Joint assembly body, joint assembly and speed reduction device applied to robot

Abstract

A joint assembly, a joint assembly and a reduction gear for a robot, the reduction gear comprising: a power input shaft (2100) comprising a shaft body (2110) and an eccentric column portion (2120); the first transmission wheel (2200) comprises a first base body part (2210) and a first gear ring part (2220), and first transmission teeth (2221) are integrally formed on the inner circumferential wall surface of the first gear ring part (2220); the second transmission wheel (2300) comprises a second base body part (2310) and a second gear ring part (2320), and second transmission teeth (2321) are integrally formed on the inner circumferential wall surface of the second gear ring part (2320); the eccentric column part (2120) is sleeved with the duplex cycloidal gear (2400), the duplex cycloidal gear (2400) is in transmission connection with the eccentric column part (2120), the duplex cycloidal gear (2400) comprises a first gear part (2410) and a second gear part (2420), at least part of the first gear part (2410) extends into the radial inner side of the first gear ring part (2220), and at least part of the second gear part (2420) extends into the radial inner side of the second gear ring part (2320).

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a joint assembly, a joint component and a speed reduction device applied to a robot. Specifically, the robot may refer to a humanoid robot, a service robot, etc. Background Art

[0002] The joint assembly includes a joint component and two joint arms. The two joint arms can be connected by the joint component and can be driven by the joint component to realize relative rotation between the two joint arms. The speed reduction device is a core component in the joint component and is mainly used to achieve speed reduction drive. In the related art, the number of parts of the speed reduction device is relatively large, the structure is relatively complex, and the thickness is also relatively large.

[0003] Therefore, how to provide a solution to overcome or alleviate the above defects is still a technical problem that those skilled in the art need to solve urgently. Summary of the Invention

[0004] The object of the present invention is to provide a joint assembly, a joint component and a speed reduction device applied to a robot. Among them, the number of parts of the speed reduction device is relatively small, the structure is relatively simple, and the design is compact, thin and light.

[0005] To solve the above technical problems, the present invention provides a speed reduction device applied to a robot, including: a power input shaft, including a shaft body and an eccentric column part, the eccentric column part is located on the radial outer side of the shaft body, and the central axis of the eccentric column part and the central axis of the shaft body are eccentrically arranged; a first transmission wheel, including a first base part and a first tooth ring part arranged along the axial direction, the first base part is sleeved and assembled on the shaft body, and a first transmission tooth is integrally formed on the inner peripheral wall surface of the first tooth ring part; a second transmission wheel, including a second base part and a second tooth ring part arranged along the axial direction, the second base part is sleeved and assembled on the shaft body, and the second base part and the first base part are respectively located on the axial two sides of the eccentric column part, a second transmission tooth is integrally formed on the inner peripheral wall surface of the second tooth ring part, one of the first transmission wheel and the second transmission wheel is fixedly arranged, and the other of the first transmission wheel and the second transmission wheel is an output wheel; a double cycloid gear, sleeved and assembled on the eccentric column part and in transmission connection with the eccentric column part, the double cycloid gear includes a first gear part and a second gear part arranged along the axial direction, at least a part of the first gear part extends into the radial inner side of the first tooth ring part, the first gear part and the first tooth ring part perform less tooth difference meshing transmission, at least a part of the second gear part extends into the radial inner side of the second tooth ring part, and the second gear part and the second tooth ring part perform less tooth difference meshing transmission.

[0006] In an embodiment of the present invention, a first transmission tooth is integrally formed on a first tooth ring portion of a first transmission wheel, and a second transmission tooth is integrally formed on a second tooth ring portion of a second transmission wheel, which can avoid the process of separately installing needle rollers and needle teeth, effectively reduce the number of components, reduce the structural complexity of the first transmission wheel and the second transmission wheel, simplify the forming process of the first transmission tooth and the second transmission wheel, and facilitate weight reduction. Moreover, during the assembly process of the first transmission wheel, the second transmission wheel and the double cycloid gear, at least a part of the first gear portion can extend into the radial inner side of the first tooth ring portion, and at least a part of the second gear portion can extend into the radial inner side of the second tooth ring portion, so that the double cycloid gear and the first transmission wheel can share a part of the axial dimension, and the double cycloid gear and the second transmission wheel can also share a part of the axial dimension; in this way, the overall axial dimension of the reduction gear can be effectively reduced, which is beneficial to realizing the design of the joint assembly to be thin, light, small and compact.

[0007] Optionally, it further includes a housing, the housing includes a peripheral plate portion and an annular end plate portion, the peripheral plate portion is connected to the first tooth ring portion, and a part of the second base portion can pass through the inner hole of the annular end plate portion.

[0008] Optionally, it further includes a limit bearing, the limit bearing includes an outer ring portion and an inner ring portion, the outer ring portion is connected to the peripheral plate portion, the outer ring portion and the first tooth ring portion are axially abutted, and the inner ring portion and the second tooth ring portion are axially abutted.

[0009] Optionally, the inner hole of the inner ring portion is a stepped hole, including a small-diameter hole section and a large-diameter hole section, a limit step surface is formed between the small-diameter hole section and the large-diameter hole section of the inner ring portion, at least a part of the second tooth ring portion is located in the large-diameter hole section, and the second tooth ring portion and the limit step surface are axially abutted; or, a clamping groove is provided on the inner peripheral wall surface of the inner ring portion, the reduction gear further includes a snap ring, the snap ring is installed in the clamping groove, and the inner ring portion can be axially abutted against the second tooth ring portion through the snap ring.

