CN109595302B - Planetary reducer and robot - Google Patents

Planetary reducer and robot Download PDF

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Publication number
CN109595302B
CN109595302B CN201811601720.8A CN201811601720A CN109595302B CN 109595302 B CN109595302 B CN 109595302B CN 201811601720 A CN201811601720 A CN 201811601720A CN 109595302 B CN109595302 B CN 109595302B
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China
Prior art keywords
stage
gear
retainer
rail
planetary
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CN201811601720.8A
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CN109595302A (en
Inventor
闫巡戈
罗程
崔昊天
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Cloudminds Robotics Co Ltd
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Cloudminds Shanghai Robotics Co Ltd
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Priority to CN201811601720.8A priority Critical patent/CN109595302B/en
Publication of CN109595302A publication Critical patent/CN109595302A/en
Priority to PCT/CN2019/121179 priority patent/WO2020134807A1/en
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Classifications

    • 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
    • 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
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H57/082—Planet carriers
    • 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
    • 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
    • F16H2057/02086—Measures for reducing size of gearbox, e.g. for creating a more compact transmission casing
    • 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
    • F16H2057/02091—Measures for reducing weight of gearbox
    • 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
    • F16H57/08—General details of gearing of gearings with members having orbital motion
    • F16H2057/085—Bearings for orbital gears

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Retarders (AREA)

Abstract

The invention relates to the technical field of planetary reducers, and provides a planetary reducer and a robot, wherein the planetary reducer comprises: the first-stage planetary gear device comprises a first-stage gear assembly and a first retainer assembly, a first annular channel is formed in the first retainer assembly, a plurality of rolling elements are accommodated in the first annular channel, the rolling elements are in four-point contact with the inner side surface of the first annular channel, and the first-stage gear assembly receives power input; and the second-stage planetary gear device comprises a second-stage gear assembly and a second retainer assembly, a second annular channel is formed in the second retainer assembly, a plurality of rolling elements are accommodated in the second annular channel, the rolling elements are in four-point contact with the inner side surface of the second annular channel, and the second retainer assembly outputs power. The planetary reducer of the embodiment of the invention has smaller height and lighter weight.

