Robot joint reducer and joint device

Abstract

The application relates to the technical field of robot joints, in particular to a robot joint speed reducer and a joint device, which have high speed reduction ratio, compact design and fast response; the speed reducer comprises a shell which is independently fixed; a planetary gear train is arranged in the shell and comprises an inner ring gear, a sun gear, a planetary gear and a planetary carrier, the inner ring gear is rotationally connected with the shell, the sun gear is coaxially arranged on the inner side of the inner ring gear, the planetary gear is in mesh with the inner ring gear and the sun gear, the planetary carrier is rotationally connected with the planetary gear, and the sun gear drives the planetary carrier through the planetary gear; an input shaft is arranged on the side of the sun gear away from the planetary carrier, one end of the input shaft is fixedly connected with the sun gear in a coaxial mode, and the other end of the input shaft extends to the outside through the shell; an output shaft is arranged on the side of the planetary carrier away from the planetary gear, one end of the output shaft is fixedly connected with the planetary carrier, and the other end of the output shaft extends to the outside through the shell; a transmission mechanism is in transmission connection with the input shaft and the inner ring gear, and the input shaft drives the inner ring gear through the transmission mechanism.

Description

Technical Field

[0001] This invention relates to the technical field of robot joints, and in particular to a robot joint reducer and joint device. Background Technology

[0002] A robot is an automated machine capable of receiving human instructions or autonomously performing tasks according to a pre-programmed sequence. Robots can be stationary (like a robotic arm in a factory) or mobile (like a rover exploring the surface of Mars). Joints are movable parts that connect different parts of a robot, allowing it to move in specific directions. For example, in industrial robots, different parts of a robotic arm are connected by joints that can rotate, bend, or extend, enabling the robotic arm to mimic the movements of a human arm and perform tasks such as grasping and assembly. A robot's flexibility and maneuverability largely depend on the design of its joints.

[0003] The reducer is a core component of a robot joint, primarily responsible for converting the high speed and low torque provided by the motor into low speed and high torque to meet the movement requirements of the robot joint. Its transmission performance significantly impacts the overall performance of the robot. Existing robot joint reducers are often complex in structure and occupy a large space, hindering the miniaturization design of robot joints. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a robot joint reducer and joint device with a high reduction ratio, compact design, and fast response.

[0005] The robot joint reducer of the present invention includes: The casing is independently and fixedly installed. The planetary gear train is located inside the housing and includes an internal gear ring, a sun gear, planet gears, and a planet carrier. The internal gear ring is rotatably connected to the housing. The sun gear is coaxially located inside the internal gear ring. The planet gears mesh with the internal gear ring and the sun gear. The planet carrier is rotatably connected to the planet gears. The sun gear drives the planet carrier through the planet gears. The input shaft is located on the side of the sun gear away from the planet carrier. One end is fixedly connected to the sun gear on the same axis, and the other end extends through the housing to the outside. The output shaft is located on the side of the planet carrier away from the planet gears, with one end fixedly connected to the planet carrier and the other end extending through the housing to the outside; The transmission mechanism is connected to the input shaft and the internal gear ring, and the input shaft drives the internal gear ring through the transmission mechanism.

[0006] Furthermore, the transmission mechanism includes: The first transmission wheel is sleeved on the outside of the input shaft and is fixedly connected to the input shaft coaxially; the outer gear ring is coaxially arranged with the inner gear ring and is fixedly connected to the inner gear ring through the first support frame; The second transmission wheel is fixedly connected to the housing via the second support frame. One end of the second transmission wheel is provided with a gear that meshes with the external gear ring. The third transmission wheel abuts against the first and second transmission wheels, transmitting the motion of the first transmission wheel to the second transmission wheel; The adjustment structure connects to the third transmission wheel, and the transmission ratio between the internal gear ring and the sun gear is changed by adjusting the position of the third transmission wheel.

