CN208734816U - A kind of robot hollow reducer structure - Google Patents
A kind of robot hollow reducer structure Download PDFInfo
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- CN208734816U CN208734816U CN201821245482.7U CN201821245482U CN208734816U CN 208734816 U CN208734816 U CN 208734816U CN 201821245482 U CN201821245482 U CN 201821245482U CN 208734816 U CN208734816 U CN 208734816U
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Abstract
The utility model provides a kind of robot hollow reducer structure, it is characterised in that: including logical spool, planetary gear speed reducing mechanism, the cycloidal planetary gear speed reducer structure at fixing end ontology, center；The planetary gear speed reducing mechanism includes input shaft, planetary gear；The cycloidal planetary gear speed reducer structure includes the needle roller that pin wheel housing, Cycloidal Wheel, output plate rail, eccentric shaft and Cycloidal Wheel outer rim go out；The input shaft is by the planetary gear set of gear and the eccentric shaft upper end at the engaged transmission in same level；Constant speed linkage transmission is formed by the central gear being sleeved on logical spool between multiple groups eccentric shaft；The logical spool, output plate rail lower end are fixedly connected on output end ontology；Also there is angular contact ball bearing between the pin wheel housing and output plate rail；The input shaft outer end is connected to motor.Robot provided by the utility model hollow reducer structure, manufacture difficulty is low, compact-sized, small in size, and precision is high, and operation is more stable, vibration is smaller, installation is simpler.
Description
Technical field
The utility model relates to the RV reducer technology fields at industrial robot joint, in particular to structure letter always
The speed reducer of single, hollow type and higher reduction ratio.
Background technique
Hollow type RV speed reducer is that a kind of Novel speed reducer to grow up on the basis of Cycloidal pin-wheel drive and RV subtract
The special speed reducer of structure in fast machine.Double reduction structure: the first order is planetary reduction gear structure, and the second level is that cycloidal-pin wheel subtracts
Fast structure.Since hollow type speed reducer can intert cable etc. inside speed reducer, realization device section space-efficient is designed, simultaneously
Total number of teeth in engagement is more, has high rigidity, resistant to overload, small-sized, light weight, high-precision, the low advantage of vibration, has in RV speed reducer
Broader applications.
Such as Chinese patent CN104852512A discloses a kind of all-sealed hollow type RV speed reducer, including by needle tooth
The first order planet of shell, cycloid line wheel with needle roller composition second level cycloidal-pin wheel slowing-down structure and containing input shaft, planetary gear subtracts
Fast mechanism, the input shaft use hollow type input shaft, and the teeth portion of hollow type input shaft is engaged with planetary gear, hollow type input shaft
The threaded hole of upper setting, hollow type input shaft are connect by the threaded hole with servo motor mechanism；In hollow type input shaft
Logical spool is set in internal cavities, and pin wheel housing is connect with input end cap, is arranged between input end cap and hollow type input shaft hollow
Outside framework oil seal is arranged between input end cap and hollow type input shaft in type input shaft spring bearing.In another example CN105526314A,
CN207297757U, CN108036027A, CN106996437A etc. individually disclose the speed reducer of different types, they
Common feature is that coaxial two-gang gear has been used to make primary speed-down mechanism, this speed reducer will not only capture duplex in manufacture
Gear Processing problem, and manufacturing cost is higher, hollow type RV speed reducer uses in robot, and duplicate gear 5 is upper layer and lower layer
Gear structure, stationarity is poor during engaged transmission, and vibration is big, and it is big to install and use difficulty.Moreover, it is above-mentioned in the prior art
Backbone sealing ring sealing means are used again, reduce deceleration mechanism efficiency.
Based on the above issues, it is necessary to designing one kind can reduce speed reducer manufacture difficulty, improve deceleration mechanism efficiency, and
Run that more stable, vibration is smaller, a kind of simpler deceleration mechanism, hollow type robot of installation.
Summary of the invention
To overcome the technical issues of speed reducer volume existing in the prior art is larger, installation difficulty is big, low precision, this reality
A kind of robot hollow reducer structure is provided with novel.