[0010] Optionally, a limit convex portion is provided on a surface of the first tooth ring portion facing the outer ring portion, and the first tooth ring portion is axially abutted against the outer ring portion through the limit convex portion.

[0011] Optionally, the double cycloid gear is of a split structure.

[0012] Optionally, the first gear portion and the second gear portion are separately provided, a connection convex portion is provided on an axial end surface of one of the first gear portion and the second gear portion, and an axially extending connection concave portion is provided on the other of the first gear portion and the second gear portion, and the connection convex portion is inserted into the connection concave portion.

[0013] Optionally, the first gear portion and the second gear portion are separately provided, and the second gear portion includes at least two sub-gear portions arranged axially. The first gear portion and each of the sub-gear portions are provided with connection holes extending axially; the double cycloid gear also includes a connection column, and the connection column is inserted through the connection holes.

[0014] Optionally, it further includes a first bearing and a second bearing. The first bearing is provided between the first base portion, the second base portion and the shaft body, and the second bearing is provided between the double cycloid gear and the eccentric column portion.

[0015] Optionally, the power input shaft is a hollow shaft; and / or, the power input shaft has a power input connection section, and a power engagement feature is provided on the outer peripheral wall surface of the power input connection section.

[0016] Optionally, both the first base portion and the second base portion are provided with mounting holes and mounting protrusions.

[0017] The present invention also provides a joint assembly applied to a robot, including a power generation device and a speed reduction device. The speed reduction device is the speed reduction device applied to the robot as described above, and the power generation device is in transmission connection with the power input shaft.

[0018] Optionally, the power generation device and the speed reduction device are directly connected; or, it further includes an adapter plate, and both the power generation device and the speed reduction device are connected to the adapter plate.

[0019] The present invention also provides a joint assembly body applied to a robot, including a joint assembly, a first joint arm and a second joint arm. The joint assembly is the joint assembly applied to the robot as described above. The first transmission wheel is connected to the first joint arm, and the second transmission wheel is connected to the second joint arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of a joint assembly body applied to a robot provided by an embodiment of the present invention;

[0021] Figure 2 is Figure 1 a schematic structural diagram from another perspective;

[0022] Figure 3 is Figure 2 an exploded view;

[0023] Figure 4 is an exploded view of the joint assembly;

[0024] Figure 5 is a schematic structural diagram of a speed reduction device;

[0025] Figure 6 is Figure 5 a schematic structural view from another perspective;

[0026] Figure 7 is Figure 6 an exploded view of;

[0027] Figure 8 is Figure 7 a schematic structural view of the power input shaft in;

[0028] Figure 9 is Figure 7 a schematic structural view from another perspective;

[0029] Figure 10 is Figure 6 an axial sectional view of;

[0030] Figure 11 is Figure 6 a cross-sectional view of;

[0031] Figure 12 is a schematic structural view of another speed reduction device;

[0032] Figure 13 is a schematic structural view of a double cycloid gear;

[0033] Figure 14 is a schematic structural view of another double cycloid gear;

[0034] Figure 15 is an exploded view of another speed reduction device.

[0035] Reference numerals:

[0036] 100 - joint assembly; 200 - first joint arm; 210 - third hole part; 220 - protective sleeve; 300 - second joint arm; 310 - fourth hole part;

[0037] 1000 - power generation device; 1100 - threaded hole; 1200 - through hole; 1300 - power transmission part;

[0038] 2000 - Reduction gear; 2100 - Power input shaft; 2110 - Shaft body; 2111 - Power input connection section; 2111A - Power engagement feature; 2112 - Journal section; 2120 - Eccentric column part; 2200 - First transmission wheel; 2210 - First base part; 2211 - First mounting hole; 2212 - First mounting protrusion; 2220 - First gear ring part; 2221 - First transmission tooth; 2222 - Limiting protrusion; 2223 - First flange; 2300 - Second transmission wheel; 2310 - Second base part; 2311 - Second mounting hole; 2312 - Second mounting protrusion; 2320 - Second gear ring part; 2321 - Second transmission tooth; 2400 - Double cycloid gear; 2410 - First gear part; 2411 - Connection protrusion; 2412 - First connection hole; 2420 - Second gear part; 2420A - Connection recess; 2421 - Sub - gear part; 2421A - Second connection hole; 2430 - Connection column; 2500 - Housing; 2510 - Peripheral plate part; 2511 - Second flange; 2520 - Annular end plate part; 2521 - First inner hole; 2600 - Limiting bearing; 2610 - Outer ring part; 2620 - Inner ring part; 2621 - Second inner hole; 2621A - Small - diameter hole section; 2621B - Large - diameter hole section; 2621C - Limiting step surface; 2700 - First bearing; 2800 - Second bearing;

[0039] 3000 - Adapter plate; 3100 - First hole part; 3200 - Second hole part; 3300 - Avoidance hole part. Detailed implementation mode

[0040] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] In the description of the embodiments of the present invention, the terms "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third", "fourth" may explicitly or implicitly include one or more of such features.

[0042] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", "coupling" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non - detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0043] In the embodiments of the present invention, the orientation terms mentioned, such as "inside", "outside", etc., are only with reference to the direction of the attached drawings. Therefore, the orientation terms used are for better and clearer description and understanding of the embodiments of the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it should not be construed as a limitation to the embodiments of the present invention.

[0044] In the description of the embodiments of the present invention, the term "comprise", "include" or any other variant thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising such element.

