Reduction device, robot joint, and robot

Abstract

The present invention relates to the technical field of robots, and particularly relates to a speed reduction device, a robot joint, and a robot. The speed reduction device includes a first planetary mechanism and a second planetary mechanism. The first planetary mechanism includes a first left planetary carrier, a first right planetary carrier, a first sun gear, at least one first planetary gear, and a first ring gear. The second planetary mechanism includes a second left planetary carrier, a second right planetary carrier, a second sun gear, at least one second planetary gear, and a second ring gear. When the first sun gear rotates, it drives the first planetary gear to rotate. When the first ring gear is fixed, it forces the first planetary gear to rotate around the first sun gear, driving the first right planetary carrier to rotate, so as to drive the second sun gear to rotate. When the second ring gear is fixed, it forces the second planetary gear to rotate around the second sun gear, driving the second right planetary carrier to rotate, achieving speed reduction, so as to solve the problems of poor load-bearing capacity, high processing difficulty, and short service life of the RV speed reducer or harmonic speed reducer used in the existing robot joint speed reduction device.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly relates to a speed reduction device, a robot joint, and a robot. Background Art

[0002] Currently, common speed reduction devices for robot joints generally use RV reducers, harmonic reducers, or planetary reducers, which are externally placed at the front end of the motor. The advantages of the traditional structure are that the reducer is relatively independent and convenient for disassembly, maintenance, etc. The disadvantages are that there are problems such as poor load-bearing capacity, high processing difficulty, and short service life. Summary of the Invention

[0003] Aiming at the deficiencies of the prior art, the present invention provides a speed reduction device, a robot joint, and a robot, aiming to solve the problems of poor load-bearing capacity, high processing difficulty, and short service life of the RV reducer or harmonic reducer used in the existing robot joint speed reduction device.

[0004] The technical solution proposed by the present invention is as follows:

[0005] A speed reduction device includes a motor front cover, a front cover, a first bearing, a second bearing, a first planetary mechanism, and a second planetary mechanism. The first planetary mechanism includes a first left planetary carrier, a first right planetary carrier, a first sun gear, at least one first planetary gear, and a first ring gear. The second planetary mechanism includes a second left planetary carrier, a second right planetary carrier, a second sun gear, at least one second planetary gear, and a second ring gear;

[0006] The first left planetary carrier is connected to the first right planetary carrier, and the first left planetary carrier and the first right planetary carrier form a first gear cavity having at least one first opening. The first sun gear is located in the first gear cavity. One end of the first sun gear is rotatably connected to the first right planetary carrier. Both ends of each first planetary gear are respectively connected to the first left planetary carrier and the first right planetary carrier. Each first planetary gear is located in the first gear cavity and protrudes out of the corresponding first opening. Each first planetary gear is respectively meshed and connected with the first ring gear and the first sun gear;

[0007] The first right planetary carrier is connected to the second sun gear;

[0008] The second left planetary carrier is connected to the second right planetary carrier, and the second left planetary carrier and the second right planetary carrier form a second gear cavity having at least one second opening. Both ends of each second planetary gear are respectively connected to the second left planetary carrier and the second right planetary carrier. Each second planetary gear is located in the second gear cavity and protrudes out of the corresponding second opening. Each second planetary gear is respectively meshed and connected with the second ring gear and the second sun gear;

[0009] The inner wall of the front end cover of the motor is connected to the outer wall of the first ring gear. The right wall of the front end cover of the motor is connected to one side wall of the second ring gear. The inner wall of the front end cover of the motor is connected to the outer ring of the first bearing. The outer wall of the first right planet carrier is connected to the inner ring of the first bearing;

[0010] The left wall of the front cover is connected to the other side wall of the second ring gear. The inner wall of the front cover is connected to the outer ring of the second bearing. The outer wall of the second right planet carrier is connected to the inner ring of the second bearing.

[0011] Preferably, the first sun gear includes a first connecting shaft and a first gear body. The first gear body is provided on the first connecting shaft. The first connecting shaft includes a first end and a second end. The first left planet carrier is provided with a first through hole. The first end of the first connecting shaft is rotatably connected to the first right planet carrier. The first through hole corresponds to the second end of the first connecting shaft.