The technical solution adopted in the utility model is: a kind of robot hollow reducer structure, it is characterised in that: including solid
Logical spool, at least one set of planetary gear speed reducing mechanism, at least one set of cycloidal planetary gear speed reducer structure at fixed end ontology, center；The row
Star deceleration mechanism includes input shaft, planetary gear, forms first order planetary reduction gear structure；The cycloidal planetary gear speed reducer structure includes
Needle roller at pin wheel housing, Cycloidal Wheel, output plate rail, eccentric shaft and Cycloidal Wheel outer rim, composition second level cycloidal-pin wheel slow down
Structure；The pin wheel housing is located at the periphery of Cycloidal Wheel, output plate rail, eccentric shaft, is set with a pair of of Cycloidal Wheel on the eccentric shaft,
Have between the Cycloidal Wheel and the pin wheel housing multiple in the needle roller equidistantly arranged；The input shaft by gear and it is described partially
The planetary gear set of mandrel upper end is at the engaged transmission in same level；The eccentric shaft is at least two groups, multiple groups eccentric shaft it
Between constant speed linkage transmission formed by the central gear that is sleeved on logical spool；The logical spool, the fixed company in output plate rail lower end
It connects on output end ontology；Also there is angular contact ball bearing between the pin wheel housing and output plate rail；The input shaft outer end and electricity
Machine connection.
On this basis, the central gear is the simply connected gear being set on logical spool, the tooth of the input shaft end
Wheel is directly and one of planetary gear set is at the engaged transmission in same level and the eccentric shaft that drives the planetary gear to be connected
Rotation, other group of eccentric shaft constitute passive transmission system by gear and central gear external toothing.
On this basis, the outer wall of the logical spool and be located at below central gear and be provided with limited step, it is described in
Heart gear is sleeve gear, and the central gear includes the fluted disc at center and upper bush, lower sleeve with fluted disc in integrally connected；
The lower sleeve offsets with the limited step, and the upper bush, lower sleeve and logical spool are connected by key；The upper bush,
Deep groove ball bearing is further sleeved with outside lower sleeve.
On this basis, the gear diameter of the input shaft end is less than the diameter for the planetary gear being engaged with；The row
The diameter of star-wheel is not more than the diameter of central gear.
On this basis, O-ring seal is provided between the logical spool upper end and the fixing end ontology.
On this basis, as a kind of preferred embodiment of the utility model, the central gear is located at logical spool
Upper-end part of driving, the upper end of every group of eccentric shaft have a planetary gear, gear, all planetary gears, center of the input shaft end
Gear is engaged in same level.
As the utility model another preferred embodiment, the central gear is located at the intermediate position of logical spool,
Two Cycloidal Wheels are mounted on two eccentric wheels on eccentric shaft by bearing holder (housing, cover), on the eccentric shaft between described two eccentric wheels
Also there is eccentric shaft transmission gear, on the eccentric shaft transmission gear and central gear composition same level on multiple groups eccentric shaft
Engaged transmission.
On this basis, as optimal technical scheme, only by gear and the input shaft directly engaged transmission it is inclined
The upper end of mandrel is provided with planetary gear, and the upper end of other group of eccentric shaft is not provided with planetary gear.
On this basis, the eccentric shaft, the eccentric shaft transmission gear and two eccentric wheels are structure as a whole, described inclined
Mandrel and the eccentric shaft transmission gear coaxial inner conductor, the eccentric shaft and two eccentric wheels not coaxial inner conductor, the eccentric shaft,
The triangle joint position of the bias shaft transmission gear diameter and eccentric shaft also has cambered surface reinforcement structure.
On this basis, the motor and output plate rail are connected as one；It is protected between the logical spool and fixing end ontology
It holds opposing stationary.
On this basis, two 2 numbers of teeth of Cycloidal Wheel on the eccentric shaft are identical, and by dislocation 180 degree layout；The row
Star-wheel, central gear, eccentric shaft transmission gear are spur gear.
Compared with prior art, the utility model has the beneficial effects that
(1) robot provided by the utility model hollow reducer structure replaces the double of traditional scheme with central gear
Joining gear, is directly engaged with planetary gear using motor input shaft, planetary gear is mounted on eccentric shaft and engages with central gear, this
Sample, central gear do not increased or decrease reduction ratio, and reduction ratio is the primary speed-down provided by input shaft and planetary gear, and by needle
Tooth shell, cycloid line wheel and needle roller constitute second level cycloid reduction and obtain higher total reduction ratio jointly, this kind of technical solution is obtaining
It obtains higher reduction ratio simultaneously, installs and uses simply, and operational efficiency is more preferable, vibrate smaller, precision height.
