CN109595302B - Planetary reducer and robot - Google Patents
Planetary reducer and robot Download PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- stage
- gear
- retainer
- rail
- planetary
- 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.)
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Links
- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 54
- 238000005096 rolling process Methods 0.000 claims abstract description 26
- 238000003825 pressing Methods 0.000 claims description 17
- 125000006850 spacer group Chemical group 0.000 claims 2
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 229910003460 diamond Inorganic materials 0.000 description 2
- 239000010432 diamond Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005255 carburizing Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Retarders (AREA)
Abstract
Description
Claims (9)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811601720.8A CN109595302B (en) | 2018-12-26 | 2018-12-26 | Planetary reducer and robot |
PCT/CN2019/121179 WO2020134807A1 (en) | 2018-12-26 | 2019-11-27 | Epicyclic reducer and robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811601720.8A CN109595302B (en) | 2018-12-26 | 2018-12-26 | Planetary reducer and robot |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109595302A CN109595302A (en) | 2019-04-09 |
CN109595302B true CN109595302B (en) | 2024-03-12 |
Family
ID=65962846
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811601720.8A Active CN109595302B (en) | 2018-12-26 | 2018-12-26 | Planetary reducer and robot |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN109595302B (en) |
WO (1) | WO2020134807A1 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109595302B (en) * | 2018-12-26 | 2024-03-12 | 达闼机器人股份有限公司 | Planetary reducer and robot |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19512979A1 (en) * | 1995-04-06 | 1996-10-10 | Linde Ag | Gearbox with two stage epicyclic gear |
CN201615187U (en) * | 2009-12-30 | 2010-10-27 | 南京高精重载齿轮制造有限公司 | Center-driving planetary gearbox of cement mill |
DE102011101073A1 (en) * | 2011-05-06 | 2012-11-08 | Stöber Antriebstechnik GmbH & Co. KG | Planetary gear i.e. three-shaft gear, has housing provided on input-side and planet carrier provided on output-side, where housing and planet carrier are integrally formed with one another and housing is provided with flange |
CN105114536A (en) * | 2015-06-26 | 2015-12-02 | 深圳红龙机电五金有限公司 | Robot or robot arm joint planetary transmission reducer |
CN205877082U (en) * | 2016-04-20 | 2017-01-11 | 东莞市松庆智能自动化科技有限公司 | Novel manufacturing process's RV speed reducer for robot |
CN206268384U (en) * | 2016-12-06 | 2017-06-20 | 六环传动(西安)科技有限公司 | A kind of robot and planetary reducer |
CN207195576U (en) * | 2017-07-12 | 2018-04-06 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of compact double-pinion planetary frame anti-shifting structure |
CN108150611A (en) * | 2016-12-06 | 2018-06-12 | 六环传动(西安)科技有限公司 | A kind of robot and planetary reducer |
CN208107077U (en) * | 2018-02-11 | 2018-11-16 | 沈阳新松智能驱动股份有限公司 | A kind of planetary reduction gear |
CN209762144U (en) * | 2018-12-26 | 2019-12-10 | 前沿驱动(北京)技术有限公司 | planetary reducer and robot |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110172053A1 (en) * | 2010-01-13 | 2011-07-14 | Apex Dynamics, Inc. | Planet-gear speed reducer |
CN105221669B (en) * | 2015-09-17 | 2019-01-29 | 吴建红 | A kind of planetary gear transmission mechanism, robot joint speed reducer and robot |
CN205244260U (en) * | 2015-11-19 | 2016-05-18 | 浙江诸暨万宝机械有限公司 | Planet reducing device |
CN105508584A (en) * | 2016-02-01 | 2016-04-20 | 上海奇步机器人有限公司 | Planetary gear transmission with embedded bearing mechanism |
CN109595302B (en) * | 2018-12-26 | 2024-03-12 | 达闼机器人股份有限公司 | Planetary reducer and robot |
-
2018
- 2018-12-26 CN CN201811601720.8A patent/CN109595302B/en active Active
-
2019
- 2019-11-27 WO PCT/CN2019/121179 patent/WO2020134807A1/en active Application Filing
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19512979A1 (en) * | 1995-04-06 | 1996-10-10 | Linde Ag | Gearbox with two stage epicyclic gear |
CN201615187U (en) * | 2009-12-30 | 2010-10-27 | 南京高精重载齿轮制造有限公司 | Center-driving planetary gearbox of cement mill |
DE102011101073A1 (en) * | 2011-05-06 | 2012-11-08 | Stöber Antriebstechnik GmbH & Co. KG | Planetary gear i.e. three-shaft gear, has housing provided on input-side and planet carrier provided on output-side, where housing and planet carrier are integrally formed with one another and housing is provided with flange |
CN105114536A (en) * | 2015-06-26 | 2015-12-02 | 深圳红龙机电五金有限公司 | Robot or robot arm joint planetary transmission reducer |
CN205877082U (en) * | 2016-04-20 | 2017-01-11 | 东莞市松庆智能自动化科技有限公司 | Novel manufacturing process's RV speed reducer for robot |
CN206268384U (en) * | 2016-12-06 | 2017-06-20 | 六环传动(西安)科技有限公司 | A kind of robot and planetary reducer |
CN108150611A (en) * | 2016-12-06 | 2018-06-12 | 六环传动(西安)科技有限公司 | A kind of robot and planetary reducer |
CN207195576U (en) * | 2017-07-12 | 2018-04-06 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of compact double-pinion planetary frame anti-shifting structure |
CN208107077U (en) * | 2018-02-11 | 2018-11-16 | 沈阳新松智能驱动股份有限公司 | A kind of planetary reduction gear |
CN209762144U (en) * | 2018-12-26 | 2019-12-10 | 前沿驱动(北京)技术有限公司 | planetary reducer and robot |
Also Published As
Publication number | Publication date |
---|---|
CN109595302A (en) | 2019-04-09 |
WO2020134807A1 (en) | 2020-07-02 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210128 Address after: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant after: CLOUDMINDS (SHENZHEN) HOLDINGS Co.,Ltd. Address before: 102400 room 4, 4 floor, 2 building, 85 Hong Yuan Road, Fangshan District, Beijing. Applicant before: INNFOS DRIVE (BEIJING) TECHNOLOGIES Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210812 Address after: 200000 second floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Applicant after: Dalu Robot Co.,Ltd. Address before: 518000 Room 201, building A, No. 1, Qian Wan Road, Qianhai Shenzhen Hong Kong cooperation zone, Shenzhen, Guangdong (Shenzhen Qianhai business secretary Co., Ltd.) Applicant before: CLOUDMINDS (SHENZHEN) HOLDINGS Co.,Ltd. |
|
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Address after: 201111 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Applicant after: Dayu robot Co.,Ltd. Address before: 200000 second floor, building 2, no.1508, Kunyang Road, Minhang District, Shanghai Applicant before: Dalu Robot Co.,Ltd. |
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GR01 | Patent grant | ||
GR01 | Patent grant |