[0045] In the description of the embodiments of the present invention, "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0046] Embodiment 1

[0047] Please refer to Figures 1 - 4 , Figure 1 which is a schematic structural view of a joint assembly applicable to a robot provided by the embodiments of the present invention; Figure 2 is Figure 1 a schematic structural view from another perspective; Figure 3 is Figure 2 an exploded view of Figure 4 is an exploded view of the joint assembly.

[0048] The embodiments of the present invention provide a joint assembly applicable to a robot, wherein the robot may specifically be a humanoid robot, a service robot, etc. As Figures 1 - 3 shown, the joint assembly includes a joint assembly 100, a first joint arm 200, and a second joint arm 300. The first joint arm 200 and the second joint arm 300 can be connected through the joint assembly 100 so that the first joint arm 200 and the second joint arm 300 can rotate relative to each other.

[0049] In a specific scenario, the first joint arm 200 can be the thigh arm of a humanoid robot, and the second joint arm 300 can be the calf arm of the humanoid robot. During the actual movement process, it can be the first joint arm 200 that drives the second joint arm 300 to move. At this time, the humanoid robot can execute a walking program; or, it can also be the second joint arm 300 that drives the first joint arm 200 to move. At this time, the humanoid robot can execute a squatting and standing up program.

[0050] Combined with Figure 3 and Figure 4 , the joint assembly 100 includes a power generation device 1000, a speed reduction device 2000, and an adapter plate 3000.

[0051] The power generation device 1000 can specifically be a motor, such as a brushless motor, etc. Threaded holes 1100 and through holes 1200 can be provided on the housing of the power generation device 1000; combined with Figure 1 , the position of the housing where the threaded hole 1100 is provided can also be subjected to local thickening treatment to form a cylindrical convex portion, so as to ensure the axial dimension of the threaded hole 1100. The power generation device 1000 can also be formed with a hole-shaped power transmission portion 1300.

[0052] The speed reduction device 2000 has a power input shaft (see the description in the following text).

[0053] An avoidance hole portion 3300 is provided in the middle region of the adapter plate 3000. A first hole portion 3100 can be provided in the outer edge region of the adapter plate 3000 that is radially relatively far from the avoidance hole portion 3300, and a second hole portion 3200 can be provided in the inner edge region of the adapter plate 3000 that is radially relatively close to the avoidance hole portion 3300.

[0054] The first joint arm 200 can be provided with a third hole portion 210 and a protective sleeve 220. The second joint arm 300 can be provided with a fourth hole portion 310.

[0055] The installation positions of the threaded hole 1100 and the through hole 1200 can correspond to the first hole portion 3100 and the third hole portion 210. During specific assembly, the external screw can pass through the first hole portion 3100, the third hole portion 210, and the threaded hole 1100 to perform an axially anti-disengagement connection on the power generation device 1000, the first joint arm 200, and the adapter plate 3000. At the same time, external pin posts and the like can also pass through the first hole portion 3100, the third hole portion 210, and the through hole 1200 to fix the power generation device 1000, the first joint arm 200, and the adapter plate 3000, and can ensure the synchronous rotation of the power generation device 1000, the first joint arm 200, and the adapter plate 3000 to improve the movement accuracy. The reduction device 2000 can be connected to the second hole portion 3200, and the power input shaft of the reduction device 2000 can pass through the avoidance hole portion 3300 and extend into the power transmission portion 1300 to achieve power transmission between the power generation device 1000 and the reduction device 2000. A part of the reduction device 2000 can be located inside the protective sleeve 220, and the protective sleeve 220 can effectively protect the reduction device 2000.

[0056] With the above solution, by providing the adapter plate 3000, the dimensional differences between the power generation device 1000 and the reduction device 2000 in the radial direction can be effectively adapted to respectively install and fix the power generation device 1000 and the reduction device 2000, and it is also beneficial to realize the miniaturized design of the joint assembly provided by the embodiments of the present invention.

[0057] It can be seen that in the implementation manner of providing the adapter plate 3000, there is an indirect connection relationship between the power generation device 1000 and the reduction device 2000.

[0058] Please refer to Figures 5 - 11 , Figure 5 which is a schematic structural diagram of a reduction device; Figure 6 is Figure 5 a schematic structural diagram from another perspective; Figure 7 is Figure 6 an exploded view of Figure 8 is Figure 7 a schematic structural diagram of the power input shaft in Figure 9 is Figure 7 a schematic structural diagram from another perspective; Figure 10 is Figure 6 an axial sectional view of Figure 11 is Figure 6 a cross-sectional view of

[0059] As shown in Figures 5 - 10As shown in the figure, an embodiment of the present invention further provides a speed reduction device 2000, which includes a power input shaft 2100, a first transmission wheel 2200, a second transmission wheel 2300, and a double cycloid gear 2400.

[0060] The power input shaft 2100 is an eccentric shaft, including a shaft body 2110 and an eccentric column part 2120. The eccentric column part 2120 is located on the radial outer side of the shaft body 2110. The central axis of the eccentric column part 2120 and the central axis of the shaft body 2110 are eccentrically arranged. Combining Figure 11 the eccentricity between the two can be denoted as ε, and the specific value of ε is not limited herein. In practical applications, those skilled in the art can set it according to specific needs.

[0061] The shaft body 2110 and the eccentric column part 2120 can be an integrally formed one-piece structure. Alternatively, the shaft body 2110 and the eccentric column part 2120 can also be prepared separately and then assembled through connection methods such as interference fit, which is also feasible.

[0062] In this embodiment, the shaft body 2110 can be a solid structure to ensure structural strength.

[0063] Combining Figure 8 the shaft body 2110 can include a power input connection section 2111 and two journal sections 2112. The two journal sections 2112 can be respectively located at the axial two ends of the eccentric column part 2120, and one of the journal sections 2112 can be connected to the power input connection section 2111.

