CN205745118U - 行星减速机构 - Google Patents

行星减速机构 Download PDF

Info

Publication number
CN205745118U
CN205745118U CN201620011577.7U CN201620011577U CN205745118U CN 205745118 U CN205745118 U CN 205745118U CN 201620011577 U CN201620011577 U CN 201620011577U CN 205745118 U CN205745118 U CN 205745118U
Authority
CN
China
Prior art keywords
gear
input
bearing
ring gear
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.)
Active
Application number
CN201620011577.7U
Other languages
English (en)
Inventor
刘朝龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201620011577.7U priority Critical patent/CN205745118U/zh
Application granted granted Critical
Publication of CN205745118U publication Critical patent/CN205745118U/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Retarders (AREA)

Abstract

一种行星减速机构,其行星轮架上通过行星轮轴安装有输入行星齿轮和输出行星齿轮,所述行星轮架的输入端中央安装有中心齿轮,且中心齿轮与输入行星齿轮啮合输入动力;所述行星轮架的输入端通过轴承安装有输入内齿圈,且输入内齿圈与输入行星齿轮啮合,所述输入内齿圈靠近输出端一侧通过轴承安装有输出内齿圈,且输出内齿圈与输出行星齿轮啮合;所述行星轮架的输出端通过轴承安装有动力输出盘,所述输入内齿圈靠近输出端一侧固定有轴承座,所述动力输出盘通过YRT轴承安装在轴承座中,所述动力输出盘通过柔性联轴器与输出内齿圈连接。本实用新型结构紧凑,速比大,特别适合用于机器人关节减速器。

