CN209458354U - A kind of robot involute less tooth difference internal messing planetary reduction gear - Google Patents
A kind of robot involute less tooth difference internal messing planetary reduction gear Download PDFInfo
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- CN209458354U CN209458354U CN201920044586.XU CN201920044586U CN209458354U CN 209458354 U CN209458354 U CN 209458354U CN 201920044586 U CN201920044586 U CN 201920044586U CN 209458354 U CN209458354 U CN 209458354U
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- robot
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Abstract
A kind of robot involute less tooth difference internal messing planetary reduction gear, belong to technical field of mechanical transmission, including fixed gear ring (1), compound planet gear (3), output gear (14), duplex planet gear wheel (3-1) is engaged with fixed internal tooth (1-1), duplex planet pinion gear (3-2) is engaged with output internal tooth (14-1), and output gear (14) end face has output bolt hole (10)；It is characterized in that, needle roller (15) are installed between output gear (14) outer diameter and rear end cap (16) internal diameter, outer circle is fixed with bearing baffle (4) on the right side of 3rd bearing (11), and first bearing (7), second bearing (12) and 3rd bearing (11) are roller bearing.The beneficial effects of the utility model are: it is compact-sized, component is few, stable drive, high reliablity, transmission efficiency are high, transmission ratio is big, transmitting torque is big, torsion stiffness is big, long service life, it is easy to implement high-precision to be driven, can satisfy the requirement of the used retarder of robot.
Description
Technical field
The utility model belongs to technical field of mechanical transmission, in particular in a kind of robot involute less tooth difference
Engage planetary reduction gear.
Background technique
In robot field, target execution machine is transferred power to after mostly using engine to increase torque by deceleration device
The kind of drive of structure, existing robot retarder is in spite of multiple structural forms, but every kind of structure is from volume, reliable
Property, transmission accuracy, transmitting torque, torsion stiffness, transmission ratio, transmission efficiency, service life, manufacturing cost etc., all there is not
With the deficiency of degree, it is difficult to meet the requirement of accurate transfer power and high performance-price ratio.
System is gradually for the patent solar energy tracking speed reducer (patent No.: ZL200920012027.7) of State Intellectual Property Office's authorization
The double internal messing planetary gear speed reducing mechanisms of the few teeth difference that bursts at the seams, although transmission efficiency is high, transmission ratio is big, transmitting torque is big, torsion stiffness is big,
Long service life, but there are problems to be: and output shaft is mounted in fixed gear ring with output bearing, right section of outer diameter of output shaft and fixation
The internal diameter of gear ring is to be slidably matched, and structure is not compact enough, and the deformation of fixed gear ring external force will have a direct impact on transmission stability, is passed
Efficiency of movement also will receive the influence of sliding pair degree of lubrication, increase deceleration using circlip fixing bearing in duplicate gear
The axial dimension of machine is unfavorable for being mounted on the limited occasion in space being that robot realizes high reliability transmission.
Summary of the invention
It is an object of the invention to make up the deficiencies in the prior art, provide it is a kind of compact-sized, using compound planet gear
It is engaged respectively with fixed internal tooth and output internal tooth pair, needle roller is installed between output gear and drive end bearing bracket, is improved using roller bearing
Torque is transmitted, realizes that small in size, transmission efficiency is high, transmission ratio is big, transmitting torque is big, torsion stiffness is big, high reliablity, use the longevity
Order the low a kind of robot involute less tooth difference internal messing planetary reduction gear of length, high transmission accuracy, manufacturing cost.
The utility model technical scheme applied to solve the technical problem is: nibbling in a kind of robot involute less tooth difference
Planetary reduction gear is closed, including fixed gear ring, compound planet gear, output gear, the front end being mounted in fixed gear ring both ends of the surface
Lid and rear end cap, drive end bearing bracket center are equipped with first bearing, and output gear center is equipped with second bearing, and input shaft is mounted on first
On bearing and second bearing, 3rd bearing being housed on the rotor journal of input shaft, 3rd bearing outer circle is arranged compound planet gear,
Fixed gear ring is equipped with fixed internal tooth, and compound planet gear is equipped with duplex planet gear wheel and duplex planet pinion gear, output
Gear ring, which is equipped with, exports internal tooth, duplex planet gear wheel and fixed interior tooth engagement, tooth engagement in duplex planet pinion gear and output,
Inner circle is fixed on the rotor journal of input shaft by circlip on the left of 3rd bearing, and Balance Iron is fixed on input shaft by key
Inner circle on the right side of fixed 3rd bearing, is equipped with sealing ring, output gear while on rotor journal between rear end cap and output gear
There is output bolt hole in end face；It is characterized in that needle roller is equipped between output gear outer diameter and rear end cap internal diameter, on the right side of 3rd bearing
Outer circle is fixed with bearing baffle, and first bearing, second bearing and 3rd bearing are roller bearing.