[0064] The outer wall surface of the power input connection section 2111 is provided with a power engagement feature 2111A, which can be, for example, a spline feature, a non-cylindrical surface feature, etc. In short, as long as the power engagement feature 2111A is inserted into the aforementioned power transmission part 1300, the power generation device 1000 can transmit rotational driving force to the power input shaft 2100. It can be seen that when the power input connection section 2111 is inserted into the power transmission part 1300 for rotational power transmission, the power generation device 1000 and the power input shaft 2100 can share a part of the axial dimension, which has a relatively positive significance for reducing the overall axial dimension of the joint assembly 100 to achieve the design of thinness, miniaturization, and compactness of the joint assembly 100.

[0065] The first transmission wheel 2200 includes a first base part 2210 and a first tooth ring part 2220 arranged axially.

[0066] The first base part 2210 is externally sleeved on the shaft body 2110, specifically, it can be externally sleeved on a journal section 2112. Combining Figure 10, a first bearing 2700 may be provided between the first base portion 2210 and the journal section 2112 for supporting the first base portion 2210, which is beneficial to ensuring the coaxiality of the first transmission wheel 2200 and the shaft body 2110. The above-mentioned first bearing 2700 may specifically be a self-lubricating bearing, which can effectively reduce friction and improve the operating efficiency. In terms of the specific structural form, the first bearing 2700 may be a bearing in various forms such as a sliding bearing, a roller bearing, a needle bearing, a ball bearing, etc., as long as it can meet the usage requirements.

[0067] The first base portion 2210 may be provided with a mounting hole and a mounting protrusion. Combining Figure 5 and Figure 9 , the mounting hole and the mounting protrusion of the first base portion 2210 may be respectively referred to as a first mounting hole 2211 and a first mounting protrusion 2212. During specific assembly, the first mounting protrusion 2212 can be inserted into the second hole portion 3200 of the adapter plate 3000, and the first mounting hole 2211 and the second hole portion 3200 can be connected with a connecting member in the form of a bolt or the like. Among them, the connecting member in the form of a bolt or the like is used to achieve the anti-disengagement connection between the adapter plate 3000 and the first transmission wheel 2200 in the axial direction, while the first mounting protrusion 2212 is used to achieve the circumferential fixation between the first transmission wheel 2200 and the adapter plate 3000, so that the first transmission wheel 2200 can rotate synchronously with the first joint arm 200.

[0068] The inner peripheral wall surface of the first gear ring portion 2220 is integrally formed with a first transmission tooth 2221, which can avoid the process of separately installing the needle teeth of the roller, can effectively reduce the number of parts, reduce the structural complexity of the first transmission wheel 2200, and can simplify the forming process of the first transmission tooth 2221.

[0069] In the embodiment of the present invention, the first transmission wheel 2200 may be an integrally formed one-piece structure. Combining Figure 10 and Figure 11 , the first transmission tooth 2221 is only located in a partial area in the axial direction of the first transmission wheel 2200, having an obvious semi-punching feature, which is suitable for being processed and formed by a fine blanking process, can better reduce costs, improve the processing efficiency and processing accuracy, and is suitable for mass production. In addition, the integrally formed process may also be a non-machining process such as powder metallurgy process, cold heading, etc. Of course, the machining process is also feasible.

[0070] The second transmission wheel 2300 includes a second base portion 2310 and a second gear ring portion 2320 arranged axially.

[0071] The second base portion 2310 is externally sleeved on the shaft body 2110, and specifically may be externally sleeved on another journal section 2112. Combining Figure 10, a first bearing 2700 may be provided between the second base portion 2310 and the journal section 2112 for supporting the second base portion 2310, which is conducive to ensuring the coaxiality of the first transmission wheel 2200 and the shaft body 2110. The above-mentioned first bearing 2700 may specifically be a self-lubricating bearing, which can effectively reduce friction and improve the operating efficiency. In terms of the specific structural form, the first bearing 2700 may be in various forms such as a sliding bearing, a roller bearing, a needle bearing, a ball bearing, etc., as long as it can meet the usage requirements.

[0072] The second base portion 2310 may be provided with mounting holes and mounting protrusions. Figure 6 and Figure 7 , the mounting holes and mounting protrusions of the second base portion 2310 may be respectively referred to as the second mounting holes 2311 and the second mounting protrusions 2312. During specific assembly, the second mounting protrusion 2312 can be inserted into the fourth hole portion 310 of the second joint arm 300, and the second mounting hole 2311 and the fourth hole portion 310 can be connected with a connecting member in the form of a bolt or the like. Among them, the connecting member in the form of a bolt or the like is used to achieve the anti-disengagement connection of the adapter plate 3000 and the first transmission wheel 2200 in the axial direction, while the second mounting protrusion 2312 is used to achieve the circumferential fixation of the first transmission wheel 2200 and the adapter plate 3000, so that the first transmission wheel 2200 can rotate synchronously with the first joint arm 200.

[0073] The second transmission teeth 2321 are integrally formed on the inner peripheral wall surface of the second gear ring portion 2320. The forming method of the second transmission wheel 2300 may be the same as that of the aforementioned first transmission wheel 2200, and no repetitive description will be made here.

[0074] One of the first transmission wheel 2200 and the second transmission wheel 2300 is fixedly arranged, and the other is an output wheel. In this way, there is no need to separately set an output wheel, which can further reduce the number of parts in the reduction device 2000 provided by the embodiments of the present invention, thereby simplifying its structure.

