CN103742609A - Planetary reducer - Google Patents
Planetary reducer Download PDFInfo
- Publication number
- CN103742609A CN103742609A CN201310718320.6A CN201310718320A CN103742609A CN 103742609 A CN103742609 A CN 103742609A CN 201310718320 A CN201310718320 A CN 201310718320A CN 103742609 A CN103742609 A CN 103742609A
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- China
- Prior art keywords
- planetary
- gear
- internal tooth
- eccentric shaft
- external gear
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H2057/02039—Gearboxes for particular applications
- F16H2057/02069—Gearboxes for particular applications for industrial applications
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
The invention provides a planetary reducer which is composed of a first-level planetary gear mechanism and a first-level novel small-tooth-difference gear mechanism. The planetary gear mechanism is composed of a sun gear and a planetary gear. The small-tooth-difference gear mechanism is composed of an eccentric shaft, an outer gear and an inner gear casing. The inner gear casing is fixed, the eccentric shaft is fixedly connected with the first-level planetary gear to serve as an input shaft of a second-level small-tooth-difference gear mechanism, the outer gear conducts planar motion under the combined effect of the eccentric shaft and the inner gear casing to enable the outer gear to revolve around the axis of the inner gear casing and rotate reversely around the self axis, the rotating motion of the outer gear is output through a W mechanism, and the planetary reducer can be connected with a joint portion of an industrial robot.
Description
Technical field
The present invention relates to a kind of planetary reducer.
Background technique
The 2K-V type speed reducer of extensive use at present is mainly comprised of primary planet pinion mechanism and one-level cycloidal-pin wheel mechanism.Robot joint speed reducer also all extensively adopts this structure, is called RV retarder.Because processing and the assembly precision requirement of RV retarder to part is high, and the technology difficulty of the vital parts such as pin wheel housing and cycloid wheel is large, is difficult to realize high efficiency processing on existing general purpose machine tool, need to develop expensive special purpose machine tool, thereby manufacture cost is higher.
Summary of the invention
The object of the present invention is to provide a kind of planetary reducer.
For achieving the above object, the present invention has adopted following technological scheme.
Comprise planetary gears and gear with small teeth difference driving mechanism, described gear with small teeth difference driving mechanism comprises external gear, internal tooth shell and eccentric shaft, in internal tooth shell, be provided with the internal tooth engaging with external gear, the planetary pinion of described planetary gears and described eccentric shaft connect firmly, power, from the central gear input of described planetary gears, reaches described external gear through described planetary pinion and eccentric shaft.
The planetary pinion that described planetary gears comprises central gear and engages with described central gear, power input shaft and the rotation of central gear one.
In described internal tooth shell, the flank profil of internal tooth is the conjugate curve of external gear flank profil, and the flank profil of external gear and internal tooth mate is one section of straight line.
On described eccentric shaft, be furnished with two eccentric parts, the phase difference of two eccentric parts is 180 degree.
Described gear with small teeth difference driving mechanism comprises two external gears, and two external gears coordinate with corresponding eccentric part respectively by the capacity eccentric bearing being arranged on eccentric part.
Described external gear is the also eccentric part rotation around eccentric shaft when engaging with internal tooth, under the acting in conjunction of internal tooth and eccentric shaft, external gear is also around the reverse rotation of self axis when the axis of internal tooth shell revolves round the sun, and the spinning motion of external gear is exported by output planetary frame.
Eccentric shaft, external gear and output planetary are configured to W mechanism.
Between described output planetary frame and internal tooth shell, be furnished with internal tooth columella and hold, output planetary frame holds rotatably mounted by internal tooth shell by internal tooth columella.
Between described eccentric shaft and output planetary frame, be furnished with planet carrier bearing, eccentric shaft is rotatably mounted through planet carrier bearing by output planetary frame.
Beneficial effect of the present invention is embodied in:
The present invention is comprised of primary planet pinion mechanism and one-level gear with small teeth difference driving mechanism, the manufacturability of its key components and parts is better, compared with RV retarder, manufacture difficulty is relatively low, can be widely used in, in the transmission device of big speed ratio, high rigidity, also can be used for the joint speed reducer of industrial robot.
Gear with small teeth difference driving mechanism of the present invention, the flank profil of its external gear is one section of straight line, the conjugate curve that the flank profil of the internal tooth shell being engaged with is this straightway.This conjugation novel tooth form is feasible in theory, and machining simulation and experimental test also show, this novel tooth form can be used in actual transmission, and it is high to have bearing capacity, stable drive, low noise advantages.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the conjugate profiles schematic diagram of gear with small teeth difference driving mechanism of the present invention; O in Fig. 2
1-X
1, Y
1for external gear system of coordinates, O
2-X
2, Y
2for internal gear system of coordinates, a is throw of eccentric;
Fig. 3 is the sectional view of Fig. 1;
In figure: 1 is internal tooth shell, 2 is internal tooth, and 3 is output planetary frame, and 4 is power input shaft, and 5 is eccentric shaft, and 5a, 5b are eccentric part, and 6 is planet carrier bearing, and 7a, 7b are external gear, gear centered by 8, and 9 is planetary pinion, and 10 for internal tooth columella holds, and 11 is capacity eccentric bearing.
