MULTISTAGE REDUCTION STRUCTURE, JOINT POWER UNIT, LEGGED ROBOT AND DEXTERIAL ROBOTIC HAND.

Abstract

A multi-stage speed reduction structure, a joint power unit, a legged robot, and a dexterous hand. The multi-stage speed reduction structure comprises a first speed reduction unit and a second speed reduction unit; the second speed reduction unit comprises a sun gear shaft, a sun gear directly fixed on the sun gear shaft, a planet carrier provided with an output portion, stepped planet gears uniformly distributed on the planet carrier, and an inner ring gear; the sun gear shaft is connected to the first speed reduction unit, and the sun gear is directly fixed on the sun gear shaft; each stepped planet gear comprises a first gear and a second gear which are directly, coaxially and fixedly connected; the first gear is engaged with the sun gear, and the second gear is engaged with the inner ring gear; the first speed reduction unit drives the sun gear to rotate by means of the sun gear shaft, the sun gear drives the planet carrier to rotate by means of the stepped planet gears, and power is output by means of the output portion. A speed reduction structure in which two-stage cylindrical gears work in conjunction with planet gears is used, so that the transmission efficiency is higher, and the transmission resistance is smaller.

Description

A multi-stage deceleration structure, joint power unit, foot-type robot and dexterous hand Technical Field

[0001] The utility model relates to the technical field of robot equipment, in particular to a multi-stage deceleration structure, a joint power unit, a foot-type robot and a dexterous hand. Background Art

[0002] As a position servo drive, the servo actuator is suitable for control systems that require the angle to be continuously changed and maintained. It is widely used in products such as remote-controlled robots, aircraft and submarine models.

[0003] Furthermore, a Chinese patent (publication number: CN212902904U) discloses a rudder mechanism that uses a motor to control the deployment and rotation of a rudder blade. The mechanism includes a mounting plate, a motor, a reducer, a driving bevel gear, a driven bevel gear, a rudder blade, a rotating shaft, and a rudder blade locking mechanism. The rudder blade consists of a leading rudder and a trailing rudder, which are mounted together via a rotating shaft and can rotate relative to each other about the rotating shaft. The driven bevel gear is fixed to the rotating shaft. The motor, reducer, and rudder blade locking mechanism are each fixed to the mounting plate. The rudder blade is fixedly connected to the reducer output shaft through a mounting hole in the leading rudder blade. The driven bevel gear meshes with the driving bevel gear fixed to the reducer output shaft. When the rudder blade is deployed into position with the reducer output shaft, the rudder blade locking mechanism locks the leading rudder blade, causing the driving bevel gear and the driven bevel gear to rotate relative to each other, thereby causing the rudder blade rotating shaft to drive the trailing rudder blade, achieving trajectory correction. The deployment and rotation of the rudder blade are both controlled by the motor, improving the safety and reliability of the mechanism. The speed reducer is composed of a one-stage self-locking worm gear transmission mechanism and a multi-stage cylindrical gear transmission mechanism.

[0004] The reducer of the above scheme is composed of a worm gear transmission mechanism and a multi-stage cylindrical gear transmission mechanism. However, the multi-stage cylindrical gear transmission mechanism is used for transmission, and its transmission torque is small, the transmission resistance is large, and the noise is relatively large.

[0005] Furthermore, the multi-stage cylindrical gear transmission mechanism is generally arranged in series, which makes the axial length relatively long, affecting the overall structural strength of the reducer, and occupies a large space and has a relatively complex structure. Technical Solutions

[0006] In order to overcome the deficiencies of the prior art, the present invention aims to provide a multi-stage reduction structure with a simple and compact structure, low transmission resistance, a wide transmission ratio range, and higher transmission efficiency.

[0007] The second purpose of the present utility model is to provide a multi-stage reduction structure. By setting a first reduction unit with a steering gear and a second reduction unit with a planetary reduction structure, fewer gears are required, the service life is longer, and the structure is more compact; under the same speed ratio, the transmission efficiency is higher, the transmission resistance is smaller, the transmission torque is large, the noise is small, the structure is simple and practical.

