Compact robot joint speed reducer and joint device

Abstract

The invention relates to a compact robot joint speed reducer and joint device.The compact robot joint speed reducer comprises a first-stage sun gear, a second-stage sun gear, a first-stage planet gear set, a second-stage planet gear set, an inner gear box mounting disc, a bipolar inner gear box, an input flange, an output flange and a braking module; an inner hole of the output flange is provided with a step part, an outer ring of the first bearing is fixed to the step part, the wire set limiting piece is arranged on an inner ring of the first bearing and used for limiting a wire set penetrating through the first bearing, and the brake pad is right opposite to the second-stage sun gear and is slidably connected to the inner ring through a sliding rod. The driving piece is used for driving the brake pad to move. The brake module is integrated on the step portion of the inner hole of the output flange, the internal space of the output flange is fully utilized, the brake function is achieved on the premise that the axial size of the speed reducer is not increased, and the requirement of robot joints for compactness is met.

Description

Technical Field

[0001] The present invention relates to the field of speed reducers, and particularly to a compact robot joint speed reducer and a joint device. Background Art

[0002] With the wide application of robot technology in the fields of industry, medical treatment, service, etc., the performance of the joint speed reducer directly determines the motion accuracy, load capacity and service life of the robot.

[0003] Due to the advantages of high-efficiency transmission, compact structure, high precision and strong load-bearing capacity of the planetary speed reducer, it is currently adopted by the robot joint speed reducer. The two-stage planetary speed reducer has two-stage sun gears and planetary gear sets, and has a better speed reduction effect. Also, since the robot joints usually need to complete complex motions within a limited space, the speed reducer must be designed as compact as possible to adapt to this space limitation. At the same time, in order to improve the aesthetics of the exterior of the robot, perforations for control wires to pass through are also required in the internal sun gear, which further increases the complexity of the already compact structure.

[0004] The invention patent with the publication number CN113500624B discloses a robot joint with a brake placed in front and a collaborative robot. The robot joint includes a joint housing, a speed reducer assembly, a driving motor and a brake. The motor shaft of the driving motor is connected to the input end of the speed reducer assembly. It is characterized in that the brake is arranged between the speed reducer assembly and the driving motor. The brake includes a brake disc, a friction plate and an armature. The friction plate is fixed to the motor shaft and rotates therewith. The brake disc can adsorb or release the armature according to the on-off state. The speed reducer assembly includes a speed reducer main body and a flexspline cover covering the speed reducer main body. The flexspline cover is in circumferential contact with the joint housing, and the brake disc is in contact with the flexspline cover.

[0005] During the operation of the robot, in case of sudden power failure, control system failure or emergency situation (such as collision detection), in order to prevent the robotic arm from continuing to move due to gravity or inertia, it is usually necessary to install a brake. The traditional external brake inevitably increases the axial or radial dimensions, restricting the compactness of the robot joint. The traditional internal brake is difficult to adapt to the complex structure inside the two-stage planetary speed reducer. Summary of the Invention

[0006] In order to fully integrate the brake inside the speed reducer without increasing the axial dimension of the speed reducer, the present application provides a compact robot joint speed reducer and a joint device.

[0007] The compact robot joint speed reducer provided by the present application adopts the following technical solutions: A compact robot joint reducer and joint device, comprising a first-stage sun gear, a second-stage sun gear, a first-stage planetary gear set, a second-stage planetary gear set, a double-stage internal gear box, an input flange, an output flange and a braking module. The double-stage internal gear box meshes with the first-stage planetary gear set and the second-stage planetary gear set respectively. The first-stage sun gear serves as the input power of the first-stage planetary gear set and meshes with the first-stage planetary gear set. The second-stage sun gear serves as the input power of the second-stage planetary gear set and meshes with the second-stage planetary gear set. The second-stage sun gear is fixedly connected to the planet carrier of the first-stage planetary gear set. The input flange is connected to the first-stage sun gear. The output flange is connected to the planet carrier of the second-stage planetary gear set. Through holes for the wire group to pass through are respectively formed in the first-stage sun gear and the second-stage sun gear. The braking module includes a first bearing, a driving member, a brake pad and a wire group restricting member. The inner hole of the output flange has a stepped portion. The outer ring of the first bearing is fixedly arranged on the stepped portion. The wire group restricting member is arranged on the inner ring of the first bearing for restricting the wire group passing through. The brake pad is disposed opposite to the second-stage sun gear. The brake pad is movably connected to the outer ring of the first bearing along the axis direction of the input flange. The driving member is used for driving the brake pad to move.