Embodiment
Below in conjunction with accompanying drawing, the present invention is elaborated.
Referring to Fig. 1-Fig. 3, planetary reducer of the present invention comprises primary planet pinion mechanism and one-level gear with small teeth difference driving mechanism, described gear with small teeth difference driving mechanism comprises external gear, internal tooth shell 1 and the eccentric shaft 5 rotating with planetary pinion 9 one of described planetary gears, internal tooth shell is fixed in frame, in internal tooth shell 1, be provided with the internal tooth 2 engaging with external gear, planetary pinion 9 and the described eccentric shaft 5 of described planetary gears connect firmly, power is inputted from the central gear 8 of described planetary gears, through described planetary pinion 9 and eccentric shaft 5, reach described external gear.
The planetary pinion 9 that described planetary gears comprises central gear 8 and engages with described central gear, power input shaft 4 and central gear 8 one rotations.
In described internal tooth shell, the flank profil of internal tooth is the conjugate curve of external gear flank profil, and the flank profil of external gear and internal tooth mate is one section of straight line.
On described eccentric shaft 5, be furnished with two eccentric part 5a, 5b, the phase difference of two eccentric parts is 180 degree.
Described gear with small teeth difference driving mechanism comprises two external gear 7a, 7b, two external gear 7a, 7b coordinate with corresponding eccentric part 5a, 5b respectively by the capacity eccentric bearing 11 being arranged on eccentric part 5a, 5b, rotatably mounted by eccentric part, capacity eccentric bearing is the roller bearing without inside and outside circle.
Described external gear is the also eccentric part rotation around eccentric shaft 5 when engaging with internal tooth 2, under the acting in conjunction of internal tooth 2 and eccentric shaft 5, external gear is also around the reverse rotation of self axis when the axis of internal tooth shell 1 revolves round the sun, and the spinning motion of external gear is exported by output planetary frame 3.
Between described output planetary frame 3 and internal tooth shell 1, be furnished with internal tooth columella and hold 10, output planetary frame is held 10 rotatably mounted by internal tooth columella by internal tooth shell, and internal tooth columella holds and adopts angular contact ball bearing or tapered roller bearing.
Between described eccentric shaft 5 and output planetary frame 3, be furnished with planet carrier bearing 6, eccentric shaft is rotatably mounted through planet carrier bearing 6 by output planetary frame.
Embodiment
A kind of planetary reducer, can be used for being connected to the joint portion of industrial robot, primary planet pinion mechanism and one-level gear with small teeth difference driving mechanism, consists of.Planetary gears is comprised of central gear and planetary pinion.Gear with small teeth difference driving mechanism is comprised of eccentric shaft, external gear and internal tooth shell (containing internal tooth), and wherein internal tooth shell is fixed.Eccentric shaft and planetary pinion connect firmly the input shaft as gear with small teeth difference driving mechanism, power is inputted by the central gear of planetary gears, warp reaches external gear with the eccentric shaft that planetary pinion connects firmly, external gear is done plane motion under the acting in conjunction of eccentric shaft and internal tooth shell (internal tooth), external gear was both revolved round the sun around internal tooth columella line, again around the reverse rotation of self axis, and by the spinning motion of external gear, by W mechanism, from output planetary frame, export (eccentric shaft, external gear and output planetary are configured to W mechanism).
The flank profil of described external gear is one section of straight line, and the flank profil of internal tooth shell is the conjugate curve of external gear flank profil.
On described eccentric shaft 5, be furnished with two eccentric part 5a, 5b, the phase difference of two eccentric parts is 180 degree.
Claims (9)
1. a planetary reducer, it is characterized in that: comprise planetary gears and gear with small teeth difference driving mechanism, described gear with small teeth difference driving mechanism comprises external gear, internal tooth shell (1) and eccentric shaft (5), in internal tooth shell (1), be provided with the internal tooth (2) engaging with external gear, the planetary pinion (9) of described planetary gears connects firmly with described eccentric shaft (5), power, from central gear (8) input of described planetary gears, reaches described external gear through described planetary pinion (9) and eccentric shaft (5).
2. a kind of planetary reducer according to claim 1, is characterized in that: the planetary pinion (9) that described planetary gears comprises central gear (8) and engages with described central gear, power input shaft (4) and the rotation of central gear (8) one.
3. a kind of planetary reducer according to claim 1, is characterized in that: in described internal tooth shell, the flank profil of internal tooth is the conjugate curve of external gear flank profil, and the flank profil of external gear and internal tooth mate is one section of straight line.
4. a kind of planetary reducer according to claim 1, is characterized in that: on described eccentric shaft (5), be furnished with two eccentric parts (5a, 5b), the phase difference of two eccentric parts is 180 degree.
5. a kind of planetary reducer according to claim 4, it is characterized in that: described gear with small teeth difference driving mechanism comprises two external gears (7a, 7b), two external gears (7a, 7b) coordinate with corresponding eccentric part (5a, 5b) respectively by the capacity eccentric bearing (11) being arranged on eccentric part (5a, 5b).
6. a kind of planetary reducer according to claim 1, it is characterized in that: described external gear is the also eccentric part rotation around eccentric shaft (5) when engaging with internal tooth (2), under the acting in conjunction of internal tooth (2) and eccentric shaft (5), external gear is also around the reverse rotation of self axis when the axis of internal tooth shell (1) revolves round the sun, and the spinning motion of external gear is by output planetary frame (3) output.
7. a kind of planetary reducer according to claim 6, is characterized in that: eccentric shaft (5), external gear and output planetary frame (3) form W mechanism.
8. a kind of planetary reducer according to claim 6, is characterized in that: between described output planetary frame (3) and internal tooth shell (1), be furnished with internal tooth columella and hold (10), output planetary frame by internal tooth shell by internal tooth columella hold (10) rotatably mounted.
9. a kind of planetary reducer according to claim 6, is characterized in that: between described eccentric shaft (5) and output planetary frame (3), be furnished with planet carrier bearing (6), eccentric shaft is rotatably mounted through planet carrier bearing (6) by output planetary frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310718320.6A CN103742609A (en) | 2013-12-23 | 2013-12-23 | Planetary reducer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310718320.6A CN103742609A (en) | 2013-12-23 | 2013-12-23 | Planetary reducer |
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| CN103742609A true CN103742609A (en) | 2014-04-23 |
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| CN201310718320.6A Pending CN103742609A (en) | 2013-12-23 | 2013-12-23 | Planetary reducer |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104373542A (en) * | 2014-10-24 | 2015-02-25 | 浙江恒丰泰减速机制造有限公司 | Locating transmission mechanism |
| CN105257786A (en) * | 2015-11-26 | 2016-01-20 | 李照廷 | Hyperbolic-curve speed reducer |
| CN105757221A (en) * | 2016-03-10 | 2016-07-13 | 陈志同 | Robot double-grade joint speed reducer comprising NN transmission mechanisms |
| CN106090135A (en) * | 2016-07-27 | 2016-11-09 | 上海未来伙伴机器人有限公司 | Plastic gear reducing motor and building blocks robot for building blocks robot |
| WO2016183917A1 (en) * | 2015-05-20 | 2016-11-24 | 华南理工大学 | Transmission method and device for coaxially outputting autorotation and revolution |
| CN107061673A (en) * | 2017-04-07 | 2017-08-18 | 凌子龙 | Cycloid limited-slip differential |
| CN108426023A (en) * | 2018-03-22 | 2018-08-21 | 广东星联科技有限公司 | A kind of planetary Double-outputting speed change box of self-test |
| CN109185398A (en) * | 2018-10-18 | 2019-01-11 | 陕西长空齿轮有限责任公司 | Few teeth difference involute deceleration mechanism |
| CN109882551A (en) * | 2019-03-12 | 2019-06-14 | 北京大信高科智能科技有限公司 | A kind of single-stage big retarding compares gear reduction unit |
| CN109990051A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of retarder based on cylinder roller bearing |
| CN111322355A (en) * | 2018-12-14 | 2020-06-23 | 钟文楚 | Mechanism for synchronizing rotation of planetary motion and rotation of fixed shaft |
| CN111853168A (en) * | 2020-08-28 | 2020-10-30 | 许昌学院 | Built-in planetary gear reducer |
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| CN2497108Y (en) * | 2001-05-18 | 2002-06-26 | 杭州万杰减速机有限公司 | Compound planetary reductor |
| CN200985985Y (en) * | 2006-10-19 | 2007-12-05 | 重庆大学 | Multiple angle cranks, low vibrating and few teeth difference speed reducer |
| JP2009041623A (en) * | 2007-08-07 | 2009-02-26 | Sumitomo Heavy Ind Ltd | Oscillation inscribed planetary gear structure |
| RU2420678C1 (en) * | 2010-01-11 | 2011-06-10 | Общество с ограниченной ответственностью "АВВИ" | Planetary-spool reducer |
| CN201884569U (en) * | 2010-11-29 | 2011-06-29 | 广州数控设备有限公司 | Cycloid speed reducer |
| CN202646002U (en) * | 2011-12-29 | 2013-01-02 | 上海航发机械有限公司 | Tooth profile structure of linear conjugate internal gear pair |
| CN103161638A (en) * | 2011-12-12 | 2013-06-19 | 罗伯特·博世有限公司 | Starter for internal combustion engine |
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2013
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Patent Citations (7)
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| CN2497108Y (en) * | 2001-05-18 | 2002-06-26 | 杭州万杰减速机有限公司 | Compound planetary reductor |
| CN200985985Y (en) * | 2006-10-19 | 2007-12-05 | 重庆大学 | Multiple angle cranks, low vibrating and few teeth difference speed reducer |
| JP2009041623A (en) * | 2007-08-07 | 2009-02-26 | Sumitomo Heavy Ind Ltd | Oscillation inscribed planetary gear structure |
| RU2420678C1 (en) * | 2010-01-11 | 2011-06-10 | Общество с ограниченной ответственностью "АВВИ" | Planetary-spool reducer |
| CN201884569U (en) * | 2010-11-29 | 2011-06-29 | 广州数控设备有限公司 | Cycloid speed reducer |
| CN103161638A (en) * | 2011-12-12 | 2013-06-19 | 罗伯特·博世有限公司 | Starter for internal combustion engine |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104373542A (en) * | 2014-10-24 | 2015-02-25 | 浙江恒丰泰减速机制造有限公司 | Locating transmission mechanism |
| US10663038B2 (en) | 2015-05-20 | 2020-05-26 | South China University Of Technology | Transmission method and device for coaxially outputting autorotation and revolution |
| WO2016183917A1 (en) * | 2015-05-20 | 2016-11-24 | 华南理工大学 | Transmission method and device for coaxially outputting autorotation and revolution |
| RU2673756C1 (en) * | 2015-05-20 | 2018-11-29 | Саус Чайна Юниверсити Оф Текнолоджи | Method of mechanical transmission and transmission device for obtaining of coaxial axial and circle rotation at the output |
| CN105257786A (en) * | 2015-11-26 | 2016-01-20 | 李照廷 | Hyperbolic-curve speed reducer |
| CN105757221B (en) * | 2016-03-10 | 2019-02-05 | 陈志同 | A kind of robot twin-stage joint speed reducer comprising NN transmission mechanism |
| CN105757221A (en) * | 2016-03-10 | 2016-07-13 | 陈志同 | Robot double-grade joint speed reducer comprising NN transmission mechanisms |
| CN106090135A (en) * | 2016-07-27 | 2016-11-09 | 上海未来伙伴机器人有限公司 | Plastic gear reducing motor and building blocks robot for building blocks robot |
| CN107061673A (en) * | 2017-04-07 | 2017-08-18 | 凌子龙 | Cycloid limited-slip differential |
| CN108426023A (en) * | 2018-03-22 | 2018-08-21 | 广东星联科技有限公司 | A kind of planetary Double-outputting speed change box of self-test |
| CN109185398A (en) * | 2018-10-18 | 2019-01-11 | 陕西长空齿轮有限责任公司 | Few teeth difference involute deceleration mechanism |
| CN109185398B (en) * | 2018-10-18 | 2023-12-29 | 陕西长空齿轮有限责任公司 | Involute speed reducing mechanism with small tooth difference |
| CN111322355A (en) * | 2018-12-14 | 2020-06-23 | 钟文楚 | Mechanism for synchronizing rotation of planetary motion and rotation of fixed shaft |
| CN109882551A (en) * | 2019-03-12 | 2019-06-14 | 北京大信高科智能科技有限公司 | A kind of single-stage big retarding compares gear reduction unit |
| CN109990051A (en) * | 2019-04-01 | 2019-07-09 | 长安大学 | A kind of retarder based on cylinder roller bearing |
| CN111853168A (en) * | 2020-08-28 | 2020-10-30 | 许昌学院 | Built-in planetary gear reducer |
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| CB02 | Change of applicant information |
Address after: 721009, 22 Tan Tan Road, Shaanxi, Baoji Applicant after: Qin Chuan Machine Tool & Tool Group Co., Ltd. joint-stock company Address before: 721009, 22 Tan Tan Road, Shaanxi, Baoji Applicant before: Qinchuan Machinery Development Co., Ltd., Shaanxi Prov |
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Free format text: CORRECT: APPLICANT; FROM: QINCHUAN MACHINERY DEVELOPMENT CO LTD, SHAANXI PROV TO: QINCHUAN MACHINE TOOL GROUP CO., LTD. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140423 |
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| RJ01 | Rejection of invention patent application after publication |