Planetary decelerating device
A planetary deceleration and planetary carrier technology, which is applied in the field of industrial robot reducers, can solve problems such as increased transmission ratio, poor rigidity, and easy fatigue, and achieve the effect of increasing torque and reasonable structure
Pending Publication Date: 2019-04-16
浙江环动机器人关节科技股份有限公司
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Problems solved by technology
Among them, the RV reducer has a compact structure, high overturning rigidity and torsional rigidity, and impact resistance, but the design of the transmission ratio cannot be further increased due to the limitation of the cycloid wheel
Harmonic reducer adopts the principle of elastic deformation, so it has the advantage of large speed ratio in the case of small size, but the rigidity is poor, it can only be used in the case of light load and it is easy to fatigue
Method used
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Embodiment 1
[0020] Such as Figure 1-4 As shown, the planetary deceleration device of the present invention includes a pin gear housing 12. The pin gear housing 12 has rolling grooves inside, and the rolling grooves are evenly distributed along the circumferential direction. Needle rollers 11 are arranged on the rolling grooves. The pin gear housing 12 One side of 12 is connected to the input planetary carrier 14 through the main bearing 10, and the other side is connected to the output planetary carrier 2 in rotation. N sets of planetary gears 19 beside 14 and evenly distributed along the circumferential direction are engaged in transmission at the same time; the planetary gears 19 make the flex spline 16 mesh with the internal teeth on the input planet carrier 14 through the wave generator 17, and the flex spline 16 transmits power to the crankshaft 3. The first cycloidal wheel 8 and the second cycloidal wheel 9 with a phase difference of 180° between the two pieces are hinged on N cran...
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The invention discloses a planetary decelerating device, and belongs to the technical field of industrial robot reducers. The planetary decelerating device is composed by comprising a needle gear ring, the needle gear ring is internally provided with a rolling needle, one side of the needle gear ring is connected with an input planetary frame, the other side of the needle gear ring is an output planetary frame, the input planetary frame and the output planetary frame are connected and fixed as one, N inner tooth structures (N=2 or 3) uniformly distributed in the circumferential direction are arranged in an input planetary frame bearing hole, flexible wheels mesh with the inner tooth structures by planet wheels through wave generators, the flexible wheels transmit power to crankshafts through positioning pins and inner hexagon screws, input shafts are simultaneously in meshing transmission with N sets of planetary gears, wherein the planetary gears are placed on the outer side of the input planetary frame and evenly distributed, and the input planetary frame and the output planetary frame which are fixed as one are pushed by N pairs of crankshaft supporting bearings which are installed on the input planetary frame and the output planetary frame to transmit the rotation vector of cycloid wheels as 1 to 1 to the output planetary frame. According to the planetary decelerating device, under the conditions that power is constant and the deceleration ratio is increased, the output rotating speed is decreased, and thus the purpose of increasing torque is achieved.
Description
technical field [0001] The invention belongs to the technical field of industrial robot reducers, and in particular relates to a planetary reducer. technical background [0002] At present, industrial robot reducers generally use RV reducers and harmonic reducers. Among them, the RV reducer has a compact structure, high overturning rigidity and torsional rigidity, and impact resistance, but the design of the transmission ratio cannot be further increased due to the limitation of the cycloidal wheel. The harmonic reducer adopts the principle of elastic deformation to have the advantage of large speed ratio in the case of small size, but the rigidity is poor, it can only be used in the case of light load and it is easy to fatigue. [0003] Therefore, how to control the external dimensions of the reduction gear on the original basis and increase the transmission ratio and the output torque of the reduction gear on the basis of maintaining high rigidity, impact resistance and c...
Claims
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IPC IPC(8): F16H49/00F16H1/32F16H57/029F16H57/08
CPCF16H1/32F16H49/001F16H57/029F16H57/082F16H2001/323F16H2001/327
Inventor 张靖黄襄茂谢发祥
Owner 浙江环动机器人关节科技股份有限公司