[0012] Preferably, the first planet gear includes a first rotating shaft and a second gear body. The second gear body is rotatably connected to the first rotating shaft. The first rotating shaft includes a first end and a second end. The first end of the first rotating shaft is connected to the first right planet carrier. The second end of the first rotating shaft is connected to the first left planet carrier.

[0013] Preferably, the first left planet carrier includes a first left frame body, three first bolts and three convex columns. One side wall of each convex column is provided on one side wall of the first left frame body. The other side wall of each convex column is provided with a first groove. The bottom wall of the first groove is provided with a second through hole, and the second through hole penetrates through the other side wall of the first left frame body. The first right planet carrier includes a first right frame body. The first right frame body includes a first side wall. Three first convex blocks are provided on the first side wall of the first right frame body. Each first convex block is provided with a first connecting hole. Each first convex block is inserted into a first groove. Each first bolt passes through a second through hole and is connected to a first connecting hole.

[0014] Preferably, the first right planet carrier includes three second bolts. The first right frame body includes a second side wall. A first convex stop and three first fixing holes are provided on the second side wall of the first right frame body. The second sun gear is provided with a first positioning hole and three second fixing holes. The first convex stop is inserted into the first positioning hole. Each second bolt is respectively connected to a first fixing hole and a second fixing hole.

[0015] Preferably, each first opening is formed by arranging two adjacent convex columns at intervals. One side wall of one of the two adjacent convex columns is a first arc-shaped wall, and one side wall of the other of the two adjacent convex columns is a second arc-shaped wall. The first arc-shaped wall and the second arc-shaped wall are two arcs of the same circle centered on the rotation center of the first planet gear.

[0016] Preferably, the diameter of the first gear ring is smaller than the diameter of the second gear ring.

[0017] Preferably, the second planet gear includes a second rotating shaft and a third gear body. The third gear body is rotatably connected to the second rotating shaft. The second rotating shaft includes a first end and a second end. The first end of the second rotating shaft is connected to the second right planet carrier, and the second end of the second rotating shaft is connected to the second left planet carrier.

[0018] Preferably, the speed reduction device further includes a positioning pin. A first positioning groove is provided on the outer side wall of the first gear ring, and a second positioning groove is provided on the inner side wall of the front end cover of the motor. The first positioning groove and the second positioning groove form a first pin hole, and the positioning pin is inserted into the first pin hole.

[0019] Preferably, at least two arc-shaped grooves are provided on the second left planet carrier, and an annular ball groove is provided on the front end cover of the motor. Each arc-shaped groove is provided with a plurality of first balls, and the arc-shaped groove corresponds to the annular ball groove.

[0020] The present invention also provides a robot joint, including the above-mentioned speed reduction device.

[0021] The present invention also provides a robot, including the above-mentioned robot joint.

[0022] According to the above technical solution, the beneficial effects of the present invention are as follows: When the first sun gear rotates, it drives the first planet gear to rotate. When the first gear ring is fixed, it forces the first planet gear to rotate around the first sun gear, driving the first left planet carrier and the first right planet carrier to rotate, so as to drive the second sun gear to rotate. When the second gear ring is fixed, it forces the second planet gear to rotate around the second sun gear, driving the second left planet carrier and the second right planet carrier to rotate, so as to achieve speed reduction. The first planetary mechanism and the second planetary mechanism are closely connected, the overall structure is compact, the load-bearing capacity is strong, the processing requirements are low, and the service life is long, so as to solve the problems of poor load-bearing capacity, high processing difficulty, and short service life of the RV speed reducer or harmonic speed reducer used in the existing robot joint speed reduction device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of the speed reduction device provided by the embodiment of the present invention with the front end cover of the motor removed;

[0024] Figure 2It is a schematic structural diagram of the front cover of the speed reduction device provided by the embodiment of the present invention before being disassembled;

[0025] Figure 3 It is a schematic structural diagram of the first left planetary carrier provided by the embodiment of the present invention;

[0026] Figure 4 It is a schematic structural diagram of the first right planetary carrier provided by the embodiment of the present invention;

[0027] Figure 5 It is a schematic structural diagram of the first right planetary carrier in another direction provided by the embodiment of the present invention;

[0028] Figure 6 It is a schematic diagram inside the first planetary mechanism provided by the embodiment of the present invention;

[0029] Figure 7 It is a schematic structural diagram of the first sun gear provided by the embodiment of the present invention;

