CN206478171U - Robot miniature high-precision fewer differential teeth planetary decelerator - Google Patents
Robot miniature high-precision fewer differential teeth planetary decelerator Download PDFInfo
- Publication number
- CN206478171U CN206478171U CN201720030088.0U CN201720030088U CN206478171U CN 206478171 U CN206478171 U CN 206478171U CN 201720030088 U CN201720030088 U CN 201720030088U CN 206478171 U CN206478171 U CN 206478171U
- Authority
- CN
- China
- Prior art keywords
- bearing
- precision
- flange
- output
- differential teeth
- 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.)
- Expired - Fee Related
Links
Abstract
The utility model provides a kind of miniature（Diameter 60mm and following）Robot belongs to robot reductor field, it includes, output flange, housing with high-precision fewer differential teeth planetary decelerator, input shaft, excentric sleeve, double row angular contact bearing, planetary gear, internal gear, angular contact bearing, deep groove ball bearing, driving bearing pin, fixed pin shaft, bearing pin mounting flange.Basic transmission principle of the reductor based on K H V NN type reductors, output end device for elimination of axial-and radial-play is eliminated using stable pushing supporting construction in structure design, simultaneously transmission efficiency and rotation precision are improved using two kinds of bearing pins, it is simple in construction with easy for installation, high accuracy, big speed ratio, output loading is big, operates steadily, low cost and other advantages.
Description
Technical field
The utility model is related to a kind of novel robot miniature, high accuracy, high transmission efficiency, fewer differential teeth planetary deceleration
Machine.Available for micromanipulator, joint of robot.
Background technology
At present, in micro-reducer used in robot field（Diameter 60mm or following）Predominantly planetary reducer and
Harmonic wave speed reducing machine, and another reductor, RV (Rotate Vector) reductor then occupies medium-and-large-sized（More than 60mm）Machine
Most of market of device people's reductor.Miniature planetary reducer is because its single-stage speed reducing is than small, typically using multilevel design, essence
Degree is poor.But its is simple in construction, manufacturing technique requirent is not high, is widely used in the not high drive apparatus of required precision.It is micro-
Type harmonic wave speed reducing machine is widely used in industrial robot, retrofit, Medical Robot due to its high accuracy, big retarding ratio
Deng field.But because its manufacturing technique requirent is high, and patent reason, miniature harmonic wave speed reducing machine production is almost by Japanese HD companies ridge
It is disconnected.Involute planetary gear reductor has precision high, and single-stage speed reducing is than big, the advantages of simple production process.But due to gradually
Burst at the seams fewer differential teeth planetary decelerator relative to cycloidal planetary gear speed reducer transmission efficiency and on the life-span have obvious inferior position, so
Almost do not applied in robot reductor field at present.Fewer differential teeth planetary decelerator is relative complex due to internal structure, at present
Also few applications in micro-reducer.
The content of the invention
In order to provide a kind of robot high accuracy, the micro-reducer of simple production process overcomes general planetary reduction gear
The shortcoming of machine low precision, and the high difficulty of harmonic wave speed reducing machine manufacturing technique requirent, the utility model provide a kind of high accuracy, high
Transmission efficiency, big retarding than miniature fewer differential teeth planetary decelerator structure design.
The utility model devises four angular contact bearings and input shaft and output flange on a kind of dependence central axis
Coordinate, form stable gapless supporting construction, eliminate the device for elimination of axial-and radial-play of output flange.Input shaft passes through eccentric bushing
On two double row angular contact bearings drive two symmetrical planetary gears.Double row angular contact bearing has good high speed operation
Energy and very big axial direction, the load capacity of radial direction, to substitute larger-size reductor special bearing.Planetary gear and reductor
Internal gear engagement on housing, drives output flange to carry out underdrive by driving bearing pin.Planetary gear have 2xN (N is 2,3,
4... planet wheels size increases) individual pin-and-hole, wherein it is N number of for driving bearing pin, it is N number of to be used for fixed pin shaft.Driving bearing pin two ends
Support, rolled on planetary gear pin-and-hole inwall for deep groove ball bearing, promote output flange underdrive.Alignment pin two ends are solid
Depthkeeping hole, is not contacted with the pin-and-hole on planetary gear.Because driving bearing pin and pin-and-hole are rolling friction, it is ensured that reductor can connect
By the input of high revolution torque, bearing pin will not be caused to wear and tear and generate heat, and improve transmission efficiency.Fixed pin shaft is used to ensure to drive
Bearing pin will not introduce because of lateral deviation and rotate back to gap.It is output flange on front side of planetary gear, rear side is bearing pin mounting flange.Output method
With planetary gear pin-and-hole to that should have 2xN half deep holes on blue inner side and bearing pin mounting flange, wherein the corresponding hole of N number of driving bearing pin is
Deep groove ball bearing mounting hole, corresponding N number of fixed pin shaft is fixing hole.A unthreaded hole is used for according to need in the middle of on the outside of output flange
Customize and install output shaft additional, surrounding 3 is used for installation load with upper screwed hole.