[0008] The third purpose of the present utility model is to provide a multi-stage reduction gear structure. By setting a steering gear, the first reduction gear unit and the second reduction gear unit can be arranged vertically, thereby forming a circumferentially arranged reduction gear structure. Compared with the existing multi-stage cylindrical gear structure arranged in series, the structure is more stable, has higher structural strength, and is more compact, which can effectively extend the service life of the reduction gear structure.

[0009] The fourth purpose of the present utility model is to provide a joint power unit, which includes a multi-stage reduction structure with a simple and compact structure, small transmission resistance, a large transmission ratio range, and higher transmission efficiency.

[0010] The fifth object of the present utility model is to provide a legged robot, the multi-stage deceleration structure of which the joints include has a simple and compact structure, low transmission resistance, a large transmission ratio range, and higher transmission efficiency.

[0011] The sixth object of the present utility model is to provide a dexterous hand, which includes a multi-stage deceleration structure at the finger joints, has a simple and compact structure, low transmission resistance, a large transmission ratio range, and higher transmission efficiency.

[0012] In order to achieve one of the above purposes, the first technical solution of the present utility model is:

[0013] A multi-stage reduction structure includes a first reduction unit connected to the output end of a motor unit and transmitting the power of the motor unit, and a second reduction unit connected to the output end of the first reduction unit and outputting power; the second reduction unit includes a sun gear shaft, a sun gear fixed on the sun gear shaft, a planetary carrier provided with an output part, a double planetary gear evenly distributed on the planetary carrier, and an inner ring gear; the sun gear shaft is connected to the first reduction unit, and the sun gear is fixed on the sun gear shaft; the double planetary gear includes a first gear and a second gear coaxially fixed, the pitch circle diameter of the first gear is larger than the pitch circle diameter of the second gear, the first gear is meshed with the sun gear, and the second gear is meshed with the inner ring gear; the first reduction unit is provided with a steering gear, and drives the sun gear to rotate through the sun gear shaft, and the sun gear drives the planetary carrier to rotate through the double planetary gears, and then outputs power through the output part.

[0014] After continuous exploration and testing, the utility model is provided with a first reduction unit having a steering gear and a second reduction unit having a planetary reduction structure, and the planetary gears in the planetary reduction structure adopt double planetary gears. Compared with the multi-stage cylindrical gears arranged in series in the existing steering gears, the multi-stage reduction structure of the utility model requires fewer gears, has a longer service life, and a more compact structure; under the same speed ratio, the transmission efficiency is higher, the transmission resistance is smaller, the transmission torque is large, the noise is small, the structure is simple and practical.

[0015] As an optimal technical measure: the steering gear is a cylindrical gear, and there are four of them, which include a first cylindrical gear and a second cylindrical gear that are meshed with each other and whose centers of rotation are parallel to each other, and a third cylindrical gear and a fourth cylindrical gear that are meshed with each other and whose centers of rotation are parallel to each other; the first cylindrical gear is coaxially fixedly connected to the output shaft of the motor unit, the third cylindrical gear is coaxially fixedly connected to the second cylindrical gear, and the fourth cylindrical gear is coaxially fixedly connected to the sun gear shaft, thereby further increasing the reduction ratio.

[0016] As an optimal technical measure: the rotation axis of the first cylindrical gear, the rotation axis of the second cylindrical gear, and the rotation axis of the sun gear shaft are all parallel to each other, so that the output power of the motor unit is biased. Through the two-stage cylindrical gear transmission and the double planetary gear transmission, the output end and the motor input end are arranged in parallel, with a compact structure and a high reduction ratio. Compared with the existing series structure, it can effectively increase the structural strength, reduce the axial space occupancy, and make the reduction structure more compact.

[0017] In order to achieve one of the above purposes, the second technical solution of the utility model is:

[0018] A multi-stage reduction structure includes a first reduction unit for changing the direction of power transmission from a driving source and a second reduction unit for achieving reduced power output; the first reduction unit is provided with a steering gear and forms a reversing output end;

[0019] The second reduction unit is a planetary reduction structure, which is connected to the reversing output end of the first reduction unit, so that the first reduction unit and the second reduction unit can be arranged vertically, thereby forming a circumferentially arranged reduction structure.