[0030] Figure 8 It is a schematic structural diagram of the first planetary gear provided by the embodiment of the present invention;

[0031] Figure 9 It is a schematic structural diagram of the second left planetary carrier provided by the embodiment of the present invention;

[0032] Figure 10 It is a schematic structural diagram of the second right planetary carrier provided by the embodiment of the present invention;

[0033] Figure 11 It is a schematic diagram inside the second planetary mechanism provided by the embodiment of the present invention;

[0034] Figure 12 It is a schematic structural diagram of the second sun gear provided by the embodiment of the present invention;

[0035] Figure 13 It is a schematic structural diagram of the second planetary gear provided by the embodiment of the present invention;

[0036] Figure 14 It is a cross-sectional view of the speed reduction device provided by the embodiment of the present invention;

[0037] Figure 15 It is a schematic structural diagram of the second left planetary carrier in another direction provided by the embodiment of the present invention;

[0038] Figure 16 It is a schematic structural diagram of the front end cover of the motor provided by the embodiment of the present invention;

[0039] Figure 17 It is a schematic structural diagram of the front end cover of the motor in another direction provided by the embodiment of the present invention;

[0040] Reference numerals: 100, speed reducer;

[0041] 1, first planetary mechanism;

[0042] 11, first left planetary carrier; 111, first through hole; 112, first left frame body; 113, convex column; 1131, first groove; 11311, second through hole;

[0043] 12, first right planetary carrier; 121, first right frame body; 1211, first convex block; 12111, first connection hole; 1212, first convex stop; 1213, first fixing hole; 1214, bearing hole; first grease hole 1215;

[0044] 13, first sun gear; 131, first connection shaft; 132, first gear body;

[0045] 14, first planetary gear; 141, first rotating shaft; 142, second gear body;

[0046] 15, first ring gear; 151, first positioning groove;

[0047] 2, second planetary mechanism; 21, second left planetary carrier; 211, arc groove; 22, second right planetary carrier; 221, output hole;

[0048] 23, second sun gear; 231, first positioning hole; 232, second fixing hole; 233, second grease hole;

[0049] 24, second planetary gear; 241, second rotating shaft; 242, third gear body;

[0050] 25, second ring gear;

[0051] 3, front end cover of motor; 31, card slot; 32, second positioning groove; 33, annular ball groove;

[0052] 4, front cover; 51, first bearing; 52, second bearing; 53, third bearing; 6, snap ring; 7, sealing cover. Detailed implementation manners

[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] As Figures 1 to 17As shown in the figure, an embodiment of the present invention provides a speed reduction device 100, which includes a motor front end cover 3, a front cover 4, a first bearing 51, a second bearing 52, a first planetary mechanism 1 and a second planetary mechanism 2. The first planetary mechanism 1 includes a first left planetary carrier 11, a first right planetary carrier 12, a first sun gear 13, at least one first planetary gear 14 and a first ring gear 15. The second planetary mechanism 2 includes a second left planetary carrier 21, a second right planetary carrier 22, a second sun gear 23, at least one second planetary gear 24 and a second ring gear 25;

[0055] The first left planetary carrier 11 is connected to the first right planetary carrier 12, and the first left planetary carrier 11 and the first right planetary carrier 12 form a first gear cavity having at least one first opening. The first sun gear 13 is located in the first gear cavity. One end of the first sun gear 13 is rotatably connected to the first right planetary carrier 12. Both ends of each first planetary gear 14 are respectively connected to the first left planetary carrier 11 and the first right planetary carrier 12. Each first planetary gear 14 is located in the first gear cavity and protrudes from the corresponding first opening. Each first planetary gear 14 is respectively meshed and connected to the first ring gear 15 and the first sun gear 13;

[0056] The first right planetary carrier 12 is connected to the second sun gear 23;

[0057] The second left planetary carrier 21 is connected to the second right planetary carrier 22, and the second left planetary carrier 21 and the second right planetary carrier 22 form a second gear cavity having at least one second opening. Both ends of each second planetary gear 24 are respectively connected to the second left planetary carrier 21 and the second right planetary carrier 22. Each second planetary gear 24 is located in the second gear cavity and protrudes from the corresponding second opening. Each second planetary gear 24 is respectively meshed and connected to the second ring gear 25 and the second sun gear 23;