Description

Planetary reducer and robot
Technical Field
The invention relates to the technical field of planetary reducers, in particular to a planetary reducer with a compact structure and a light weight and a robot provided with the planetary reducer.
Background
The planetary reducer mainly comprises a retainer, a planet wheel, a sun wheel, an inner gear ring, a bearing and the like. The planetary reducer has the advantages of small volume, high transmission efficiency, wide speed reduction range, high precision and the like, and is widely applied to transmission systems of servo motors, stepping motors, direct current motors and the like. Space, weight, torque requirements can be met in a general industrial setting.
In the robot joint actuator, a joint is controlled by adopting a speed reducer, and the planetary speed reducer is a common robot joint speed reducer. However, in the field of robots, particularly joint parts of bionic robots and the like, the requirements on the working space and weight of a planetary reducer are strict, and the traditional design method is difficult to meet the design requirements on small size and light weight of special parts of the bionic robots.
At present, in the design of a traditional planetary gear reducer, a standard bearing is mostly adopted as a support and a limit of a shaft. In general, standard angular contact ball bearings can carry radial loads and one larger axial load, but their height dimensions are larger; the standard deep groove ball bearing can bear radial load and a smaller axial load, but has larger height size; standard four-point contact ball bearings can carry radial loads and two larger axial loads, but their height dimensions are also larger. Therefore, the planetary reducer adopting the standard bearing has larger overall assembly height and heavy weight, is limited by the inner diameter of the bearing at the output end, has smaller output torque, and cannot meet the requirements of the robot field on the size, the weight and the torque of the reducer.
Disclosure of Invention
An object of an embodiment of the present invention is to provide a planetary reducer, which solves the technical problems of large size and heavy weight of the planetary reducer in the prior art.
In order to solve the technical problems, the embodiment of the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides a planetary reducer, including:
a first stage planetary gear device (2), wherein the first stage planetary gear device (2) comprises a first stage gear assembly (21) and a first retainer assembly (22), a first annular channel (23) is formed inside the first retainer assembly (22), a plurality of rolling elements (4) are accommodated in the first annular channel (23), each rolling element (4) is in four-point contact with the inner side surface of the first annular channel (23), and the first stage gear assembly (21) receives power input; and
the second-stage planetary gear device (3), the second-stage planetary gear device (3) comprises a second-stage gear assembly (31) and a second retainer assembly (32), a second annular channel (33) is formed inside the second retainer assembly (32), a plurality of rolling elements (4) are accommodated in the second annular channel (33), each rolling element (4) is in four-point contact with the inner side surface of the second annular channel (33), and the second retainer assembly (32) outputs power.
Further, the cross sections of the first annular channel (23) and the second annular channel (33) are diamond-shaped.
Further, the first-stage gear assembly (21) includes a first-stage sun gear (211), a first-stage planetary gear (212) disposed around the first-stage sun gear (211), and a first-stage ring gear (213) disposed around the first-stage planetary gear (212), the first-stage planetary gear (212) being respectively meshed with the first-stage sun gear (211) and the first-stage ring gear (213);
the first retainer assembly (22) comprises a first retainer main body (221) and a first retainer rail (222) sleeved on the outer side of the first retainer main body (221), grooves are formed in the outer side wall of the first retainer main body (221) and the inner side wall of the first retainer rail (222), and the grooves are matched to form the first annular channel (23); the first-stage planetary gears (212) are fixed at one end of the first retainer body (221), and the first retainer rail (222) is fixedly connected with the first-stage annular gear (213).
Further, the second-stage gear assembly (31) includes a second-stage sun gear (311), a second-stage planetary gear (312) disposed around the second-stage sun gear (311), and a second-stage ring gear (313) disposed around the second-stage planetary gear (312), the second-stage planetary gear (312) being meshed with the second-stage sun gear (311) and the second-stage ring gear (313), respectively;
the second retainer assembly (32) comprises a second retainer body (321) and a second retainer rail (322) sleeved on the outer side of the second retainer body (321), grooves are formed in the outer side wall of the second retainer body (321) and the inner side wall of the second retainer rail (322), and the grooves are matched to form a second annular channel (33); the second-stage planetary gear (312) is fixed to the second carrier body (321), and the second-stage sun gear (311) is fixed to the other end of the first carrier body (221).
Further, the first retainer assembly (22) further comprises a first retainer rail compression ring (223), an L-shaped compression ring mounting groove (24) is formed in one side, close to the first retainer rail (222), of the first retainer main body (221), and the compression ring is embedded in the compression ring mounting groove (24) and is fixedly connected with the first retainer main body (221); the outer side wall of the first retainer body (221) and the outer side wall of the first retainer track pressing ring (223) are respectively provided with a chamfer, the inner side wall of the first retainer track (222) is provided with a V-shaped groove symmetrical to the chamfer, and the chamfer and the V-shaped groove are matched to form the first annular channel (23).
Further, the planetary reducer further comprises a fixing seat (5) for fixing the first-stage sun gear (211), and the fixing seat (5) is fixed with an external power input shaft.
Further, the second cage rail (322) comprises an upper rail (322 a) and a lower rail (322 b) which are stacked, and the upper rail (322 a) and the lower rail (322 b) are fixedly connected; the inner side wall of the upper track (322 a) and the inner side wall of the lower track (322 b) are respectively provided with a chamfer, the outer side wall of the second retainer body (321) is provided with a V-shaped groove symmetrical to the chamfer, and the chamfer and the V-shaped groove are matched to form the second annular channel (33).
Further, the second retainer body (321) is a flange, and one end of the second retainer body protrudes out of the second annular channel (33).
Further, the planetary reducer further comprises a grease-proof gasket (6), and the grease-proof gasket (6) is arranged in a circumferential gap between the fixing seat (5) and the first-stage annular gear (213).
Further, a plurality of lightening holes (7) are formed in the first-stage annular gear (213), the first retainer body (221), the first retainer rail (222), the second-stage annular gear (313) and the second retainer rail (322), and the lightening holes (7) are through holes or blind holes; the first-stage annular gear (213), the first retainer rail (222), the second-stage annular gear (313) and the second retainer rail (322) are circular cylinders, and the outer diameters of the circular cylinders are the same.
Further, the rolling elements (4) are balls or cylindrical rollers.
In a second aspect, an embodiment of the present invention provides a robot provided with a planetary reducer as described above.
The embodiment of the invention has the beneficial effects that: according to the embodiment of the invention, the annular channel is formed in the retainer assembly of the planetary reducer, the plurality of rolling elements are accommodated in the annular channel, the rolling elements are in four-point contact with the inner side surface of the annular channel, and a structure with a four-point contact ball bearing function is formed.
Drawings
One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to be taken in a limiting sense, unless otherwise indicated.
FIG. 1 is a schematic diagram of the overall structure of a planetary reducer according to an embodiment of the present invention;
FIG. 2 is a front view of a planetary reducer provided by an embodiment of the present invention;
FIG. 3 is a top view of a planetary reducer provided by an embodiment of the present invention;
FIG. 4 is an axial cross-sectional view of a planetary reducer provided by an embodiment of the present invention;
FIG. 5 is an exploded schematic view of a planetary reducer provided by an embodiment of the present invention;
fig. 6 is an exploded view of another angle of the planetary reducer according to the embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 5, a planetary reducer 1 according to an embodiment of the present invention includes a first stage planetary gear device 2 and a second stage planetary gear device 3. The first-stage planetary gear device 2 and the second-stage planetary gear device 3 are stacked, and the first-stage planetary gear device 2 receives power input and transmits the power input to the second-stage planetary gear device 3, and the second-stage planetary gear device 3 outputs regulated power. The planetary reducer 1 can be used in a robot joint.
The first-stage planetary gear device 2 comprises a first-stage gear assembly 21 and a first retainer assembly 22, wherein a first annular channel 23 is formed inside the first retainer assembly 22, a plurality of rolling elements 4 are accommodated in the first annular channel 23, and each rolling element 4 is in four-point contact with the inner side surface of the first annular channel 23. In this embodiment, the cross section of the first annular channel 23 is diamond, preferably square. The rolling elements 4 are balls in this embodiment. It will be appreciated that in other embodiments the rolling elements may also be cylindrical rollers or the like which may be in four-point contact with the first annular channel 23.
The first-stage gear assembly 21 receives a power input, and includes a first-stage sun gear 211, first-stage planetary gears 212 disposed around the first-stage sun gear 211, and a first-stage ring gear 213 disposed around the first-stage planetary gears 212, the first-stage planetary gears 212 being meshed with the first-stage sun gear 211 and the first-stage ring gear 213, respectively. In the present embodiment, 1 first-stage sun gears 211 are provided, and 3 first-stage planetary gears 212 are provided. It will be appreciated that in other embodiments, the first stage planetary gears 212 may be provided in other numbers, such as 4, 5, etc., and the invention is not limited. The first-stage ring gear 213 is a circular cylinder.
The planetary reducer further comprises a fixing seat 5 for fixing the first stage sun gear 211, and the fixing seat 5 is fixed with an external power input shaft and is used for receiving power input. The fixing seat 5 is provided with a mounting through hole, and the first stage sun gear 211 is fixed in the mounting through hole in a penetrating way. The fixing seat 5 has a disc-shaped structure, and a power input shaft mounting hole is axially formed in the circumferential direction of the fixing seat for mounting an external power input shaft.
The planetary reducer further comprises a grease-proof gasket 6, and the grease-proof gasket 6 is arranged in a circumferential gap between the fixing seat 5 and the first-stage annular gear 213. The grease-proof gasket 6 is used for preventing grease from entering the interior of the planetary reducer.
The first cage assembly 22 includes a first cage body 221, and a first cage rail 222 sleeved outside the first cage body 221, where the first cage rail 222 is a circular cylinder. The outer sidewall of the first holder body 221 and the inner sidewall of the first holder rail 222 are each recessed inward and cooperate to form the first annular channel 23.
The first stage planetary gear 212 is fixed to one end of the first holder body 221. In this embodiment, a plurality of gear mounting shafts 221a are disposed at one end of the first holder main body 221, the first stage planetary gears 212 are sleeved on the gear mounting shafts 221a, and a bearing 8, such as a ball bearing, is disposed between the first stage planetary gears 212 and the gear mounting shafts 221 a.
The first holder rail 222 is fixedly connected with the first-stage ring gear 213. In this embodiment, the first holder rail 222 and the first-stage ring gear 213 are circular cylinders, and a plurality of mounting holes are axially formed along the first holder rail 222 and the first-stage ring gear 213 in the circumferential direction, and the first holder rail 222 and the first-stage ring gear 213 can be fixedly connected by a connecting member such as a bolt.
In this embodiment, the first holder assembly 22 further includes a first holder rail pressing ring 223, and an L-shaped pressing ring mounting groove 24 is formed on a side of the first holder main body 221, which is close to the first holder rail 222. Specifically, the first holder body 221 includes a first holder base 221b and a first holder support post 221c formed to protrude axially along the first holder base 221b, the first holder support post 221c has a smaller diameter than the first holder base 221b, and the press ring mounting groove 24 is formed between the first holder base 221b and the first holder support post 221 c. The first retainer rail pressing ring 223 is embedded in the pressing ring mounting groove 24 and is fixedly connected with the first retainer main body 221, the outer side wall of the first retainer rail pressing ring 223 and the inner side wall of the first retainer rail 222 are all provided with grooves, and the first annular channel 23 is formed by the matching of the grooves. Specifically, the outer side wall of the first holder main body 221 and the outer side wall of the first holder rail pressing ring 223 have a chamfer, the chamfer is disposed at one end of the first holder main body 221 adjacent to the first holder rail pressing ring 223, the chamfer has a larger bevel edge, the inner side wall of the first holder rail 222 has a V-shaped groove symmetrical to the chamfer, and the chamfer and the V-shaped groove cooperate to form the first annular channel 23.
In this embodiment, the first holder base 221b and the first holder rail pressing ring 223 are circular cylinders, and a plurality of mounting holes are axially formed along the circumferential direction of the first holder base 221b and the first holder rail pressing ring 223, and the first holder base 221b and the first holder rail pressing ring 223 can be fixedly connected by a connecting piece such as a bolt.
The outer side wall of the first holder body 221 and the adjacent end of the first holder rail pressing ring 223 have a chamfer with a larger bevel edge, the inner side wall of the first holder rail 222 has a V-shaped groove symmetrical to the chamfer, and the chamfer and the V-shaped groove cooperate to form the first annular channel 23.
The second-stage planetary gear device 3 comprises a second-stage gear assembly 31 and a second cage assembly 32, wherein a second annular channel 33 is formed inside the second cage assembly 32, and a plurality of rolling elements 4 are accommodated in the second annular channel 33, and each rolling element 4 is in four-point contact with the inner side surface of the second annular channel 33. In this embodiment, the cross section of the second annular channel 33 is diamond, preferably square. The rolling elements 4 are balls in this embodiment. It will be appreciated that in other embodiments the rolling elements may also be cylindrical rollers or the like which may be in four-point contact with the second annular channel 33.
The second-stage gear assembly 31 includes a second-stage sun gear 311, second-stage planetary gears 312 disposed around the second-stage sun gear 311, and a second-stage ring gear 313 disposed around the second-stage planetary gears 312, the second-stage planetary gears 312 being meshed with the second-stage sun gear 311 and the second-stage ring gear 313, respectively. In the present embodiment, 1 second-stage sun gears 311 are provided, and 4 second-stage planetary gears 312 are provided. It will be appreciated that in other embodiments, the second stage planetary gears 312 may be provided in other numbers, such as 3, 5, etc., and the invention is not limited. The second stage ring gear 313 is a circular cylinder.
The second cage assembly 32 includes a second cage body 321, and a second cage track 322 sleeved outside the second cage body 321, where the second cage track 322 is a circular cylinder. The outer side wall of the second cage body 321 and the inner side wall of the second cage track 322 are both provided with grooves, and the second annular channel 33 is formed by the cooperation of the grooves.
The second-stage planetary gears 312 are fixed to the second cage body 321. In this embodiment, a plurality of gear mounting shafts 321a are disposed at one end of the second cage body 321, the second stage planetary gears 312 are sleeved on the gear mounting shafts 321a, and a bearing 8, such as a ball bearing, is disposed between the second stage planetary gears 312 and the gear mounting shafts 321 a.
The second stage sun gear 311 is fixed to the other end of the first cage body 221. The second cage assembly 32 provides power take off.
The second holder body 321 is a flange, and one end of the second holder body protrudes from the second annular channel 33. The second cage body 321 is used as an output shaft, and adopts a flange plate structure, so that compared with the shaft output of the traditional planetary reducer, the second cage body 321 is not easy to break and fall off under the working condition of large moment, and has stronger large moment output capability.
In this embodiment, the second holder rail 322 includes an upper rail 322a and a lower rail 322b that are stacked, and the upper rail 322a and the lower rail 322b are circular cylinders. The upper rail 322a and the lower rail 322b are fixedly connected; the inner side wall of the upper rail 322a and the inner side wall of the lower rail 322b are respectively provided with a chamfer, the chamfer is arranged at one end adjacent to the upper rail 322a and the lower rail 322b, the chamfer has a larger bevel edge size, the outer side wall of the second retainer body 321 is provided with a V-shaped groove symmetrical to the chamfer, and the chamfer and the V-shaped groove are matched to form the second annular channel 33.
In this embodiment, the second-stage ring gear 313, the upper rail 322a and the lower rail 322b are circular cylinders, and a plurality of mounting holes are formed along the axial direction of the second-stage ring gear 313, the upper rail 322a and the lower rail 322b in the circumferential direction thereof, and the second-stage ring gear 313, the upper rail 322a and the lower rail 322b can be fixedly connected by connecting members such as bolts.
The first-stage ring gear 213, the first holder body 221, the first holder rail 222, the second-stage ring gear 313, and the second holder rail 322 (including an upper rail 322a and a lower rail 322 b) are provided with a plurality of weight-reducing holes 7, and the weight-reducing holes 7 are through holes or blind holes.
The outer diameters of the first-stage ring gear 213, the first cage rail 222, the second-stage ring gear 313, and the second cage rail 322 are all the same.
The gear can adopt 20CrMnTi, has the characteristics of small volume, light weight, high bearing capacity, long service life, stable operation, low noise, large output torque, large speed ratio, high efficiency, safe performance and the like, and can be subjected to carburizing, quenching and gear grinding. Has the characteristics of power split and single multi-tooth meshing. The components of the planetary reducer may be made of steel.
The working principle of the planetary reducer of the embodiment of the invention is as follows: the fixed seat 5 receives power input of an external power input shaft, the fixed seat 5 rotates to drive the first-stage sun gear 211 arranged on the fixed seat 5 to rotate, the first-stage sun gear 211 rotates to drive the first-stage planetary gear 212 meshed with the first-stage sun gear to rotate, thereby driving the first-stage annular gear 213 meshed with the first-stage planetary gear 212 to rotate, the first retainer rail 222 is fixedly connected with the first-stage annular gear 213, so that the first retainer rail 222 also rotates, the first retainer rail 222 rotates to drive the second-stage annular gear 313 to rotate because the first retainer rail 222 is fixedly connected with the second-stage annular gear 313, the second-stage annular gear 313 rotates to drive the second-stage planetary gear 312 meshed with the second-stage annular gear 313 to rotate, and the second-stage planetary gear 312 rotates to drive the second-stage annular gear 321 to rotate because the second-stage planetary gear 312 is fixed on the second-stage annular gear 321, and the second-stage annular gear 312 serves as a power output part to realize power output.
The planetary reducer of the embodiment of the invention adopts a flat structure design, namely, a single standard bearing is not adopted as a support of a shaft, an annular channel is formed in a retainer component of the planetary reducer, a plurality of rolling elements are accommodated in the annular channel, the rolling elements are in four-point contact with the inner side surface of the annular channel, and two groups of four-point contact ball bearing structures are formed, and the planetary reducer has four-point contact ball bearing functions.
The planetary reducer of the embodiment of the invention has a weight which is only one seventh of that of the traditional planetary reducer. In contrast to existing standard bearings: when the outer diameters are consistent, if the standard bearing height is 12mm, the height of the four-point contact ball bearing structure formed by the embodiment of the invention is only 5mm, and the height dimension is small.
The embodiment of the invention also provides a robot, and the robot is provided with the planetary reducer.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.

Claims (9)

1. A planetary reducer, characterized by comprising:
-a first stage planetary gear arrangement (2), the first stage planetary gear arrangement (2) comprising a first stage gear assembly (21) and a first cage assembly (22);
the first-stage gear assembly (21) comprises a first-stage sun gear (211), first-stage planetary gears (212) arranged around the first-stage sun gear (211), and a first-stage ring gear (213) arranged around the first-stage planetary gears (212), the first-stage planetary gears (212) being respectively meshed with the first-stage sun gear (211) and the first-stage ring gear (213);
the first retainer assembly (22) comprises a first retainer main body (221) and a first retainer rail (222) sleeved on the outer side of the first retainer main body (221), the first retainer assembly (22) further comprises a first retainer rail pressing ring (223), an L-shaped pressing ring mounting groove (24) is formed in one side, close to the first retainer rail (222), of the first retainer main body (221), and the first retainer rail pressing ring (223) is embedded in the pressing ring mounting groove (24) and fixedly connected with the first retainer main body (221); the outer side wall of the first retainer body (221) and the outer side wall of the first retainer track pressing ring (223) are provided with chamfers, the inner side wall of the first retainer track (222) is provided with V-shaped grooves symmetrical to the chamfers, and the chamfers and the V-shaped grooves are matched to form a first annular channel (23);
the first annular channel (23) accommodates a plurality of rolling elements (4), each rolling element (4) is in four-point contact with the inner side surface of the first annular channel (23), the first-stage gear assembly (21) receives power input, the first-stage planetary gears (212) are fixed at one end of the first-stage retainer main body (221), and the first-stage retainer rails (222) are fixedly connected with the first-stage annular gear (213); and
-a second stage planetary gear arrangement (3), the second stage planetary gear arrangement (3) comprising a second stage gear assembly (31) and a second cage assembly (32);
the second-stage gear assembly (31) comprises a second-stage sun gear (311), a second-stage planetary gear (312) arranged around the second-stage sun gear (311), and a second-stage annular gear (313) arranged around the second-stage planetary gear (312), wherein the second-stage planetary gear (312) is respectively meshed with the second-stage sun gear (311) and the second-stage annular gear (313), and the second-stage annular gear (313) is fixedly connected with the first-stage retainer rail (222);
the second retainer assembly (32) comprises a second retainer main body (321) and a second retainer rail (322) sleeved on the outer side of the second retainer main body (321), grooves are formed in the outer side wall of the second retainer main body (321) and the inner side wall of the second retainer rail (322), and a second annular channel (33) is formed through the matching of the grooves; the second annular channel (33) accommodates a plurality of rolling elements (4), each rolling element (4) is in four-point contact with the inner side surface of the second annular channel (33), the second retainer assembly (32) outputs power, the second-stage planetary gear (312) is fixed on the second retainer main body (321), and the second-stage sun gear (311) is fixed on the other end of the first retainer main body (221);
when the first-stage gear assembly (21) receives power input, the first-stage sun gear (211) rotates and drives the first-stage planetary gears (212) to rotate, so that the first-stage annular gear (213) rotates, the first-stage annular gear (213) drives the first retainer rail (222) to rotate and then drives the second-stage annular gear (313) to rotate, so that the second-stage planetary gears (312) rotate and then the second retainer main body (321) rotates, and the second retainer assembly (32) outputs power.
2. A planetary reducer according to claim 1, characterized in that the first annular channel (23) and the second annular channel (33) are each diamond-shaped in cross section.
3. A planetary reducer according to claim 1, characterized in that it further comprises a fixed seat (5) for fixing the first stage sun gear (211), said fixed seat (5) being fixed with an external power input shaft.
4. The planetary reducer according to claim 1, wherein the second cage rail (322) comprises an upper rail (322 a) and a lower rail (322 b) which are stacked, and the upper rail (322 a) and the lower rail (322 b) are fixedly connected; the inner side wall of the upper track (322 a) and the inner side wall of the lower track (322 b) are respectively provided with a chamfer, the outer side wall of the second retainer body (321) is provided with a V-shaped groove symmetrical to the chamfer, and the chamfer and the V-shaped groove are matched to form the second annular channel (33).
5. A planetary reducer according to any one of claims 1-4, characterized in that the second cage body (321) is a flange, and one end thereof protrudes from the second annular channel (33).
6. A planetary reducer according to claim 3, further comprising a grease-isolating spacer (6), said grease-isolating spacer (6) being arranged in a circumferential gap between said fixed seat (5) and said first stage annulus gear (213).
7. The planetary reducer according to claim 1, wherein a plurality of lightening holes (7) are formed in the first-stage annular gear (213), the first cage body (221), the first cage rail (222), the second-stage annular gear (313) and the second cage rail (322), and the lightening holes (7) are through holes or blind holes; the first-stage annular gear (213), the first retainer rail (222), the second-stage annular gear (313) and the second retainer rail (322) are circular cylinders, and the outer diameters of the circular cylinders are the same.
8. A planetary reducer according to claim 1, characterized in that the rolling elements (4) are balls or cylindrical rollers.
9. A robot provided with a planetary reducer according to any one of claims 1 to 8.
CN201811601720.8A 2018-12-26 2018-12-26 Planetary reducer and robot Active CN109595302B (en)

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