Driving module applied to robot joint

Abstract

The invention relates to the field of automation equipment, in particular to a driving module applied to a robot joint. The sun gear is rotationally arranged on the planet carrier, and meshing teeth are arranged on the outer wall of the sun gear; the planet gears a are rotationally arranged on the planet carrier, the multiple planet gears a are arranged, and the multiple planet gears a are meshed with the meshing teeth on the sun gear; the planet wheel b is coaxially arranged on the planet wheel a; the planet carrier is sleeved with the gear ring, and the gear ring is meshed with the multiple planet gears b. High-precision transmission and positioning can be achieved, a transmission chain is short and simple, and errors can be reduced easily; a plurality of planet gears share loads around the sun gear together to form power division, and therefore large torque can be transmitted. The structure is compact, the structural design is compact, and space saving is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a driving module applied to a robot joint. Background Art

[0002] The driving module of the robot joint is the core component of the robot joint system. It is responsible for converting electrical energy into mechanical energy to drive the joint to perform various movements.

[0003] Harmonic reducers are commonly used in robot joints on the market, but their moment of inertia and starting torque are relatively large, so they are not suitable for low-power tracking transmissions; they are not suitable for small speed ratio occasions. When the transmission speed ratio is too small, effective transmission may not be achieved. Summary of the invention

[0004] The purpose of the present invention is to propose a drive module for robot joints in view of the problem that the harmonic reducer in the background technology has large rotational inertia and starting torque and is not suitable for small speed ratio occasions.

[0005] The technical solution of the present invention is a driving module applied to a robot joint, comprising:

[0006] Planet carrier;

[0007] A sun wheel is rotatably arranged on the planet carrier, and meshing teeth are arranged on the outer wall of the sun wheel;

[0008] A planetary gear a is rotatably arranged on the planet carrier, a plurality of planetary gears a are arranged, and all of the plurality of planetary gears a are meshed with meshing teeth on the sun gear;

[0009] Planetary gear b, coaxially arranged on planetary gear a;

[0010] And a gear ring is sleeved outside the planet carrier, and the gear ring is meshed with multiple planetary gears b.

[0011] Preferably, the sun gear is located at the center of the planet carrier, and the sun gear is rotatably connected to the planet carrier via a sun gear bearing.

[0012] Preferably, a rotating shaft is rotatably arranged on the planet carrier, and the axis of the rotating shaft is parallel to the axis of the sun gear.

[0013] Preferably, a planet carrier bearing is arranged on the outer peripheral wall of the output end of the planet carrier.

[0014] Preferably, the planet carrier is a hollow cylinder with holes on both sides of the hollow cylinder, and an avoidance groove is arranged on the peripheral wall of the hollow cylinder to avoid the planetary gear a and the planetary gear b.

[0015] Preferably, three planetary gears a and three planetary gears b are provided, and the three planetary gears a are evenly distributed along the circumferential direction with the sun gear axis as the center.

[0016] Preferably, the diameter of the planetary gear a is greater than the diameter of the planetary gear b, and the meshing teeth on the sun gear are in an indented form.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects:

[0018] 1. High precision: The precision planetary reducer adopts advanced design and manufacturing technology, which can achieve high-precision transmission and positioning. Its transmission chain is short and simple, which is conducive to reducing errors;

[0019] 2. High torque: Since multiple planetary gears share the load around the sun gear, forming power splitting, it can transmit a large torque. When the transmission speed ratio is too small, it can also achieve effective transmission;

[0020] 3. Compact structure: The compact structure design is conducive to saving space while providing high torque and high-precision motion control. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the structure of an embodiment of the present invention;

[0022] Figure 2 for Figure 1 Exploded diagram of

[0023] Figure 3 for Figure 1 Schematic diagram of part of the structure.

[0024] Figure numerals: 1, sun gear; 2, sun gear bearing; 3, planet gear a; 4, planet gear b; 5, ring gear; 6, planet carrier; 7, planet carrier bearing; 8, rotating shaft. DETAILED DESCRIPTION

[0025] Embodiment 1

[0026] like Figure 1-Figure 3 As shown, the present invention proposes a driving module for a robot joint, comprising:

[0027] Planet carrier 6, as output, connected to the equipment;

[0028] The sun gear 1 is rotatably mounted on the planet carrier 6, and meshing teeth are arranged on the outer wall of the sun gear 1;

[0029] A planetary gear a3 is rotatably arranged on the planet carrier 6, a plurality of planetary gears a3 are arranged, and all of the plurality of planetary gears a3 are meshed with the meshing teeth on the sun gear 1;

[0030] Planetary gear b4, coaxially arranged on planetary gear a3;

[0031] And the ring gear 5 is sleeved outside the planet carrier 6, the ring gear 5 is meshed with multiple planetary gears b4, and the ring gear 5 is fixed on the equipment.