[0008] By adopting the above technical solution, the braking module is integrated in the stepped portion of the inner hole of the output flange, making full use of the space inside the output flange. Without increasing the axial dimension of the reducer, the braking function is realized, meeting the requirements of the robot joint for compactness. At the same time, the wire group restricting member restricts the wire group, which can not only limit the position of the wire group inside the joint, but also reduce the friction between the wire group and the first-stage sun gear and the second-stage sun gear caused by the sway of the wire group during the movement of the robot to a certain extent, playing a protective role for the wire group and ensuring the stability of the wire group. At the same time, the wire group can in turn restrict the rotation of the inner ring of the first bearing, thus providing conditions for the stable installation of the driving member.

[0009] Preferably, it further includes an internal gear box mounting plate. The double-stage internal gear box is fixed on the internal gear box mounting plate by screws. The first-stage planetary gear set includes a first-stage planet carrier and several first-stage planetary gears. The several first-stage planetary gears are evenly arranged around the circumferential outer side of the first-stage sun gear and mesh with the first-stage sun gear. The several first-stage planetary gears simultaneously mesh with the corresponding internal gear ring of the double-stage internal gear box. The first-stage planetary gears are rotatably connected to the first-stage planet carrier through needle rollers. The first-stage planet carrier is rotatably connected to the double-stage internal gear box through deep groove ball bearings. The first-stage sun gear is rotatably connected to the first-stage planet carrier through deep groove ball bearings. A bearing sleeve is welded on the first-stage sun gear. The input flange is fixed on the bearing sleeve by screws. The secondary planetary gear set includes a secondary planetary carrier and a number of secondary planetary gears. The secondary planetary gears are evenly arranged around the circumferential outer side of the secondary sun gear and are meshed and connected with the secondary sun gear. The secondary planetary gears are simultaneously meshed and connected with the corresponding internal gear rings of the bipolar internal gear box. The secondary planetary gears are rotationally connected to the secondary planetary carrier through needle rollers. The secondary planetary carrier is rotationally connected to the internal gear box mounting plate through crossed roller bearings. The secondary sun gear is coaxially welded to the primary planetary carrier. The output flange is fixed to the end of the secondary planetary carrier by screws.

[0010] By adopting the above technical solutions, the installation structure of the primary planetary gear set and the secondary planetary gear set is disclosed. The reasonable application of needle rollers, deep groove ball bearings and crossed roller bearings can not only ensure the flexible rotation of the planetary gears and the planetary carrier, but also improve the load-bearing capacity and stability of the entire reducer.

[0011] Preferably, the driving member includes a reset member, an annular electromagnet and a magnetic ring. The annular electromagnet is coaxially and fixedly arranged on the side surface of the inner ring of the first bearing facing the secondary sun gear. The power supply wire of the annular electromagnet and the power supply wire of the input motor connected to the input flange are powered by the same power supply. The magnetic ring is coaxially and fixedly connected to the side surface of the brake pad away from the second sun gear. The annular electromagnet faces the magnetic ring, and the annular electromagnet is energized to adsorb the magnetic ring. A contact block is coaxially arranged on the side surface of the outer ring of the first bearing facing the second sun gear. When the magnetic ring abuts against the contact block, there is always a gap between the annular electromagnet and the magnetic ring. The reset member acts on the sliding rod and is used to drive the sliding rod to move towards the secondary sun gear side.

[0012] By adopting the above technical solutions, the cooperation between the annular electromagnet and the magnetic ring realizes the quick response and reliable braking of the brake pad. Since the annular electromagnet and the power supply wire of the input motor are powered by the same power supply, when working under normal power supply, the annular electromagnet is always energized to generate magnetic force to adsorb the magnetic ring. After the magnetic ring is adsorbed, it abuts tightly against the contact block and does not directly contact the annular electromagnet. Therefore, when the articulated reducer is running, the magnetic ring rotates and runs together with the output flange. Under the action of the wire group limiting member, the annular electromagnet is almost stationary relative to the wire group. There is no direct friction between the annular electromagnet and the magnetic ring. At the same time, the magnetic ring is far away from the secondary sun gear and does not affect the movement of the secondary sun gear. When an emergency such as sudden power failure occurs, the input motor and the annular electromagnet are powered off synchronously. The annular electromagnet loses its magnetic force. Under the action of the reset member, the magnetic ring will move towards the secondary sun gear side and abut tightly against the secondary sun gear. Since the rotational speeds of the magnetic ring and the secondary sun gear are different, friction will be generated between the two under the action of the speed difference, thereby forcing the entire reducer to stop rotating.