[0075] The double cycloid gear 2400 is externally sleeved on the eccentric column portion 2120 and is in transmission connection with the eccentric column portion 2120. Specifically, a second bearing 2800 may be provided between the double cycloid gear 2400 and the eccentric column portion 2120 for supporting the double cycloid gear 2400 and transmitting the eccentric rotation to the double cycloid gear 2400 through the second bearing 2800; at the same time, the second bearing 2800 can also play a lubricating role to reduce friction and improve the operating efficiency. The structural form of the second bearing 2800 may be the same as that of the aforementioned first bearing 2700, and no repetitive description will be made here.

[0076] The double cycloid gear 2400 includes a first gear portion 2410 and a second gear portion 2420 arranged axially. During specific installation, at least a part of the first gear portion 2410 extends into the radial inner side of the first gear ring portion 2220, and the first gear portion 2410 and the first gear ring portion 2220 perform a differential gear meshing drive; at least a part of the second gear portion 2420 extends into the radial inner side of the second gear ring portion 2320, and the second gear portion 2420 and the second gear ring portion 2320 perform a differential gear meshing drive; in this way, the rotational motion input by the power input shaft 2100 can be transmitted to the output wheel (one of the first transmission wheel 2200 and the second transmission wheel 2300) through the double cycloid gear 2400 for output.

[0077] It can be seen that in the above solution, the first gear ring portion 2220 of the first transmission wheel 2200 is integrally formed with the first transmission teeth 2221, and the second gear ring portion 2320 of the second transmission wheel 2300 is integrally formed with the second transmission teeth 2321, which can avoid the process of separately installing the needle roller teeth, effectively reduce the number of components, reduce the structural complexity of the first transmission wheel 2200 and the second transmission wheel 2300, and simplify the forming process of the first transmission teeth 2221 and the second transmission wheel 2300, which is beneficial to achieving lightweight. Moreover, during the assembly process of the first transmission wheel 2200, the second transmission wheel 2300 and the double cycloid gear 2400, at least a part of the first gear portion 2410 can extend into the radial inner side of the first gear ring portion 2220, and at least a part of the second gear portion 2420 can extend into the radial inner side of the second gear ring portion 2320, so that the double cycloid gear 2400 and the first transmission wheel 2200 can share a part of the axial dimension, and the double cycloid gear 2400 and the second transmission wheel 2300 can also share a part of the axial dimension; in this way, the overall axial dimension of the reduction gear 2000 can be effectively reduced, which is beneficial to realizing the thin, small and compact design of the joint assembly 100.

[0078] Next, the embodiment of the present invention will first describe the differential gear meshing drive process between the first transmission wheel 2200, the second transmission wheel 2300 and the double cycloid gear 2400.

[0079] For the convenience of description, it can be defined that the number of teeth of the first transmission teeth 2221 of the first transmission wheel 2200 is Z1, the number of teeth of the second transmission teeth 2321 of the second transmission wheel 2300 is Z4, the number of teeth of the first gear portion 2410 in the double cycloid gear 2400 is Z2, and the number of teeth of the second gear portion 2420 in the double cycloid gear 2400 is Z3. Among them, Z1>Z2, Z4>Z3, Z2>Z3. Generally, Z1-Z2 = Z4-Z3 = 1, and then the tooth number difference Z2-Z3 of the first gear portion 2410 and the second gear portion 2420 in the double cycloid gear 2400 is defined as n, n>0.

[0080] In the first working condition, the first transmission wheel 2200 can be fixedly arranged, and the second transmission wheel 2300 serves as the output wheel. At this time, the transmission ratio i = (Z4 * Z2) / (Z2 * Z4 - Z1 * Z3). In this working condition, in the joint assembly, it can be that the first joint arm 200 drives the second joint arm 300 to rotate, and the humanoid robot can execute the walking program.

[0081] Table 1 Transmission ratio value table under different tooth number design conditions in the first working condition

[0082]

[0083] Referring to Table 1 above, Table 1 is the transmission ratio value table under different tooth number design conditions in the first working condition. As shown in Table 1, by designing the specific values of Z1, Z2, Z3, and Z4, the transmission ratio i can be easily adjusted within the range of 50 to 300. It can be known that for the power generation device 1000 in the form of a brushless motor, etc., the speed range it is good at is high speed and low load, and the reduction device 2000 provided by the embodiment of the present invention can be well matched with it.

[0084] It should be noted that in the current field of humanoid robots, the reduction ratio of a general planetary gear reducer can only be set within 10. When used in combination with a brushless motor, it is necessary to achieve low speed and high load, which is not the working range that a brushless motor is good at. Thus, it can be seen that the reduction device 2000 provided by the embodiment of the present invention, which includes the first transmission wheel 2200, the second transmission wheel 2300, and the double cycloid gear 2400, can easily match the best working range of the brushless motor and has obvious comparative advantages.

[0085] In the second working condition, the second transmission wheel 2300 can be fixedly arranged, and the first transmission wheel 2200 serves as the output wheel. At this time, the transmission ratio i = - (Z3 * Z1) / (Z2 * Z4 - Z1 * Z3). In this working condition, in the joint assembly, it can be that the second joint arm 300 drives the first joint arm 200 to rotate, and the robot can execute the squatting and standing up program.

[0086] In the embodiment of the present invention, the reduction device 2000 mainly includes the first transmission wheel 2200, the second transmission wheel 2300, and the double cycloid gear 2400. The number of parts is relatively small, and the dimension chain is relatively short. Unlike planetary gear transmission, it does not need to reserve enough side clearance for multiple planetary gears, and the dimension chain is long. Therefore, in theory, the accuracy of the reduction device 2000 provided by the embodiment of the present invention can be higher.

