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Planetary gear transmission mechanism, robot joint reducer and robot

A planetary gear transmission, robot joint technology, applied in the direction of gear transmission, transmission, belt/chain/gear, etc., can solve the problems of high processing precision, high cost, increased cost, etc., and achieves reduced processing difficulty and production. Cost reduction, cost reduction effect

Active Publication Date: 2016-01-06
吴建红
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Harmonic reducers and cycloid RV reducers are widely used in robots to achieve large transmission ratio, small size, high precision and high torque. Among them, the harmonic reducer has a relatively simple structure, but it uses a flexible spline The structure has weak rigidity and can only be applied to occasions with small torque; the cycloidal pin wheel RV reducer adopts cycloidal gear transmission, which is sensitive to manufacturing errors and requires high processing accuracy. The manufacturing equipment is professional equipment and the cost is high. When producing small batches, the cost increases significantly

Method used

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  • Planetary gear transmission mechanism, robot joint reducer and robot
  • Planetary gear transmission mechanism, robot joint reducer and robot
  • Planetary gear transmission mechanism, robot joint reducer and robot

Examples

Experimental program
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Effect test

Embodiment 1

[0034] Such as figure 1 As shown, a planetary gear transmission mechanism includes an input part, a small tooth difference transmission part and an output part, the input part includes a sun gear 1, and 2 to 3 planetary gears 2 driven by the sun gear 1;

[0035]The few-tooth-difference transmission part includes a first ring gear 3, a second ring gear 4, a pair of few-tooth differential wheels 5 meshing with the two ring gears with few teeth differences respectively, and 2 to 3 central axes that are in contact with the two ring gears. The crankshaft 6 arranged parallel to the central axis of the sun gear 1. The teeth of the two internal ring gears and the two few-tooth differential wheels 5 are all inclined-plane involute teeth with variable tooth thickness, that is, the teeth are inclined-plane teeth, which are roughly conical, and the tooth surfaces can also be in the axial direction. Contact, when this kind of gear is mated, a pulling force or pressure is applied on the si...

Embodiment 2

[0046] like figure 2 As shown, a robot joint reducer based on the aforementioned planetary gear transmission mechanism includes a first shell 12, a second shell 13 and a housing 11, and the two shells are respectively rotatably fitted to the said shell through tapered roller bearings 15. On the two sides of the housing 11, the two shells are fixedly connected by pins and bolts. As a whole, the movement and power output after deceleration and torque increase are provided. A lip shape is set between the shell 11 and the two shells. Seal 17 to prevent oil leakage.

[0047] The first ring gear 3 and the second ring gear 4 are both arranged on the inner ring of the housing 11, and a pair of the differential gears with few teeth 5 are arranged between the two shells and respectively connected to the two ring gears. Meshing with few teeth differences forms a mechanism with few teeth differences, which plays a major role in deceleration and torque increase.

[0048] Wherein, the te...

Embodiment 3

[0057] like image 3 As shown, the bearings installed on the two ends of the crankshaft and the two shells can be replaced by rolling elements 21 with retainers. The rolling elements 21 are axially positioned by the circlip 24 installed on the crankshaft. The bearings between the shells become angular contact ball bearings 23, and the two shells simultaneously function as the outer rings of the bearings, simplifying the structure, further reducing the volume, and reducing the cost. In this embodiment, the anti-backlash elastic body 22 floats Installed between two differential wheels with few teeth, it is a ring structure covering the inner side of the entire differential wheel with few teeth.

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Abstract

The invention provides a planetary gear transmission mechanism which comprises a sun wheel, planet wheels and a few-tooth-difference transmission mechanism. In order to improve the precision, gear teeth of two inner gear rings and gear teeth of two few-tooth-difference gears are variable-tooth-thickness involute gear teeth; the rotation directions of the helix angles of the two inner gear rings are opposite, and a clearance-eliminating elastic body is arranged between a pair of few-tooth-difference gears. The planetary gear transmission mechanism has the advantages of being high in rigidity and precision, large in transmission ratio and torque, and capable of greatly lowering machining difficulty. The invention further provides a robot joint reducer which comprises the planetary gear transmission mechanism. The robot joint reducer has the advantages of being scientific in design, small in size, high in precision, large in transmission ratio and torque, and capable of greatly lowering machining difficulty. The invention further provides a robot which comprises the robot joint reducer. The robot has the advantages of being scientific in design, high in precision, large in transmission ratio and torque, and capable of greatly lowering machining difficulty.

Description

technical field [0001] The invention relates to a power transmission mechanism, in particular to a planetary gear transmission mechanism. It also relates to a robot joint reducer based on the planetary gear transmission mechanism. It also relates to a robot based on the above robot joint reducer. Background technique [0002] In the field of robotics, in order to accurately transmit power and motion accuracy to the target actuator, it is necessary to ensure that the power transmission performance of the robot joint reducer is high enough. Harmonic reducers and cycloid RV reducers are widely used in robots to achieve large transmission ratio, small size, high precision and high torque. Among them, the harmonic reducer has a relatively simple structure, but it uses a flexible spline The structure has weak rigidity and can only be applied to occasions with small torque; the cycloidal pin wheel RV reducer adopts cycloidal gear transmission, which is sensitive to manufacturing ...

Claims

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Application Information

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IPC IPC(8): F16H1/28B25J17/00
CPCB25J17/00F16H1/28
Inventor 吴建红
Owner 吴建红
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