[0007] Furthermore, the adjustment structure includes: The adjusting ring is installed on the outside of the housing and is rotatably connected to the housing; The fourth drive wheel is mounted on the outside of the housing via the third support frame. The fourth drive wheel abuts against the outer wall of the adjusting ring. A through hole is provided through the fourth drive wheel and the housing. An internal thread is provided on the inner wall of the through hole of the fourth drive wheel. The adjusting rod has an external thread on its outer wall, which mates with the internal thread. Its two ends are located on the inner and outer sides of the housing, respectively. The end of the adjusting rod located inside the housing is rotatably connected to the third transmission wheel.

[0008] Furthermore, a locking ring is provided outside the adjusting ring, and a locking rod is rotatably connected to the locking ring, with the end of the locking rod abutting against the adjusting ring.

[0009] Furthermore, the outer side of the adjustment structure is equipped with a protective cover, which is fixedly connected to the shell.

[0010] Furthermore, a support wheel assembly for supporting the internal gear ring is provided inside the housing. The support wheel assembly includes: A circular ring, fixedly installed on the inner wall of the housing; Several support wheels are mounted on a ring via a support wheel bracket. The outer circumference of the support wheel contacts the outer circumference of the internal gear ring for transmission.

[0011] Furthermore, each support wheel is provided with a protrusion, and the outer side of the internal gear ring is provided with a groove that mates with the protrusion.

[0012] Furthermore, the housing includes a main body and a cover that are connected to each other. The main body is provided with a first slot for the input shaft to pass through, and the cover is provided with a second slot for the output shaft to pass through.

[0013] Furthermore, it also includes an outer cover, the housing is installed inside the outer cover by mounting ears, and the two sides of the outer cover are respectively provided with through holes and rotatably connected output disks, the output disks are fixedly connected to the output shaft.

[0014] A robot joint device includes a joint, a drive motor, and a joint reducer of any one of the above, wherein the joint and the drive motor are connected to the joint reducer.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. A large reduction ratio is achieved through a planetary gear system, which allows the output shaft to maintain a low speed even when the input shaft speed is very high (300 rpm), while outputting greater torque. 2. The transmission mechanism transmits the rotation of the input shaft to the internal gear ring. With the participation of the internal gear ring, a larger reduction ratio can be achieved, simplifying the internal structure of the reducer, making the overall design more compact, saving space, and facilitating the miniaturization design of robot joints. 3. Since the internal gear ring directly participates in the power transmission process, it can respond to changes in the input shaft more quickly, improving the dynamic performance of the system. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the joint reducer of the present invention; Figure 2 This is an exploded view of the joint reducer of the present invention; Figure 3 This is a schematic diagram of the internal structure of the joint reducer of the present invention; Figure 4 This is a schematic diagram of the joint device of the present invention; Figure 5 This is a schematic diagram of the internal structure of the joint device of the present invention; In the attached diagram, the following markings are used: 100, housing; 110, main body; 120, cover; 130, mounting ear; 200, planetary gear train; 210, internal gear ring; 220, sun gear; 230, planet gears; 240, planet carrier; 300, input shaft; 400, output shaft; 500, transmission mechanism; 510, first transmission wheel; 520, external gear ring; 530, first support frame; 540, second transmission wheel; 541, gear; 550, second support frame; 560, third transmission wheel; 570, adjusting structure; 571, adjusting ring; 572, fourth transmission wheel; 573, third support frame; 574, adjusting rod; 575, locking ring; 576, locking rod; 580, protective cover; 600, support wheel assembly; 610, ring; 620, support wheel; 700, outer cover; 800, joint; 900, drive motor. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0018] In the description of this invention, it should be noted that the orientations or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inner", and "outer" are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0019] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. This embodiment is written in a progressive manner.

