CN209309251U - Planetary reducer - Google Patents
Planetary reducer Download PDFInfo
- Publication number
- CN209309251U CN209309251U CN201822051764.XU CN201822051764U CN209309251U CN 209309251 U CN209309251 U CN 209309251U CN 201822051764 U CN201822051764 U CN 201822051764U CN 209309251 U CN209309251 U CN 209309251U
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- CN
- China
- Prior art keywords
- planet carrier
- output
- planetary
- gear
- input
- 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.)
- Withdrawn - After Issue
Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 9
- 210000003781 tooth socket Anatomy 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009987 spinning Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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- Retarders (AREA)
Abstract
The utility model discloses a kind of planetary reducers, belong to industrial robot retarder technical field.The composition of the utility model includes: needle gear ring, there is needle roller in needle gear ring, wherein side is connect needle gear ring with input planet carrier, the other side is output planetary frame, input planet carrier is connected with output planetary frame to be solidified as a whole, there is the N number of internal tooth arrangement (N=2 or 3) being uniformly distributed circumferentially in input planet carrier bearing hole, planetary gear engages flexbile gear with internal tooth arrangement by wave producer, flexbile gear delivers power to crankshaft by positioning pin and soket head cap screw, input shaft and be placed on input planet carrier on the outside of and equally distributed N group planetary gear simultaneously engaged transmission, the input planet carrier being solidified as a whole is with output planetary frame by pushing mounted in N thereon to Curved shaft support bearing, the rotation vector of Cycloidal Wheel is passed to output planetary frame with 1:1.Deceleration device reduces output revolving speed in the case where the certain increase reduction ratio of power, to achieve the purpose that increase torque.
Description
Technical field
The utility model belongs to industrial robot retarder technical field more particularly to a kind of planetary reducer.
Technical background
Currently, industrial robot retarder generally uses RV retarder and harmonic speed reducer.Wherein, RV reducer structure is tight
Gather, rigidity of toppling and torsion stiffness it is big, impact resistance, but the design of transmission ratio is limited by Cycloidal Wheel and can not further be increased.
Harmonic speed reducer makes the advantage for having large speed ratio in the case where small in size using the motion principle of flexible deformation, but rigid
Difference in the case where can be used only in light load and is easy fatigue.
Therefore, how on the basis of original, control the outer dimension of deceleration device and keep high rigidity, impact resistance,
Transmission ratio is increased on the basis of compact, the output torque of deceleration device is an emphasis of retarder.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned technological deficiencies, provide a kind of subtracting for structurally reasonable, high output torque
Speed variator.
To solve the above-mentioned problems, the utility model adopts the following technical solution: a kind of planetary reducer includes needle tooth
Shell, the pin wheel housing is interior to have needle roller, and wherein side is connect by angular contact ball bearing with input planet carrier pin wheel housing, the other side
Rotation connection is output planetary frame, and the input planet carrier is connected with output planetary frame to be solidified as a whole, and inputs planet carrier bearing
There is the N number of internal tooth arrangement being uniformly distributed circumferentially in hole, planetary gear engages flexbile gear with internal tooth arrangement by wave producer, flexbile gear
It delivers power to crankshaft, input shaft and is placed on the outside of input planet carrier and equally distributed N group (N=2 or 3) planetary gear
Engaged transmission simultaneously, the first Cycloidal Wheel and the second Cycloidal Wheel that 180 ° of phase difference of two panels piece phase are cut with scissors by needle roller and retainer component
It connects on N number of crankshaft, and is meshed with the needle roller being placed in needle tooth socket, the first Cycloidal Wheel and the second Cycloidal Wheel are by crankshaft
While the effect of gearratio of cycloid axle formation forms revolution, by the needle roller being fixed in needle tooth socket active force and formed and Cycloidal Wheel is public
Turn contrary torque, causes the spinning motion of Cycloidal Wheel, the input planet carrier being solidified as a whole and output planetary frame
By pushing mounted in N thereon to (N=2 or 3) Curved shaft support bearing, the rotation vector of Cycloidal Wheel passes to output row with 1:1
Carrier.
As a preferred embodiment, it is leakproof and dust-proof, sealing ring is housed between the output planetary frame and pin wheel housing.
As a preferred embodiment, the input planet carrier and output planetary frame are positioned by taper pin with internal thread, are logical
It is solid integral to cross socket cap screw connection.