[0020] After continuous exploration and testing, the utility model is provided with a first reduction unit having a steering gear and a second reduction unit having a planetary reduction structure. Compared with the multi-stage cylindrical gears arranged in series in the existing steering gear, the multi-stage reduction structure of the utility model requires fewer gears, has a longer service life, and a more compact structure; under the same speed ratio, the transmission efficiency is higher, the transmission resistance is smaller, the transmission torque is large, and the noise is low.

[0021] Furthermore, the present invention sets a steering gear so that the first reduction unit and the second reduction unit can be arranged vertically, thereby forming a circumferentially arranged reduction structure. Compared with the existing multi-stage cylindrical gear structure arranged in series, the structure is more stable, has higher structural strength, and is more compact. It can effectively extend the service life of the reduction structure and has a simple and practical structure.

[0022] The driving source is a rotating motor or a reducer or a motor with a reducer.

[0023] As preferred technical measures:

[0024] The steering gear is a cylindrical gear, and there are two of them, including a first cylindrical gear and a second cylindrical gear. The number of teeth of the first cylindrical gear is less than that of the second cylindrical gear, thereby forming a single-stage reversing reduction structure to further increase the reduction ratio;

[0025] Alternatively, the steering gears are cylindrical gears, and there are four of them, including a first cylindrical gear, a second cylindrical gear, a third cylindrical gear, and a fourth cylindrical gear. The number of teeth of the first cylindrical gear is less than that of the second cylindrical gear, the number of teeth of the second cylindrical gear is more than that of the third cylindrical gear, and the number of teeth of the third cylindrical gear is less than that of the fourth cylindrical gear, thereby forming a two-stage reversing reduction structure to further increase the reduction ratio;

[0026] Alternatively, the first reduction unit is provided with only one steering gear, and the steering gear is a double-headed gear.

[0027] As preferred technical measures:

[0028] The planetary reduction structure includes a sun gear, a planet carrier, planetary gears, and an inner ring gear;

[0029] Alternatively, the planetary reduction structure includes a sun gear shaft, a sun gear fixed on the sun gear shaft, a planetary carrier provided with an output part, a double-linked planetary gear evenly distributed on the planetary carrier, and an inner ring gear; the sun gear shaft is connected to the first reduction unit, and the sun gear is fixed on the sun gear shaft; the double-linked planetary gear includes a first gear and a second gear coaxially fixed, the pitch circle diameter of the first gear is larger than the pitch circle diameter of the second gear, the first gear is meshed with the sun gear, and the second gear is meshed with the inner ring gear; the steering gear drives the sun gear to rotate through the sun gear shaft, and the sun gear drives the planetary carrier to rotate through the double-linked planetary gear, and then outputs power through the output part. The solution is simple, practical, and easy to produce and manufacture.

[0030] In order to achieve one of the above purposes, the third technical solution of the utility model is:

[0031] A joint power unit includes a base, a multi-stage reduction structure as described above arranged in the base, and a motor unit arranged in the base; the inner ring gear is fixed in the base, and the output part is arranged on the outside of the base; the sun gear shaft is fixed in the base through a first bearing and a second bearing, and the planetary carrier is fixed in the base through a third bearing. The multi-stage reduction structure and the motor unit are coupled through the base so that the two can work normally. The solution is practical and the manufacturing cost is low.

[0032] The motor unit is a rotary motor.

[0033] As preferred technical measures:

[0034] The base is provided with a first cavity for assembling a multi-stage reduction structure, and the adjacent first cavity is provided with a second cavity for assembling a motor unit; the first cavity and the second cavity are arranged vertically and communicated with each other to form a circumferential assembly space, which is convenient for installing the multi-stage reduction structure and the motor unit.

[0035] Alternatively, a first cover and a second cover are respectively provided on both sides of the base, so as to facilitate rapid assembly of the multi-stage reduction structure and the motor unit.