[0020] like Figures 1 to 3 As shown, the robot joint reducer of the present invention includes: Housing 100, independently fixed; The planetary gear train 200 is disposed inside the housing 100 and includes an internal gear ring 210, a sun gear 220, planet gears 230 and a planet carrier 240. The internal gear ring 210 is rotatably connected to the housing 100. The sun gear 220 is coaxially disposed inside the internal gear ring 210. The planet gears 230 mesh with the internal gear ring 210 and the sun gear 220. The planet carrier 240 is rotatably connected to the planet gears 230. The sun gear 220 drives the planet carrier 240 through the planet gears 230. The input shaft 300 is located on the side of the sun gear 220 away from the planet carrier 240. One end is coaxially and fixedly connected to the sun gear 220, and the other end extends through the housing 100 to the outside. The output shaft 400 is located on the side of the planet carrier 240 away from the planet gear 230, with one end fixedly connected to the planet carrier 240 and the other end extending through the housing 100 to the outside; The transmission mechanism 500 is connected to the input shaft 300 and the internal gear ring 210. The input shaft 300 drives the internal gear ring 210 through the transmission mechanism 500. The working process and principle of the robot joint reducer of the present invention are as follows: The housing 100 is the basic frame of the entire reducer, used to fix and support all internal components; power is transmitted from an external power source through the input shaft 300, which is coaxially and fixedly connected to the sun gear 220, so the rotation of the input shaft 300 causes the sun gear 220 to rotate; the transmission mechanism 500 simultaneously transmits the rotation of the input shaft 300 to the internal gear ring 210, and the internal gear ring 210 and the sun gear 220 rotate in opposite directions simultaneously; the planet gear 230 meshes with both the sun gear 220 and the internal gear ring 210, which drives the planet gear 230 to rotate. The planetary gear 230 performs two motions simultaneously: rotation around its own axis and revolution around the center of the sun gear 220. The revolution of the planetary gear 230 is transmitted through the planet carrier 240, which is fixedly connected to the output shaft 400. Since the planetary gear 230 both rotates and revolves, each revolution of the sun gear 220 causes the planet carrier 240 to rotate less than one revolution. The specific rotation depends on the ratio of the number of teeth of the sun gear 220, planetary gear 230, and internal gear ring 210. This design converts the high-speed rotation of the input shaft 300 into the low-speed rotation of the output shaft 400, while increasing the torque of the output shaft 400.

[0021] Specifically, such as Figures 2 to 3 As shown, the transmission mechanism 500 includes: The first transmission wheel 510 is sleeved on the outside of the input shaft 300 and is coaxially and fixedly connected to the input shaft 300; the outer gear ring 520 is coaxially arranged with the inner gear ring 210 and is fixedly connected to the inner gear ring 210 through the first support frame 530. The second transmission wheel 540 is fixedly connected to the housing 100 via the second support frame 550. One end of the second transmission wheel 540 is provided with a gear 541, which meshes with the external gear ring 520. The third transmission wheel 560 abuts against the first transmission wheel 510 and the second transmission wheel 540, and transmits the motion of the first transmission wheel 510 to the second transmission wheel 540. The adjusting structure 570 is connected to the third transmission wheel 560, and the transmission ratio between the internal gear ring 210 and the sun gear 220 is changed by adjusting the position of the third transmission wheel 560. The working process and principle of the transmission mechanism 500 are as follows: Power is transmitted from an external power source through the input shaft 300. The input shaft 300 is coaxially and fixedly connected to the first transmission wheel 510. Therefore, the first transmission wheel 510 rotates with the rotation of the input shaft 300, and the rotation of the first transmission wheel 510 is the starting point of the entire transmission chain. When the first transmission wheel 510 rotates, the third transmission wheel 560 also rotates and transmits the motion to the second transmission wheel 540. The second support frame 550 ensures that the second transmission wheel 540 remains stable when transmitting power. When rotating, the gear 541 on it also rotates, driving the outer gear ring 520 to rotate together, which in turn drives the inner gear ring 210 to rotate; the rotation of the inner gear ring 210 affects the movement of the planet gear 230, which in turn affects the movement of the planet carrier 240 and the output shaft 400, thereby changing the rotational speed of the output shaft 400; the adjustment structure 570 can change the contact point between the third transmission wheel and the first transmission wheel 510 and the second transmission wheel 540 by adjusting the position of the third transmission wheel, thereby changing the transmission ratio between them, thus optimizing the performance of the reducer and adapting to different working conditions.