[0032] Embodiment 2

[0033] like Figure 1-Figure 3 As shown, the present invention proposes a driving module applied to a robot joint. Compared with the first embodiment, this embodiment introduces relevant detailed structures.

[0034] The sun gear 1 is located at the center of the planet carrier 6, and the sun gear 1 is rotatably connected to the planet carrier 6 through the sun gear bearing 2. A rotating shaft 8 is rotatably arranged on the planet carrier 6, and the axis of the rotating shaft 8 is parallel to the axis of the sun gear 1. A planet carrier bearing 7 is arranged on the outer peripheral wall of the output end of the planet carrier 6, and the planet carrier 6 is rotatably connected to the equipment through the planet carrier bearing 7. The planet carrier bearing 7 is a cross roller bearing, which has strong anti-overturning ability, high precision, high rigidity, low friction coefficient, high speed and high reliability. The planet carrier 6 is a hollow cylinder, and holes are opened on both sides of the hollow cylinder. An avoidance groove is arranged on the circumferential wall of the hollow cylinder to avoid the planetary gear a3 and the planetary gear b4. There are three planetary gears a3 and b4, and the three planetary gears a3 are evenly distributed in the circumferential direction with the axis of the sun gear 1 as the center. The diameter of the planetary gear a3 is larger than the diameter of the planetary gear b4, and the meshing teeth on the sun gear 1 are in the form of recessed.

[0035] In summary, when the present invention is in use, the sun gear 1 is connected to the prime mover, the sun gear 1 rotates to drive the planetary gear a3 to rotate, and the planetary gear a3 drives the planetary gear b4 to rotate. Because of the meshing of the planetary gear b4 and the ring gear 5, and the fixation of the ring gear 5, the entire planetary carrier 6 will rotate, and then the right side of the planetary carrier 6 is connected to the equipment to transmit the power. It can achieve high-precision transmission and positioning, and its transmission chain is short and simple, which is conducive to reducing errors. Multiple planetary gears a3 and planetary gears b4 share the load around the sun gear 1 to form a power split, so they can transmit a larger torque. The structural design is compact, which is conducive to saving space, while providing high torque and high-precision motion control.

[0036] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A driving module applied to a robot joint, characterized in that: include: Planet carrier (6); A sun gear (1) is rotatably mounted on a planet carrier (6), and meshing teeth are arranged on an outer wall of the sun gear (1); A planetary gear a (3) is rotatably mounted on a planetary carrier (6), a plurality of planetary gears a (3) are provided, and all of the plurality of planetary gears a (3) are meshed with meshing teeth on the sun gear (1); A planetary gear b (4) is coaxially arranged on the planetary gear a (3); And a gear ring (5) is sleeved outside the planet carrier (6), and the gear ring (5) is meshed with a plurality of planetary gears b (4).

2. The driving module for robot joints according to claim 1, characterized in that: The sun gear (1) is located at the center of the planet carrier (6), and the sun gear (1) is rotatably connected to the planet carrier (6) via a sun gear bearing (2).

3. The driving module for robot joints according to claim 1, characterized in that: A rotating shaft (8) is rotatably arranged on the planet carrier (6), and the axis of the rotating shaft (8) is parallel to the axis of the sun gear (1).

4. The driving module for robot joints according to claim 1, characterized in that: A planet carrier bearing (7) is arranged on the outer peripheral wall of the output end of the planet carrier (6).

5. The driving module for robot joints according to claim 1, characterized in that: The planet carrier (6) is a hollow cylinder with holes on both sides. An avoidance groove is arranged on the peripheral wall of the hollow cylinder to avoid the planetary gear a (3) and the planetary gear b (4).

6. The driving module for robot joints according to claim 5, characterized in that: Three planetary gears a (3) and three planetary gears b (4) are provided, and the three planetary gears a (3) are evenly distributed along the circumferential direction with the axis of the sun gear (1) as the center.

7. The driving module for robot joints according to claim 1, characterized in that: The diameter of the planetary gear a (3) is greater than the diameter of the planetary gear b (4), and the meshing teeth on the sun gear (1) are inwardly recessed.

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