[0036] The first cover is a sheet-like structure;

[0037] The second cover body is a double-cavity structure, which includes cavity one and cavity two, and the cavity one and cavity two are set independently of each other; the position of cavity one matches the position of the first cavity, and the position of cavity two matches the position of the second cavity.

[0038] In order to achieve one of the above purposes, the fourth technical solution of the present utility model is:

[0039] A legged robot comprises the above-mentioned multi-stage deceleration structure or the above-mentioned joint power unit.

[0040] To achieve one of the above purposes, the fifth technical solution of the present utility model is:

[0041] A dexterous hand comprises the above-mentioned multi-stage deceleration structure or the above-mentioned joint power unit; multiple multi-stage deceleration structures and / or joint power units are connected in series to form the finger components of the dexterous hand, and the multiple finger components are fixed to form the dexterous hand structure. Beneficial effects

[0042] After continuous exploration and testing, the utility model is provided with a first reduction unit having a steering gear and a second reduction unit having a planetary reduction structure. Compared with the multi-stage cylindrical gears arranged in series in the existing steering gear, the multi-stage reduction structure of the utility model requires fewer gears, has a longer service life, and a more compact structure; under the same speed ratio, the transmission efficiency is higher, the transmission resistance is smaller, the transmission torque is large, and the noise is low.

[0043] Furthermore, the present invention sets a steering gear so that the first reduction unit and the second reduction unit can be arranged vertically, thereby forming a circumferentially arranged reduction structure. Compared with the existing multi-stage cylindrical gear structure arranged in series, the structure is more stable, has higher structural strength, and is more compact. It can effectively extend the service life of the reduction structure and has a simple and practical structure.

[0044] Furthermore, the utility model provides a legged robot, which includes a multi-stage reduction structure at its joints. Compared with the multi-stage cylindrical gears arranged in series in existing servos, the utility model adopts a two-stage cylindrical gear with a planetary reducer structure, and the planetary gears in the planetary reduction structure adopt double planetary gears, so the number of gears is small, the service life is longer, and the structure is more compact; under the same speed ratio, the transmission efficiency is higher and the transmission resistance is smaller.

[0045] Furthermore, the utility model provides a dexterous hand, which includes a multi-stage reduction structure at the finger joints. Compared with the multi-stage cylindrical gears arranged in series in existing servos, the utility model adopts a two-stage cylindrical gear with a planetary reducer structure, and the planetary gears in the planetary reduction structure adopt double planetary gears, so the number of gears is small, the service life is longer, and the structure is more compact; under the same speed ratio, the transmission efficiency is higher and the transmission resistance is smaller.

[0046] The present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic structural diagram of a joint power unit of the present invention;

[0048] FIG2 is an exploded view of the joint power unit of the present invention;

[0049] Figure 3 is a full cross-sectional view of the joint power unit of the present invention;

[0050] FIG4 is a schematic structural diagram of a motor unit assembled with a multi-stage reduction structure according to the present invention.

[0051] In the figure: 1. sun gear shaft; 2. sun gear; 3. planetary carrier; 4. output part; 5. duplex planetary gear; 6. internal ring gear; 7. first gear; 8. second gear; 9. first cylindrical gear; 10. second cylindrical gear; 11. third cylindrical gear; 12. fourth cylindrical gear; 13. motor unit; 14. base; 15. first bearing; 16. second bearing; 17. third bearing; 18. first cover; 19. second cover; 141. first cavity; 142. second cavity; 191. cavity one; 192. cavity two. Modes for Carrying Out the Invention

[0052] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0053] It should be noted that when two elements are "fixedly coupled" or "rotatably coupled," the two elements may be directly coupled or may have an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there is no intermediate element. The term "vertical" and similar expressions used herein are for illustrative purposes only.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the art of the present invention. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0055] The first specific embodiment of the multi-stage reduction structure of the utility model:

[0056] A multi-stage reduction structure includes a first reduction unit for changing the power transmission direction of a motor unit and a second reduction unit for achieving a reduced speed output; the first reduction unit is provided with a steering gear and forms a reversing output end;

[0057] The second reduction unit is a planetary reduction structure, which is connected to the output end of the first reduction unit and outputs power;

[0058] The first deceleration unit and the second deceleration unit are arranged vertically to form a circumferentially arranged deceleration structure.