[0022] The adjustment structure 570 includes: Adjusting ring 571 is installed on the outside of housing 100 and is rotatably connected to housing 100; The fourth transmission wheel 572 is installed on the outside of the housing 100 via the third support frame 573. The fourth transmission wheel 572 abuts against the outer wall of the adjusting ring 571. The fourth transmission wheel 572 and the housing 100 are provided with a through hole. The inner wall of the through hole of the fourth transmission wheel 572 is provided with an internal thread. The adjusting rod 574 has an external thread on its outer wall, which is connected to the internal thread. Its two ends are located on the inner and outer sides of the housing 100, respectively. The end of the adjusting rod 574 located inside the housing 100 is rotatably connected to the third transmission wheel 560. The position of the third transmission wheel 560 is precisely controlled by adjusting the operation of the structure 570; the adjusting ring 571 is rotated, and the rotation method includes but is not limited to manual or motor drive; the contact surface between the fourth transmission wheel 572 and the adjusting ring 571 can be a roller or other form of friction contact to ensure that the rotation of the adjusting ring 571 can drive the rotation of the fourth transmission wheel 572; when the fourth transmission wheel 572 rotates, the adjusting rod 574 will move axially under the action of the thread. The adjusting rod 574 is connected to the third transmission wheel 560, so the axial movement of the adjusting rod 574 will drive the position of the third transmission wheel 560 to change, thereby changing the contact point between it and the first transmission wheel 510 and the second transmission wheel 540.

[0023] To ensure that the adjusting ring 571 can be firmly fixed after adjustment, a locking ring 575 is provided outside the adjusting ring 571, and a locking rod 576 is rotatably connected to the locking ring 575, with the end of the locking rod 576 abutting against the adjusting ring 571. The locking ring 575 provides a fixed fulcrum for installing and operating the locking rod 576. The locking rod 576 is mounted on the locking ring 575 via a pin or other rotating connector and can rotate freely within a certain range. The end of the locking rod is designed with a protrusion or hook that can abut against the outer edge of the adjusting ring 571 or be engaged in a specific groove. When the transmission ratio needs to be adjusted, the locking rod 576 is first lifted to separate it from the adjusting ring 571. Then, the adjusting ring 571 is rotated, which drives the fourth transmission wheel 572 to rotate, thereby changing the position of the adjusting rod 574 and finally adjusting the position of the third transmission wheel 560. After adjustment, the locking rod 576 is lowered so that its end abuts against or is engaged in the groove on the adjusting ring 571, thereby fixing the position of the adjusting ring 571. The locking ring 575 and the locking rod 576 securely fix the adjusting ring 571 when it is not moving, preventing loosening due to vibration or external force. This helps to maintain the stability of the transmission ratio of the reducer and avoids unexpected changes that may affect performance.

[0024] To protect the adjustment structure 570 from the influence of the external environment, a protective cover 580 is provided on the outside of the adjustment structure 570, and the protective cover 580 is fixedly connected to the housing 100; The protective cover 580 is usually made of metal or high-strength plastic, with sufficient strength and durability to protect components such as the adjusting ring 571, locking ring 575, and locking lever 576. The protective cover 580 has windows to allow operation of the adjusting ring 571 and locking lever 576 to complete the adjustment and locking actions.

