Speed reducer, joint module and robot

Abstract

The invention relates to the technical field of robots, in particular to a speed reducer, a joint module and a robot, and solves the problem that the speed reducer cannot give consideration to both the reduction ratio and the size. The speed reducer comprises a sun gear, a plurality of compound planet gears, an inner gear ring and a planet carrier. Due to the fact that the compound planet gear comprises the first sector gear and the second sector gear which are coaxially connected, the first sector gear is externally meshed with the outer ring of the sun gear, the compound planet gear has speed ratio level difference, and therefore the reduction ratio of the speed reducer is guaranteed. Due to the fact that the projection of the first sector gear on the end face of the inner gear ring is located on the inner side of the inner ring of the inner gear ring, the first sector gear is prevented from extending to the outer side of the inner ring of the inner gear ring, and the radial size of the speed reducer is reduced. Namely, the reduction ratio of the speed reducer is ensured, and meanwhile, the radial size of the speed reducer is reduced, so that the torque density of the speed reducer is increased.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a reducer, a joint module and a robot. Background Art

[0002] The walking of a legged humanoid robot is driven by the lower limb joint module. Currently, the joint module is mainly a combination of a frameless motor and a planetary reducer. Specifically, the frameless motor drives the reducer to reduce speed and increase torque, and the output end of the reducer rotates, so that the lower limbs of the legged humanoid robot can complete the walking action. The lower limbs of the legged humanoid robot are obviously very thick, which leads to the incoordination between the upper and lower limbs of the legged humanoid robot, affecting the appearance of the robot.

[0003] However, in order to achieve walking of the lower limbs, it is necessary to ensure that the joint module has a sufficiently large torque, that is, the reducer needs to have a sufficiently large reduction ratio. In order to achieve a sufficiently large reduction ratio, the size of the reducer needs to be increased. In other words, the reducer in the related art cannot take into account both the reduction ratio and the size. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a reducer, a joint module and a robot, which solve the problem that the reducer cannot take into account both the reduction ratio and the size.

[0005] In the first aspect, an embodiment of the present application provides a reducer, comprising: a sun gear, which can be connected to the output shaft of a power source and rotate under the drive of the power source; a plurality of compound planetary gears, which are arranged around the sun gear, and the compound planetary gears include a first sector gear and a second sector gear which are coaxially connected, the first sector gear is meshed with the outer ring of the sun gear, and the compound planetary gears have a speed ratio difference; an inner ring gear, which is coaxially arranged with the sun gear, and the inner ring of the inner ring gear is meshed with the plurality of second sector gears, wherein the projection of the first sector gear on the end face of the inner ring gear is located on the inner side of the inner ring of the inner ring gear; a planet carrier, which is rotatably connected to the sun gear and rotatably connected to the plurality of compound planetary gears.

[0006] In some embodiments, two end surfaces of the first sector gear are symmetrical about a first plane, two end surfaces of the second sector gear are symmetrical about a second plane, and the first plane is coplanar with the second plane.

[0007] In some embodiments, the speed ratio difference of the compound planetary gear is greater than 1.

[0008] In some embodiments, a first total circumferential angle of the first sector gear is equal to a second total circumferential angle of the second sector gear, and a first number of teeth of the first sector gear is greater than a second number of teeth of the second sector gear.

[0009] In a second aspect, an embodiment of the present application provides a joint module, comprising: the reducer mentioned in the first aspect; and a motor connected to the sun gear of the reducer and configured to drive the sun gear to rotate.

[0010] In some embodiments, the motor includes: a stator; a rotor rotatably connected to the stator and coaxially arranged with the sun gear; a connecting sleeve connecting the rotor and the sun gear so that the rotor drives the sun gear to rotate through the connecting sleeve; a housing, which is sleeved on the outer side of the stator and the inner gear ring of the reducer and is coaxially fixed with the stator and the inner gear ring.

