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 axial size. The speed reducer comprises a first-stage sun gear, a plurality of first-stage planet gears, a fixed gear ring assembly, a first-stage planet carrier, a second-stage sun gear, a plurality of duplex planet gears and a second-stage planet carrier. The two stages of planet rows of the speed reducer have reduction ratios, and the duplex planet gears also have speed ratio difference, so that the reduction ratio of the speed reducer is improved. The orthographic projection of the second planet gear on the first-stage sun gear in the radial direction of the first-stage sun gear is overlapped with the orthographic projection of the first-stage planet gear on the first-stage sun gear in the radial direction of the first-stage sun gear, namely, the second planet gear and the first-stage planet gear of the duplex planet gear share the axial size of the speed reducer. And the space occupation of the two-stage planet row in the axial direction of the speed reducer is reduced, so that the axial size of the speed reducer is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of robots, and in particular to a reducer, a joint module and a robot. Background Art

[0002] Planetary reducers are widely used in joint modules of humanoid robots due to their advantages such as strong carrying capacity, large speed ratio and compact structure. Due to the limited space of humanoid robots, the axial size of the reducer of the joint module is demanding, that is, the smaller the axial size of the reducer, the better. However, humanoid robots require strong power output, and the most convenient way to improve power output is to use a reducer with a large speed ratio. At present, NGW planetary transmission is also the most commonly used planetary transmission mechanism, but the maximum speed ratio of NGW planetary transmission is limited in the case of single-stage arrangement. The speed ratio of 10 is already the limit, and it will inevitably bring problems with transmission stability and reliability. If you want to continue to increase the speed ratio, you need to use a two-stage NGW planetary transmission in series, which will increase the axial size of the reducer. Even if other forms of planetary transmission are used, such as NW planetary transmission, WW planetary transmission, NGWN planetary transmission, etc., although the speed ratio can be increased, the axial size of the reducer will also be increased. In other words, the reducer in the related art cannot take into account both the reduction ratio and the axial size. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure provide a reducer, a joint module and a robot, which solve the problem that the reducer in the related art cannot take into account both the reduction ratio and the axial size.

[0004] In a first aspect, an embodiment of the present disclosure provides a reducer, comprising: a primary sun gear, capable of rotating around a central axis; a plurality of primary planetary gears, respectively meshing with the primary sun gear, so that the primary sun gear can drive the plurality of primary planetary gears to rotate; a fixed ring gear assembly, sleeved on the outer sides of the plurality of primary planetary gears, the plurality of primary planetary gears are respectively meshing with the fixed ring gear assembly, so that the plurality of primary planetary gears can revolve around the central axis driven by the primary sun gear; a primary planet carrier, the plurality of primary planetary gears are rotatably connected to the primary planet carrier, the primary planet carrier rotates around the central axis driven by the plurality of primary planetary gears; a secondary sun gear is connected to the primary planet carrier, and rotates around the central axis driven by the primary planet carrier; a plurality of double-coupled planetary gears are arranged around the secondary sun gear, the double-coupled planetary gears include a first planetary gear and a second planetary gear coaxially connected, the first planetary gear and the secondary sun gear are The gears are meshed so that the secondary sun gear can drive the multiple double-coupled planetary gears to rotate, and the second planetary gear is meshed with the fixed ring gear assembly so that the multiple double-coupled planetary gears can revolve around the central axis under the drive of the secondary sun gear, and the diameter of the first planetary gear is greater than the diameter of the second planetary gear, wherein, when at least one of the primary planetary gears and at least one of the double-coupled planetary gears moves to an aligned position, the orthographic projection of the second planetary gear on the primary sun gear along the radial direction of the primary sun gear overlaps with the orthographic projection of the primary planetary gear on the primary sun gear along the radial direction of the primary sun gear, wherein, in the aligned position, the axis of at least one of the primary planetary gears, the axis of at least one of the double-coupled planetary gears and the axis of the primary sun gear are coplanar; a secondary planet carrier, multiple double-coupled planetary gears are rotatably connected to the secondary planet carrier, and the secondary planet carrier rotates around the central axis under the drive of multiple double-coupled planetary gears.