[0087] Moreover, the embodiment of the present invention adopts a meshing transmission scheme with a small tooth difference, combined with Figure 11There can be a large number of teeth (nearly half) between the double cycloid wheel 2400 and the first gear ring part 2220 / the second gear ring part 2320 for simultaneous meshing transmission. Compared with a planetary gear reducer or a harmonic reducer, the number of meshing teeth is greater, and it can withstand greater impacts and extreme loads without damage, and its fatigue endurance life is more reliable. It is particularly suitable for use in humanoid robots or service robots with certain performance requirements.

[0088] In other words, the reduction gear 2000 provided in the embodiment of the present invention also has technical advantages such as high precision and high strength.

[0089] In some implementations, such as Figure 7 , Figure 9 and Figure 10 As shown, the reduction gear 2000 provided in the embodiment of the present invention may further include a housing 2500 .

[0090] The housing 2500 may include a peripheral plate portion 2510 and an annular end plate portion 2520. The peripheral plate portion 2510 and the annular end plate portion 2520 may be an integral structure formed in one piece. The annular end plate portion 2520 may be located at one axial end of the peripheral plate portion 2510, and the annular end plate portion 2520 has an inner hole, which is a first inner hole 2521.

[0091] The peripheral plate portion 2510 can be connected to the first gear ring portion 2220. The specific connection method can be, for example, welding. In short, as long as the connection reliability and other related requirements can be guaranteed. At this time, the first transmission wheel 2200 can be equivalent to the side of the housing 2500 away from the annular end plate portion 2520 (such as Figure 10 The first transmission wheel 2200 also serves as a cover plate of the housing 2500. Accordingly, in a specific application, the reduction gear 2000 does not need to be provided with a special cover plate, which can also reduce the number of parts in the reduction gear 2000 provided in the embodiment of the present invention, so as to simplify the structure of the reduction gear 2000 and facilitate the realization of a light and thin design of the reduction gear 2000.

[0092] A portion of the second base portion 2310 can pass through the first inner hole 2521 of the annular end plate portion 2520 so as to be connected to the second articulated arm 300 .

[0093] In some implementations, such as Figure 7 , Figure 9 and Figure 10 As shown, the reduction gear 2000 provided in the embodiment of the present invention may further include a limiting bearing 2600 .

[0094] The limiting bearing 2600 may include an outer ring portion 2610 and an inner ring portion 2620. The outer ring portion 2610 may be connected to the circumferential plate portion 2510, and the outer ring portion 2610 and the first gear ring portion 2220 are axially abutted. The inner ring portion 2620 and the second gear ring portion 2320 are axially abutted.

[0095] With such an arrangement, the limiting bearing 2600 can achieve axial positioning of the first transmission wheel 2200 and the second transmission wheel 2300. At the same time, the limiting bearing 2600 can also achieve radial positioning of the second transmission wheel 2300, which is beneficial to ensuring the concentric setting of the second transmission wheel 2300 and the housing 2500. Moreover, since the speed reduction device 2000 provided in the embodiment of the present invention is axially limited by the limiting bearing 2600, there is no need to separately provide a limiting component, which can also reduce the number of parts in the speed reduction device 2000 provided in the embodiment of the present invention, simplify the structural form of the speed reduction device 2000, and is beneficial to realizing the thin and light design of the speed reduction device 2000.

[0096] In a specific example, as Figure 10 shown, the inner hole of the inner ring portion 2620 is the second inner hole 2621, and the second inner hole 2621 may be a stepped hole, including a small-diameter hole section 2621A and a large-diameter hole section 2621B. The inner ring portion 2620 forms a limiting step surface 2621C between the small-diameter hole section 2621A and the large-diameter hole section 2621B. At least a part of the second gear ring portion 2320 is located in the large-diameter hole section 2621B, and the second gear ring portion 2320 and the limiting step surface 2621C are axially abutted to axially limit the second transmission wheel 2300.

[0097] Moreover, in the above example, at least a part of the second gear ring portion 2320 may extend into the large-diameter hole section 2621B, so that the second gear ring portion 2320 and the limiting bearing 2600 can also share part of the axial dimension, which has a relatively positive significance for reducing the overall axial dimension of the joint assembly 100 to achieve the thin and light, miniaturized, and compact design of the speed reduction device 2000.

[0098] In another specific example, it may also be to provide a clamping groove on the inner wall surface of the inner ring portion 2620, and then a snap ring may be provided in the clamping groove to axially limit the second transmission wheel 2300 through the snap ring. Moreover, in the above example, at least a part of the second gear ring portion 2320 may also extend into the second inner hole 2621, which can also reduce the axial dimension of the speed reduction device 2000.

[0099] The above-mentioned limiting bearing 2600 may specifically be an angular contact bearing, which can effectively resist lateral forces.

[0100] In some implementation manners, such as Figure 10As shown, on the side of the first ring gear portion 2220 facing the outer ring portion 2610, a limiting convex portion 2222 may be provided, and specifically, the outer ring portion 2610 may be axially abutted against the limiting convex portion 2222.

[0101] The above-mentioned limiting convex portion 2222 can axially support the outer ring portion 2610, so that there can be a certain axial gap between the first ring gear portion 2220 and the outer ring portion 2610, thereby largely avoiding interference between the first ring gear portion 2220 and the inner ring portion 2620, and at the same time largely avoiding interference between the inner ring portion 2620 and the first gear portion 2410, which is beneficial to ensuring the smooth operation of the reduction device 2000 provided by the embodiment of the present invention.