[0011] In some embodiments, the sun gear includes a first shaft segment, a sun gear, and a second shaft segment coaxially connected in sequence; wherein the connecting sleeve is connected to the second shaft segment, the planetary carrier is rotatably connected to the first shaft segment, the first end face of the planetary carrier has a first annular groove, and the second end face of the planetary carrier has a second annular groove; the joint module also includes: a first bearing, which is arranged in the first annular groove, and the inner ring of the first bearing is connected to the sun gear; a second bearing, which is arranged in the second annular groove, and the inner ring of the second bearing is connected to the connecting sleeve.

[0012] In some embodiments, the connecting sleeve includes: a first annular portion, fixedly mounted on the inner ring of the rotor; a second annular portion, fixedly mounted on the outer ring of the sun gear, wherein the inner ring of the second bearing is connected to the outer ring of the second annular portion; a connecting portion, connecting the first annular portion and the second annular portion, wherein the first annular portion, the connecting portion and the second annular portion form an avoidance space on a side close to the planetary carrier, and the planetary carrier extends into the avoidance space.

[0013] In some embodiments, the joint module further includes: a third bearing, the inner ring of the third bearing is connected to the planetary carrier, and the outer ring of the third bearing is connected to the housing.

[0014] In a third aspect, an embodiment of the present application provides a robot comprising: the reducer described in the first aspect; and / or the joint module described in the second aspect.

[0015] A reducer provided in an embodiment of the present application includes a sun gear, a plurality of compound planetary gears, an inner gear ring and a planet carrier. The sun gear can be connected to the output shaft of a power source and rotate under the drive of the power source. The plurality of compound planetary gears are arranged around the sun gear. The compound planetary gear includes a first sector gear and a second sector gear connected coaxially. The first sector gear is meshed with the outer ring of the sun gear. The compound planetary gear has a speed ratio difference. The inner gear ring is coaxially arranged with the sun gear. The inner ring of the inner gear ring is meshed with the plurality of second sector gears. The projection of the end face of the first sector gear on the inner gear ring is located on the inner side of the inner ring of the inner gear ring. The planet carrier is rotatably connected to the sun gear and is rotatably connected to the plurality of compound planetary gears. Since the projection of the end face of the first sector gear on the inner ring of the inner gear is located on the inner side of the inner ring of the inner gear, the first sector gear is prevented from extending to the outer side of the inner ring of the inner gear, thereby reducing the radial size of the reducer. At the same time, the first sector gear of the compound planetary gear is meshed with the outer ring of the sun gear, and the inner ring of the inner gear is meshed with multiple second sector gears. The compound planetary gear has a speed ratio difference, thereby ensuring the reduction ratio of the reducer. That is, the reducer provided in the embodiment of the present application reduces the radial size of the reducer while ensuring the reduction ratio of the reducer, thereby increasing the torque density of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components.

[0017] Figure 1 A schematic diagram of a NGW type reducer is shown.

[0018] Figure 2 A schematic diagram of a NW type reducer is shown.

[0019] Figure 3 A schematic diagram of a duplex gear is shown.

[0020] Figure 4 Shown is a schematic diagram of the principle of a reducer provided in one embodiment of the present application.

[0021] Figure 5 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present application.

[0022] Figure 6 The present invention provides an embodiment of the present invention. Figure 5 The cross-sectional view of the joint module shown is in the AA direction.

[0023] Figure 7 Shown is a structural schematic diagram of a partial structure of a joint module provided in one embodiment of the present application.

[0024] Figure 8 Shown is a top view of a partial structure of a joint module provided in one embodiment of the present application.

[0025] Fig. 9 Shown is a schematic structural diagram of a composite planetary gear provided in one embodiment of the present application.

[0026] Fig.10 Shown is a top view of a composite planetary gear provided in one embodiment of the present application.

[0027] Fig.11 Shown is a cross-sectional view of a compound planetary gear provided in an embodiment of the present application in the BB direction.

[0028] Fig.12 Shown is a schematic structural diagram of a robot provided in one embodiment of the present application.