[0005] In some embodiments, the fixed gear ring assembly includes: a gear ring, the inner ring of the gear ring has internal teeth, the outer ring of the gear ring has external teeth, the first-stage planetary gear is meshed with the inner part of the gear ring through the internal teeth, and the second planetary gear is meshed with the outer part of the gear ring through the external teeth.

[0006] In some embodiments, the reducer further includes: a housing, which is sleeved on the outside of the double-coupled planetary gear and the secondary planetary carrier; wherein the fixed ring gear assembly further includes: a connecting member, which connects the ring gear and the housing.

[0007] In some embodiments, the secondary planetary carrier has a first center hole, and the primary planetary carrier is inserted through the first center hole; wherein, the reducer also includes: a first bearing, arranged between the first end of the primary planetary carrier and the first end of the secondary planetary carrier, the first end of the primary planetary carrier is close to the output end of the reducer, and the first end of the secondary planetary carrier is close to the output end of the reducer; a second bearing, arranged between the first end of the secondary planetary carrier and the housing.

[0008] In some embodiments, the reducer further includes: a third bearing disposed between the second end of the secondary planet carrier and the housing; and a fourth bearing disposed between the second end of the primary planet carrier and the ring gear.

[0009] In some embodiments, the first-stage planet carrier has a second center hole, and the first-stage sun gear is inserted into the second center hole; the reducer also includes: a fifth bearing, which is arranged between the first-stage planet carrier and the first end of the first-stage sun gear, and the first end of the first-stage sun gear is close to the input end of the reducer; and a sixth bearing, which is arranged between the first-stage planet carrier and the second end of the first-stage sun gear.

[0010] In some embodiments, the secondary sun gear has a third center hole, and the primary planet carrier passes through the third center hole.

[0011] In some embodiments, the primary planetary carrier includes: a plurality of first shaft portions, the plurality of first shaft portions are arranged around the primary sun gear, the axis of the first shaft portion is parallel to the central axis, the plurality of primary planetary gears are respectively sleeved on the plurality of first shaft portions, and the plurality of primary planetary gears are respectively rotatably connected to the plurality of first shaft portions; wherein, the reducer also includes: a plurality of first wear-resistant pads, sleeved on the plurality of first shaft portions, and arranged between the end of the primary planetary gear and the primary planetary carrier; and / or, the secondary planetary carrier includes: a plurality of second shaft portions, the plurality of second shaft portions are arranged around the secondary sun gear, the axis of the second shaft portion is parallel to the central axis, the plurality of double-coupled planetary gears are respectively sleeved on the plurality of second shaft portions, and the plurality of double-coupled planetary gears are respectively rotatably connected to the plurality of second shaft portions; wherein, the reducer also includes: a plurality of second wear-resistant pads, sleeved on the plurality of second shaft portions, and arranged between the end of the double-coupled planetary gear and the secondary planetary carrier.

[0012] In a second aspect, an embodiment of the present disclosure provides a joint module, including: the reducer mentioned in the first aspect.

[0013] In a third aspect, an embodiment of the present disclosure provides a robot, comprising: the joint module mentioned in the second aspect.

[0014] The reducer provided by the embodiment of the present disclosure includes a primary sun gear, a plurality of primary planetary gears, a fixed ring gear assembly, a primary planet carrier, a secondary sun gear, a plurality of double-coupled planetary gears and a secondary planet carrier. The primary sun gear, a plurality of primary planetary gears, a fixed ring gear assembly and a primary planet carrier form a primary planet row. The secondary sun gear, a plurality of double-coupled planetary gears, a fixed ring gear assembly and a secondary planet carrier form a secondary planet row. Both the primary planet row and the secondary planet row have a reduction ratio, and the double-coupled planetary gears also have a speed ratio step difference, which improves the reduction ratio of the reducer.