[0058] The inner wall of the motor front end cover 3 is connected to the outer wall of the first ring gear 15. The right wall of the motor front end cover 3 is connected to one side wall of the second ring gear 25. The inner wall of the motor front end cover 3 is connected to the outer ring of the first bearing 51. The outer wall of the first right planetary carrier 12 is connected to the inner ring of the first bearing 51;

[0059] The left wall of the front cover 4 is connected to the other side wall of the second ring gear 25. The inner wall of the front cover 4 is connected to the outer ring of the second bearing 52. The outer wall of the second right planetary carrier 22 is connected to the inner ring of the second bearing 52.

[0060] The first sun gear 13 rotates to drive the first planet gear 14 to rotate. When the first ring gear 15 is fixed, it forces the first planet gear 14 to rotate around the first sun gear 13, driving the first left planet carrier 11 and the first right planet carrier 12 to rotate, so as to drive the second sun gear 23 to rotate. When the second ring gear 25 is fixed, it forces the second planet gear 24 to rotate around the second sun gear 23, driving the second left planet carrier 21 and the second right planet carrier 22 to rotate, so as to achieve speed reduction. The first planetary mechanism 1 and the second planetary mechanism 2 are tightly connected, with a compact overall structure, strong load-bearing capacity, low processing requirements and long service life, so as to solve the problems of poor load-bearing capacity, high processing difficulty and short service life of the RV reducer or harmonic reducer used in the existing robot joint speed reduction device.

[0061] In this embodiment, the first sun gear 13 includes a first connecting shaft 131 and a first gear body 132. The first gear body 132 is arranged on the first connecting shaft 131. The first connecting shaft 131 includes a first end and a second end. The first left planet carrier 11 is provided with a first through hole 111. The first end of the first connecting shaft 131 is rotatably connected to the first right planet carrier 12, and the first through hole 111 corresponds to the second end of the first connecting shaft 131.

[0062] The first connecting shaft 131 serves as a primary input end. The first connecting shaft 131 is used to connect the motor. The motor passes through the first through hole 111 and is connected to the second end of the first connecting shaft 131. The motor drives the first connecting shaft 131 to rotate, driving the first sun gear 13 to rotate. The first right planet carrier 12 serves as a primary output end. The first right planet carrier 12 is driven by the first sun gear 13 to rotate. The second sun gear 23 serves as a secondary input end. The second sun gear 23 is driven by the first right planet carrier 12 to rotate. The second right planet carrier 22 is driven by the second sun gear 23 to rotate, thus completing secondary speed reduction.

[0063] In this embodiment, the first planet gear 14 includes a first rotating shaft 141 and a second gear body 142. The second gear body 142 is rotatably connected to the first rotating shaft 141. The first rotating shaft 141 includes a first end and a second end. The first end of the first rotating shaft 141 is connected to the first right planet carrier 12, and the second end of the first rotating shaft 141 is connected to the first left planet carrier 11.

[0064] The second gear body 142 is connected to the first left planet carrier 11 and the first right planet carrier 12 through the first rotating shaft 141, so that the second gear body 142 can rotate on the first rotating shaft 141.

[0065] In this embodiment, the first left planet carrier 11 includes a first left frame body 112, three first bolts, and three convex columns 113. One side wall of each convex column 113 is provided on one side wall of the first left frame body 112, and a first groove 1131 is provided on the other side wall of each convex column 113. A second through hole 11311 is provided on the bottom wall of the first groove 1131, and the second through hole 11311 penetrates through the other side wall of the first left frame body 112. The first right planet carrier 12 includes a first right frame body 121. The first right frame body 121 includes a first side wall. Three first convex blocks 1211 are provided on the first side wall of the first right frame body 121. Each first convex block 1211 is provided with a first connection hole 12111. Each first convex block 1211 is inserted into a first groove 1131, and each first bolt passes through a second through hole 11311 and is connected to a first connection hole 12111.

[0066] The first left frame body 112 and the first right frame body 121 are connected by the first bolts to fix the first left frame body 112 and the first right frame body 121, and there are convex columns 113 between the first left frame body 112 and the first right frame body 121, so as to form a first gear cavity between the first left frame body 112 and the first right frame body 121. In addition, positioning is carried out by inserting the first convex blocks 1211 into the first grooves 1131, which facilitates the connection of the first bolts.