As a preferred embodiment, the input planet carrier has the N number of internal tooth arrangement being uniformly distributed circumferentially, N=2
Or 3.
As a preferred embodiment, the planetary gear drives flexbile gear to make flexbile gear and input planet carrier by wave producer
On interior tooth engagement.
As a preferred embodiment, the flexbile gear delivers power to song by taper pin, soket head cap screw and output shaft
Axis.
The utility model is structurally reasonable, compact, deceleration device power it is certain, increase reduction ratio in the case where reduce output
Revolving speed achievees the purpose that increase torque.
If the arc groove number of needle gear ring is Z1, the number of teeth of Cycloidal Wheel is Z2, and the planetary gear number of teeth is Z3, the tooth of internal tooth
Number is Z4, and the number of teeth of flexbile gear is Z5, the tooth number Z 6 of input shaft.When needle gear ring is fixed, planet carrier output, the utility model, which slows down, to be filled
The speed ratio set is 1+Z3 × Z5 × Z1/ (Z6 × (Z5-Z4) × (Z1-Z2))；The reduction ratio of the deceleration device is that RV retarder subtracts
(Z6 × (Z1-Z2)+Z3 × Z5 × Z1/ (Z5-Z4)) of speed ratio/(Z6 × (Z1-Z2)+Z3 × Z1) times.
Detailed description of the invention
Fig. 1 is the main view of the utility model embodiment structural schematic diagram；
Fig. 2 is the A-A cross-sectional view of Fig. 1；
Fig. 3 is the direction view of Fig. 2；
Fig. 4 is planet carrier component structural schematic diagram in the utility model；
In figure, 1- sealing ring；2- output planetary frame；3- crankshaft；4- tapered roller bearing；5- circlip for hole；6- pad
Circle；7- roller and retainer component；8- Cycloidal Wheel；9- Cycloidal Wheel；10- base bearing；11- needle roller；12- pin wheel housing；13- shaft shoulder gear
Circle；14- inputs planet carrier；15- soket head cap screw；16- flexbile gear；17- wave producer；18- middleware；19- planetary gear；20-
Screw；21- taper pin；22- cross roller bearing；23- output shaft；24- soket head cap screw；25- taper pin.
Specific embodiment
To keep technical solution and the advantage of the purpose of this utility model, use clearer, with reference to the accompanying drawing and implement
The present invention will be further described in detail for example.It should be appreciated that specific embodiment described herein only with explain this
Utility model, rather than limit the utility model.
Embodiment 1
As shown in Figs 1-4, the planetary reducer of the utility model includes pin wheel housing 12, is had in the pin wheel housing 12
Slot rolling, slot rolling are uniformly distributed circumferentially, and are provided with needle roller 11 on slot rolling, the side of the pin wheel housing 12 by base bearing 10 with
It inputs planet carrier 14 to connect, the other side is rotatablely connected output planetary frame 2, and the input planet carrier 14 and output planetary frame 2 are solid
It is connected, input shaft carries out simultaneously with the N group planetary gear 19 by input planet carrier 14 and being uniformly distributed circumferentially is arranged in
Engaged transmission；Planetary gear 19 makes flexbile gear 16 by wave producer 17 and inputs the interior tooth engagement on planet carrier 14, and flexbile gear 16 will
Power transmission is to crankshaft 3；180 ° of phase difference of two panels piece phase of the first Cycloidal Wheel 8 and the second Cycloidal Wheel 9 pass through needle roller and retainer
Component 7 is hinged on N number of crankshaft 3, and is meshed with the needle roller 11 being placed in needle tooth socket, and input planet carrier 14 and output are gone
Carrier 2 is sweared the rotation in the first Cycloidal Wheel 8 and the second Cycloidal Wheel 9 by pushing mounted in N thereon to tapered roller bearing 4
Amount passes to output planetary frame 2.
In a specific embodiment of the utility model, as shown in Fig. 2, the type deceleration device includes: the needle
Slot rolling slot number is Z1 in tooth shell 12, is leakproof and dust-proof, sealing ring 1 is housed between output planetary frame 2 and pin wheel housing 12.