(2) robot provided by the utility model hollow reducer structure, central gear and traditional pair using simply connected
Connection gear is compared, it is easier to higher Gear Processing precision is obtained, and processing cost is lower, because without in duplicate gear
Large fluted disc, saving robot body axial length, the radial dimension of ontology does not increase simultaneously, in the case where reducing volume
Obtain higher reduction ratio.
(3) O is arranged between logical spool and fixing end ontology in robot provided by the utility model hollow reducer structure
Type sealing ring improves running efficiency to substitute traditional backbone sealing ring, and topology layout is more compact, and performance is more stable.
(4) robot provided by the utility model hollow reducer structure, due to the eccentric shaft transmission gear on eccentric shaft
Engaged with central gear in the middle position of two eccentric wheels, uniform force, will not generate to the radial beat power of eccentric shaft and
The transmission of eccentric cycloid mechanism is influenced, operating is more stable, and vibration is lower, and precision is higher.
Detailed description of the invention
Fig. 1 is a kind of robot of embodiment of the utility model hollow reducer structure schematic diagram；
Fig. 2 is the robot hollow reducer structure schematic diagram of the utility model another embodiment；
Appended drawing reference is as follows:
1- angular contact ball bearing；2- Cycloidal Wheel；3- pin wheel housing；4- exports plate rail；6- eccentric shaft；7- planetary gear；8- input
Axis；9- leads to spool；10- fixing end ontology；11- motor；12- output end ontology；13- central gear；14-O type sealing ring；15-
Eccentric shaft transmission gear；16- limited step；17- deep groove ball bearing.
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be further described in detail.It should be appreciated that this place is retouched
The specific embodiment stated only to explain the utility model, is not used to limit the utility model.
Embodiment 1
As shown in Figures 1 and 2, a kind of robot hollow reducer structure, it is characterised in that: including fixing end ontology 10,
Logical spool 9, at least one set of planetary gear speed reducing mechanism, at least one set of cycloidal planetary gear speed reducer structure at center；Planetary gear speed reducing mechanism packet
Input shaft 8, planetary gear 7 are included, first order planetary reduction gear structure is formed；Cycloidal planetary gear speed reducer structure includes pin wheel housing 3, Cycloidal Wheel
2, plate rail 4, the needle roller at 2 outer rim of eccentric shaft 6 and Cycloidal Wheel are exported, second level cycloidal-pin wheel slowing-down structure is formed；Needle tooth
Shell 3 is located at the periphery of Cycloidal Wheel 2, output plate rail 4, eccentric shaft 6, is set with a pair of of Cycloidal Wheel 2, Cycloidal Wheel 2 and needle on eccentric shaft 6
Have between tooth shell 3 multiple in the needle roller equidistantly arranged；Input shaft 8 is made up of gear and the planetary gear 7 of 6 upper end of eccentric shaft
Engaged transmission in same level；Eccentric shaft 6 is at least two groups, by being sleeved on logical spool 9 between multiple groups eccentric shaft 6
Central gear 13 forms constant speed linkage transmission；Logical spool 9, output 4 lower end of plate rail are fixedly connected on output end ontology 12；Pin wheel housing
Also there is angular contact ball bearing 1 between 3 and output plate rail 4；8 outer end of input shaft is connect with motor 11.
Central gear 13 is the simply connected gear being set on logical spool 9, the direct geared of 8 end of input shaft and one of them
Planetary gear 7 forms the engaged transmission in same level and the eccentric shaft 6 for driving the planetary gear to be connected rotates, other groups are eccentric
Axis 6 constitutes passive transmission system by gear and 13 external toothing of central gear.
The outer wall of logical spool 9 and the lower section for being located at central gear 13 are provided with limited step 16, and central gear 13 is sleeve
Gear, central gear 13 include the fluted disc at center and upper bush, lower sleeve with fluted disc in integrally connected；Lower sleeve and limiting stand
Rank 16 offsets, and upper bush, lower sleeve and logical spool 9 are connected by key；Deep groove ball bearing is further sleeved with outside upper bush, lower sleeve
17。
The gear diameter of 8 end of input shaft is less than the diameter for the planetary gear 7 being engaged with；The diameter of planetary gear 7 is not more than
The diameter of central gear 13.
O-ring seal 14 is set between logical 9 upper end of spool and fixing end ontology 10.Motor 11 and output plate rail 4 are connected as
One；Keep opposing stationary between logical spool 9 and fixing end ontology 10.Two 2 numbers of teeth of Cycloidal Wheel on eccentric shaft 6 are identical, and
By dislocation 180 degree layout；Planetary gear 7, central gear 13, eccentric shaft transmission gear 15 are spur gear.