[0067] In this embodiment, the first right planet carrier 12 includes three second bolts. The first right frame body 121 includes a second side wall. A first convex stop 1212 and three first fixing holes 1213 are provided on the second side wall of the first right frame body 121. The second sun gear 23 is provided with a first positioning hole 231 and three second fixing holes 232. The first convex stop 1212 is inserted into the first positioning hole 231, and each second bolt is respectively connected to a first fixing hole 1213 and a second fixing hole 232.

[0068] Positioning is carried out by inserting the first convex stop 1212 into the first positioning hole 231, and then the first right frame body 121 and the second sun gear 23 are fixed by the second bolts.

[0069] In this embodiment, each first opening is formed by arranging two adjacent convex columns 113 alternately. One side wall of one convex column 113 among two adjacent convex columns 113 is a first arc wall, and one side wall of the other convex column 113 among two adjacent convex columns 113 is a second arc wall. The first arc wall and the second arc wall are two arcs of the same circle centered on the rotation center of the first planet gear 14.

[0070] The first arc-shaped wall and the second arc-shaped wall can not only protect the first planet gear 14, add lubricant between the first arc-shaped wall and the second arc-shaped wall, but also enable the first planet gear 14 to maintain good lubrication with the first sun gear 13 and the first ring gear 15.

[0071] In this embodiment, the diameter of the first ring gear 15 is smaller than the diameter of the second ring gear 25.

[0072] In this embodiment, the second planet gear 24 includes a second rotating shaft 241 and a third gear body 242. The third gear body 242 is rotatably connected to the second rotating shaft 241. The second rotating shaft 241 includes a first end and a second end. The first end of the second rotating shaft 241 is connected to the second right planet carrier 22, and the second end of the second rotating shaft 241 is connected to the second left planet carrier 21.

[0073] The third gear body 242 is connected to the second left planet carrier 21 and the second right planet carrier 22 through the second rotating shaft 241, so that the third gear body 242 can rotate on the second rotating shaft 241.

[0074] In this embodiment, the front end cover 3 of the motor is both the front end cover of the motor and the housing of the reduction gear 100. That is to say, the front end cover 3 of the motor is shared by the motor and the reduction gear 100, and the first planetary mechanism 1 is placed in the inner cavity of the motor.

[0075] In this embodiment, the outer shape of the reduction gear 100 is in a T shape.

[0076] In this embodiment, the second end of the first connecting shaft 131 is a D-shaped shaft. It is connected to the output shaft of the motor through the D-shaped shaft as the input shaft of the reduction gear 100.

[0077] In this embodiment, the diameter of the first through hole 111 is larger than the outer diameter of the first gear body 132 to facilitate the disassembly and assembly of the first sun gear 13.

[0078] In this embodiment, the cross-section of the front end cover 3 of the motor is in an "L" shape.

[0079] In this embodiment, the outer side wall of the front end cover 3 of the motor is used to connect the stator of the motor.

[0080] In this embodiment, the front end cover 3 of the motor not only restricts the circumferential movement of the first ring gear, but also axially positions and locates the second planetary mechanism 2.

[0081] In this embodiment, a clamping groove 31 is provided on the inner side wall of the front end cover 3 of the motor. The reduction gear 100 further includes a retaining ring 6 and a sealing cover 7. The retaining ring 6 and the sealing cover 7 are both sleeved on the first left planet carrier 11. The retaining ring 6 is snapped into the clamping groove 31, and the sealing cover 7 abuts against the retaining ring 6 and the first ring gear 15 respectively.

[0082] In this embodiment, the speed reduction device 100 further includes a positioning pin. A first positioning groove 151 is provided on the outer side wall of the first gear ring 15, and a second positioning groove 32 is provided on the inner side wall of the motor front end cover 3. The first positioning groove 151 and the second positioning groove 32 form a first pin hole, and the positioning pin is inserted into the first pin hole.

[0083] In this embodiment, the first right planet carrier 12 is provided with a bearing hole 1214. The speed reduction device 100 further includes a third bearing 53. The third bearing 53 is disposed in the bearing hole 1214, and the inner ring of the third bearing 53 is connected to the first end of the first connecting shaft 131.