The planetary reducer of the utility model includes multi-stage speed-reducing structure, and deceleration principle is specific as follows:
In a specific embodiment of the utility model, the input planet carrier 14 and output planetary frame 2 are in
The positioning of screw thread taper bolt 25, the connection of socket cap screw 24 are solid integral, input shaft and are placed on by input planet carrier 14
And N group (the N=2 or 3) planetary gear 19 that is uniformly distributed circumferentially while it being engaged transmission, it completes the first order and slows down.
In a specific embodiment of the utility model, planetary gear 19 makes flexbile gear 16 and input by wave producer 17
Interior tooth engagement on planet carrier 14, flexbile gear 16 deliver power to crankshaft by taper pin 21, soket head cap screw 20 and output shaft 23
3, it completes the second level and slows down.
In a specific embodiment of the utility model, the Cycloidal Wheel 8 and 9 that 180 ° of phase difference of two panels piece phase passes through needle roller
It is hinged on N number of crankshaft 3 with retainer component 7, and is meshed with the needle roller 11 being placed in needle tooth socket, Cycloidal Wheel 8 and 9 exists
By crankshaft eccentric shaft part effect formed revolution while, by the needle roller 11 being fixed in needle tooth socket active force and formed with
Cycloidal Wheel revolves contrary torque, causes the spinning motion of Cycloidal Wheel, inputs planet carrier 14 with output planetary frame 2 by filling
N on it pushes tapered roller bearing 4, and the rotation vector in Cycloidal Wheel 8 and 9 is passed to output with the speed ratio of 1:1
Planet carrier 2 completes the third level and slows down.
If the arc groove number of needle gear ring is Z1, the number of teeth of Cycloidal Wheel is Z2, and the planetary gear number of teeth is Z3, the tooth of internal tooth
Number is Z4, and the number of teeth of flexbile gear is Z5, the tooth number Z 6 of input shaft.When needle gear ring is fixed, planet carrier is exported, and the speed ratio of deceleration device is
1+Z3 × Z5 × Z1/ (Z6 × (Z5-Z4) × (Z1-Z2)), the revolving speed of input shaft are n1, and the revolving speed of output planetary frame is n2, then
N1=n2 × (1+Z3 × Z5 × Z1/ (Z6 × (Z5-Z4) × (Z1-Z2))).Deceleration device is certain, increase reduction ratio in power
In the case of reduce output revolving speed, to increase the purpose of torque.Under this dynamic transient events, the deceleration of the utility model is filled
The reduction ratio set is RV retarder reduction ratio (Z6 × (Z1-Z2)+Z3 × Z5 × Z1/ (Z5-Z4))/(Z6 × (Z1-Z2)+Z3
× Z1) times.
Utility model device has used the structure of Cycloidal Wheel, needle roller and needle gear ring slot rolling, needle roller and cycloid at low speed end
The number of teeth for taking turns flank of tooth engagement simultaneously is more, and registration is big；It is pushed away between output planetary frame and input planet carrier by Curved shaft support bearing
Dynamic, the above structure makes low speed end have the characteristics that impact resistance is strong, can bear 5 times of nominal torque of impact force, and anti-torsion is rigid
Degree is strong.Since flexbile gear rigidity is small, it is suitble to be placed on underloading link.The speed end input torque of utility model device is small, using N
A flexbile gear structure has the function of power dividing, efficiently uses the advantage of flexbile gear large speed ratio, reduces the loaded of flexbile gear.This is practical
New device uses RV structure and harmonic structure, overcomes RV structure large speed ratio limited and the small disadvantage of harmonic structure rigidity, effectively
The advantages of using RV structure high rigidity, impact resistance and harmonic wave large speed ratio, embodies this in the case where axial dimension variation is little
The compactedness of utility model device.
Claims (6)
1. a kind of planetary reducer, including pin wheel housing (12), the pin wheel housing (12) is interior to have slot rolling, and slot rolling is circumferentially equal
Even distribution is provided with needle roller (11) on slot rolling, it is characterised in that the side of the pin wheel housing (12) by base bearing (10) with
Planet carrier (14) connection is inputted, the other side is rotatablely connected output planetary frame (2), the input planet carrier (14) and output planetary
Frame (2) is solidly fixed, and input shaft and setting are in the N group planetary gear that input planet carrier (14) is other and is uniformly distributed circumferentially
(19) it is engaged transmission simultaneously；
Planetary gear (19) makes flexbile gear (16) by wave producer (17) and inputs the interior tooth engagement on planet carrier (14), flexbile gear
(16) crankshaft (3) are delivered power to；
180 ° of phase difference of two panels piece phase of the first Cycloidal Wheel (8) and the second Cycloidal Wheel (9) is cut with scissors by needle roller and retainer component (7)
It connects on N number of crankshaft (3), and is meshed with the needle roller (11) being placed in needle tooth socket, input planet carrier (14) and output are gone
Carrier (2), will be in the first Cycloidal Wheel (8) and the second Cycloidal Wheel (9) by pushing mounted in N thereon to tapered roller bearing (4)
Rotation vector pass to output planetary frame (2).
