CN204900694U

CN204900694U - Robot joint reduction gear

Info

Publication number: CN204900694U
Application number: CN201520478895.XU
Authority: CN
Inventors: 李德军
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-07-06
Filing date: 2015-07-06
Publication date: 2015-12-23
Anticipated expiration: 2025-07-06

Abstract

The utility model provides a robot joint reduction gear, includes planet carrier, transmission structure, front end housing and rear end cap, wherein the planet carrier before by the planet carrier terminal surface, planet carrier rear end face, bracing piece form, transmission structure forms characterized by by input shaft, sun gear, the star gear that moves ahead, back row star gear, planet shaft, preceding ring gear, back ring gear: preceding ring gear is as an organic whole with reduction case processing, fixes and does not rotate, back ring gear passes through steel wire track bearing and links to each other with the box, directly as output, star gear and the back row star gear of moving ahead all is the gear shaft, the input shaft is the gear shaft with the sun gear, and the one end that the input shaft links to each other with the motor is opened there is the hexagonal hole. The during operation motor passes through the input of input gear axle, drives the star gear that moves ahead and rotates with the star gear that moves ahead to drive the back ring gear and rotate, realize output. Adopt the structure of planet wheel, can obtain very big drive ratio, reduce the volume of reducing gear box simultaneously, be favorable to the optimization to industrial robot volume and structure.

Description

A kind of robot joint speed reducer

Technical field

The utility model relates to a kind of retarder, particularly a kind of robot joint speed reducer.

Background technique

In current automatic industrial is produced, robot is its core, but the certain operations of robot requires that speed is all slow, need speed reducer with high transmission ratio transmission, the problems such as existing retarder ubiquity velocity ratio is large not, bulky, can not meet the demand of robot to velocity ratio on the one hand, not only have impact on the flexibility of robot on the other hand, also cause the waste of resource simultaneously.

Model utility content

Large not for solving retarder velocity ratio, the problem that volume is too large, the utility model provides a kind of robot joint speed reducer.

The utility model solves the technological scheme that its technical problem adopts: comprise planet carrier, drive mechanism, front cover and rear end cover, wherein planet carrier is made up of planet carrier front-end face, planet carrier ear end face, strut, and planet carrier front-end face connects firmly into an entirety with planet carrier ear end face by strut; Drive mechanism is made up of input shaft, sun gear, front planet wheel, rear planet wheel, planet wheel shaft, front ring gear, rear ring gear, sun gear engages with front planet wheel, front planet wheel engages with front ring gear, rear planet wheel engages with rear ring gear, planet wheel shaft is connected on planet carrier by bearing, and front cover is arranged on gear box input end face, and rear end cover is arranged on rear internal gear output terminal end face, it is characterized in that: front ring gear and reduction case are processed as one, maintain static dynamic; Rear ring gear is connected with casing by orbit of steel wire bearing, directly as exporting; Front planet wheel and rear planet wheel all follow planet wheel shaft to be processed as one, and are gear shaft; Input shaft and sun gear are gear shaft, and input shaft input end has hexagonal hole, is directly connected with motor.

The beneficial effect that the utility model adopts said structure to reach is: the structure adopting planet wheel, very large velocity ratio can be obtained, reduce the volume of speed reducer simultaneously, be conducive to the optimization to industrial robot volume and structure, while increasing configuration flexibility, improve the utilization ratio in space, workshop.

Accompanying drawing explanation

Fig. 1 is the structural representation that robot joint speed reducer takes away front cover;

Fig. 2 is the A-A sectional view of Fig. 1;

Fig. 3 is robot joint speed reducer overall schematic;

Fig. 4 is the structural representation that robot joint speed reducer takes away front ring gear, end cap and end face;

Fig. 5 is the planet carrier of robot joint speed reducer and the structural representation of planet wheel;

Fig. 6 is robot joint speed reducer solar wheeling tooth wheel axle structure schematic diagram;

Wherein: ring gear before 1, ring gear after 2, planet wheel before 3, planet wheel after 4,5 sun gears, 6 input shafts, 7 planet carrier front-end faces, 8 struts, 9 planet carrier ear end faces, 10 orbit of steel wire bearings, 11 planet wheel shafts, 12 rear end covers, 13 front covers.