The beneficial effects of the utility model are: it is compact-sized, component is few, stable drive, high reliablity, transmission efficiency are high,
Transmission ratio is big, transmitting torque is big, torsion stiffness is big, long service life, is easy to implement high-precision and is driven, can satisfy institute, robot
Use the requirement of retarder.
Detailed description of the invention
It is illustrated below in conjunction with attached drawing with embodiment.
Fig. 1 is a kind of robot involute less tooth difference internal messing planetary reduction gear structural front view.
Fig. 2 is a kind of robot involute less tooth difference internal messing planetary reduction gear left view.
In figure: 1- fixed gear ring；1-1- fixes internal tooth；2- drive end bearing bracket；3- compound planet gear；3-1- duplex planet canine tooth
Wheel；3-2- duplex planet pinion gear；4- bearing baffle；5- input shaft；6- key；7- first bearing；8- Balance Iron；9- sealing ring；
10- exports bolt hole；11- 3rd bearing；12- second bearing；13- circlip；14- output gear；14-1- exports internal tooth；
15- needle roller；16- rear end cap.
Specific embodiment
Embodiment, referring to attached drawing, a kind of robot involute less tooth difference internal messing planetary reduction gear, including fixed gear ring
1, compound planet gear 3, output gear 14, the drive end bearing bracket 2 and rear end cap 16 being mounted in 1 both ends of the surface of fixed gear ring, drive end bearing bracket 2
Center is equipped with first bearing 7, and 14 center of output gear is equipped with second bearing 12, and input shaft 5 is mounted on first bearing 7 and second
On bearing 12,3rd bearing 11 being housed on the rotor journal of input shaft 5,11 outer circle of 3rd bearing is arranged compound planet gear 3, Gu
Fixed tooth circle 1 is equipped with fixed internal tooth 1-1, and compound planet gear 3 is equipped with duplex planet gear wheel 3-1 and duplex planet pinion gear
3-2, output gear 14 are equipped with output internal tooth 14-1, duplex planet gear wheel 3-1 and engage with fixed internal tooth 1-1, duplex planet
Pinion gear 3-2 is engaged with output internal tooth 14-1, and 11 left side inner circle of 3rd bearing is fixed on the bias of input shaft 5 by circlip 13
On axle journal, fixed 11 right side inner circle of 3rd bearing while Balance Iron 8 is fixed on the rotor journal of input shaft 5 by key 6, after
Sealing ring 9 is housed, there is output bolt hole 10 in 14 end face of output gear between end cap 16 and output gear 14；It is characterized in that output
Needle roller 15 is installed between 16 internal diameter of 14 outer diameter of gear ring and rear end cap, 11 right side outer circle of 3rd bearing is fixed with bearing baffle 4, the
One bearing 7, second bearing 12 and 3rd bearing 11 are roller bearing.