[0084] In this embodiment, the second left planet carrier 21 is provided with at least two arc-shaped grooves 211. The motor front end cover is provided with an annular ball groove 33. Each arc-shaped groove 211 is provided with a plurality of first balls. The arc-shaped grooves 211 correspond to the annular ball groove 33. Axial limiting of the second planetary mechanism 2 is achieved through the first balls.

[0085] In this embodiment, the second right planet carrier 22 is provided with an output hole 221. Specifically, the output hole is in a teardrop shape. The output hole serves as the output shaft of the speed reduction device 100 and is connected to the load device through bolts to achieve torque output. The structure is simple and practical.

[0086] In this embodiment, the first right planet carrier 12 is provided with a first grease hole 1215, and the second sun gear 23 is provided with a second grease hole 233. The first grease hole 1215 corresponds to the second grease hole 233. It is used to connect the first planetary mechanism 1 and the second planetary mechanism 2 to achieve the intercommunication of lubricating grease.

[0087] In this embodiment, the outer side of the front cover 4 adopts an arc transition. An oil injection hole is provided on the outer side of the front cover, which is convenient for filling and replacing grease in the speed reduction device.

[0088] The embodiment of the present invention also provides a robot joint, including a speed reduction device 100. The speed reduction device 100 includes a motor front end cover 3, a front cover 4, a first bearing 51, a second bearing 52, a first planetary mechanism 1 and a second planetary mechanism 2. The first planetary mechanism 1 includes a first left planet carrier 11, a first right planet carrier 12, a first sun gear 13, at least one first planet gear 14 and a first gear ring 15. The second planetary mechanism 2 includes a second left planet carrier 21, a second right planet carrier 22, a second sun gear 23, at least one second planet gear 24 and a second gear ring 25;

[0089] The first left planet carrier 11 is connected to the first right planet carrier 12, and the first left planet carrier 11 and the first right planet carrier 12 form a first gear chamber having at least one first opening. The first sun gear 13 is located within the first gear chamber. One end of the first sun gear 13 is rotatably connected to the first right planet carrier 12. Both ends of each first planet gear 14 are respectively connected to the first left planet carrier 11 and the first right planet carrier 12. Each first planet gear 14 is located within the first gear chamber and protrudes from the corresponding first opening. Each first planet gear 14 is respectively meshed with the first ring gear 15 and the first sun gear 13;

[0090] The connection of the first right planet carrier 12 is connected to the second sun gear 23;

[0091] The second left planet carrier 21 is connected to the second right planet carrier 22, and the second left planet carrier 21 and the second right planet carrier 22 form a second gear chamber having at least one second opening. Both ends of each second planet gear 24 are respectively connected to the second left planet carrier 21 and the second right planet carrier 22. Each second planet gear 24 is located within the second gear chamber and protrudes from the corresponding second opening. Each second planet gear 24 is respectively meshed with the second ring gear 25 and the second sun gear 23;

[0092] The inner wall of the front end cover 3 of the motor is connected to the outer wall of the first ring gear 15. The right wall of the motor front end cover 3 is connected to one side wall of the second ring gear 25. The inner wall of the motor front end cover 3 is connected to the outer ring of the first bearing 51. The outer wall of the first right planet carrier 12 is connected to the inner ring of the first bearing 51;

[0093] The left wall of the front cover 4 is connected to the other side wall of the second ring gear 25. The inner wall of the front cover 4 is connected to the outer ring of the second bearing 52. The outer wall of the second right planet carrier 22 is connected to the inner ring of the second bearing 52.

[0094] The first sun gear 13 rotates to drive the first planet gear 14 to rotate. When the first ring gear 15 is fixed, it forces the first planet gear 14 to rotate around the first sun gear 13, driving the first left planet carrier 11 and the first right planet carrier 12 to rotate, so as to drive the second sun gear 23 to rotate. When the second ring gear 25 is fixed, it forces the second planet gear 24 to rotate around the second sun gear 23, driving the second left planet carrier 21 and the second right planet carrier 22 to rotate, so as to achieve speed reduction. The first planetary mechanism 1 and the second planetary mechanism 2 are closely connected, and the overall structure is compact, so as to solve the problems of poor load-bearing capacity, high processing difficulty and short service life of the RV reducer or harmonic reducer used in the existing robot joint speed reduction device. An embodiment of the present invention also provides a robot, including a robot joint, and the robot joint includes a speed reduction device 100. The speed reduction device 100 includes a motor front end cover 3, a front cover 4, a first bearing 51, a second bearing 52, a first planetary mechanism 1 and a second planetary mechanism 2. The first planetary mechanism 1 includes a first left planet carrier 11, a first right planet carrier 12, a first sun gear 13, at least one first planet gear 14 and a first ring gear 15. The second planetary mechanism 2 includes a second left planet carrier 21, a second right planet carrier 22, a second sun gear 23, at least one second planet gear 24 and a second ring gear 25;