Description

行星减速机构
技术领域
本实用新型涉及减速机构技术领域,尤其涉及一种行星减速机构。
背景技术
机器人关节减速器广泛采用RV减速器和谐波减速器。由于RV减速器对零件的加工及装配精度要求极高,在现有通用机床上难以实现高效率加工,需要昂贵的专用机床,因而制造成本较高。谐波减速器依靠柔轮的变形传递动力与运动,柔轮材料要求高、寿命较短,且不能传递较大的扭矩。
发明内容
为了解决上述技术问题,本实用新型提供一种行星减速机构,不但结构紧凑,传动速比大,而且输入输出同心传动,传递扭矩大,具有较高的传动精度和较高的机械效率,特别适合用于机器人关节减速器。
本实用新型的技术解决方案:一种行星减速机构,包括行星轮架,所述行星轮架上通过行星轮轴安装有输入行星齿轮和输出行星齿轮,所述行星轮架的输入端中央安装有中心齿轮,且中心齿轮与输入行星齿轮啮合,通过中心齿轮输入动力;所述行星轮架的输入端通过轴承安装有输入内齿圈,且输入内齿圈与输入行星齿轮啮合,所述输入内齿圈靠近输出端一侧通过轴承安装有输出内齿圈,且输出内齿圈与输出行星齿轮啮合;所述行星轮架的输出端通过轴承安装有动力输出盘,所述输入内齿圈靠近输出端一侧固定有轴承座,所述动力输出盘通过YRT轴承安装在轴承座中,所述动力输出盘通过柔性联轴器与输出内齿圈连接。
所述行星轮架由两个连为一体的轮型支架及其中一个靠近输出端的轮型支架带有的输出端轴颈构成,所述行星轮轴的两端通过轴承安装在两个轮型支架上,所述输入行星齿轮和输出行星齿轮位于两个轮型支架之间;所述动力输出盘通过轴承安装在输出端轴颈上。
所述YRT轴承与动力输出盘、轴承座为一体化结构,由动力输出盘外径上具有的环形凸台,安装在环形凸台三面的三列滚柱,并通过轴承座及压盖压装构成。
所述柔性联轴器为弹性膜片联轴器。
所述输入内齿圈靠近输入端一侧固定有端盖。
相较于现有技术,本实用新型具有如下有益效果:
1、通过将YRT轴承优化设计为一体化结构,因而具有更为紧凑的结构和更小的体积,同时也比采用独立的YRT轴承成品大幅度降低了成本。最小体积可以做到外径77mm,厚度44mm。
2、输入轴与输出轴处在同一个旋转中心,提高了轴向、径向承载力,传递扭矩大。
3、安装时动力输入端可与电机同轴直联,且只有一个台肩作为基准,因此安装使用方便。
4、具有较高的传动精度和较高的机械效率。传动效率和传动速比优于RV减速器。传动效率达到90%以上。传动速比范围达到500-40。
5、通过柔性联轴器输出动力,对于机器人使用过程中的撞机操作可起到缓冲、减震作用,保护减速机免受刚性撞击,延长寿命,确保精度。
6、具有断电停机自锁功能。断电停机后,输出端施加扭矩时,减速机构不转动,因此无须选择带抱闸电机作为输入动力,不但可靠性高,降低了使用成本,而且维修方便。
附图说明
图1是本实用新型的结构剖视图,
图2是本实用新型行星轮架的结构剖视图,
图3是本实用新型柔性联轴器部位的结构剖视图。
具体实施方式
下面结合附图1、2、3描述本实用新型的一种实施例。
一种行星减速机构,包括行星轮架5,所述行星轮架5上通过行星轮轴7安装有输入行星齿轮3和输出行星齿轮15,所述行星轮架5的输入端中央安装有中心齿轮1,且中心齿轮1与输入行星齿轮3啮合,通过中心齿轮1输入动力;所述行星轮架5的输入端通过轴承17安装有输入内齿圈4,且输入内齿圈4与输入行星齿轮3啮合,所述输入内齿圈4靠近输出端一侧通过轴承14安装有输出内齿圈6,且输出内齿圈6与输出行星齿轮15啮合;所述行星轮架5的输出端通过轴承12安装有动力输出盘11,所述输入内齿圈4靠近输出端一侧固定有轴承座8,所述动力输出盘11通过YRT轴承9安装在轴承座8中,所述动力输出盘11通过柔性联轴器13与输出内齿圈6连接。所述柔性联轴器13为弹性膜片联轴器。所述输入内齿圈4靠近输入端一侧固定有端盖2。
所述行星轮架5由两个连为一体的轮型支架18及其中一个靠近输出端的轮型支架18带有的输出端轴颈19构成,所述行星轮轴7的两端通过轴承16安装在两个轮型支架18上,所述输入行星齿轮3和输出行星齿轮15位于两个轮型支架18之间;所述动力输出盘11通过轴承12安装在输出端轴颈19上。
所述YRT轴承9与动力输出盘11、轴承座8为一体化结构,由动力输出盘11外径上具有的环形凸台20,安装在环形凸台20三面的三列滚柱21,并通过轴承座8及压盖10压装构成。
工作时,首先通过输入内齿圈4外圆上具有的法兰盘将本实用新型安装固定在机器人关节部位,然后将电机同轴固定安装在端盖2上,并使电机主轴与中心齿轮1同轴联接,带动中心齿轮1转动,中心齿轮1带动输入行星齿轮3自转的同时绕输入内齿圈4公转,进而带动行星轮架5公转,同时安装在行星轮轴7上的输出行星齿轮15自转的同时绕输出内齿圈6公转,通过行星轮架5公转以及输出行星齿轮15自转的同时绕输出内齿圈6公转带动输出内齿圈6旋转,将动力通过动力输出盘11减速输出,实现了输入输出同心传动,结构紧凑,减速速比大,轴向、径向承载力高,传递扭矩大,且具有较高的传动精度和较高的机械效率。特别是具有断电停机自锁功能,不但可靠性高,而且维修方便。
此外,为了防止机器人使用过程中的撞机操作对减速机构寿命和精度的影响,动力输出盘11通过YRT轴承承载轴向、径向力,通过柔性联轴器13与输出内齿圈6连接,对于机器人使用过程中的撞机操作可起到缓冲、减震作用,保护减速机构免受刚性撞击,延长寿命,确保精度。
上述实施例,只是本实用新型的较佳实施例,并非用来限制本实用新型实施范围,故凡以本实用新型权利要求所述内容所做的等同变化,均应包括在本实用新型权利要求范围之内。

Claims (4)

1.一种行星减速机构,其特征在于:包括行星轮架(5),所述行星轮架(5)上通过行星轮轴(7)安装有输入行星齿轮(3)和输出行星齿轮(15),所述行星轮架(5)的输入端中央安装有中心齿轮(1),且中心齿轮(1)与输入行星齿轮(3)啮合,通过中心齿轮(1)输入动力;所述行星轮架(5)的输入端通过轴承(17)安装有输入内齿圈(4),且输入内齿圈(4)与输入行星齿轮(3)啮合,所述输入内齿圈(4)靠近输出端一侧通过轴承(14)安装有输出内齿圈(6),且输出内齿圈(6)与输出行星齿轮(15)啮合;所述行星轮架(5)的输出端通过轴承(12)安装有动力输出盘(11),所述输入内齿圈(4)靠近输出端一侧固定有轴承座(8),所述动力输出盘(11)通过YRT轴承(9)安装在轴承座(8)中,所述动力输出盘(11)通过柔性联轴器(13)与输出内齿圈(6)连接;所述行星轮架(5)由两个连为一体的轮型支架(18)及其中一个靠近输出端的轮型支架(18)带有的输出端轴颈(19)构成,所述行星轮轴(7)的两端通过轴承(16)安装在两个轮型支架(18)上,所述输入行星齿轮(3)和输出行星齿轮(15)位于两个轮型支架(18)之间;所述动力输出盘(11)通过轴承(12)安装在输出端轴颈(19)上。
2.根据权利要求1所述的行星减速机构,其特征在于:所述YRT轴承(9)与动力输出盘(11)、轴承座(8)为一体化结构,由动力输出盘(11)外径上具有的环形凸台(20),安装在环形凸台(20)三面的三列滚柱(21),并通过轴承座(8)及压盖(10)压装构成。
3.根据权利要求2所述的行星减速机构,其特征在于:所述柔性联轴器(13)为弹性膜片联轴器。
4.根据权利要求3所述的行星减速机构,其特征在于:所述输入内齿圈(4)靠近输入端一侧固定有端盖(2)。
CN201620011577.7U 2016-01-07 2016-01-07 行星减速机构 Active CN205745118U (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201620011577.7U CN205745118U (zh) 2016-01-07 2016-01-07 行星减速机构