[0059] As shown in Figures 1, 2, 3 and 4, the second specific embodiment of the multi-stage reduction structure of the present invention:

[0060] A multi-stage reduction structure includes a first reduction unit connected to the output end of a motor unit 13 and transmitting the power of the motor unit 13, and a second reduction unit connected to the output end of the first reduction unit and outputting power; the second reduction unit includes a sun gear shaft 1, a sun gear 2 directly fixed on the sun gear shaft 1, a planet carrier 3 provided with an output part 4, a double planetary gear 5 evenly distributed on the planet carrier 3, and an inner ring gear 6; the sun gear shaft 1 is connected to the first reduction unit, and the sun gear 2 is directly fixed on the sun gear shaft 1; the double planetary gear 5 includes a first gear 7 and a second gear 8 that are directly coaxially fixed, the pitch circle diameter of the first gear 7 is larger than the pitch circle diameter of the second gear 8, the first gear 7 is meshed with the sun gear 2, and the second gear 8 is meshed with the inner ring gear 6; the first reduction unit drives the sun gear 2 to rotate through the sun gear shaft 1, and the sun gear 2 drives the planet carrier 3 to rotate through the double planetary gear 5, and then outputs power through the output part 4.

[0061] The utility model provides a multi-stage reduction structure. Compared with the multi-stage cylindrical gears arranged in series that are often used in existing steering gears, this embodiment adopts a two-stage cylindrical gear with a planetary reduction structure, and the planetary gears in the planetary reduction structure adopt double planetary gears 5. As a result, the number of gears is small, the service life is longer, and the structure is more compact; at the same speed ratio, the transmission efficiency is higher and the transmission resistance is smaller.

[0062] A specific embodiment of the first reduction unit of the utility model:

[0063] The first reduction unit includes a first cylindrical gear 9 and a second cylindrical gear 10, which mesh with each other and have parallel rotation centers, and a third cylindrical gear 11 and a fourth cylindrical gear 12, which mesh with each other and have parallel rotation centers. The first cylindrical gear 9 is coaxially fixedly connected to the output shaft of the motor unit 13, the third cylindrical gear 11 is coaxially fixedly connected to the second cylindrical gear 10, and the fourth cylindrical gear 12 is coaxially fixedly connected to the sun gear shaft 1. The rotation axes of the first cylindrical gear 9, the second cylindrical gear 10, and the sun gear shaft 1 are all parallel to each other, resulting in an offset output of the output power of the motor unit 13. Through the two-stage cylindrical gear transmission and the double-linked planetary gear 5, the output end and the motor input end are arranged in parallel, resulting in a compact structure and a high reduction ratio.

[0064] A specific embodiment of the joint power unit of the utility model:

[0065] A joint power unit includes a base 14, a multi-stage reduction structure as described above arranged in the base 14, and a motor unit 13 arranged in the base 14; the inner ring gear 6 is fixed in the base 14, and the output part 4 is arranged on the outside of the base 14; the sun gear shaft 1 is fixed in the base 14 through a first bearing 15 and a second bearing 16, and the planetary carrier 3 is fixed in the base 14 through a third bearing 17.

[0066] The base 14 defines a first cavity 141 for assembling a multi-stage reduction structure, and the adjacent first cavity 141 defines a second cavity 142 for assembling the motor unit 13; the first cavity 141 and the second cavity 142 are arranged vertically and communicate with each other to form a circumferential assembly space.

[0067] The base 14 is provided with a first cover 18 and a second cover 19 on both sides thereof; the first cover 18 is a sheet-like structure;

[0068] The second cover body 19 is a dual-cavity structure, which includes cavity one 191 and cavity two 192. The cavity one 191 and cavity two 192 are independently arranged and not connected to each other; the position of cavity one 191 matches the position of the first cavity 141, and the position of cavity two 192 matches the position of the second cavity 142.