The beneficial effects of the utility model are to provide a kind of the miniature of simple production process, high accuracy, high transmission efficiency, greatly
Speed reducing ratio fewer differential teeth planetary decelerator, can be used for the driving joint of precision machinery people, substitute the miniature harmonic reduction of high cost
Machine.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is front view of the present utility model.
Fig. 2 is sectional view of the present utility model.
1. output flange in figure, 2. are used to customize the unthreaded hole for installing output shaft additional, and 3. are used for the screwed hole of installation load, and 4. subtract
Fast casing body, 5. input shafts, 6. excentric sleeves, 7. double row angular contact bearings, 8. planetary gears, 9. internal gears, 10. corner connections
Contact bearing, 11. output flange angular contact bearings, 12. deep groove ball bearings, 13. driving bearing pins, 14. fixed pin shafts, 15. bearing pins are consolidated
Determine flange, 16. keyways.
Embodiment
In Fig. 1, reducer shell（4）It is fixed, pass through output flange（1）On screwed hole（3）It is connected with load, when defeated
, can be to unthreaded hole when going out load and needing the axle to drive（2）It is customized, installs output shaft additional.So reductor can both install synchronizing wheel,
Gear driving load, can also be mounted directly the accessories such as fixture or mechanical arm.
In fig. 2, servomotor or stepper motor can pass through shaft coupling, gear or synchronous wheel drive input shaft（5）, it is defeated
Enter axle（5）Excentric sleeve is driven by flat key (16)（6）, excentric sleeve（6）Pass through two double row angular contact bearings（7）Driving two
Individual planetary gear（8）In internal gear（9）It is upper to roll.Because planetary gear is that 180 degree is symmetrically placed, so slowing down in rotation process
Machine will not vibrate.Because interior external tooth is poor, planetary gear（8）Pass through driving bearing pin（13）Drive output flange（1）Subtracted
Speed is rotated.The fixed pin shaft in rotation process（14）It is responsible for ensureing output flange（1）With bearing pin mounting flange（15）Between rotate
Uniformity, so as to ensure that driving bearing pin（13）Will not occur lateral deviation and be formed and rotate back to gap.Due to driving bearing pin（13）Two ends
Use deep groove ball bearing（12）Support, its way of contact between planetary gear pin-and-hole is rolling friction, will not be turned because of high speed
Dynamic heating and abrasion, improve transmission efficiency.Three angular contact bearings（10）With output flange angular contact bearing（11）Mutually squeeze
Push away to form stable supporting construction, enhance output flange（1）Load capacity, it is to avoid output flange（1）Radial direction and axle
To play, it is ensured that the precision of reductor.
Claims (6)
1. a kind of robot miniature high-precision fewer differential teeth planetary decelerator, its structure design used four angular contact bearings with
Axle and output flange, which are mutually squeezed, to be pushed away to form stable support, using double row angular contact bearings planetary gear, using two kinds of bearing pins,
Rotatable driving bearing pin and fixed bearing pin improve the performance and precision of reductor, and export two kinds with flange output and axle
The way of output.
2. robot according to claim 1 miniature high-precision fewer differential teeth planetary decelerator, it is characterized in that：Four corner connections
Contact bearing mutually squeezes with axle and output flange and pushes away elimination play gap, and full rolling friction improves transmission from input shaft to output flange
Efficiency, is reduced using fixed pin shaft and rotates back to gap, and two kinds of way of outputs are exported with flange output and axle.
3. robot according to claim 1 miniature high-precision fewer differential teeth planetary decelerator, it is characterized in that：Use four
Angular contact bearing, which is mutually squeezed, pushes away guarantee output flange without radial and axial play.
4. robot according to claim 1 miniature high-precision fewer differential teeth planetary decelerator, it is characterized in that：Use biserial
Angular contact bearing substitutes special bearing in reduction gears and is used as planetary gear rotation bearing.