The principles of the present invention are: the compound planet gear 3 on the rotor journal in 5 middle section of input shaft surrounds fixed gear ring
The revolution of 1 center, duplex planet gear wheel 3-1 are engaged with fixed internal tooth 1-1, so that compound planet gear 3 is generated rotation, to be formed
Existing revolution has the planetary motion of rotation again；This movement is passed to the defeated of 14 right end of output gear by duplex planet pinion gear 3-2
Internal tooth 14-1 out filters out revolution motion, and the spinning motion after deceleration is exported by output gear 14, while torque being pressed
Reduction ratio amplification, realizes the purpose of deceleration transmission；Two pairs of inside engaged gears are differential gearing, can select different teeth number difference and
The different numbers of teeth, not only transmission ratio is big, can also be achieved any speed ratio；The radius of curvature circle of two field of conjugate action of internal messing involute gear
The heart is in the same direction, and the length of two radius of curvature is very close, and when engagement is in contact close to the entire flank of tooth, generated
Contact stress is smaller, and transmitting torque is big, torsion stiffness is big, high reliablity；The factor of this structure choice different designs parameter compared with
More, speed ratio error is low, is easy to implement high-precision and is driven；Centrifugal force of the Balance Iron 8 to balance compound planet gear 3；Use rolling
Sub- bearing is conducive to improve the service life of retarder；Diameter lesser needle roller is installed between 16 internal diameter of 14 outer diameter of output gear and drive end bearing bracket
The 15 thin-wall bearing structures formed reduce radial dimension, while together forming with the second bearing 12 of 14 internal diameter of output gear
The supporting body of inside and outside two sets of output gears 14,14 end face of output gear have flange bolt hole 10 and load to connect, output gear 14
It is both a part of gear train, while is output mechanism again, ensure that stationarity and high efficiency that output gear 14 is driven；The
Three bearings, 11 outer circle bearing baffle 4 is fixed on the axial dimension that retarder is utmostly reduced in compound planet gear 3；Gu
Fixed tooth circle 1 is speed reducer housing again simultaneously, and drive end bearing bracket 2 is electric machine stand, the integration type structure of a component multiple use, component
Quantity is few, easy to process, is not only able to satisfy robot to retarder small size, high reliability and efficient requirement, can also be with
It is widely used in the limited occasion of all installation spaces and the field high to retarder performance requirement.
Claims (1)
1. a kind of robot involute less tooth difference internal messing planetary reduction gear, including fixed gear ring (1), compound planet gear
(3), output gear (14), the drive end bearing bracket (2) and rear end cap (16) that are mounted in fixed gear ring (1) both ends of the surface, in drive end bearing bracket (2)
It feels at ease equipped with first bearing (7), output gear (14) center is equipped with second bearing (12), and input shaft (5) is mounted on first bearing
(7) and in second bearing (12), 3rd bearing (11) are housed on the rotor journal of input shaft (5), 3rd bearing (11) outer circle set
If compound planet gear (3), fixed gear ring (1) is equipped with fixed internal tooth (1-1), and compound planet gear (3) is equipped with duplex row
Star gear wheel (3-1) and duplex planet pinion gear (3-2), output gear (14) are equipped with output internal tooth (14-1), duplex planet
Gear wheel (3-1) is engaged with fixed internal tooth (1-1), and duplex planet pinion gear (3-2) is engaged with output internal tooth (14-1), third axis
It holds inner circle on the left of (11) to be fixed on the rotor journal of input shaft (5) by circlip (13), Balance Iron (8) is solid by key (6)
Fixed 3rd bearing (11) right side inner circle, rear end cap (16) and output gear while being scheduled on the rotor journal of input shaft (5)
(14) sealing ring (9) are housed between, output gear (14) end face there are output bolt hole (10)；It is characterized in that output gear (14)
It being equipped with needle roller (15) between outer diameter and rear end cap (16) internal diameter, outer circle is fixed with bearing baffle (4) on the right side of 3rd bearing (11),
First bearing (7), second bearing (12) and 3rd bearing (11) are roller bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920044586.XU CN209458354U (en) | 2019-01-11 | 2019-01-11 | A kind of robot involute less tooth difference internal messing planetary reduction gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920044586.XU CN209458354U (en) | 2019-01-11 | 2019-01-11 | A kind of robot involute less tooth difference internal messing planetary reduction gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209458354U true CN209458354U (en) | 2019-10-01 |
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ID=68044199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920044586.XU Expired - Fee Related CN209458354U (en) | 2019-01-11 | 2019-01-11 | A kind of robot involute less tooth difference internal messing planetary reduction gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209458354U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111998039A (en) * | 2020-09-16 | 2020-11-27 | 浙江超级电气科技有限公司 | High-precision planetary reducer and connector |
| 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 |
-
2019
- 2019-01-11 CN CN201920044586.XU patent/CN209458354U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111998039A (en) * | 2020-09-16 | 2020-11-27 | 浙江超级电气科技有限公司 | High-precision planetary reducer and connector |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191001 Termination date: 20220111 |