[0069] The present invention provides a joint power unit, which includes a multi-stage reduction structure. Compared with the multi-stage cylindrical gears arranged in series in the existing servos, this embodiment adopts a two-stage cylindrical gear with a planetary reducer structure, and the planetary gears in the planetary reduction structure adopt double planetary gears 5, so the number of gears is small, the service life is longer, and the structure is more compact; under the same speed ratio, the transmission efficiency is higher and the transmission resistance is smaller.

[0070] A specific embodiment of the foot-type robot of the utility model:

[0071] A legged robot comprises the above-mentioned multi-stage deceleration structure or the above-mentioned joint power unit.

[0072] The present invention provides a legged robot, which includes a multi-stage reduction structure at its joints. Compared with the multi-stage cylindrical gears arranged in series that are often used in existing servos, this embodiment adopts a two-stage cylindrical gear with a planetary reducer structure, and the planetary gears in the planetary reduction structure adopt double planetary gears 5, so the number of gears is small, the service life is longer, and the structure is more compact; at the same speed ratio, the transmission efficiency is higher and the transmission resistance is smaller.

[0073] A specific embodiment of the dexterous hand of the utility model:

[0074] A dexterous hand comprises the above-mentioned multi-stage deceleration structure or the above-mentioned joint power unit.

[0075] The utility model provides a dexterous hand, which includes a multi-stage reduction structure at the finger joints. Compared with the multi-stage cylindrical gears arranged in series that are often used in existing servos, this embodiment adopts a two-stage cylindrical gear with a planetary reducer structure, and the planetary gears in the planetary reduction structure adopt double planetary gears 5, so the number of gears is small, the service life is longer, and the structure is more compact; under the same speed ratio, the transmission efficiency is higher and the transmission resistance is smaller.

[0076] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A multi-stage deceleration structure, characterized in that, It includes a first reduction unit connected to the output end of the motor unit (13) and transmitting the power of the motor unit (13), and a second reduction unit connected to the output end of the first reduction unit and outputting power. The second reduction unit includes a sun gear shaft (1), a sun gear (2) fixed on the sun gear shaft (1), a planet carrier (3) provided with an output part (4), double planetary gears (5) evenly distributed on the planet carrier (3), and an internal gear ring (6); the sun gear shaft (1) is connected to the first reduction unit, and the sun gear (2) is fixed on the sun gear shaft (1); the double planetary gear (5) includes a first gear (7) and a second gear (8) coaxially fixed, the pitch circle diameter of the first gear (7) is larger than the pitch circle diameter of the second gear (8), the first gear (7) meshes with the sun gear (2), and the second gear (8) meshes with the internal gear ring (6). The first reduction unit is provided with a steering gear and drives the sun gear (2) to rotate through the sun gear shaft (1). The sun gear (2) drives the planet carrier (3) to rotate through the double planetary gear (5), and then outputs power through the output part (4).

2. The multi-stage deceleration structure according to claim 1, wherein The steering gear is a cylindrical gear, and the number of it is four. It includes a first cylindrical gear (9) and a second cylindrical gear (10) that mesh with each other and have parallel rotation centers, and a third cylindrical gear (11) and a fourth cylindrical gear (12) that mesh with each other and have parallel rotation centers; the first cylindrical gear (9) is coaxially and fixedly connected to the output shaft of the motor unit (13), the third cylindrical gear (11) is coaxially and fixedly connected to the second cylindrical gear (10), and the fourth cylindrical gear (12) is coaxially and fixedly connected to the sun gear shaft (1).

3. A multi-stage deceleration structure according to claim 2, characterized in that, The rotation axes of the first cylindrical gear (9), the second cylindrical gear (10), and the sun gear shaft (1) are all parallel to each other, so that the output power of the motor unit (13) is offset output.

