行星齒(chi)(chi)輪(lun)(lun)減速(su)機(ji)傳(chuan)動比大(da)，力(li)矩就比其(qi)它減速(su)機(ji)構小(xiao)，行星齒(chi)(chi)輪(lun)(lun)減速(su)機(ji)自鎖(self locking)角大(da)止(zhi)退性差不適合啟動用。行星齒(chi)(chi)輪(lun)(lun)減速(su)機(ji)主要傳(chuan)動結(jie)構為:行星輪(lun)(lun),太陽輪(lun)(lun),外齒(chi)(chi)圈(quan)。

        在行星減(jian)速(su)機(ji)中裝(zhuang)入建議的型號(hao)和數值的潤(run)滑(hua)脂。行星減(jian)速(su)機(ji)采(cai)用潤(run)滑(hua)油(you)潤(run)滑(hua)。對于豎直安(an)裝(zhuang)的行星減(jian)速(su)機(ji)，鑒于潤(run)滑(hua)油(you)可能（maybe)不能保證最上(shang)面的軸承(cheng)(bearing)的可靠潤(run)滑(hua)，因此采(cai)用另外的潤(run)滑(hua)措施（指(zhi)針對問題的解決辦法)。

        在(zai)運(yun)行以前(qian)，在(zai)機(ji)器人減速(su)機(ji)(Retarder)行星減速(su)機(ji)中(zhong)注(zhu)(zhu)入(ru)適量的(de)(de)(de)潤(run)(run)滑油(you)(you)(you)(Lubricating oil)，潤(run)(run)滑油(you)(you)(you)的(de)(de)(de)粘性根據以下列(lie)表選擇。齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)是一(yi)(yi)(yi)種齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)分(fen)布(bu)于(yu)條(tiao)(tiao)(tiao)形體上的(de)(de)(de)特(te)殊齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)。齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)也(ye)分(fen)直齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)和斜(xie)(xie)齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)，分(fen)別與直齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)圓(yuan)(yuan)柱齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)和斜(xie)(xie)齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)圓(yuan)(yuan)柱齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)配(pei)對使用(yong)； 齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)廓為直線(xian)而非漸開線(xian)（對齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)面而言則為平面），相(xiang)當于(yu)分(fen)度圓(yuan)(yuan)半徑(jing)為無(wu)窮大(da)圓(yuan)(yuan)柱齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)。齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)是與齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)相(xiang)配(pei)的(de)(de)(de)一(yi)(yi)(yi)種條(tiao)(tiao)(tiao)形零件。它(ta)等于(yu)直徑(jing)無(wu)限大(da)的(de)(de)(de)一(yi)(yi)(yi)個齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)周緣(yuan)的(de)(de)(de)一(yi)(yi)(yi)段。一(yi)(yi)(yi)邊(bian)均勻(yun)分(fen)布(bu)著許多齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)，與齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)相(xiang)嚙合，將轉動(dong)變為移動(dong)，或將移動(dong)變為轉動(dong)。齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)條(tiao)(tiao)(tiao)是長(chang)條(tiao)(tiao)(tiao)形，一(yi)(yi)(yi)側有齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)，可(ke)認(ren)為是一(yi)(yi)(yi)個直徑(jing)無(wu)窮大(da)的(de)(de)(de)齒(chi)(chi)(chi)(chi)(chi)(chi)(chi)輪(lun)(lun)上的(de)(de)(de)一(yi)(yi)(yi)段。行星減速(su)機(ji)通常(chang)裝(zhuang)備(bei)(Equipment)有注(zhu)(zhu)油(you)(you)(you)孔和放油(you)(you)(you)塞。因而在(zai)訂購(gou)行星減速(su)機(ji)的(de)(de)(de)時候必須(xu)指定(ding)安裝(zhuang)位(wei)置(zhi)（position )。下表列(lie)出了一(yi)(yi)(yi)般應用(yong)中(zhong)建(jian)議采用(yong)的(de)(de)(de)潤(run)(run)滑油(you)(you)(you)的(de)(de)(de)牌子和型號。