[0102] Here, the embodiment of the present invention does not limit the specific structural form of the above-mentioned limiting convex portion 2222. In actual applications, those skilled in the art can set it according to specific needs as long as it can meet the usage requirements. For example, the limiting convex portion 2222 can be an integral ring structure. Another example is that the limiting convex portion 2222 can include multiple limiting segments, and each limiting segment can be arranged at intervals along the circumferential direction of the first ring gear portion 2220.

[0103] Embodiment Two

[0104] Please refer to Figure 12 , Figure 12 which is a schematic structural diagram of another reduction device.

[0105] In this embodiment, as Figure 12 shown, the power input shaft 2100 can be a hollow shaft. In this way, the weight of the power input shaft 2100 can be relatively low, which is more conducive to realizing the lightweight design of the reduction device 2000. Moreover, the inside of the power input shaft 2100 can also be used for wiring, which is beneficial to improving the compactness of the structure.

[0106] Embodiment Three

[0107] Please refer to Figure 13 and Figure 14 , Figure 13 which is a schematic structural diagram of a double cycloid gear; Figure 14 which is a schematic structural diagram of another double cycloid gear.

[0108] In this embodiment, the double cycloid gear 2400 can be a split structure, which is convenient for processing and preparing the double cycloid gear 2400.

[0109] In some implementation manners, as Figure 13As shown, in the double cycloid gear 2400, the first gear part 2410 and the second gear part 2420 can be separately provided, that is, the first gear part 2410 and the second gear part 2420 can be prepared separately; at this time, the axial dimensions of the first gear part 2410 and the second gear part 2420 can be relatively small, facilitating processing. A connecting convex part 2411 can be provided on the axial end face of one of the first gear part 2410 and the second gear part 2420. A connecting concave part 2420A extending axially can be provided on the other of the first gear part 2410 and the second gear part 2420, and the connecting concave part 2420A can be a through-hole structure or a blind-hole structure.

[0110] During specific assembly, the first gear part 2410 and the second gear part 2420 can be butted against each other axially, and the connecting convex part 2411 can be inserted into the connecting concave part 2420A. In this way, synchronous rotation of the first gear part 2410 and the second gear part 2420 can be achieved.

[0111] In some implementation manners, as Figure 14 shown, in the double cycloid gear 2400, the first gear part 2410 and the second gear part 2420 can be separately provided, and moreover, the second gear part 2420 can include at least two sub-gear parts 2421 arranged axially, and the first gear part 2410 and each sub-gear part 2421 can be provided with connecting holes extending axially. Among them, the connecting hole provided on the first gear part 2410 is the first connecting hole 2412, and the connecting hole provided on the sub-gear part 2421 is the second connecting hole 2421A.

[0112] The above double cycloid gear 2400 can further include a connecting column 2430. During specific assembly, the first gear part 2410 and each sub-gear part 2421 can be butted against each other axially, and the connecting column 2430 can penetrate through the first connecting hole 2412 and each second connecting hole 2421A to connect the first gear part 2410 and each sub-gear part 2421, so as to achieve synchronous rotation of the first gear part 2410 and each sub-gear part 2421.

[0113] It should be understood that in some other implementation manners of the embodiments of the present invention, it is also possible to set the first gear part 2410 to include a plurality of split gears, which is also feasible.

[0114] Embodiment 4

[0115] Please refer to Figure 15 , Figure 15 which is an exploded view of another speed reduction device.

[0116] In this embodiment, the speed reduction device 2000 may not include the adapter plate 3000. In this case, the speed reduction device 2000 can be directly connected to the power generation device 1000.

[0117] Specifically, as Figure 15 shown, the first transmission wheel 2200 may be provided with a first flange 2223 to increase the radial dimension of the first transmission wheel 2200. The peripheral plate portion 2510 of the housing 2500 may be provided with a second flange 2511 to increase the radial dimension of the housing 2500, so that the first flange 2223 and the second flange 2511 can be connected to the threaded hole 1100 and the through hole 1200 on the aforementioned power generation device 1000. In this case, there is no need to provide the aforementioned adapter plate 3000, which can further simplify the specific structure of the speed reduction device 2000 provided in the embodiment of the present invention and achieve a thin and light design of the joint assembly in the axial direction.

[0118] In this embodiment, the housing 2500 may also be a split structure, including a split peripheral plate portion 2510 and an annular end plate portion 2520. The peripheral plate portion 2510 and the annular end plate portion 2520 can be prepared separately and then assembled.

[0119] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A deceleration device applied to a robot, characterized in that: include: A power input shaft (2100) comprises a shaft body (2110) and an eccentric column portion (2120), wherein the eccentric column portion (2120) is located radially outside the shaft body (2110), and the central axis of the eccentric column portion (2120) and the central axis of the shaft body (2110) are eccentrically arranged; The first transmission wheel (2200) comprises a first base portion (2210) and a first gear ring portion (2220) arranged along the axial direction, the first base portion (2210) being assembled on the shaft body (2110) in an outer sleeve, and the inner peripheral wall surface of the first gear ring portion (2220) being integrally formed with first transmission teeth (2221); The second transmission wheel (2300) comprises a second base portion (2310) and a second gear ring portion (2320) arranged in the axial direction, the second base portion (2310) is mounted on the shaft body (2110) in an outer sleeve, and the second base portion (2310) and the first base portion (2210) are respectively located on two axial sides of the eccentric column portion (2120), the inner peripheral wall surface of the second gear ring portion (2320) is integrally formed with second transmission teeth (2321), one of the first transmission wheel (2200) and the second transmission wheel (2300) is fixedly arranged, and the other of the first transmission wheel (2200) and the second transmission wheel (2300) is an output wheel; A double-linked cycloidal wheel (2400), wherein the outer sleeve is assembled on the eccentric column portion (2120) and is transmission-connected to the eccentric column portion (2120); the double-linked cycloidal wheel (2400) comprises a first gear portion (2410) and a second gear portion (2420) arranged along the axial direction; at least a portion of the first gear portion (2410) extends radially inwardly of the first gear ring portion (2220); the first gear portion (2410) and the first gear ring portion (2220) perform a meshing transmission with a small tooth difference; at least a portion of the second gear portion (2420) extends radially inwardly of the second gear ring portion (2320); the second gear portion (2420) and the second gear ring portion (2320) perform a meshing transmission with a small tooth difference.