Embodiment

A kind of robot joint speed reducer, comprise planet carrier, drive mechanism, front cover 13 and rear end cover 12, planet carrier is made up of planet carrier front-end face 7, planet carrier ear end face 9, strut 8; Drive mechanism is made up of input shaft 6, sun gear 5, front planet wheel 3, rear planet wheel 4, front ring gear 1, rear ring gear 2, each gear number of teeth represents with gear numbering with after Z, be respectively: Z1=138, Z2=45, Z3=60, Z4=19, Z5=8, the modulus of sun gear 5, front planet wheel 3, front ring gear 1 is 2, and the modulus of rear planet wheel 4, rear ring gear 2 is 6, and the velocity ratio obtained is 300.

Front ring gear 1 is processed as one with reduction case, and maintain static dynamic, the diameter of such casing is little, and volume reduces greatly, saves space; Front cover 13 is arranged on casing input end end face.

Rear ring gear 2 is connected with casing by orbit of steel wire bearing 10, and its exterior edge face has tapped hole, is connected with output shaft by screw thread, directly as exporting; Rear end cover 12 is arranged on rear internal gear 2 output terminal end face.

Front planet wheel 3 and rear planet wheel 4 are processed as one with planet wheel shaft 11, and be gear shaft, the two ends of axle are connected respectively on the end face circular hole of planet carrier left and right by bearing, realize the rotation of planet wheel around its axle.

Input shaft 6 is gear shaft, is processed as one with sun gear 5, is gear shaft; The end of input shaft 6 is connected in the circular groove of rear ring gear 2 center by bearing, front end is connected in planet carrier square hole by bearing, and one end that input shaft 6 is connected with motor has hexagonal hole, does not need coupling when being connected with motor, reduce retarder axial length, make more compact structure.

Strut 8 two ends are stepped, and the face that strut 7 inputs with planet carrier, rear interior edge face contacts have two tapped holes.

Planet carrier front-end face 7 is identical with planet carrier ear end face 9 structure, and end face all has square hole, through hole and circular hole, and wherein square hole is used for positioning supporting frame 8, and tapped hole is near square hole, and screw is screwed in the tapped hole of strut 7 by circular hole and is fixed, and forms planet carrier; After being positioned at the circular hole installation bearing in neutral position, input shaft is installed; Peripheral circular hole is used for the axle of installed rows star-wheel, and the axle of planet wheel is arranged in the peripheral circular hole of end face by bearing.

During work: motor is inputted by input shaft 6, sun gear 5 is driven to rotate, sun gear 5 drives the rotation of front planet wheel 3, because internal tooth 1 before engaging with front planet wheel 3 maintains static, so front planet wheel 3 revolves round the sun around center simultaneously, front planet wheel 3 drives rear planet wheel 4 to rotate together, and rear planet wheel 4 drives the rear ring gear 2 engaged with it to rotate again, and rear ring gear 2 is exported by coupled output shaft.

Claims

1. a robot joint speed reducer, comprise planet carrier, drive mechanism, front cover (13) and rear end cover (12), wherein planet carrier is made up of planet carrier front-end face (7), planet carrier ear end face (9), strut (8), and planet carrier front-end face (7) connects firmly into an entirety with planet carrier ear end face (9) by strut (8); Drive mechanism is made up of input shaft (6), sun gear (5), front planet wheel (3), rear planet wheel (4), planet wheel shaft (11), front ring gear (1), rear ring gear (2), sun gear (5) engages with front planet wheel (3), front planet wheel (3) engages with front ring gear (1), and rear planet wheel (4) engages with rear ring gear (2); Planet wheel shaft (11) is connected on planet carrier by bearing, front cover (13) is arranged on gear box input end face, rear end cover (12) is arranged on rear internal gear (2) output terminal end face, it is characterized in that: front ring gear (1) and reduction case are processed as one, and front cover is arranged on casing; Described rear ring gear (2) is connected with casing by orbit of steel wire bearing (10); Described front planet wheel (3) and rear planet wheel (4) all follow planet wheel shaft (11) to be processed as one, and are gear shaft; Described input shaft (6) and sun gear (5) are gear shaft, and input shaft (6) input end has hexagonal hole, is directly connected with motor.