Robot provided by the utility model hollow reducer structure, manufacture difficulty is low, compact-sized, small in size, precision
Height, and operation is more stable, vibration is smaller, installation is simpler.
Embodiment 2
As shown in Figures 1 and 2, a kind of robot hollow reducer structure, it is characterised in that: including fixing end ontology 10,
Logical spool 9, at least one set of planetary gear speed reducing mechanism, at least one set of cycloidal planetary gear speed reducer structure at center；Planetary gear speed reducing mechanism packet
Input shaft 8, planetary gear 7 are included, first order planetary reduction gear structure is formed；Cycloidal planetary gear speed reducer structure includes pin wheel housing 3, Cycloidal Wheel
2, plate rail 4, the needle roller at 2 outer rim of eccentric shaft 6 and Cycloidal Wheel are exported, second level cycloidal-pin wheel slowing-down structure is formed；Needle tooth
Shell 3 is located at the periphery of Cycloidal Wheel 2, output plate rail 4, eccentric shaft 6, is set with a pair of of Cycloidal Wheel 2, Cycloidal Wheel 2 and needle on eccentric shaft 6
Have between tooth shell 3 multiple in the needle roller equidistantly arranged；Input shaft 8 is made up of gear and the planetary gear 7 of 6 upper end of eccentric shaft
Engaged transmission in same level；Eccentric shaft 6 is at least two groups, by being sleeved on logical spool 9 between multiple groups eccentric shaft 6
Central gear 13 forms constant speed linkage transmission；Logical spool 9, output 4 lower end of plate rail are fixedly connected on output end ontology 12；Pin wheel housing
Also there is angular contact ball bearing 1 between 3 and output plate rail 4；8 outer end of input shaft is connect with motor 11.
As shown in Figure 1, central gear 13 is located at the upper-end part of driving of logical spool 9, the upper end of every group of eccentric shaft 6 has a row
Star-wheel 7, gear, all planetary gears 7, the central gear 13 of 8 end of input shaft are engaged in same level.The knot of other component
Structure and function are the same as embodiment 1.
In the present embodiment, traditional duplicate gear is the central gear 13 by being replaced by simply connected, 2-3 planet
Wheel 7 is engaged with central gear 13, and wherein central gear 13 does not increased or decrease reduction ratio, only plays the role of transmitting torque, planet
Wheel 7 is mounted on the eccentric shaft 6 of lengthening, and the engagement of input shaft 8 is connect with motor 11, and motor 11 is mounted on fixing end ontology 10, and
It is fixed with output plate rail 4, as deceleration mechanism fixing end.And pin wheel housing 3 is connect with output end ontology 12, as deceleration mechanism
Output end transmitting torque simultaneously plays decelerating effect.
Robot provided by the utility model hollow reducer structure, the duplex-gear of traditional scheme is replaced with central gear
Wheel, is directly engaged with planetary gear using motor input shaft, and planetary gear is mounted on eccentric shaft and engages with central gear, in this way,
Central gear does not increased or decrease reduction ratio, and reduction ratio is the primary speed-down provided by input shaft and planetary gear, and by needle tooth
Shell, cycloid line wheel and needle roller constitute second level cycloid reduction and obtain higher total reduction ratio jointly, this kind of technical solution is obtaining
Higher reduction ratio simultaneously, is installed and used simply, and operational efficiency is more preferable, and smaller, precision height is vibrated.
Embodiment 3
As shown in Figures 1 and 2, a kind of robot hollow reducer structure, it is characterised in that: including fixing end ontology 10,
Logical spool 9, at least one set of planetary gear speed reducing mechanism, at least one set of cycloidal planetary gear speed reducer structure at center；Planetary gear speed reducing mechanism packet
Input shaft 8, planetary gear 7 are included, first order planetary reduction gear structure is formed；Cycloidal planetary gear speed reducer structure includes pin wheel housing 3, Cycloidal Wheel
2, plate rail 4, the needle roller at 2 outer rim of eccentric shaft 6 and Cycloidal Wheel are exported, second level cycloidal-pin wheel slowing-down structure is formed；Needle tooth
Shell 3 is located at the periphery of Cycloidal Wheel 2, output plate rail 4, eccentric shaft 6, is set with a pair of of Cycloidal Wheel 2, Cycloidal Wheel 2 and needle on eccentric shaft 6
Have between tooth shell 3 multiple in the needle roller equidistantly arranged；Input shaft 8 is made up of gear and the planetary gear 7 of 6 upper end of eccentric shaft
Engaged transmission in same level；Eccentric shaft 6 is at least two groups, by being sleeved on logical spool 9 between multiple groups eccentric shaft 6
Central gear 13 forms constant speed linkage transmission；Logical spool 9, output 4 lower end of plate rail are fixedly connected on output end ontology 12；Pin wheel housing
Also there is angular contact ball bearing 1 between 3 and output plate rail 4；8 outer end of input shaft is connect with motor 11.