[0025] A support wheel assembly 600 for supporting the internal gear ring 210 is provided inside the housing 100. The support wheel assembly 600 includes: Ring 610 is fixedly installed on the inner wall of housing 100; Several support wheels 620, each of which is mounted on a ring 610 via a support wheel bracket, and the outer circumference of the support wheel 620 contacts and drives the transmission with the outer circumference of the internal gear ring 210; The ring 610 serves as the base of the support wheel assembly 600. The shape and size of the ring are matched with the internal gear ring 210 to ensure that the support wheels 620 can be distributed around the entire internal gear ring 210. Each support wheel 620 can rotate freely and form rolling contact with the outer circumference of the internal gear ring 210. The number and distribution of the support wheels 620 can be optimized according to the size and working requirements of the internal gear ring 210 to ensure that the internal gear ring 210 is uniformly supported in all directions. When the internal gear ring 210 rotates, the support wheels 620 will roll along with the movement of the internal gear ring 210. The rolling of the support wheels 620 ensures that the movement of the internal gear ring 210 is smoother and more precise, which helps to improve the operating stability of the entire reducer.

[0026] In particular, each support wheel 620 is provided with a protrusion, and the outer side of the internal gear ring 210 is provided with a groove that mates with the protrusion; When the internal gear ring 210 rotates, the protrusion on the support wheel 620 will engage in the slot on the outside of the internal gear ring 210. The cooperation between the protrusion and the slot ensures that the internal gear ring 210 always maintains precise contact with the support wheel 620 during rotation, reducing the possibility of deviation and further ensuring that the movement of the internal gear ring 210 is more stable and precise.

[0027] As a preferred embodiment of the above technical solution, such as Figures 1 to 3 As shown, the housing 100 includes a main body 110 and a cover 120 that are connected to each other. The main body 110 is provided with a first slot for the input shaft 300 to pass through, and the cover 120 is provided with a second slot for the output shaft 400 to pass through. The main body 110 and the cover 120 are tightly connected by fasteners to ensure the structural stability of the housing 100. The split design makes it easier to assemble and disassemble the housing 100, facilitates the installation and replacement of internal parts, and allows for easy opening and disassembly during maintenance to inspect and repair internal components, thereby improving maintenance efficiency.

[0028] like Figures 4 to 5 As shown, it also includes an outer cover 700. The housing 100 is installed inside the outer cover 700 through mounting ears 130. The outer cover 700 has through holes and rotatably connected output disks on both sides. The output disks are fixedly connected to the output shaft 400. The outer casing 700 is an integral housing used to protect the housing 100 and its internal components. It is usually made of metal or high-strength plastic and has good strength and durability. The design of the mounting ears 130 ensures the stability and positioning accuracy of the housing 100 within the outer casing 700. The output disc increases the contact area with the external load, thereby reducing stress concentration, providing more stable support, and improving the performance and reliability of the joint reducer.

[0029] Based on the above-mentioned robot joint reducer, such as Figures 4 to 5 As shown, the robot joint device includes a joint 800, a drive motor 900, and the aforementioned joint reducer. The joint 800 and the drive motor 900 are connected to the joint reducer. In this embodiment, the joint includes at least two limbs, and adjacent limbs are connected by a joint reducer. The drive motor 900 is the source of power. The drive motor 900 is connected to the input shaft 300 of the joint reducer through a coupling or other connection method to convert electrical energy into mechanical energy. The output shaft 400 is connected to the next limb to transmit the decelerated low-speed, high-torque power to the next limb to drive the movement of the limb.

[0030] The robot joint reducer and joint device of the present invention can be installed, connected or set in a common mechanical manner, and can be implemented as long as it can achieve its beneficial effect.