5. robot according to claim 1 miniature high-precision fewer differential teeth planetary decelerator, it is characterized in that：Use bearing
Two kinds of bearing pins of fixed pin shaft that the driving bearing pin of support is supported with bearing-free improve transmission efficiency, rotation precision.
6. robot according to claim 1 miniature high-precision fewer differential teeth planetary decelerator, it is characterized in that：With driving
Axle is exported and flange exports two kinds of way of outputs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030088.0U CN206478171U (en) | 2017-01-12 | 2017-01-12 | Robot miniature high-precision fewer differential teeth planetary decelerator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720030088.0U CN206478171U (en) | 2017-01-12 | 2017-01-12 | Robot miniature high-precision fewer differential teeth planetary decelerator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206478171U true CN206478171U (en) | 2017-09-08 |
Family
ID=59753371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720030088.0U Expired - Fee Related CN206478171U (en) | 2017-01-12 | 2017-01-12 | Robot miniature high-precision fewer differential teeth planetary decelerator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206478171U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764092A (en) * | 2019-03-08 | 2019-05-17 | 上海思鸫智能科技有限公司 | Retarder |
| CN112178135A (en) * | 2020-09-08 | 2021-01-05 | 大连理工大学 | Light-weight small-tooth-difference double-pressure-angle involute planetary gear reducer and assembling method |
| CN114147859A (en) * | 2021-11-30 | 2022-03-08 | 长安大学 | Disc type vibration stirrer |
| WO2023056759A1 (en) * | 2021-10-05 | 2023-04-13 | 美的集团股份有限公司 | Internally engaged planetary gear apparatus, and joint apparatus for robot |
-
2017
- 2017-01-12 CN CN201720030088.0U patent/CN206478171U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764092A (en) * | 2019-03-08 | 2019-05-17 | 上海思鸫智能科技有限公司 | Retarder |
| CN112178135A (en) * | 2020-09-08 | 2021-01-05 | 大连理工大学 | Light-weight small-tooth-difference double-pressure-angle involute planetary gear reducer and assembling method |
| WO2023056759A1 (en) * | 2021-10-05 | 2023-04-13 | 美的集团股份有限公司 | Internally engaged planetary gear apparatus, and joint apparatus for robot |
| CN114147859A (en) * | 2021-11-30 | 2022-03-08 | 长安大学 | Disc type vibration stirrer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206478171U (en) | Robot miniature high-precision fewer differential teeth planetary decelerator | |
| CN106195137B (en) | A kind of hollow type gear transmission reducing device | |
| CN201137672Y (en) | Double inner gearing balance type few teeth difference decelerator | |
| CN100439750C (en) | Pin gear cycloid gear driving device and speed reducer thereof | |
| CN206347076U (en) | A kind of combined type planet-cycloid reducer | |
| CN201560903U (en) | Oscillating tooth transmission speed increasing box for wind driven generator | |
| CN102242795A (en) | Precision cycloid decelerator | |
| CN202203344U (en) | Precision cycloidal speed reducer | |
| CN107178601A (en) | A kind of Eccentrically swinging gear device | |
| CN210265711U (en) | Cycloidal gear speed reducer | |
| CN111765211A (en) | Industrial robot inner gearing RV-C type speed reducer | |
| CN103335069B (en) | Sieve run-out tolerance speed reducer | |
| CN112178134B (en) | Large-scale high-rigidity impact-resistant precise speed reducer | |
| CN207750455U (en) | Pin type list cycloidal reducer | |
| CN209212896U (en) | Eccentrically arranged type mechanical reduction gear | |
| CN210265705U (en) | Fully-sealed integrated speed reducer | |
| CN204459011U (en) | A kind of compound full-depth tooth drives eccentric active-tooth transmission | |
| CN206655943U (en) | A kind of planet-cycloid reducer | |
| CN107575541A (en) | Has the planetary reduction gear of few teeth difference reducing gear | |
| CN209925523U (en) | Planetary cycloidal speed reducer for light robot | |
| CN113404823B (en) | Miniature high-precision small-tooth-difference cycloidal speed reducer | |
| CN202301771U (en) | Rotary speed reducer of crane | |
| CN207762214U (en) | A kind of subdivision differential differential speed reducer | |
| CN112096797A (en) | Double-stage reduction power device with small tooth difference reduction and planetary reduction | |
| CN102072282A (en) | Planetary gear tooth transmission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170908 Termination date: 20220112 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |