CN204852190U - Be used for articular planet transmission reduction gear of robot or arm - Google Patents
Be used for articular planet transmission reduction gear of robot or arm Download PDFInfo
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- CN204852190U CN204852190U CN201520449526.8U CN201520449526U CN204852190U CN 204852190 U CN204852190 U CN 204852190U CN 201520449526 U CN201520449526 U CN 201520449526U CN 204852190 U CN204852190 U CN 204852190U
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- ring gear
- gear
- robot
- joint
- mechanical arm
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- 230000009467 reduction Effects 0.000 title abstract description 19
- 230000005540 biological transmission Effects 0.000 title abstract 2
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 44
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The utility model discloses a be used for articular planet transmission reduction gear of robot or arm, including sun gear, planet carrier, driving piece, at least one planet wheel, control, first ring gear and second ring gear, control driving piece selectively drives sun gear or sun gear and planet carrier and rotates together, planet wheel and the equal and planetary gear meshing of sun gear meshing, first ring gear and second ring gear, and the number of teeth of first ring gear and second ring gear is different. The utility model discloses utilize sun gear, planet carrier, planet wheel, first ring gear and second ring gear to form a planetary gear reducer structure for compact structure, reduced size, and set up first ring gear and second ring gear simultaneously, improve reduction gear unit and compare, make at the in -process that uses, the second ring gear has output always to provide output power together jointly through second ring gear or second ring gear and planet carrier, make the user power take off of the different speed reducing ratio of optional as required.
Description
Technical field
The utility model relates to robot or mechanical arm and drives field, particularly a kind of planetary gearing speed reducer for robot or joint of mechanical arm.
Background technique
Along with the development of technology, robot is more and more welcome in the application of every field.The joint drive place of the mechanism hand of robot, particularly robot commonly uses retarder.At present, conventional retarder mainly contains RV retarder and harmonic speed reducer and common cylinder gear reducer.RV retarder and harmonic speed reducer cost high, difficulty of processing is large, although common cylinder gear speed reducer mechanism is simple, volume is large, heavy, and contact ratio is not high and be unfavorable for the raising of power performance.
Model utility content
In order to solve the problem of prior art, the utility model embodiment provides a kind of planetary gearing speed reducer for robot or joint of mechanical arm, and to avoid, the retarder volume in existing robot or joint of mechanical arm is large, the little high cost problem of velocity ratio.Described technological scheme is as follows:
In order to solve the problem of prior art, the utility model proposes following technological scheme:
A kind of planetary gearing speed reducer for robot or joint of mechanical arm, comprise sun gear, planet carrier, actuator and be installed at least one planet wheel on described planet carrier, the described planetary gearing speed reducer for robot or joint of mechanical arm also comprises control piece, the first fixing ring gear and rotating second ring gear; Described actuator connects described control piece, and described control piece sends control command to described actuator, controls described actuator and selectively drives the rotation of described sun gear or described sun gear to rotate together with described planet carrier; Planet wheel described in each all engages with described sun gear, and each planet wheel all engages with described first ring gear and described second ring gear, and described first ring gear is different with the number of teeth of described second ring gear.
Preferably, described control piece sends instruction to described actuator, control described actuator when driving sun gear, described planet wheel drives described second ring gear to rotate and outputting power, and the sense of rotation of described second ring gear and the sense of rotation of described driving wheel is contrary.
Preferably, described control piece sends instruction to described actuator, control described actuator when driving described sun gear to rotate together with described planet carrier simultaneously, described planet wheel rotates around described sun gear, and described planet wheel drives described second ring gear to rotate, described planet carrier is all identical with the driving direction of described actuator with the sense of rotation of described second ring gear.
Preferably, the number of gears of described second ring gear is greater than the number of gears of described first ring gear, and the ratio of the number of gears of described first ring gear and the number of gears of described second ring gear is between 0.8 ~ 0.99.
Preferably, the number of gears of described first ring gear is greater than the number of gears of described second ring gear, and the ratio of the number of gears of described first ring gear and the number of gears of described second ring gear is between 1.02 ~ 1.2.
Preferably, described actuator is motor, described motor also comprises motor contact, and the described planetary gearing speed reducer for robot or joint of mechanical arm also comprises the solar shaft be connected with described motor contact, and described sun gear is be fixed on the gear on described solar shaft.
Preferably, described actuator is motor, described motor also comprises motor contact, and the described planetary gearing speed reducer for robot or joint of mechanical arm also comprises the solar shaft be connected with described motor contact, and described sun gear is the concentric gear flange collar arranged around the side face of described solar shaft.
Preferably, described motor contact is also fixed with coupling, described coupling is connected with described planet carrier and described control piece, described control piece is according to the action need of user, send instruction to described motor contact, control the connection that described motor contact connects described planet carrier or disconnection and described planet carrier.
Preferably, the described planetary gearing speed reducer for robot or joint of mechanical arm comprises 1 ~ 10 planet wheel, and described planet wheel is evenly distributedly round described sun gear, and the center of circle of the place, axle center of planet wheel described in each circle is the axle center of described sun gear; Described first ring gear and described second ring gear all overlap with the shaft axis of described sun gear, and each planet wheel described is the incircle gear of described first ring gear and described second ring gear.
The beneficial effects of the utility model are as follows:
Planetary gearing speed reducer for robot or joint of mechanical arm of the present utility model utilizes sun gear, planet carrier, planet wheel, the first ring gear and the second ring gear to form a planetary gear speed-reduction structure, makes compact structure, reduces volume; And the first fixing ring gear and the second ring gear of rotation are set simultaneously, improve step-down ratio; Make in the process used, second ring gear has output always, thus cooperatively provide outputting power by the second ring gear outputting power or the second ring gear and planet carrier, the power of the different reduction speed ratio making user that the utility model can be selected as required to provide for the planetary gearing speed reducer of robot or joint of mechanical arm.
Accompanying drawing explanation
Fig. 1 is the utility model for the perspective view of the planetary gearing speed reducer of robot or joint of mechanical arm.
Fig. 2 is the part explosive view of Fig. 1.
Fig. 3 is the sectional view of Fig. 1 along A-A line.
Embodiment
For making the purpose of this utility model, technological scheme and advantage clearly, below in conjunction with accompanying drawing, the utility model mode of execution is described in further detail.
Please refer to Fig. 1, the utility model embodiment provides a kind of planetary gearing speed reducer for robot or joint of mechanical arm, and it comprises sun gear 1, planet carrier 3, at least one planet wheel 5 be installed on planet carrier 3, actuator (not shown), control piece (not shown), the first fixing ring gear 7 and rotating second ring gear 9.Actuator connection control part, control piece control actuator connection sun gear 1 and selectively connected row carrier 3.Actuator, under the control command of control piece, selectively drives sun gear 1 or sun gear 1 and planet carrier 3 to rotate.Each planet wheel 5 all engages with sun gear 1, and each planet wheel 5 all engages with the first ring gear 7 and the second ring gear 9.And the first ring gear 7 is different with the number of teeth of the second ring gear 9.
The planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm utilizes sun gear 1, planet carrier 3, planet wheel 5, first ring gear 7 and the second ring gear 9 to form a planetary gear speed-reduction structure, makes compact structure, reduces volume; And utilize sun gear 1, planet wheel 5, first ring gear 7 and the second ring gear 9 engage each other transferring power, can raise the efficiency.The second ring gear 9 that the planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm arranges the first fixing ring gear 7 simultaneously and rotates, improves step-down ratio; And in the process used, second ring gear 9 has output always, thus cooperatively provide outputting power by the second ring gear 9 outputting power or the second ring gear 9 and planet carrier 3, the power of the different reduction speed ratio making user that the utility model can be selected as required to provide for the planetary gearing speed reducer of robot or joint of mechanical arm.