[0031] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robot joint reducer, characterized in that, include: Housing (100), independently fixed; A planetary gear train (200) is disposed inside the housing (100) and includes an internal gear ring (210), a sun gear (220), planet gears (230), and a planet carrier (240). The internal gear ring (210) is rotatably connected to the housing (100). The sun gear (220) is coaxially disposed inside the internal gear ring (210). The planet gears (230) mesh with the internal gear ring (210) and the sun gear (220). The planet carrier (240) is rotatably connected to the planet gears (230). The sun gear (220) drives the planet carrier (240) through the planet gears (230). An input shaft (300) is located on the side of the sun gear (220) away from the planet carrier (240), with one end coaxially fixedly connected to the sun gear (220) and the other end extending through the housing (100) to the outside; The output shaft (400) is located on the side of the planet carrier (240) away from the planet gear (230), with one end fixedly connected to the planet carrier (240) and the other end extending through the housing (100) to the outside; The transmission mechanism (500) is connected to the input shaft (300) and the internal gear ring (210), and the input shaft (300) drives the internal gear ring (210) through the transmission mechanism (500). The transmission mechanism (500) includes: The first transmission wheel (510) is sleeved on the outside of the input shaft (300) and is coaxially and fixedly connected to the input shaft (300); The outer gear ring (520) is coaxially arranged with the inner gear ring (210) and is fixedly connected to the inner gear ring (210) through the first support frame (530); The second transmission wheel (540) is fixedly connected to the housing (100) via the second support frame (550). A gear (541) is provided at one end of the second transmission wheel (540), and the gear (541) meshes with the external gear ring (520). The third transmission wheel (560) abuts against the first transmission wheel (510) and the second transmission wheel (540) and transmits the motion of the first transmission wheel (510) to the second transmission wheel (540). An adjustment structure (570) is connected to the third transmission wheel (560), and the transmission ratio between the internal gear ring (210) and the sun gear (220) is changed by adjusting the position of the third transmission wheel (560); The adjustment structure (570) includes: An adjusting ring (571) is installed on the outside of the housing (100) and is rotatably connected to the housing (100); The fourth transmission wheel (572) is installed on the outside of the housing (100) via the third support frame (573). The fourth transmission wheel (572) abuts against the outer wall of the adjusting ring (571). The fourth transmission wheel (572) and the housing (100) are provided with a through hole. The inner wall of the through hole of the fourth transmission wheel (572) is provided with an internal thread. The adjusting rod (574) has an external thread on its outer wall, which is connected to the internal thread. Its two ends are located on the inner and outer sides of the housing (100), respectively. The end of the adjusting rod (574) located inside the housing (100) is rotatably connected to the third transmission wheel (560).

2. The robot joint reducer as described in claim 1, characterized in that, A locking ring (575) is provided outside the adjusting ring (571), and a locking rod (576) is rotatably connected to the locking ring (575). The end of the locking rod (576) abuts against the adjusting ring (571).

3. The robot joint reducer as described in claim 1, characterized in that, The adjustment structure (570) is covered with a protective cover (580), which is fixedly connected to the housing (100).

4. The robot joint reducer as described in claim 1, characterized in that, The housing (100) is provided with a support wheel assembly (600) for supporting the internal gear ring (210), the support wheel assembly (600) comprising: A circular ring (610) is fixedly installed on the inner wall of the housing (100); A plurality of support wheels (620) are provided, each of which is mounted on the ring (610) via a support wheel frame. The outer periphery of the support wheel (620) is in contact with the outer periphery of the internal gear ring (210) for transmission.

5. The robot joint reducer as described in claim 4, characterized in that, Each of the support wheels (620) is provided with a protrusion, and the outer side of the internal gear ring (210) is provided with a groove that mates with the protrusion.

6. The robot joint reducer as described in claim 1, characterized in that, The housing (100) includes a main body (110) and a cover (120) that are connected to each other. The main body (110) is provided with a first slot for the input shaft (300) to pass through, and the cover (120) is provided with a second slot for the output shaft (400) to pass through.

7. The robot joint reducer as described in claim 1, characterized in that, It also includes an outer cover (700), the housing (100) is installed inside the outer cover (700) by mounting ears (130), the outer cover (700) is provided with through holes and rotatably connected output disks on both sides, and the output disks are fixedly connected to the output shaft (400).

8. A robot joint device, comprising a joint (800), a drive motor (900), and a joint reducer as described in any one of claims 1 to 7, wherein the joint (800) and the drive motor (900) are connected to the joint reducer.

Images