[0029] Reference numerals:

[0030] 1. Robot; 10. Joint module; 100. Speed ​​reducer; 110. Sun gear; 111. First shaft section; 112. Sun gear; 113. Second shaft section; 120. Compound planetary gear; 121. First sector gear; 122. Second sector gear; 130. Internal gear ring; 140. Planet carrier; 141. First end face; 142. First annular groove; 143. Second end face; 144. Second annular groove; 145. Shaft; 146. Transmission part; 150. Cover; 200. Motor; 210. Stator; 220. Rotor; 230. Connecting sleeve; 231. First annular part; 232. Second annular part; 233. Connecting part; 234. Avoidance space; 240. Housing; 310, first bearing; 320, second bearing; 330, third bearing; 340, fourth bearing; 350, needle bearing; 410, end cover; 411, third annular portion; 60, NGW type reducer; 61, first sun gear; 62, first planetary gear; 63, first planetary carrier; 64, first inner ring gear; 70, NW type reducer; 71, second sun gear; 72, second planetary gear; 73, third planetary gear; 74, second planetary carrier; 75, second inner ring gear; P1, first plane; P2, second plane; α, first total circumferential angle; β, second total circumferential angle; w1, total thickness of double gear; w2, first thickness; w3, second thickness; w4, third thickness. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0032] The reducer includes NGW type, NW type and so on. Figure 1 A schematic diagram of a NGW type reducer is shown. Figure 2 A schematic diagram of a NW type reducer is shown. Figure 3 A schematic diagram of a duplex gear is shown.

[0033] like Figure 1 As shown, the NGW type reducer 60 is driven by the first sun gear 61 to drive the first planetary gears 62 to rotate, and the first planetary gears 62 drive the first planet carrier 63 to rotate. The first planetary gears 62 are meshed with the outer ring of the first sun gear 61 and the inner ring of the first inner gear ring 64. The inventors have found that the first planetary gears 62 only have a transmission function and no deceleration function, resulting in a relatively small deceleration ratio of the NGW type reducer 60.

[0034] like Figure 2 As shown, the NW type reducer 70 is driven by the second sun gear 71 to drive the second planetary gears 72 to rotate, and the second planetary gears 72 and the third planetary gears 73 are coaxially connected along the axial direction of the second planetary gears 72 to form Figure 3 The double gears shown in the figure make the multiple second planetary gears 72 drive the multiple third planetary gears 73 to rotate respectively, and the second planetary gears 72 drive the second planet carrier 74 to rotate. The multiple second planetary gears 72 are meshed with the outer ring of the second sun gear 71, and the multiple third planetary gears 73 are meshed with the inner ring of the second inner gear ring 75. The inventors have found that in order to improve the reduction ratio, the number of teeth of the second planetary gear 72 of the NW type reducer 70 is designed to be greater than the number of teeth of the third planetary gear 73, which also leads to a larger size of the second planetary gear 72, thereby causing the second planetary gear 72 to extend to the outside of the inner ring of the second inner gear ring 75, and further resulting in a larger size of the NW type reducer 70.

[0035] Figure 1 and Figure 2 It is a principle diagram, and does not show the tooth patterns of the first sun gear 61 , the first planetary gears 62 , the first internal gear ring 64 , the second sun gear 71 , the second planetary gears 72 , the third planetary gears 73 and the second internal gear ring 75 .

[0036] In summary, both the NGW type reducer 60 and the NW type reducer 70 cannot take into account both the reduction ratio and the size of the reducer.

[0037] In order to solve at least one of the above problems, the present application is proposed. A reducer provided in an embodiment of the present application includes a sun gear, a plurality of compound planetary gears, an inner ring gear and a planet carrier. The sun gear can be connected to the output shaft of a power source and rotate under the drive of the power source. A plurality of compound planetary gears are arranged around the sun gear. The compound planetary gear includes a first sector gear and a second sector gear coaxially connected. The first sector gear is meshed with the outer ring of the sun gear. The compound planetary gear has a speed ratio difference. The inner ring gear is coaxially arranged with the sun gear. The inner ring of the inner ring gear is meshed with the plurality of second sector gears, wherein the projection of the first sector gear on the end face of the inner ring gear is located on the inner side of the inner ring of the inner ring gear. The planet carrier is rotatably connected to the sun gear and is rotatably connected to the plurality of compound planetary gears.

[0038] Since the projection of the end face of the first sector gear on the inner ring is located on the inner side of the inner ring of the inner ring, the first sector gear is prevented from extending to the outer side of the inner ring of the inner ring, thereby reducing the radial size of the reducer. The inventors have found that the output end of the reducer applied to the robot only needs a small rotation angle, such as a few dozen degrees, that is, the compound planetary gear does not need to rotate a full circle, but only needs to swing back and forth. In other words, during the operation of the reducer, the projection of the end face of the first sector gear on the inner ring is always located on the inner side of the inner ring of the inner ring, thereby preventing the first sector gear from extending to the outer side of the inner ring of the inner ring, reducing the radial size of the reducer.

[0039] The first sector gear of the compound planetary gear meshes with the outer ring of the sun gear, and the inner ring of the inner gear ring meshes with the plurality of second sector gears. The compound planetary gear has a speed ratio difference, thereby ensuring the reduction ratio of the reducer. That is, the reducer provided in the embodiment of the present application reduces the radial size of the reducer while ensuring the reduction ratio of the reducer, thereby increasing the torque density of the reducer.

[0040] The joint module is described below with reference to the accompanying drawings and specific embodiments.

[0041] Figure 4 Shown is a schematic diagram of the principle of a reducer provided in one embodiment of the present application. Figure 5 Shown is a schematic structural diagram of a joint module provided in one embodiment of the present application. Figure 6 The present invention provides an embodiment of the present invention. Figure 5 The cross-sectional view of the joint module shown is in the AA direction. Figure 7 Shown is a structural schematic diagram of a partial structure of a joint module provided in one embodiment of the present application. Figure 8 Shown is a top view of a partial structure of a joint module provided in one embodiment of the present application. Fig. 9 Shown is a schematic structural diagram of a composite planetary gear provided in one embodiment of the present application. Fig.10 Shown is a top view of a composite planetary gear provided in one embodiment of the present application. Fig.11 FIG. 1 is a cross-sectional view of a composite planetary gear provided in an embodiment of the present application in the BB direction. Figures 4 to 11 As shown, the speed reducer 100 includes a sun gear 110 , a plurality of compound planetary gears 120 , an inner ring gear 130 , and a planet carrier 140 .

[0042] The sun gear 110 can be connected to the output shaft of the power source and rotate under the drive of the power source. For example, the power source can be a motor. For example, the tooth profile of the sun gear 110 can be an involute tooth profile, a circular arc tooth profile, etc., which is not specifically limited in this application.

[0043] A plurality of compound planetary gears 120 are arranged around the sun gear 110, and the compound planetary gears 120 include a first sector gear 121 and a second sector gear 122 which are coaxially connected, and the first sector gear 121 is externally meshed with the outer ring of the sun gear 110, and there is a speed ratio difference in the compound planetary gears 120. Exemplarily, there is a tooth number difference between the first sector gear 121 and the second sector gear 122, and therefore, there is a speed ratio difference in the compound planetary gears 120.

[0044] Exemplarily, the tooth profile of the first sector gear 121 may be an involute tooth profile, an arc tooth profile, etc., which is not specifically limited in the present application. Exemplarily, the tooth profile of the second sector gear 122 may be an involute tooth profile, an arc tooth profile, etc., which is not specifically limited in the present application. Exemplarily, there is a speed ratio difference in the compound planetary gear 120, which can be understood as the arc angle corresponding to each tooth of the first sector gear 121 is different from the arc angle corresponding to each tooth of the second sector gear 122. Exemplarily, the user can set the size of the speed ratio difference of the compound planetary gear 120 according to the need for the reduction ratio, that is, set the arc angle corresponding to each tooth of the first sector gear 121 and the arc angle corresponding to each tooth of the second sector gear 122 according to the need for the reduction ratio.

[0045] The inner ring gear 130 is coaxially arranged with the sun gear 110. The inner ring of the inner ring gear 130 meshes with a plurality of second sector gears 122. The projection of the end surface of the inner ring gear 130 of the first sector gear 121 is located inside the inner ring of the inner ring gear 130.

[0046] The planet carrier 140 is rotatably connected to the sun gear 110 and is rotatably connected to the plurality of compound planetary gears 120. Exemplarily, the planet carrier 140 includes a shaft portion 145 and a transmission portion 146. The compound planetary gear 120 is sleeved on the shaft portion 145. Exemplarily, the reducer 100 further includes a needle bearing 350. The needle bearing 350 is disposed between the shaft portion 145 and the compound planetary gear 120.

[0047] Since the projection of the end face of the first sector gear 121 on the inner ring gear 130 is located inside the inner ring of the inner ring gear 130, the first sector gear 121 is prevented from extending to the outside of the inner ring of the inner ring gear 130, thereby reducing the radial dimension of the reducer 100. The first sector gear 121 of the compound planetary gear 120 is meshed with the outer ring of the sun gear 110, and the inner ring of the inner ring gear 130 is meshed with the plurality of second sector gears 122. The compound planetary gear 120 has a speed ratio step difference, thereby ensuring the reduction ratio of the reducer 100. That is, the reducer 100 provided in the embodiment of the present application reduces the radial dimension of the reducer 100 while ensuring the reduction ratio of the reducer 100, thereby increasing the torque density of the reducer 100.

[0048] In some embodiments, Fig.11 As shown, the two end faces of the first sector gear 121 are symmetrical about the first plane P1, the two end faces of the second sector gear 122 are symmetrical about the second plane P2, and the first plane P1 is coplanar with the second plane P2. In other words, the first sector gear 121 and the second sector gear 122 are arranged on the same plane, thereby reducing the axial size of the compound planetary gear 120, and further reducing the axial size of the reducer 100.

[0049] For example, Figure 3 As shown, the total thickness w1 of the double gear is equal to the sum of the first thickness w2 of the second planetary gear 72 and the second thickness w3 of the third planetary gear 73. Fig.11 As shown, the third thickness w4 of the compound planetary gear 120 may be equal to the second thickness w3 of the third planetary gear 73 , that is, the third thickness w4 of the compound planetary gear 120 is less than the total thickness w1 of the double gear, thereby reducing the axial size of the compound planetary gear 120 .

[0050] Exemplarily, the compound planetary gear 120 has an extremely different speed ratio. In one plane, the compound planetary gear 120 meshes with the sun gear 110 and the inner ring gear 130 at the same time, realizing an innovative planetary transmission principle. The compound planetary gear 120 used as an example in this application is a straight tooth involute tooth shape. Any tooth shape using other tooth shapes such as helical gears, cycloids, circular arcs, hyperbolas, etc., as long as it is the transmission principle of this application, will be within the protection scope of this application.

[0051] In some embodiments, the speed ratio difference of the compound planetary gear 120 is greater than 1. Exemplarily, the speed ratio difference of the compound planetary gear 120 is greater than 1, which can be understood as the arc angle corresponding to each tooth of the first sector gear 121 is smaller than the arc angle corresponding to each tooth of the second sector gear 122.

[0052] By making the speed ratio difference of the compound planetary gear 120 greater than 1, the reduction ratio of the reducer 100 is further improved.

[0053] In some embodiments, a first total circumferential angle α of the first sector gear 121 and a second total circumferential angle β of the second sector gear 122 are equal, and a first number of teeth of the first sector gear 121 is greater than a second number of teeth of the second sector gear 122 .

[0054] Exemplarily, the first total circumferential angle α of the first sector gear 121 is equal to the product of the arc angle corresponding to each tooth of the first sector gear 121 and the number of teeth of the first sector gear 121. The second total circumferential angle β of the second sector gear 122 is equal to the product of the arc angle corresponding to each tooth of the second sector gear 122 and the number of teeth of the second sector gear 122.

[0055] Exemplarily, the number of teeth of the first sun gear 61 is Z1, the number of teeth of the first planetary gear 62 is Z2, and the number of teeth of the first inner ring gear 64 is Z3, then the reduction ratio of the NGW type reducer 60 is 1+Z3 / Z1.

[0056] When the first total circumferential angle α is equal to the second total circumferential angle β, the number of teeth of the sun gear 110 is Z1, the number of teeth of the inner ring gear 130 is Z3, the first number of teeth of the first sector gear 121 is Z2, which is greater than the second number of teeth of the second sector gear 122 is Z4, then the reduction ratio of the reducer 100 is 1+Z3*Z2 / Z1*Z4. Since the first number of teeth of the first sector gear 121 is Z2, which is greater than the second number of teeth of the second sector gear 122 is Z4, the reduction ratio of the reducer 100 is greater than the reduction ratio of the NGW type reducer 60. In other words, when the size of the reducer 100 is the same as the size of the NGW type reducer 60, the reduction ratio of the reducer 100 is greater than the reduction ratio of the NGW type reducer 60, so that the output torque of the reducer 100 is greater than the output torque of the NGW type reducer 60.

[0057] The reduction ratio, load capacity and overall dimensions of the reducer 100 provided in the present application are compared below with the reducer 60 of the NGW type and the reducer 70 of the NW type.

[0058] Table 1 Comparison of reduction ratio, load capacity and dimensions of reducer 100, NGW reducer 60 and NW reducer 70

[0059] Reducer Type Reduction ratio Carrying capacity Dimensions Reducer 100 15.7 T D NGW type reducer 60 10 0.78T 1.25D NW type reducer 70 7 0.5T D

[0060] Table 1 uses the load capacity T and the outer dimension D of the reducer 100 as a reference for the NGW type reducer 60 and the NW type reducer 70 .

[0061] By comparing the reducer 100 with the NW type reducer 70 , it can be seen that under the same diameter size D, the load-bearing capacity of the reducer 100 is twice that of the NW type reducer 70 .

[0062] The NGW type reducer 60 is a traditional planetary solution designed with a very large reduction ratio, with a speed ratio of 10. Its size is 1.25 times that of the reducer 100, and its load-bearing capacity is only approximately 0.8 times that of the reducer 100 of the present application.

[0063] In summary, the load-bearing capacity of the reducer 100 is greatly improved, and the torque density of the joint module 10 is further improved.

[0064] The embodiment of the present application further provides a joint module 10. The joint module 10 includes the reducer 100 and the motor 200 mentioned in the above embodiment.

[0065] The motor 200 is connected to the sun gear 110 of the speed reducer 100. The motor 200 is configured to drive the sun gear 110 to rotate.

[0066] Since the joint module 10 includes the reducer 100 mentioned in the above embodiment, the joint module 10 has all the technical features and technical effects of the reducer 100, which will not be repeated here.

[0067] In some embodiments, Figure 6 As shown, the motor 200 includes a stator 210, a rotor 220, a connecting sleeve 230 and a housing 240. The rotor 220 is rotatably connected to the stator 210 and is coaxially arranged with the sun gear 110. The connecting sleeve 230 connects the rotor 220 and the sun gear 110 so that the rotor 220 drives the sun gear 110 to rotate through the connecting sleeve 230.

[0068] The housing 240 is sleeved on the outer sides of the stator 210 and the inner gear ring 130 of the reducer 100, and is coaxially fixed with the stator 210 and the inner gear ring 130. In other words, the housing 240 can provide support and protection for the stator 210, and can also provide support and protection for the inner gear ring 130, so that the stator 210 and the inner gear ring 130 share the housing 240, which simplifies the structure of the joint module 10, reduces the volume of the joint module 10, and reduces the cost of the joint module 10.

[0069] In addition, since the stator 210 and the inner ring gear 130 share the housing 240, a mechanical connection structure is avoided between the housing of the stator 210 and the housing of the inner ring gear 130, the degree of integration is improved, and the positioning accuracy between the stator 210 and the inner ring gear 130 is improved, thereby improving the positioning accuracy between the reducer 100 and the motor 200.

[0070] In some embodiments, the joint module 10 further includes a fourth bearing 340 and an end cover 410. The end cover 410 is connected to the housing 240. In some embodiments, the end cover 410 includes a third annular portion 411. The inner ring of the fourth bearing 340 is connected to the connecting sleeve 230, and the outer ring of the fourth bearing 340 is connected to the third annular portion 411.

[0071] Exemplarily, the fourth bearing 340 may be a deep groove ball bearing, a cross roller bearing, etc., which is not specifically limited in the present application.

[0072] In some embodiments, the sun gear 110 includes a first shaft segment 111 , a sun gear 112 , and a second shaft segment 113 , which are coaxially connected in sequence.

[0073] The connecting sleeve 230 is connected to the second shaft segment 113 , the planet carrier 140 is rotatably connected to the first shaft segment 111 , the first end surface 141 of the planet carrier 140 has a first annular groove 142 , and the second end surface 143 of the planet carrier 140 has a second annular groove 144 .

[0074] The joint module 10 also includes a first bearing 310 and a second bearing 320. The first bearing 310 is arranged in the first annular groove 142, and the inner ring of the first bearing 310 is connected to the sun gear 110. The second bearing 320 is arranged in the second annular groove 144, and the inner ring of the second bearing 320 is connected to the connecting sleeve 230, so as to realize the back-to-back arrangement of the first bearing 310 and the second bearing 320, and realize the axial constraint of the connecting sleeve 230 on the planetary carrier 140, so that the joint module 10 forms an independent reducer assembly. In addition, the connecting sleeve 230 is connected to the rotor 220, and the support accuracy and rotation accuracy of the rotor 220 are improved through the support of the fourth bearing 340.

[0075] For example, the first bearing 310 can be a rolling bearing such as a deep groove ball bearing, or a sliding bearing, a needle bearing, etc., which is not specifically limited in this application. For example, the second bearing 320 can be a rolling bearing such as a deep groove ball bearing, or a sliding bearing, a needle bearing, etc., which is not specifically limited in this application.

[0076] In some embodiments, the reducer 100 further includes a plug cover 150 detachably connected to the planet carrier 140 to seal the first bearing 310 .

[0077] In some embodiments, the connecting sleeve 230 includes a first annular portion 231, a second annular portion 232 and a connecting portion 233. The first annular portion 231 is fixedly mounted on the inner ring of the rotor 220. The second annular portion 232 is fixedly mounted on the outer ring of the sun gear 110. The inner ring of the second bearing 320 is connected to the outer ring of the second annular portion 232. The connecting portion 233 connects the first annular portion 231 and the second annular portion 232. The first annular portion 231, the connecting portion 233 and the second annular portion 232 form an avoidance space 234 on the side close to the planet carrier 140, and the planet carrier 140 extends into the avoidance space 234, further reducing the axial dimension of the joint module 10.

[0078] In some embodiments, the joint module 10 further includes a third bearing 330. The inner ring of the third bearing 330 is connected to the planet carrier 140, and the outer ring of the third bearing 330 is connected to the housing 240, that is, the housing 240 supports the planet carrier 140 through the third bearing 330. Exemplarily, the third bearing 330 can be a cross roller bearing, or other types of rolling bearings, etc., which are not specifically limited in this application.

[0079] Exemplarily, the housing 240 supports the stator 210, the inner gear ring 130, and the planetary carrier 140 at the same time. The mating surfaces of the housing 240 and the stator 210, the inner gear ring 130, and the third bearing 330 can be processed in one process, which improves the concentricity of the mating surfaces, thereby improving the supporting accuracy of the housing 240, and further improving the accuracy of the joint module 10, thereby ensuring the performance of the joint module 10.

[0080] In some embodiments, the joint module 10 may also include sealing gaskets, positioning pins, fastening bolts and other structures. Users can set them according to sealing needs, positioning needs, and fastening needs. This application does not make specific limitations.

[0081] Fig.12 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present application. Fig.12 As shown, the robot 1 includes the reducer 100 and / or the joint module 10 in the above-mentioned embodiment.

[0082] Exemplarily, the robot 1 may be a humanoid robot. Exemplarily, the reducer 100 and / or the joint module 10 may be applied to the lower limbs of the robot 1. In practical applications, the reducer 100 and / or the joint module 10 may also be applied to the upper limbs, head or torso of the robot 1. According to actual needs, the reducer 100 and / or the joint module 10 may also be applied to other equipment that requires a reduction transmission, such as a sweeper, a floor scrubber, etc.

[0083] Since the robot 1 includes the reducer 100 and / or the joint module 10 mentioned in the above embodiments, the robot 1 has all the technical features and technical effects of the reducer 100 and / or the joint module 10, which will not be repeated here.