Particularly, in the present embodiment, as required, control piece sends instruction to actuator, and instruction actuator only drives sun gear 1 to rotate.Now, planet carrier 3 does not rotate, and sun gear 1 drives planet wheel 5 to rotate around the axis of planet wheel 5 self.Planet wheel 5 drives the second ring gear 9 to rotate and outputting power, and the sense of rotation of the second ring gear 9 and the direction of rotation of sun gear 1, namely: the output sense of rotation of the second ring gear 9 is contrary with the driving direction of actuator.In this first situation, the reduction speed ratio K of the second ring gear 9 output
second ring gear=(1+Z
first ring gear/ Z
sun gear)/| (1-Z
first ring gear/ Z
second ring gear) ︱, wherein, K
second ring gearbe the reduction speed ratio of the second ring gear 9 when exporting, Z
first ring gearbe the number of teeth, the Z of the first ring gear 7
sun gearbe the number of teeth, the Z of sun gear 1
second ring gearit is the number of teeth of the second ring gear 9.In the present embodiment, the reduction speed ratio K of the second ring gear 9
second ring gearscope be 3 ~ 500, and preferably, be 60 ~ 500; As required, the first ring gear 7, second ring gear 9 of the different number of teeth and sun gear 1 is selected can to obtain the reduction speed ratio of expecting.
As required, control piece sends instruction to actuator, and instruction actuator drives sun gear 1 to rotate together with planet carrier 3 simultaneously.Now, sun gear 1 rotates, and sun gear 1 makes planet wheel 5 while around own rotation together with actuator, also rotates around sun gear 1.Planet wheel 5 drives the second ring gear 9 to rotate, and sense of rotation and sun gear 1 is identical.In this second situation, planet carrier 3 is as outputting power together with the second ring gear 9, and planet carrier 3 is identical with the driving direction of actuator with the output sense of rotation of the second ring gear 9.The reduction speed ratio K that planet carrier 3 exports
planet carrier=1+Z
first ring gear/ Z
sun gear, wherein, K
planet carrierfor reduction speed ratio when planet carrier 3 exports, Z
first ring gearbe the number of teeth, the Z of the first ring gear 7
sun gearit is the number of teeth of sun gear 1.The reduction speed ratio K of planet carrier 3
planet carrierscope be 3 ~ 20, as required, select the first ring gear 7 of the different number of teeth and sun gear 1 can obtain expect reduction speed ratio.At this in second in situation, the reduction speed ratio K that the second ring gear 9 exports
second ring gearthe same with above-mentioned, do not repeat them here.At this in second in situation, the planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm has the outputting power of two kinds of different reduction speed ratio, according to the needs that robot or joint of mechanical arm move, may be used for the motion of drive machines people or joint of mechanical arm different parts simultaneously, and the synchronism of motion can be kept.
Such as, in one embodiment, the tooth number Z of sun gear 1
sun gearit is the tooth number Z of the 12, first ring gear 7
first ring gearit is the tooth number Z of the 60, second ring gear 9
second ring gearbe 63.Then in the first case described above, the planetary gearing speed reducer for robot or joint of mechanical arm of the present utility model can export a reduction speed ratio by planet carrier 3 is the power of 6.In above-mentioned the second situation, it is the power of 6 that the planetary gearing speed reducer for robot or joint of mechanical arm of the present utility model can export a reduction speed ratio by planet carrier 3; And to export a reduction speed ratio by the second ring gear 9 be the power of 126 simultaneously.It should be noted that, planetary gearing speed reducer for robot or joint of mechanical arm of the present utility model also has auto-lock function, namely be if go out input power from the second ring gear 9, the planetary gearing speed reducer for robot or joint of mechanical arm of the present utility model cannot work.
Particularly, the number of gears of the second ring gear 9 is greater than the number of gears of the first ring gear 7.In order to ensure reduction speed ratio K when the second ring gear 9 exports
second ring gearremain in larger scope, the ratio of the number of gears of the first ring gear 7 and the number of gears of the second ring gear 9 is between 0.8 ~ 0.99; Preferably, the number of gears of the first ring gear 7 is 0.95 with the ratio of the number of gears of the second ring gear 9.It should be noted that, in other embodiments, the number of gears of the first ring gear 7 also can be greater than the number of gears of the second ring gear 9, and now, the ratio of the number of gears of the first ring gear 7 and the number of gears of the second ring gear 9 is between 1.02 ~ 1.2; Preferably, the number of gears of the first ring gear 7 is 1.05 with the ratio of the number of gears of the second ring gear 9.
Incorporated by reference to reference Fig. 2 and Fig. 3, in the present embodiment, above-mentioned actuator is motor, and motor also comprises motor contact.The planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm comprises the solar shaft 2 be connected with motor contact, and sun gear is be fixed on the gear on solar shaft 2.In other embodiments, sun gear 1 also can be the concentric gear flange collar arranged around the side face of solar shaft 2.In order to extend the life-span of solar shaft 2, reduce the loss in using process, the planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm is also provided with the bearing (not shown) for supporting solar shaft 2 and motor contact.
Motor contact is also fixed with coupling (not shown).Coupling is connected with planet carrier 3, and coupling is electrically connected with control piece.The needs that control piece operates according to user, control piece sends instruction to motor contact, to control the connection of motor contact connected row carrier 3 or disconnection and planet carrier 3, thus the planetary gearing speed reducer that control the utility model is used for robot or joint of mechanical arm works in situation in the first situation above-mentioned or second.
Particularly, the utility model comprises 1 ~ 10 planet wheel 5 for the planetary gearing speed reducer of robot or joint of mechanical arm; Preferably, these planet wheels 5 are evenly distributedly round sun gear 1, and the center of circle of the place, axle center of these planet wheels 5 circle is the axle center of sun gear 1.In the present embodiment, each planet wheel 5 is mono-tooth ring planet wheel.Sun gear 1 of the present utility model, planet wheel 5, first ring gear 7 and the second ring gear 9 are standard involute gear or displacement involute gear, such as, the tooth of sun gear 1, planet wheel 5, first ring gear 7 and the second ring gear 9 can be direct tooth type, cone flute profile, circle-arc tooth, sawtooth pattern or triangle flute profile etc.
First ring gear 7 and the second ring gear 9 all overlap with the shaft axis of sun gear 1, and the first ring gear 7 and the second ring gear 9 are all enclosed within outside planet wheel 5, and each planet wheel 5 is the inscribed gears of the first ring gear 7 and the second ring gear 9.
Incorporated by reference to reference Fig. 2 and Fig. 3, the planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm also comprises housing 10, sun gear 1, planet carrier 3, be installed at least one planet wheel 5, first ring gear 7 on planet carrier 3 and the second ring gear 9 is all contained in housing 10, and the first ring gear 7 is fixed in housing 10.
The planetary gearing speed reducer that the utility model is used for robot or joint of mechanical arm also comprises the end cap 20 being covered on housing 10, and motor is fixed on end cap 20, and motor contact is fixedly connected with solar shaft 2 through end cap 20.It should be noted that, housing 10 is also provided with housing lid (non-label), for sun gear 1, planet carrier 3, planet wheel 5, first ring gear 7 and the second ring gear 9 being protected together with housing 10.
The foregoing is only preferred embodiment of the present utility model, not in order to limit the utility model, all within spirit of the present utility model and principle, any amendment done, equivalent replacement, improvement etc., all should be included within protection domain of the present utility model.
Claims (9)
1. the planetary gearing speed reducer for robot or joint of mechanical arm, it comprises sun gear, planet carrier, actuator and is installed at least one planet wheel on described planet carrier, it is characterized in that, the described planetary gearing speed reducer for robot or joint of mechanical arm also comprises control piece, the first fixing ring gear and rotating second ring gear;
Described actuator connects described control piece, and described control piece sends control command to described actuator, controls described actuator and selectively drives the rotation of described sun gear or described sun gear to rotate together with described planet carrier;
Planet wheel described in each all engages with described sun gear, and each planet wheel all engages with described first ring gear and described second ring gear, and described first ring gear is different with the number of teeth of described second ring gear.
2. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, described control piece sends instruction to described actuator, when controlling described actuator driving sun gear, described planet wheel drives described second ring gear to rotate and outputting power, and the sense of rotation of described second ring gear and the sense of rotation of described driving wheel is contrary.
3. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, described control piece sends instruction to described actuator, control described actuator when driving described sun gear to rotate together with described planet carrier simultaneously, described planet wheel rotates around described sun gear, and described planet wheel drives described second ring gear to rotate, described planet carrier is all identical with the driving direction of described actuator with the sense of rotation of described second ring gear.
4. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, the number of gears of described second ring gear is greater than the number of gears of described first ring gear, and the ratio of the number of gears of described first ring gear and the number of gears of described second ring gear is between 0.8 ~ 0.99.
5. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, the number of gears of described first ring gear is greater than the number of gears of described second ring gear, and the ratio of the number of gears of described first ring gear and the number of gears of described second ring gear is between 1.02 ~ 1.2.
6. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, described actuator is motor, described motor also comprises motor contact, the described planetary gearing speed reducer for robot or joint of mechanical arm also comprises the solar shaft be connected with described motor contact, and described sun gear is be fixed on the gear on described solar shaft.
7. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, described actuator is motor, described motor also comprises motor contact, the described planetary gearing speed reducer for robot or joint of mechanical arm also comprises the solar shaft be connected with described motor contact, and described sun gear is the concentric gear flange collar arranged around the side face of described solar shaft.
8. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 6 or 7, it is characterized in that, described motor contact is also fixed with coupling, described coupling is connected with described planet carrier and described control piece, described control piece is according to the action need of user, send instruction to described motor contact, control the connection that described motor contact connects described planet carrier or disconnection and described planet carrier.
9. the planetary gearing speed reducer for robot or joint of mechanical arm according to claim 1, it is characterized in that, the described planetary gearing speed reducer for robot or joint of mechanical arm comprises 1 ~ 10 planet wheel, described planet wheel is evenly distributedly round described sun gear, and the center of circle of the place, axle center of planet wheel described in each circle is the axle center of described sun gear; Described first ring gear and described second ring gear all overlap with the shaft axis of described sun gear, and each planet wheel described is the incircle gear of described first ring gear and described second ring gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520449526.8U CN204852190U (en) | 2015-06-26 | 2015-06-26 | Be used for articular planet transmission reduction gear of robot or arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520449526.8U CN204852190U (en) | 2015-06-26 | 2015-06-26 | Be used for articular planet transmission reduction gear of robot or arm |
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| Publication Number | Publication Date |
|---|---|
| CN204852190U true CN204852190U (en) | 2015-12-09 |
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|---|---|---|---|
| CN201520449526.8U Withdrawn - After Issue CN204852190U (en) | 2015-06-26 | 2015-06-26 | Be used for articular planet transmission reduction gear of robot or arm |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2019114033A1 (en) * | 2017-12-15 | 2019-06-20 | 变厚机器人关节技术(上海)有限公司 | Thickness-variable transmission structure for robot joint |
| CN111795120A (en) * | 2020-07-08 | 2020-10-20 | 何金仙 | Self-locking planetary reducer |
| CN111828549A (en) * | 2019-04-17 | 2020-10-27 | 深圳市智擎新创科技有限公司 | Quadruped robot joint power module |
| CN112431914A (en) * | 2020-11-19 | 2021-03-02 | 何金仙 | Precision positioning self-locking bearing speed reducer |
-
2015
- 2015-06-26 CN CN201520449526.8U patent/CN204852190U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| WO2019114033A1 (en) * | 2017-12-15 | 2019-06-20 | 变厚机器人关节技术(上海)有限公司 | Thickness-variable transmission structure for robot joint |
| CN111828549A (en) * | 2019-04-17 | 2020-10-27 | 深圳市智擎新创科技有限公司 | Quadruped robot joint power module |
| CN111795120A (en) * | 2020-07-08 | 2020-10-20 | 何金仙 | Self-locking planetary reducer |
| CN112431914A (en) * | 2020-11-19 | 2021-03-02 | 何金仙 | Precision positioning self-locking bearing speed reducer |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20160627 Address after: 518100, Guangdong, Longhua New District, Longhua street, Shenzhen yuan Fen sheep long village, Chang Feng Industrial Park, 5 floor Patentee after: Yang Minghai Address before: 518100, Guangdong District, Longhua, Shenzhen New District big wave Street peak community, Yuan Fen sheep Dragon Village 22, building 5, A District Patentee before: SHENZHEN RED DRAGON ELECTRICAL HARDWARE CO., LTD. Patentee before: Yang Minghai Patentee before: Cao Yanlong |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151209 Effective date of abandoning: 20180626 |