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201620011577.7U CN205745118U (zh) 2016-01-07 2016-01-07 行星减速机构

Publications (1)

Publication Number Publication Date
CN205745118U true CN205745118U (zh) 2016-11-30

Family

ID=57388355

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201620011577.7U Active CN205745118U (zh) 2016-01-07 2016-01-07 行星减速机构

Country Status (1)

Country Link
CN (1) CN205745118U (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108561512A (zh) * 2018-06-15 2018-09-21 宝鸡捷泰智能科技有限公司 行星减速机

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108561512A (zh) * 2018-06-15 2018-09-21 宝鸡捷泰智能科技有限公司 行星减速机

Similar Documents

Publication Publication Date Title
CN106864251B (zh) 轮毂电机驱动装置
KR101538080B1 (ko) 인휠 어셈블리 및 이를 구비하는 차량
CN205654786U (zh) 行星减速机
CN102359555B (zh) 精密摆线活齿传动减速器
CN206067493U (zh) 强力支撑型电驱动减速器
CN205559699U (zh) 墙面打磨机的驱动机构及墙面打磨机
CN105465286A (zh) 行星减速机
CN106426264A (zh) 一种具有内置传动轴的机器人手腕
CN205745117U (zh) 小型行星减速机构
CN204525513U (zh) 一种无奇异点的三自由度腕部结构
CN205745118U (zh) 行星减速机构
CN201604221U (zh) 混凝土搅拌车专用减速器
CN106594185A (zh) 一种单输入双输出齿轮箱和超大型磨机多点啮合齿轮驱动***
CN105889438A (zh) 减速器
CN206111961U (zh) 一种三齿联动双曲柄针轮输出摆线少齿差行星减速器
CN202203344U (zh) 精密摆线减速器
CN201604216U (zh) 混凝土搅拌车专用减速器
CN201396406Y (zh) 力矩分流减速机
CN205350214U (zh) 小型行星减速机
CN105465288A (zh) 行星减速机构
CN206924842U (zh) 一种超大型磨机多点啮合齿轮驱动***
US20210123179A1 (en) Decelerating clutch of a washing machine, and washing machine
CN104595424A (zh) 行星齿轮边减速器总成
CN209398799U (zh) 一种大速比高速行星轮系减速器结构
CN104653716B (zh) 一种复式全齿驱动偏心活齿传动装置

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Double moduli high-accurate planet reducing mechanism

Effective date of registration: 20171103

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: 2017610000139

PE01 Entry into force of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20181114

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: 2017610000139

PC01 Cancellation of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Double moduli high-accurate planet reducing mechanism

Effective date of registration: 20181123

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: 2018610000193

PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20191203

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: 2018610000193

PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Planetary reducing mechanism

Effective date of registration: 20191206

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2019610000053

PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20201207

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2019610000053

PC01 Cancellation of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Planetary reducer

Effective date of registration: 20201210

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2020610000228

PE01 Entry into force of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20220107

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2020610000228

PC01 Cancellation of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Planetary reduction mechanism

Effective date of registration: 20220111

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2022980000317

PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20230207

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2022980000317

PC01 Cancellation of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Planetary reduction mechanism

Effective date of registration: 20230329

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2023980036734

PE01 Entry into force of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20230905

Granted publication date: 20161130

Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch

Pledgor: Liu Chaolong

Registration number: Y2023980036734

PC01 Cancellation of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of utility model: Planetary reduction mechanism

Effective date of registration: 20230906

Granted publication date: 20161130

Pledgee: Baoji Weibin rural commercial bank Limited by Share Ltd.

Pledgor: Liu Chaolong

Registration number: Y2023980055611

PE01 Entry into force of the registration of the contract for pledge of patent right