2. The deceleration device applied to a robot according to claim 1, characterized in that: It also includes a shell (2500), the shell (2500) includes a peripheral plate portion (2510) and an annular end plate portion (2520), the peripheral plate portion (2510) is connected to the first gear ring portion (2220), and a portion of the second base portion (2310) can pass through the inner hole of the annular end plate portion (2520).

3. The deceleration device applied to a robot according to claim 2, characterized in that: The invention also includes a limit bearing (2600), wherein the limit bearing (2600) includes an outer ring portion (2610) and an inner ring portion (2620), wherein the outer ring portion (2610) is connected to the peripheral plate portion (2510), the outer ring portion (2610) and the first gear ring portion (2220) are axially abutted against each other, and the inner ring portion (2620) and the second gear ring portion (2320) are axially abutted against each other.

4. The deceleration device applied to a robot according to claim 3, characterized in that: The inner hole of the inner ring portion (2620) is a stepped hole, comprising a small-diameter hole section (2621A) and a large-diameter hole section (2621B); the inner ring portion (2620) forms a limited step surface (2621C) between the small-diameter hole section (2621A) and the large-diameter hole section (2621B); at least a portion of the second gear ring portion (2320) is located in the large-diameter hole section (2621B), and the second gear ring portion (2320) and the limited step surface (2621C) abut against each other in the axial direction; or, The inner peripheral wall surface of the inner ring portion (2620) is provided with a retaining groove, and the reduction device (2000) further includes a retaining spring, which is installed in the retaining groove. The inner ring portion (2620) can be axially offset from the second gear ring portion (2320) through the retaining spring.

5. The deceleration device applied to a robot according to claim 3, characterized in that: A limiting convex portion (2222) is provided on one side of the first gear ring portion (2220) facing the outer ring portion (2610), and the first gear ring portion (2220) and the outer ring portion (2610) are axially opposed via the limiting convex portion (2222).

6. The deceleration device applied to a robot according to any one of claims 1 to 5, characterized in that: The double-linked cycloid wheel (2400) is a split structure.

7. The deceleration device applied to a robot according to claim 6, characterized in that: The first gear portion (2410) and the second gear portion (2420) are separately arranged, and the axial end face of one of the first gear portion (2410) and the second gear portion (2420) is provided with a connecting protrusion (2411), and the other of the first gear portion (2410) and the second gear portion (2420) is provided with a connecting recess (2420A) extending along the axial direction, and the connecting protrusion (2411) is inserted into the connecting recess (2420A).

8. The deceleration device applied to a robot according to claim 6, characterized in that: The first gear portion (2410) and the second gear portion (2420) are separately arranged, and the second gear portion (2420) comprises at least two sub-gear portions (2421) arranged along the axial direction, and the first gear portion (2410) and each of the sub-gear portions (2421) are each provided with a connecting hole extending along the axial direction; The double-linked cycloid wheel (2400) further comprises a connecting column (2430), wherein the connecting column (2430) is inserted into the connecting hole.

9. The deceleration device applied to a robot according to any one of claims 1 to 5, characterized in that: It also includes a first bearing (2700) and a second bearing (2800), wherein the first bearing (2700) is arranged between the first base part (2210) and the second base part (2310) and the shaft body (2110), and the second bearing (2800) is arranged between the double-linked cycloid wheel (2400) and the eccentric column part (2120).

10. The deceleration device applied to a robot according to any one of claims 1 to 5, characterized in that: The power input shaft (2100) is a hollow shaft; and / or, The power input shaft (2100) has a power input connection section (2111), and the outer peripheral wall surface of the power input connection section (2111) is provided with a power engagement feature (2111A).

11. The deceleration device applied to a robot according to any one of claims 1 to 5, characterized in that: The first base portion (2210) and the second base portion (2310) are both provided with mounting holes and mounting protrusions.

12. A joint assembly for a robot, characterized in that: The invention comprises a power generating device (1000) and a reduction device (2000), wherein the reduction device (2000) is a reduction device applied to a robot as claimed in any one of claims 1 to 11, and the power generating device (1000) is transmission-connected to the power input shaft (2100).

13. The joint assembly for a robot according to claim 12, characterized in that: The power generation device (1000) and the reduction device (2000) are directly connected; or, It also includes an adapter plate (3000), and the power generation device (1000) and the speed reduction device (2000) are both connected to the adapter plate (3000).

14. A joint assembly for a robot, characterized in that: The invention comprises a joint assembly (100), a first joint arm (200) and a second joint arm (300), wherein the joint assembly (100) is the joint assembly applied to a robot as claimed in claim 12 or 13, the first transmission wheel (2200) is connected to the first joint arm (200), and the second transmission wheel (2300) is connected to the second joint arm (300).

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