2. planetary reducer according to claim 1, it is characterised in that the output planetary frame (2) and pin wheel housing
(12) sealing ring (1) is housed between.
3. planetary reducer according to claim 1, it is characterised in that the input planet carrier (14) and output row
Carrier (2) connects solid integral by taper pin with internal thread (25) positioning, by socket cap screw (24).
4. planetary reducer according to claim 1, it is characterised in that the input planet carrier (14) had along week
To N number of internal tooth arrangement of distribution, N=2 or 3.
5. planetary reducer according to claim 1, it is characterised in that the flexbile gear (16) passes through taper pin (21), interior
Hex screw (20) and output shaft (23) deliver power to crankshaft (3).
6. planetary reducer according to claim 1, it is characterised in that the slot rolling number of the pin wheel housing (12) is Z1,
The number of teeth of first Cycloidal Wheel (8) and the second Cycloidal Wheel (9) is Z2, and the number of teeth of planetary gear (19) is Z3, inputs planet carrier
(14) the internal tooth number of teeth is Z4, and the number of teeth of flexbile gear (16) is Z5, the tooth number Z 6 of input shaft；When pin wheel housing (12) fixation, planet carrier
Output, the speed ratio of deceleration device are 1+Z3 × Z5 × Z1/ (Z6 × (Z5-Z4) × (Z1-Z2)).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822051764.XU CN209309251U (en) | 2018-12-07 | 2018-12-07 | Planetary reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822051764.XU CN209309251U (en) | 2018-12-07 | 2018-12-07 | Planetary reducer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209309251U true CN209309251U (en) | 2019-08-27 |
Family
ID=67676085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822051764.XU Withdrawn - After Issue CN209309251U (en) | 2018-12-07 | 2018-12-07 | Planetary reducer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209309251U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630649A (en) * | 2018-12-07 | 2019-04-16 | 浙江双环传动机械股份有限公司 | A kind of planetary reducer |
| CN114017473A (en) * | 2021-10-29 | 2022-02-08 | 浙江环动机器人关节科技有限公司 | Offset type planetary reduction gear |
-
2018
- 2018-12-07 CN CN201822051764.XU patent/CN209309251U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630649A (en) * | 2018-12-07 | 2019-04-16 | 浙江双环传动机械股份有限公司 | A kind of planetary reducer |
| CN109630649B (en) * | 2018-12-07 | 2024-01-12 | 浙江环动机器人关节科技股份有限公司 | Planetary reduction gear |
| CN114017473A (en) * | 2021-10-29 | 2022-02-08 | 浙江环动机器人关节科技有限公司 | Offset type planetary reduction gear |
| CN114017473B (en) * | 2021-10-29 | 2023-10-31 | 浙江环动机器人关节科技股份有限公司 | Offset type planetary reduction gear |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220822 Address after: 317600 electromechanical Industrial Park, Yucheng street, Yuhuan, Taizhou City, Zhejiang Province Patentee after: Zhejiang environmental Robot Joint Technology Co.,Ltd. Address before: 317600 No. 1, Shengyuan Road, Yuhuan Electromechanical industry functional zone, Taizhou City, Zhejiang Province Patentee before: ZHEJIANG SHUANGHUAN DRIVELINE Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 317600 electromechanical Industrial Park, Yucheng street, Yuhuan, Taizhou City, Zhejiang Province Patentee after: Zhejiang Huandong Robot Joint Technology Co.,Ltd. Address before: 317600 electromechanical Industrial Park, Yucheng street, Yuhuan, Taizhou City, Zhejiang Province Patentee before: Zhejiang environmental Robot Joint Technology Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190827 Effective date of abandoning: 20240112 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20190827 Effective date of abandoning: 20240112 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |