screw thread being meshed and internal thread screw thread connects
Connect, when first order planet carrier 11 with connecting portion when assembling, screw thread is then relatively fixed after tightening, so first order planet carrier 11 weeks
Circumferentially rotated to second level sun gear 20 is driven when rotating.
It should be noted that planet carrier screw thread tightening direction drives second level sun gear 20 circumferential with first order planet carrier 11
Transmission direction is consistent.
4th kind of implementation method be：The connecting portion of second level sun gear 20 is the optical axis after cutting, the connecting portion and first
Level planet carrier 11 is circumferentially connected by expansion set.
Specifically, along the transmission direction of planetary reducer, the external tooth of machining second level sun gear 20, until cutting
It is optical axis to be whittled into, i.e., connecting portion is optical axis.The endoporus of first order planet carrier 11 is processed into unthreaded hole simultaneously, because the present embodiment is used
Expansion set is connected, so skilled person will appreciate that installing the connecting portion of second level sun gear 20 and first order planet carrier 11 of expansion set
The processing request precision of endoporus is not high, therefore need to only be tightened bolt torque on request during expansion set installation, and can also be very
The relative position of first order planet carrier 11 and second level sun gear 20 is readily adjusted to required position.
Additionally, expansion set is coupled can bear many heavy loads, its structure can make various patterns, and according to installing, load is big
It is small, can be used in series with multiple expansion sets, expansion set convenient disassembly, during swelling, contact surface is brought into close contact and is difficult corrosion, is easy to tear open
Open.
During installation, only the relative position of adjustment first order planet carrier 11 and second level sun gear 20 is to design attitude；Then,
Expansion set is smoothly loaded at connecting pore again.
It should be noted that meeting sun gear and previous stage planet carrier directly circumferentially rotates the technical scheme and dress of connection
On the basis of with technological requirement, in addition to three-stage planet gear reducer, two grades, the planet tooth of other series such as level Four or Pyatyi
Wheel decelerator is also each fallen within protection domain of the present utility model.
In addition to above-mentioned three-stage planet gear reducer, the utility model also provides a kind of robot, and the robot is included extremely
Few two segmental appendage bodies；Wherein, two adjacent sections limbs are connected by joint speed reducer, and, the joint speed reducer is row as described above
Star gear reduction unit.
Preferably, the joint speed reducer is specially foregoing three-stage planet gear reducer.
As it was previously stated, adjacent two-stage sun gear and planet carrier are directly circumferentially driven the company of rotation in this planetary reducer
Connect, compared with the adjacent two-stage sun gear of prior art and planet carrier are by shaft coupling, this planetary reducer is overall axially
Size is smaller, so that the robot overall radial dimension including the planetary reducer is smaller, then causes the machine
People meets at present to the robot product market demand to miniaturization.
Preferred embodiment of the present utility model is the foregoing is only, protection model of the present utility model is not intended to limit
Enclose.All any modification, equivalent substitution and improvements made within spirit of the present utility model and principle etc., are all contained in this reality
With in new protection domain.
Claims (8)
1. the planet carrier and sun gear of a kind of planetary reducer, including adjacent two-stage, it is characterised in that the sun gear
External tooth forms connecting portion by circumferential cutting, and the connecting portion is directly circumferentially connected with the planet carrier.
2. planetary reducer as claimed in claim 1, it is characterised in that the connecting portion is that the residue after cutting is outer
Tooth, the planet carrier has the internal tooth being correspondingly arranged with the remaining external tooth, and the planet carrier is with the sun gear by described
Remaining external tooth and the internal tooth are circumferentially connected.
3. planetary reducer as claimed in claim 2, it is characterised in that a height of sun of tooth of the remaining external tooth
The former external tooth tooth of wheel 30%-60% high.
4. planetary reducer as claimed in claim 1, it is characterised in that the connecting portion is optical axis, the connecting portion
Circumferentially it is connected by key with the planet carrier.
5. planetary reducer as claimed in claim 1, it is characterised in that the connecting portion is optical axis, the connecting portion
It is threadedly coupled by the external screw thread and internal thread being meshed with the planet carrier, the external screw thread is arranged at the connecting portion, institute
State internal thread and be arranged at the planet carrier.
6. planetary reducer as claimed in claim 1, it is characterised in that the connecting portion is optical axis, the connecting portion
Circumferentially it is connected by expansion set with the planet carrier.
7. a kind of robot, including at least two segmental appendage bodies, limbs described in two adjacent sections are connected by joint speed reducer, and its feature exists
In the joint speed reducer is specially the planetary reducer described in claim any one of 1-6.
8. robot as claimed in claim 7, it is characterised in that the planetary reducer is specially three-stage planetary gear
Decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621327537.XU CN206268384U (en) | 2016-12-06 | 2016-12-06 | A kind of robot and planetary reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621327537.XU CN206268384U (en) | 2016-12-06 | 2016-12-06 | A kind of robot and planetary reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206268384U true CN206268384U (en) | 2017-06-20 |
Family
ID=59043647
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621327537.XU Active CN206268384U (en) | 2016-12-06 | 2016-12-06 | A kind of robot and planetary reducer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109595302A (en) * | 2018-12-26 | 2019-04-09 | 前沿驱动（北京）技术有限公司 | Planetary reduction gear and robot |
| CN110242723A (en) * | 2019-07-17 | 2019-09-17 | 山西煤矿机械制造股份有限公司 | Distance-limiting type retarder |
| CN110252473A (en) * | 2019-07-17 | 2019-09-20 | 山西煤矿机械制造股份有限公司 | Distance-limiting type crushing roller |
| CN110304229A (en) * | 2019-07-18 | 2019-10-08 | 重庆大学 | A kind of steering engine for ship of two-stage mechanical transmission structure |
| CN110375035A (en) * | 2019-07-17 | 2019-10-25 | 山西煤矿机械制造股份有限公司 | Distance-limiting type retarder |
-
2016
- 2016-12-06 CN CN201621327537.XU patent/CN206268384U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109595302A (en) * | 2018-12-26 | 2019-04-09 | 前沿驱动（北京）技术有限公司 | Planetary reduction gear and robot |
| CN109595302B (en) * | 2018-12-26 | 2024-03-12 | 达闼机器人股份有限公司 | Planetary reducer and robot |
| CN110242723A (en) * | 2019-07-17 | 2019-09-17 | 山西煤矿机械制造股份有限公司 | Distance-limiting type retarder |
| CN110252473A (en) * | 2019-07-17 | 2019-09-20 | 山西煤矿机械制造股份有限公司 | Distance-limiting type crushing roller |
| CN110375035A (en) * | 2019-07-17 | 2019-10-25 | 山西煤矿机械制造股份有限公司 | Distance-limiting type retarder |
| CN110375035B (en) * | 2019-07-17 | 2024-03-29 | 山西煤矿机械制造股份有限公司 | Torque-limiting speed reducer |
| CN110242723B (en) * | 2019-07-17 | 2024-03-29 | 山西煤矿机械制造股份有限公司 | Torque-limiting speed reducer |
| CN110252473B (en) * | 2019-07-17 | 2024-06-14 | 山西煤矿机械制造股份有限公司 | Moment-limiting crushing roller |
| CN110304229A (en) * | 2019-07-18 | 2019-10-08 | 重庆大学 | A kind of steering engine for ship of two-stage mechanical transmission structure |
| CN110304229B (en) * | 2019-07-18 | 2021-04-16 | 重庆大学 | Marine steering engine with two-stage mechanical transmission structure |
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