[0015] When at least one primary planetary gear and at least one double planetary gear move to the aligned position, the orthographic projection of the second planetary gear on the primary sun wheel along the radial direction of the primary sun wheel overlaps with the orthographic projection of the first planetary gear on the primary sun wheel along the radial direction of the primary sun wheel, that is, the second planetary gear of the double planetary gear shares the axial dimension of the reducer with the primary planetary gear, which reduces the axial space occupied by the two-stage planetary gear in the reducer while ensuring the reduction ratio of the reducer, thereby reducing the axial dimension of the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 1 Shown is a schematic structural diagram of a reducer provided in one embodiment of the present disclosure.

[0018] Figure 2 Shown is a front view of a reducer provided in one embodiment of the present disclosure.

[0019] Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the reducer in the AA direction is shown.

[0020] Figure 4 Shown is a schematic structural diagram of a reducer in an alignment position provided by an embodiment of the present disclosure.

[0021] Figure 5 Shown is a schematic diagram of a primary sun gear, a primary planetary gear and a double planetary gear provided in an embodiment of the present disclosure.

[0022] Figure 6 Shown is an exploded view of a reducer provided in one embodiment of the present disclosure.

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

[0024] Figure 8 Shown is a schematic structural diagram of a robot provided in one embodiment of the present disclosure.

[0025] Reference numerals:

[0026] 1. Robot; 10. Joint module; 100. Speed ​​reducer; 110. Primary sun gear; 120. Primary planetary gear; 130. Fixed ring gear assembly; 131. Ring gear; 132. Connector; 140. Primary planet carrier; 141. Second center hole; 142. First shaft; 210. Second sun gear; 211. Third center hole; 220. Double planetary gear; 221. First planetary gear; 222. Second planetary gear; 230. Second Planet carrier; 231, first center hole; 232, second shaft portion; 310, housing; 410, first bearing; 420, second bearing; 430, third bearing; 440, fourth bearing; 450, fifth bearing; 460, sixth bearing; 510, first wear-resistant pad; 520, second wear-resistant pad; 530, bearing pressure cover; 540, sealing cover; 550, outer ring pressure plate; 560, inner ring pressure plate; L, center axis; P, alignment plane. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0028] Figure 1 Shown is a schematic structural diagram of a reducer provided in one embodiment of the present disclosure. Figure 2 Shown is a front view of a reducer provided in one embodiment of the present disclosure. Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the reducer in the AA direction is shown. Figure 4 Shown is a schematic structural diagram of a reducer in an alignment position provided by an embodiment of the present disclosure. Figure 5 Shown is a schematic diagram of a primary sun gear, a primary planetary gear and a double planetary gear provided in an embodiment of the present disclosure. Figure 6 FIG. 1 is an exploded view of a reducer provided by an embodiment of the present disclosure. Figures 1 to 6 As shown, the reducer 100 includes a primary sun gear 110 , a plurality of primary planetary gears 120 , a fixed ring gear assembly 130 , a primary planetary carrier 140 , a secondary sun gear 210 , a plurality of double planetary gears 220 and a secondary planetary carrier 230 .

[0029] The primary sun gear 110, the plurality of primary planetary gears 120, the fixed ring gear assembly 130 and the primary planet carrier 140 form a primary planetary row. The secondary sun gear 210, the plurality of double-coupled planetary gears 220, the fixed ring gear assembly 130 and the secondary planet carrier 230 form a secondary planetary row. Both the primary planetary row and the secondary planetary row have a reduction ratio, and the double-coupled planetary gear 220 also has a speed ratio step difference, which improves the reduction ratio of the reducer 100.

[0030] Specifically, the primary sun gear 110 can rotate around the central axis L. The plurality of primary planetary gears 120 are respectively meshed with the primary sun gear 110, so that the primary sun gear 110 can drive the plurality of primary planetary gears 120 to rotate. The fixed ring gear assembly 130 is sleeved on the outside of the plurality of primary planetary gears 120, and the plurality of primary planetary gears 120 are respectively meshed with the fixed ring gear assembly 130, so that the plurality of primary planetary gears 120 can revolve around the central axis L driven by the primary sun gear 110. The plurality of primary planetary gears 120 are rotatably connected to the primary planet carrier 140, and the primary planet carrier 140 rotates around the central axis L driven by the plurality of primary planetary gears 120.

[0031] Exemplarily, the primary sun gear 110 can be connected to the output shaft of the motor so that the output shaft of the motor drives the primary sun gear 110 to rotate around the central axis L. Exemplarily, the primary sun gear 110 has external teeth, the primary planetary gear 120 has external teeth, and the primary planetary gear 120 is externally meshed with the primary sun gear 110. Exemplarily, a plurality of primary planetary gears 120 are evenly distributed along the circumference of the primary sun gear 110. Exemplarily, the number of primary planetary gears 120 is 2, 3, 4, etc. Exemplarily, the fixed ring gear assembly 130 includes two inner ring gears with internal teeth, and the two inner ring gears can be fixedly arranged relative to the motor. The primary planetary gear 120 is internally meshed with one inner ring gear. The second planetary gear 222 of the double planetary gear 220 has external teeth, and the second planetary gear 222 is internally meshed with another inner ring gear.

[0032] The secondary sun gear 210 is connected to the primary planet carrier 140, and rotates around the central axis L driven by the primary planet carrier 140. A plurality of double-coupled planetary gears 220 are arranged around the secondary sun gear 210. The double-coupled planetary gears 220 include a first planetary gear 221 and a second planetary gear 222 that are coaxially connected. The first planetary gear 221 is meshed with the secondary sun gear 210 so that the secondary sun gear 210 can drive the plurality of double-coupled planetary gears 220 to rotate. The second planetary gear 222 is meshed with the fixed ring gear assembly 130 so that the plurality of double-coupled planetary gears 220 can revolve around the central axis L driven by the secondary sun gear 210. The diameter of the first planetary gear 221 is greater than the diameter of the second planetary gear 222, that is, the number of teeth of the first planetary gear 221 is greater than the number of teeth of the second planetary gear 222, so that the double-coupled planetary gears 220 have a speed ratio step difference.

[0033] Exemplarily, the secondary sun gear 210 has external teeth, the first planetary gear 221 of the double-coupled planetary gear 220 has external teeth, and the secondary sun gear 210 is externally meshed with the first planetary gear 221. Exemplarily, a plurality of double-coupled planetary gears 220 are evenly distributed along the circumference of the secondary sun gear 210. Exemplarily, the number of the double-coupled planetary gears 220 is 2, 3, 4, etc. Exemplarily, the number of the double-coupled planetary gears 220 is equal to or unequal to the number of the primary planetary gears 120.

[0034] When at least one primary planetary gear 120 and at least one dual-coupled planetary gear 220 move to the aligned position, the orthographic projection of the second planetary gear 222 on the primary sun gear 110 along the radial direction of the primary sun gear 110 overlaps with the orthographic projection of the primary planetary gear 120 on the primary sun gear 110 along the radial direction of the primary sun gear 110. In the aligned position, the axis of at least one primary planetary gear 120, the axis of at least one dual-coupled planetary gear 220, and the axis of the primary sun gear 110 are coplanar.

[0035] For example, Figure 4 and Figure 5 As shown, the axis of one primary planetary gear 120, the axis of one dual planetary gear 220 and the axis of the primary sun gear 110 are all located in the alignment plane P, that is, the axis of one primary planetary gear 120, the axis of one dual planetary gear 220 and the axis of the primary sun gear 110 are coplanar. Figure 5 As shown, the orthographic projection of the second planetary gear 222 on the primary sun gear 110 along the radial direction of the primary sun gear 110 and the orthographic projection of the primary planetary gear 120 on the primary sun gear 110 along the radial direction of the primary sun gear 110 have an overlapping area Q, that is, Figure 5 The shaded area in .

[0036] When at least one primary planetary gear 120 and at least one double planetary gear 220 move to an aligned position, the orthographic projection of the second planetary gear 222 on the primary sun wheel 110 along the radial direction of the primary sun wheel 110 overlaps with the orthographic projection of the primary planetary gear 120 on the primary sun wheel 110 along the radial direction of the primary sun wheel 110, that is, the second planetary gear 222 of the double planetary gear 220 shares the axial dimension of the reducer 100 with the primary planetary gear 120, which reduces the axial space occupied by the two-stage planetary gear in the reducer 100 while ensuring the reduction ratio of the reducer 100, thereby reducing the axial dimension of the reducer 100.

[0037] The multiple double planetary gears 220 are rotatably connected to the secondary planetary carrier 230. The secondary planetary carrier 230 rotates around the central axis L driven by the multiple double planetary gears 220. Exemplarily, the secondary planetary carrier 230 can be connected to a motion structure to drive the motion structure to rotate. The motion structure can be a dexterous hand of a robot, an arm of a robot, a leg of a robot, etc.

[0038] In some embodiments, the fixed ring gear assembly 130 includes a ring gear 131. The inner ring of the ring gear 131 has internal teeth, and the outer ring of the ring gear 131 has external teeth. The first-stage planetary gear 120 is meshed with the inner ring gear 131 through the internal teeth, and the second planetary gear 222 is meshed with the outer ring gear 131 through the external teeth, that is, the first-stage planetary gear 120 and the second planetary gear 222 share the ring gear 131, and there is no need to use two inner ring gears, which simplifies the structure of the reducer 100 and reduces the weight of the reducer 100. In addition, the first-stage planetary gear 120 and the second planetary gear 222 share the ring gear 131, and there is no need to use two inner ring gears, which can also reduce the use of fasteners for fastening the inner ring gear, and further save the space occupied by the fixed ring gear assembly 130.

[0039] Exemplarily, the ring gear 131 is fixedly arranged relative to the housing of the motor.

[0040] In some embodiments, the reducer 100 further includes a housing 310. The housing 310 is sleeved outside the double planetary gear 220 and the secondary planetary carrier 230, that is, the housing 310 accommodates other components of the reducer 100 except the housing 310. Figure 3 As shown, the fixed ring gear assembly 130 further includes a connector 132. The connector 132 connects the ring gear 131 and the housing 310. Exemplarily, the connector 132 is a circular ring structure, which can seal the space between the ring gear 131 and the housing 310 and reduce the contamination of the components between the ring gear 131 and the housing 310.

[0041] Exemplarily, the gear ring 131 and the connecting member 132 are integrally formed, which is convenient for improving the coaxiality of the gear ring 131 and the connecting member 132. Exemplarily, the gear ring 131 and the connecting member 132 are separately arranged, which is convenient for manufacturing. Exemplarily, the housing 310 is fixedly connected to the housing of the motor, and the gear ring 131 is fixedly connected to the housing 310 through the connecting member 132, thereby achieving the fixation of the gear ring 131.

[0042] In some embodiments, Figure 6 As shown, the secondary planet carrier 230 has a first center hole 231 , and the primary planet carrier 140 is inserted into the first center hole 231 , so that the secondary planet carrier 230 and the primary planet carrier 140 share the axial dimension of the reducer 100 , thereby reducing the axial dimension of the reducer 100 .

[0043] The reducer 100 further includes a first bearing 410 and a second bearing 420. The first bearing 410 is disposed between a first end of the primary planet carrier 140 and a first end of the secondary planet carrier 230. The first end of the primary planet carrier 140 is close to an output end of the reducer 100. The first end of the secondary planet carrier 230 is close to an output end of the reducer 100. The second bearing 420 is disposed between a first end of the secondary planet carrier 230 and the housing 310.

[0044] Illustratively, the first bearing 410 is a deep groove ball bearing, a roller bearing, etc. Illustratively, the second bearing 420 is a cross roller bearing, a combined bearing, etc.

[0045] The first bearing 410 and the second bearing 420 are used to support the end of the secondary planet carrier 230 , thereby improving the stability of the secondary planet carrier 230 .

[0046] In some embodiments, the reducer 100 further includes a third bearing 430 and a fourth bearing 440. The third bearing 430 is disposed between the second end of the secondary planet carrier 230 and the housing 310. The fourth bearing 440 is disposed between the second end of the primary planet carrier 140 and the ring gear 131.

[0047] Illustratively, the third bearing 430 is a deep groove ball bearing, a roller bearing, etc. Illustratively, the fourth bearing 440 is a deep groove ball bearing, a roller bearing, etc.

[0048] The first bearing 410 and the second bearing 420 are used to support the first end of the secondary planetary carrier 230, and the third bearing 430 and the fourth bearing 440 are used to support the second end of the secondary planetary carrier 230, thereby supporting both ends of the secondary planetary carrier 230 and further improving the stability of the secondary planetary carrier 230.

[0049] In some embodiments, Figure 6 As shown, the primary planet carrier 140 has a second center hole 141. The primary sun gear 110 is disposed in the second center hole 141, so that the primary planet carrier 140 and the primary sun gear 110 share the axial dimension of the reducer 100, thereby reducing the axial dimension of the reducer 100.

[0050] The reducer 100 further includes a fifth bearing 450 and a sixth bearing 460. The fifth bearing 450 is disposed between the primary planet carrier 140 and the first end of the primary sun gear 110. The first end of the primary sun gear 110 is close to the input end of the reducer 100. The sixth bearing 460 is disposed between the primary planet carrier 140 and the second end of the primary sun gear 110, realizing bearing support for both ends of the primary planet carrier 140 and improving the stability of the primary planet carrier 140.

[0051] Illustratively, the fifth bearing 450 is a deep groove ball bearing, a roller bearing, etc. Illustratively, the sixth bearing 460 is a deep groove ball bearing, a roller bearing, etc.

[0052] In some embodiments, Figure 6 As shown, the secondary sun gear 210 has a third center hole 211 . The primary planet carrier 140 is disposed through the third center hole 211 .

[0053] In the related art, the secondary sun gear is generally connected to the primary planet carrier through a coupling, and the coupling occupies the axial dimension of the reducer, resulting in a larger axial dimension of the reducer in the related art. The primary planet carrier 140 of the present disclosure is penetrated through the third center hole 211, so that the connection between the secondary sun gear 210 and the primary planet carrier 140 can be achieved by interference connection, bonding, key connection, etc., without using a coupling, further reducing the axial dimension of the reducer 100.

[0054] In some embodiments, the primary planet carrier 140 includes a plurality of first shaft portions 142. The plurality of first shaft portions 142 are arranged around the primary sun gear 110. The axis of the first shaft portion 142 is parallel to the central axis L. The plurality of primary planetary gears 120 are respectively sleeved on the plurality of first shaft portions 142. The plurality of primary planetary gears 120 are rotatably connected to the plurality of first shaft portions 142, respectively. The reducer 100 also includes a plurality of first wear-resistant pads 510. The first wear-resistant pads 510 are sleeved on the plurality of first shaft portions 142 and are arranged between the ends of the primary planetary gears 120 and the primary planet carrier 140 to prevent the primary planet carrier 140 from being worn by the primary planetary gears 120.

[0055] Exemplarily, the first shaft portion 142 is a planet pin. Exemplarily, a needle bearing is further provided between the primary planetary gear 120 and the first shaft portion 142 to reduce the friction between the primary planetary gear 120 and the first shaft portion 142 .

[0056] In some embodiments, the secondary planet carrier 230 includes a plurality of second shaft portions 232. The plurality of second shaft portions 232 are arranged around the secondary sun gear 210. The axis of the second shaft portion 232 is parallel to the central axis L. The plurality of double-coupled planetary gears 220 are respectively sleeved on the plurality of second shaft portions 232, and the plurality of double-coupled planetary gears 220 are respectively rotatably connected to the plurality of second shaft portions 232. The reducer 100 also includes a plurality of second wear-resistant pads 520. The second wear-resistant pads 520 are sleeved on the plurality of second shaft portions 232, and are arranged between the ends of the double-coupled planetary gears 220 and the secondary planet carrier 230 to prevent the secondary planet carrier 230 from being worn by the double-coupled planetary gears 220.

[0057] Exemplarily, the second shaft portion 232 is a planet pin. Exemplarily, a needle bearing is further provided between the double planetary gear 220 and the second shaft portion 232 to reduce the friction between the double planetary gear 220 and the second shaft portion 232 .

[0058] In some embodiments, the reducer 100 further includes a bearing pressure cover 530 , a sealing cover 540 , an outer ring pressure plate 550 and an inner ring pressure plate 560 .

[0059] Exemplarily, the bearing pressure cover 530 is detachably connected to the primary planet carrier 140, and is used to axially limit the fifth bearing 450. Exemplarily, the sealing cover 540 is detachably connected to the secondary planet carrier 230, and is sealed, and is used to seal the first bearing 410. Exemplarily, the outer ring pressure plate 550 is detachably connected to the housing 310, and is used to axially limit the outer ring of the second bearing 420. Exemplarily, the inner ring pressure plate 560 is detachably connected to the secondary planet carrier 230, and is used to axially limit the inner ring of the second bearing 420.

[0060] Figure 7 FIG. 1 is a schematic diagram of the structure of a joint module provided by an embodiment of the present disclosure. Figure 7 As shown, the joint module 10 includes the reducer 100 in the above embodiment.

[0061] Since the joint module 10 includes the reducer 100 , the joint module 10 has all the technical features and technical effects of the reducer 100 , which will not be described in detail here.

[0062] Figure 8 FIG. 1 is a schematic diagram of the structure of a robot provided by an embodiment of the present disclosure. Figure 8 As shown, the robot 1 includes the joint module 10 in the above embodiment.

[0063] Since the robot 1 includes the joint module 10, the robot 1 has all the technical features and technical effects of the joint module 10, which will not be repeated here.

[0064] In the embodiments of the present disclosure, 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, etc.

[0065] 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.

[0066] 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).

[0067] 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.

[0068] 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.

[0069] The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A reducer, characterized in that: include: The first-stage sun gear can rotate around the central axis; A plurality of primary planetary gears are respectively meshed with the primary sun gear, so that the primary sun gear can drive the plurality of primary planetary gears to rotate; A fixed ring gear assembly, sleeved on the outer sides of the plurality of primary planetary gears, the plurality of primary planetary gears are respectively meshed with the fixed ring gear assembly, so that the plurality of primary planetary gears can revolve around the central axis under the drive of the primary sun gear; A primary planet carrier, a plurality of primary planetary wheels are rotatably connected to the primary planet carrier, and the primary planet carrier rotates around the central axis driven by the plurality of primary planetary wheels; A secondary sun gear connected to the primary planet carrier and driven by the primary planet carrier to rotate around the central axis; A plurality of double-coupled planetary gears are arranged around the secondary sun gear, the double-coupled planetary gears include a first planetary gear and a second planetary gear connected coaxially, the first planetary gear is meshed with the secondary sun gear so that the secondary sun gear can drive the plurality of double-coupled planetary gears to rotate, the second planetary gear is meshed with the fixed gear ring assembly so that the plurality of double-coupled planetary gears can revolve around the central axis driven by the secondary sun gear, the diameter of the first planetary gear is greater than the diameter of the second planetary gear, wherein, when at least one of the primary planetary gears and at least one of the double-coupled planetary gears moves to an aligned position, the orthographic projection of the second planetary gear on the primary sun gear along the radial direction of the primary sun gear overlaps with the orthographic projection of the primary planetary gear on the primary sun gear along the radial direction of the primary sun gear, wherein, in the aligned position, the axis of at least one of the primary planetary gears, the axis of at least one of the double-coupled planetary gears and the axis of the primary sun gear are coplanar; A secondary planet carrier, a plurality of the double-coupled planetary gears are rotatably connected to the secondary planet carrier, and the secondary planet carrier rotates around the central axis driven by the plurality of the double-coupled planetary gears.

2. The reducer according to claim 1, characterized in that: The fixed ring gear assembly comprises: A gear ring, wherein the inner ring of the gear ring has internal teeth, the outer ring of the gear ring has external teeth, the first-stage planetary gear is meshed with the inner part of the gear ring through the internal teeth, and the second planetary gear is meshed with the outer part of the gear ring through the external teeth.

3. The reducer according to claim 2, characterized in that: Also includes: A housing, sleeved on the outer sides of the double-coupled planetary gear and the secondary planetary carrier; Wherein, the fixed gear ring assembly further comprises: A connecting member connects the ring gear and the housing.

4. The reducer according to claim 3, characterized in that: The secondary planet carrier has a first center hole, and the primary planet carrier is inserted through the first center hole; Wherein, the reducer further comprises: A first bearing is disposed between a first end of the primary planet carrier and a first end of the secondary planet carrier, wherein the first end of the primary planet carrier is close to an output end of the reducer, and the first end of the secondary planet carrier is close to the output end of the reducer; The second bearing is arranged between the first end of the secondary planet carrier and the housing.

5. The reducer according to claim 4, characterized in that: Also includes: A third bearing is disposed between the second end of the secondary planet carrier and the housing; The fourth bearing is arranged between the second end of the first-stage planetary carrier and the ring gear.

6. The reducer according to claim 4, characterized in that: The first-stage planet carrier has a second center hole, and the first-stage sun gear is inserted into the second center hole; The reducer also includes: a fifth bearing, disposed between the primary planet carrier and the first end of the primary sun gear, the first end of the primary sun gear being close to the input end of the reducer; The sixth bearing is arranged between the first-stage planet carrier and the second end of the first-stage sun gear.

7. The reducer according to any one of claims 1 to 6, characterized in that: The secondary sun gear has a third center hole, and the primary planet carrier passes through the third center hole.

8. The reducer according to any one of claims 1 to 6, characterized in that: The first-stage planet carrier comprises: A plurality of first shaft portions, the plurality of first shaft portions are arranged around the first-stage sun gear, the axis of the first shaft portion is parallel to the central axis, the plurality of first-stage planetary gears are respectively sleeved on the plurality of first shaft portions, and the plurality of first-stage planetary gears are respectively rotatably connected to the plurality of first shaft portions; Wherein, the reducer further comprises: A plurality of first wear-resistant pads, sleeved on the plurality of first shaft portions, and arranged between the end of the first-stage planetary gear and the first-stage planetary carrier; and / or, The secondary planet carrier comprises: A plurality of second shaft portions, the plurality of second shaft portions are arranged around the secondary sun gear, the axes of the second shaft portions are parallel to the central axis, the plurality of double-coupled planetary gears are respectively sleeved on the plurality of second shaft portions, and the plurality of double-coupled planetary gears are respectively rotatably connected to the plurality of second shaft portions; Wherein, the reducer further comprises: A plurality of second wear-resistant pads are sleeved on the plurality of second shaft portions and are arranged between the end of the double-coupled planetary gear and the secondary planet carrier.

9. A joint module, characterized in that: include: The reducer according to any one of claims 1 to 8.

10. A robot, characterized in that: include: The joint module as claimed in claim 9.

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