As shown in Fig. 2, central gear 13 is located at the intermediate position of logical spool 9, two Cycloidal Wheels 2 are by bearing holder (housing, cover) mounted in inclined
On two eccentric wheels in mandrel 6, also there are eccentric shaft transmission gear 15, multiple groups on the eccentric shaft 6 between two eccentric wheels
Eccentric shaft transmission gear 15 and central gear 13 on eccentric shaft 6 form the engaged transmission in same level.
As optimal technical scheme, can only by gear and input shaft 8 directly engaged transmission eccentric shaft 6 it is upper
End is provided with planetary gear 7, and the upper end of other group of eccentric shaft 6 is not provided with planetary gear 7.
In addition, eccentric shaft 6, eccentric shaft transmission gear 15 and two eccentric wheels are structure as a whole, eccentric shaft 6 and eccentric shaft
15 coaxial inner conductor of transmission gear, eccentric shaft 6 and two eccentric wheels not coaxial inner conductor, eccentric shaft 6,15 diameter of eccentric shaft transmission gear
Also there is cambered surface reinforcement structure with the triangle joint position of eccentric shaft 6, the cambered surface reinforcement structure fill two neighboring eccentric wheel it
Between recessed groove and connect the axis surface of the slot medial surfaces of two eccentric wheels, recessed groove bottom.Moreover, the cambered surface reinforcement structure appearance
Face includes one section of tangent arc section in the axis direction of eccentric shaft 6 and one section of straightway tangent with arc section, wherein circular arc
Section connecting eccentric wheel protrudes the biggish convex surface of area, the axis body of straightway and another eccentric wheel protrusion lesser endface of area
Outer diameter and arc section are tangent.
In the present embodiment, central gear 13 moves to inside speed reducer on the outside of speed reducer, connects center by two bearings
Gear 13 and output plate rail 4,6 structure of eccentric shaft are to increase a cylindrical eccentric shaft transmission gear among two eccentric wheels
15, it is engaged using straight tooth structure with central gear 13.Due on eccentric shaft 6 gear and central gear 13 in two eccentric wheels
Middle position engagement, uniform force do not generate the radial beat power on eccentric shaft and influence the transmission of eccentric cycloid mechanism, operating
More stable, vibration is low, and installs and uses simple.
The preferred embodiment of the utility model has shown and described in above description, as previously described, it should be understood that this is practical new
Type is not limited to forms disclosed herein, and should not be regarded as an exclusion of other examples, and can be used for various other groups
Conjunction, modification and environment, and above-mentioned introduction or the technology of related fields can be passed through within the scope of the inventive concept described herein
Or knowledge is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the utility model, then
It all should be in the protection scope of the appended claims for the utility model.
Claims (10)
1. a kind of robot hollow reducer structure, it is characterised in that: including the logical spool at fixing end ontology (10), center
(9), at least one set of planetary gear speed reducing mechanism, at least one set of cycloidal planetary gear speed reducer structure；The planetary gear speed reducing mechanism includes composition the
Input shaft (8), the planetary gear (7) of primary planet slowing-down structure；The cycloidal planetary gear speed reducer structure includes composition second level cycloid
At the pin wheel housing (3) of pinwheel slowing-down structure, Cycloidal Wheel (2), output plate rail (4), eccentric shaft (6) and Cycloidal Wheel (2) outer rim
Needle roller；The pin wheel housing (3) be located at Cycloidal Wheel (2), output plate rail (4), eccentric shaft (6) periphery, cover on the eccentric shaft (6)
Have equipped with a pair of of Cycloidal Wheel (2), between the Cycloidal Wheel (2) and the pin wheel housing (3) multiple in the needle roller equidistantly arranged；Institute
It states input shaft (8) and passes through the engaged transmission on gear and the planetary gear (7) of the eccentric shaft (6) upper end composition same level；
The eccentric shaft (6) is at least two groups, the central gear (13) between multiple groups eccentric shaft (6) by being sleeved on logical spool (9)
Form constant speed linkage transmission；The logical spool (9), output plate rail (4) lower end are fixedly connected on output end ontology (12)；The needle
Also there is angular contact ball bearing (1) between tooth shell (3) and output plate rail (4)；Input shaft (8) outer end and motor (11) are even
It connects.