        減(jian)速機知識：機器人減(jian)速機行星減(jian)速機結構與性能

        行(xing)(xing)星減速(su)機(ji)(ji)由一級螺旋傘齒(chi)(chi)(chi)(chi)輪和一級漸開(kai)線(xian)行(xing)(xing)星齒(chi)(chi)(chi)(chi)輪傳(chuan)(chuan)動(dong)(dong)(dong)組成，具(ju)有功率分流(liu)和動(dong)(dong)(dong)軸線(xian)的(de)運動(dong)(dong)(dong)特點，與(yu)普(pu)通平行(xing)(xing)軸減速(su)機(ji)(ji)相(xiang)比(bi)較，主要優點為(wei)(wei)體(ti)積（volume)小、重量輕、傳(chuan)(chuan)動(dong)(dong)(dong)功率大(da)、噪音(yin)低(di)、效率高、傳(chuan)(chuan)動(dong)(dong)(dong)平穩、可靠性高等(deng)。齒(chi)(chi)(chi)(chi)條(tiao)是一種齒(chi)(chi)(chi)(chi)分布于(yu)條(tiao)形體(ti)上的(de)特殊齒(chi)(chi)(chi)(chi)輪。齒(chi)(chi)(chi)(chi)條(tiao)也分直齒(chi)(chi)(chi)(chi)齒(chi)(chi)(chi)(chi)條(tiao)和斜齒(chi)(chi)(chi)(chi)齒(chi)(chi)(chi)(chi)條(tiao)，分別與(yu)直齒(chi)(chi)(chi)(chi)圓柱(zhu)齒(chi)(chi)(chi)(chi)輪和斜齒(chi)(chi)(chi)(chi)圓柱(zhu)齒(chi)(chi)(chi)(chi)輪配對使用； 齒(chi)(chi)(chi)(chi)條(tiao)的(de)齒(chi)(chi)(chi)(chi)廓為(wei)(wei)直線(xian)而非漸開(kai)線(xian)（對齒(chi)(chi)(chi)(chi)面而言則為(wei)(wei)平面），相(xiang)當(dang)于(yu)分度圓半(ban)徑為(wei)(wei)無窮大(da)圓柱(zhu)齒(chi)(chi)(chi)(chi)輪。

        行(xing)星(xing)(xing)(xing)減速機輸入級(ji)(ji)(ji)主要為一對德國克林貝爾格延伸外擺線(xian)螺旋傘齒(chi)輪(lun)(lun)（Gear）組(zu)(zu)成；漸開(kai)線(xian)行(xing)星(xing)(xing)(xing)齒(chi)輪(lun)(lun)傳(chuan)動(dong)部分主要由(you)太陽(yang)輪(lun)(lun)（1個）、行(xing)星(xing)(xing)(xing)輪(lun)(lun)（3個）、內齒(chi)輪(lun)(lun)（1個）等組(zu)(zu)成，工作(zuo)時(shi)太陽(yang)輪(lun)(lun)浮動(dong)，以(yi)便使(shi)其輪(lun)(lun)齒(chi)同(tong)(tong)時(shi)和三個行(xing)星(xing)(xing)(xing)輪(lun)(lun)均(jun)勻接(jie)觸；行(xing)星(xing)(xing)(xing)輪(lun)(lun)安裝在行(xing)星(xing)(xing)(xing)架上，在繞自身軸線(xian)傳(chuan)動(dong)的同(tong)(tong)時(shi)，也隨(sui)行(xing)星(xing)(xing)(xing)架一齊轉動(dong)，內齒(chi)輪(lun)(lun)安裝在殼體中固定(ding)不(bu)動(dong)。在兩級(ji)(ji)(ji)齒(chi)輪(lun)(lun)傳(chuan)動(dong)之(zhi)間(jian)設置(zhi)了齒(chi)輪(lun)(lun)聯軸器，其作(zuo)用是連接(jie)兩級(ji)(ji)(ji)齒(chi)輪(lun)(lun)之(zhi)間(jian)的傳(chuan)動(dong)，該齒(chi)輪(lun)(lun)聯軸器也隨(sui)行(xing)星(xing)(xing)(xing)級(ji)(ji)(ji)中的太陽(yang)輪(lun)(lun)一起(qi)浮動(dong)。