[0095] The first left planet carrier 11 is connected to the first right planet carrier 12, and the first left planet carrier 11 and the first right planet carrier 12 form a first gear cavity having at least one first opening. The first sun gear 13 is located in the first gear cavity. One end of the first sun gear 13 is rotatably connected to the first right planet carrier 12. Both ends of each first planet gear 14 are respectively connected to the first left planet carrier 11 and the first right planet carrier 12. Each first planet gear 14 is located in the first gear cavity and protrudes from the corresponding first opening. Each first planet gear 14 is respectively meshed and connected with the first ring gear 15 and the first sun gear 13;

[0096] The first right planet carrier 12 is connected to the second sun gear 23;

[0097] The second left planet carrier 21 is connected to the second right planet carrier 22, and the second left planet carrier 21 and the second right planet carrier 22 form a second gear cavity having at least one second opening. Both ends of each second planet gear 24 are respectively connected to the second left planet carrier 21 and the second right planet carrier 22. Each second planet gear 24 is located in the second gear cavity and protrudes from the corresponding second opening. Each second planet gear 24 is respectively meshed and connected with the second ring gear 25 and the second sun gear 23;

[0098] The inner wall of the front end cover 3 of the motor is connected to the outer wall of the first ring gear 15, the right wall of the front end cover 3 of the motor is connected to one side wall of the second ring gear 25, the inner wall of the front end cover 3 of the motor is connected to the outer ring of the first bearing 51, and the outer wall of the first right planet carrier 12 is connected to the inner ring of the first bearing 51;

[0099] The left wall of the front cover 4 is connected to the other side wall of the second ring gear 25, the inner wall of the front cover 4 is connected to the outer ring of the second bearing 52, and the outer wall of the second right planet carrier 22 is connected to the inner ring of the second bearing 52.

[0100] The first sun gear 13 rotates to drive the first planet gear 14 to rotate. When the first ring gear 15 is fixed, it forces the first planet gear 14 to rotate around the first sun gear 13, driving the first left planet carrier 11 and the first right planet carrier 12 to rotate, so as to drive the second sun gear 23 to rotate. When the second ring gear 25 is fixed, it forces the second planet gear 24 to rotate around the second sun gear 23, driving the second left planet carrier 21 and the second right planet carrier 22 to rotate, so as to achieve speed reduction. The first planetary mechanism 1 and the second planetary mechanism 2 are tightly connected, with a compact overall structure, strong load-bearing capacity, low processing requirements and long service life, so as to solve the problems of poor load-bearing capacity, high processing difficulty and short service life of the RV reducer or harmonic reducer used in the existing robot joint speed reduction device. The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A speed reduction device, characterized in that, it includes a motor front cover, a front cover, a first bearing, a second bearing, a first planetary mechanism and a second planetary mechanism. The first planetary mechanism includes a first left planetary carrier, a first right planetary carrier, a first sun gear, at least one first planetary gear and a first ring gear. The second planetary mechanism includes a second left planetary carrier, a second right planetary carrier, a second sun gear, at least one second planetary gear and a second ring gear; the first left planetary carrier is connected to the first right planetary carrier, and the first left planetary carrier and the first right planetary carrier form a first gear cavity having at least one first opening. The first sun gear is located in the first gear cavity. One end of the first sun gear is rotatably connected to the first right planetary carrier. Both ends of each first planetary gear are respectively connected to the first left planetary carrier and the first right planetary carrier. Each first planetary gear is located in the first gear cavity and protrudes from the corresponding first opening. Each first planetary gear is respectively meshed and connected to the first ring gear and the first sun gear; the first right planetary carrier is connected to the second sun gear; the second left planetary carrier is connected to the second right planetary carrier, and the second left planetary carrier and the second right planetary carrier form a second gear cavity having at least one second opening. Both ends of each second planetary gear are respectively connected to the second left planetary carrier and the second right planetary carrier. Each second planetary gear is located in the second gear cavity and protrudes from the corresponding second opening. Each second planetary gear is respectively meshed and connected to the second ring gear and the second sun gear; the inner wall of the motor front cover is connected to the outer wall of the first ring gear. The right wall of the motor front cover is connected to one side wall of the second ring gear. The inner wall of the motor front cover is connected to the outer ring of the first bearing. The outer wall of the first right planetary carrier is connected to the inner ring of the first bearing; the left wall of the front cover is connected to the other side wall of the second ring gear. The inner wall of the front cover is connected to the outer ring of the second bearing. The outer wall of the second right planetary carrier is connected to the inner ring of the second bearing.