2. robot according to claim 1 hollow reducer structure, it is characterised in that: the central gear (13) is set
Loaded on the simply connected gear on logical spool (9), the direct geared of input shaft (8) end and one of planetary gear (7) composition
Engaged transmission in same level and eccentric shaft (6) rotation for driving the planetary gear to be connected, other group of eccentric shaft (6) pass through
Gear and central gear (13) external toothing constitute passive transmission system.
3. robot according to claim 1 hollow reducer structure, it is characterised in that: the outer wall of the logical spool (9)
And be located at central gear (13) below be provided with limited step (16), the central gear (13) be sleeve gear, it is described in
Heart gear (13) includes the fluted disc at center and upper bush, lower sleeve with fluted disc in integrally connected；The lower sleeve and the limit
Position step (16) offsets, and the upper bush, lower sleeve and logical spool (9) are connected by key；Outside the upper bush, lower sleeve also
It is set with deep groove ball bearing (17).
4. robot according to claim 2 or 3 hollow reducer structure, it is characterised in that: input shaft (8) end
Gear diameter be less than the diameter of planetary gear (7) being engaged with；The diameter of the planetary gear (7) is small to be not more than central gear
(13) diameter.
5. robot according to claim 4 hollow reducer structure, it is characterised in that: logical spool (9) upper end with
O-ring seal (14) are provided between the fixing end ontology (10).
6. robot according to claim 3 hollow reducer structure, it is characterised in that: the central gear (13) is located at
The upper end of the upper-end part of driving of logical spool (9), every group of eccentric shaft (6) has a planetary gear (7), input shaft (8) end
Gear, all planetary gears (7), central gear (13) are engaged in same level.
7. robot according to claim 3 hollow reducer structure, it is characterised in that: the central gear (13) is located at
The intermediate position of logical spool (9), two Cycloidal Wheels (2) are mounted on two eccentric wheels on eccentric shaft (6) by bearing holder (housing, cover), in institute
Stating also has eccentric shaft transmission gear (15) on the eccentric shaft (6) between two eccentric wheels, the eccentric shaft on multiple groups eccentric shaft (6)
Engaged transmission on transmission gear (15) and central gear (13) composition same level.
8. robot according to claim 7 hollow reducer structure, it is characterised in that: only by gear with it is described defeated
The upper end for entering axis (8) the directly eccentric shaft (6) of engaged transmission is provided with planetary gear (7), and the upper end of other group of eccentric shaft (6) is not
It is arranged planetary gear (7).
9. robot according to claim 8 hollow reducer structure, it is characterised in that: the eccentric shaft (6), it is described partially
Spindle drive gear (15) and two eccentric wheels are structure as a whole, the eccentric shaft (6) and the eccentric shaft transmission gear (15)
Coaxial inner conductor, the eccentric shaft (6) and two eccentric wheels not coaxial inner conductor, the eccentric shaft (6), the eccentric shaft transmission gear
(15) the triangle joint position of diameter and eccentric shaft (6) also has cambered surface reinforcement structure.
10. robot according to claim 1 hollow reducer structure, it is characterised in that: the motor (11) and output
Plate rail (4) is connected as one；Keep opposing stationary between the logical spool (9) and fixing end ontology (10)；The eccentric shaft (6)
On two Cycloidal Wheel (2) numbers of teeth it is identical, and by dislocation 180 degree layout；The planetary gear (7), central gear (13), eccentric shaft
Transmission gear (15) is spur gear.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821245482.7U CN208734816U (en) | 2018-08-02 | 2018-08-02 | A kind of robot hollow reducer structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821245482.7U CN208734816U (en) | 2018-08-02 | 2018-08-02 | A kind of robot hollow reducer structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730426A (en) * | 2018-08-02 | 2018-11-02 | 南通振康焊接机电有限公司 | A kind of robot hollow reducer structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730426A (en) * | 2018-08-02 | 2018-11-02 | 南通振康焊接机电有限公司 | A kind of robot hollow reducer structure |
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