[0084] In the embodiments of the present application, if the connection form is not clearly defined, the connection form may be a detachable connection form such as bolts and nuts, screws, buckles, magnets, etc. If there is no special requirement for a non-detachable connection form in some connections, a non-detachable connection may be made by welding, bonding, gluing, etc.

[0085] The phrases "one embodiment", "an embodiment", etc. mentioned in the specification indicate that the embodiment described may include a specific feature, structure or characteristic, but not every embodiment may include the specific feature, structure or characteristic. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when a specific feature, structure or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure or characteristic in conjunction with other embodiments, whether explicitly or not explicitly described.

[0086] It should be understood that “on,” “above,” and “over” in this disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0087] Additionally, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one component or feature to other components or features as shown in the figures. The spatially relative terms are intended to encompass different orientations of the component in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0088] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0089] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A reducer, characterized in that: include: A sun gear, which can be connected to an output shaft of a power source and rotates under the drive of the power source; A plurality of compound planetary gears, wherein the plurality of compound planetary gears are arranged around the sun gear, the compound planetary gears include a first sector gear and a second sector gear coaxially connected, the first sector gear is externally meshed with the outer ring of the sun gear, and the compound planetary gears have a speed ratio difference; An inner gear ring is coaxially arranged with the sun gear, the inner ring of the inner gear ring is meshed with a plurality of the second sector gears, wherein the projection of the first sector gear on the end surface of the inner gear ring is located on the inner side of the inner ring of the inner gear ring; A planet carrier is rotatably connected to the sun gear and rotatably connected to the plurality of compound planet gears.

2. The reducer according to claim 1, characterized in that: The two end surfaces of the first sector gear are symmetrical about a first plane, the two end surfaces of the second sector gear are symmetrical about a second plane, and the first plane is coplanar with the second plane.

3. The reducer according to claim 1 or 2, characterized in that: The speed ratio difference of the compound planetary gear is greater than 1.

4. The reducer according to claim 3, characterized in that: A first total circumferential angle of the first sector gear is equal to a second total circumferential angle of the second sector gear, and a first number of teeth of the first sector gear is greater than a second number of teeth of the second sector gear.

5. A joint module, characterized in that: include: The reducer according to any one of claims 1 to 4; The motor is connected to the sun gear of the reducer and is configured to drive the sun gear to rotate.

6. The joint module according to claim 5, characterized in that: The motor comprises: stator; A rotor, rotatably connected to the stator and coaxially arranged with the sun gear; A connecting sleeve, connecting the rotor and the sun gear, so that the rotor drives the sun gear to rotate through the connecting sleeve; The housing is sleeved on the outer sides of the stator and the inner gear ring of the reducer, and is coaxially fixed with the stator and the inner gear ring.

7. The joint module according to claim 6, characterized in that: The sun gear comprises a first shaft segment, a sun gear and a second shaft segment which are coaxially connected in sequence; Wherein, the connecting sleeve is connected to the second shaft segment, the planet carrier is rotatably connected to the first shaft segment, the first end surface of the planet carrier has a first annular groove, and the second end surface of the planet carrier has a second annular groove; The joint module also includes: A first bearing, disposed in the first annular groove, wherein an inner ring of the first bearing is connected to the sun gear; The second bearing is arranged in the second annular groove, and the inner ring of the second bearing is connected to the connecting sleeve.

8. The joint module according to claim 7, characterized in that: The connecting sleeve comprises: A first annular portion, fixedly sleeved on the inner ring of the rotor; A second annular portion, fixedly sleeved on the outer ring of the sun gear, wherein the inner ring of the second bearing is connected to the outer ring of the second annular portion; A connecting portion connects the first annular portion and the second annular portion, wherein the first annular portion, the connecting portion and the second annular portion form an escape space on a side close to the planet carrier, and the planet carrier extends into the escape space.

9. The joint module according to claim 6, characterized in that: Also includes: A third bearing, wherein the inner ring of the third bearing is connected to the planet carrier, and the outer ring of the third bearing is connected to the housing.

10. A robot, characterized in that: include: The reducer according to any one of claims 1 to 4; And / or, the joint module as described in any one of claims 5 to 9.

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