2. The speed reduction device according to claim 1, characterized in that, the first sun gear includes a first connecting shaft and a first gear body. The first gear body is arranged on the first connecting shaft. The first connecting shaft includes a first end and a second end. The first left planetary carrier is provided with a first through hole. The first end of the first connecting shaft is rotatably connected to the first right planetary carrier. The first through hole corresponds to the second end of the first connecting shaft.

3. The speed reduction device according to claim 1, characterized in that, the first planetary gear includes a first rotating shaft and a second gear body. The second gear body is rotatably connected to the first rotating shaft. The first rotating shaft includes a first end and a second end. The first end of the first rotating shaft is connected to the first right planetary carrier. The second end of the first rotating shaft is connected to the first left planetary carrier.

4. The speed reduction device according to claim 1, characterized in that, The first left planet carrier includes a first left frame body, three first bolts, and three convex columns. One side wall of each convex column is provided on one side wall of the first left frame body, and the other side wall of each convex column is provided with a first groove. The bottom wall of the first groove is provided with a second through hole, and the second through hole penetrates through the other side wall of the first left frame body. The first right planet carrier includes a first right frame body. The first right frame body includes a first side wall. Three first convex blocks are provided on the first side wall of the first right frame body. Each first convex block is provided with a first connection hole. Each first convex block is inserted into a first groove. Each first bolt passes through a second through hole and is connected to a first connection hole.

5. The speed reduction device according to claim 4, wherein, the first right planet carrier includes three second bolts. The first right frame body includes a second side wall. A first convex stop and three first fixing holes are provided on the second side wall of the first right frame body. The second sun gear is provided with a first positioning hole and three second fixing holes. The first convex stop is inserted into the first positioning hole. Each second bolt is respectively connected to a first fixing hole and a second fixing hole.

6. The speed reduction device according to claim 4, wherein, each first opening is formed by arranging two adjacent convex columns at intervals. One side wall of one convex column among two adjacent convex columns is a first arc wall, and one side wall of the other convex column among two adjacent convex columns is a second arc wall. The first arc wall and the second arc wall are two arcs of the same circle formed with the rotation center of the first planet gear as the center of the circle.

7. The speed reduction device according to claim 1, wherein, the diameter of the first ring gear is smaller than the diameter of the second ring gear.

8. The speed reduction device according to claim 1, wherein, the second planet gear includes a second rotating shaft and a third gear body. The third gear body is rotatably connected to the second rotating shaft. The second rotating shaft includes a first end and a second end. The first end of the second rotating shaft is connected to the second right planet carrier, and the second end of the second rotating shaft is connected to the second left planet carrier.

9. The speed reduction device according to claim 1, wherein, the speed reduction device further includes a positioning pin. A first positioning groove is provided on the outer side wall of the first ring gear, and a second positioning groove is provided on the inner side wall of the front end cover of the motor. The first positioning groove and the second positioning groove form a first pin hole. The positioning pin is inserted into the first pin hole.

10. The speed reduction device according to claim 1, wherein, at least two arc grooves are provided on the second left planet carrier. An annular ball groove is provided on the front end cover of the motor. Each arc groove is provided with a plurality of first balls. The arc grooves correspond to the annular ball groove.

11. A robot joint, wherein, it includes the speed reduction device according to any one of claims 1-10.

12. A robot, wherein, it includes the robot joint according to claim 11.

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