4. A multi-stage speed reduction structure, characterized in that, It includes a first reduction unit for changing the power transmission direction of the drive source and a second reduction unit for realizing deceleration output. The first reduction unit is provided with a steering gear and forms a commutation output end. The second reduction unit is a planetary reduction structure, which is connected to the commutation output end of the first reduction unit, so that the first reduction unit and the second reduction unit can be vertically arranged to form a circumferentially arranged reduction structure.

5. The multi-stage reduction structure according to claim 4, characterized in that The steering gear is a cylindrical gear, and the number of it is two. It includes a first cylindrical gear (9) and a second cylindrical gear (10). The number of teeth of the first cylindrical gear (9) is less than the number of teeth of the second cylindrical gear (10), so as to form a single-stage commutation reduction structure. Alternatively, the steering gear is a cylindrical gear, and the number thereof is four, including a first cylindrical gear (9), a second cylindrical gear (10), a third cylindrical gear (11) and a fourth cylindrical gear (12). The number of teeth of the first cylindrical gear (9) is less than that of the second cylindrical gear (10), the number of teeth of the second cylindrical gear (10) is more than that of the third cylindrical gear (11), and the number of teeth of the third cylindrical gear (11) is less than that of the fourth cylindrical gear (12), thus forming a two-stage commutation and deceleration structure. Alternatively, only one steering gear is provided in the first deceleration unit, and the steering gear is a double-headed gear.

6. A multi-stage deceleration structure according to claim 4, wherein the planetary deceleration structure includes a sun gear (2), a planet carrier (3), planet gears, and an internal gear ring (6); Alternatively, the planetary deceleration structure includes a sun gear shaft (1), a sun gear (2) fixed on the sun gear shaft (1), a planet carrier (3) provided with an output portion (4), double-connected planet gears (5) evenly distributed on the planet carrier (3), and an internal gear ring (6); the sun gear shaft (1) is connected to the first deceleration unit, and the sun gear (2) is fixed on the sun gear shaft (1); the double-connected planet gears (5) include a first gear (7) and a second gear (8) coaxially and fixedly connected, the pitch circle diameter of the first gear (7) is greater than that of the second gear (8), the first gear (7) meshes with the sun gear (2), and the second gear (8) meshes with the internal gear ring (6); The steering gear drives the sun gear (2) to rotate through the sun gear shaft (1), the sun gear (2) drives the planet carrier (3) to rotate through the double-connected planet gears (5), and then outputs power through the output portion (4).

7. An articular power unit, characterized in that, It includes a base (14), a multi-stage deceleration structure according to any one of claims 1-6 provided in the base (14), and a motor unit (13) provided in the base (14); the internal gear ring (6) is fixed in the base (14), and the output portion (4) is provided outside the base (14); the sun gear shaft (1) is fixed in the base (14) through a first bearing (15) and a second bearing (16), and the planet carrier (3) is fixed in the base (14) through a third bearing (17).

8. A joint power unit according to claim 7, wherein the base (14) is provided with a first cavity (141) for assembling the multi-stage deceleration structure, and a second cavity (142) for assembling the motor unit (13) is provided adjacent to the first cavity (141); the first cavity (141) and the second cavity (142) are arranged vertically and communicate with each other to form a circumferential assembly space; Alternatively, a first cover body (18) and a second cover body (19) are respectively provided on both sides of the base (14); The first cover body (18) is a sheet-like structure. The second cover body (19) has a double-chamber structure, which includes a first chamber (191) and a second chamber (192). The first chamber (191) and the second chamber (192) are independently arranged; the position of the first chamber (191) matches the position of the first cavity (141), and the position of the second chamber (192) matches the position of the second cavity (142).

9. A legged robot, characterized in that, It includes a multi-stage deceleration structure as described in any one of claims 1-6, or a joint power unit as described in either claim 7 or 8.

10. A dexterous hand, characterized in that, It includes a multi-stage deceleration structure as described in any one of claims 1-6, or a joint power unit as described in either claim 7 or 8; a plurality of multi-stage deceleration structures and / or joint power units are connected in series to form the finger components of the dexterous hand, and the plurality of finger components are fixedly formed into the dexterous hand structure.