[0013] Preferably, the reset member includes the same number of first springs as the slide bars. The first springs are located in the first sliding grooves, and two ends of each first spring respectively abut against the bottom wall of the first sliding groove and the corresponding slide bar.

[0014] By adopting the above technical solution, the first spring is used as the reset member, which has a simple structure, low cost, and can stably act on the slide bar to provide a driving force for the slide bar toward the secondary sun gear, so that the brake pad can tightly press the secondary sun gear in time when power is off, achieving reliable braking. At the same time, the first spring is installed in the first sliding groove without occupying extra space, ensuring the compactness of the brake module structure.

[0015] Preferably, a wear-resistant sheet is coaxially provided on the side surface of the secondary sun gear facing the brake pad. Brake ridges are respectively provided on the side surfaces of the brake pad and the wear-resistant sheet facing each other along the circumferential direction, and the length direction of the brake ridges is arranged along the radial direction of the brake pad and the wear-resistant sheet.

[0016] By adopting the above technical solution, the setting of the wear-resistant sheet plays a protective role for the secondary sun gear, increasing the wear resistance of the contact part between the secondary sun gear and the brake pad and prolonging the service life of the secondary sun gear; there are two cases for the setting of the brake ridges. One is to use the brake ridges as anti-slip lines to increase the friction between the brake pad and the wear-resistant sheet, improving the braking effect and making the braking process more rapid and stable; the other case is to use the brake ridges as hard abutting blocks. After the brake pad and the wear-resistant sheet abut against each other, the brake ridges on both sides are sequentially inserted at intervals. Due to the non-adjustable contradiction of the two-stage transmission speed ratio, the system will be completely locked due to the self-locking effect and immediately stop rotating, with a better effect.

[0017] Preferably, the wire group restrictor includes two sets of unilateral restrictors, which are symmetrically arranged on the first bearing. Each set of unilateral restrictors includes a fixed rod, a moving rod, and a second spring. The fixed rod is fixedly arranged on the inner ring side wall of the first bearing, the moving rod is slidably connected to the fixed rod along the radial direction of the first bearing, a V-shaped frame for restricting the wire group is provided at the end of the moving rod facing the axis of the first bearing, and two ends of the second spring respectively abut against the inner ring side wall of the first bearing and the corresponding moving rod for driving the two moving rods to move toward each other.

[0018] By adopting the above technical solution, two sets of unilateral limit members are symmetrically arranged on the first bearing. By using the combination of the fixed rod, the moving rod and the second spring, the wire group can be restricted from both sides, effectively avoiding the random shaking of the wire group inside the joint reducer and ensuring its stable position. The V-shaped frame design at the end of the moving rod has a high degree of fit with the shape of the wire group, resulting in a better limiting effect. The second spring drives the two moving rods to approach each other, further enhancing the clamping force on the wire group, ensuring that the wire group can remain stable even in a complex motion environment, reducing the wear caused by shaking with the first sun gear and the second sun gear, and extending the service life of the wire group.

[0019] Preferably, the unilateral limit member further includes a magnetic block, a third spring and a deformable pulling member. A second chute is formed along the side surface of the inner ring of the first bearing facing the annular electromagnet. The magnetic block slides axially along the first bearing in the second chute. The two ends of the third spring respectively abut against the bottom wall of the second chute and the magnetic block. The third spring is used to drive the magnetic block to move towards the annular electromagnet side. The elastic force of the third spring is greater than the elastic force of the second spring. A through hole for the deformable pulling member to pass through is formed through the bottom wall of the second chute. The moving rod is located on the side of the fixed rod away from the input flange. One end of the deformable pulling member is fixed on the magnetic block, and the other end of the deformable pulling member extends out of the through hole and is fixed on the moving rod. When the annular electromagnet is energized, it generates a repulsive magnetic force with the magnetic block.

[0020] By adopting the above technical solution, when the annular electromagnet is energized, the repulsive magnetic force generated between it and the magnetic block causes the magnetic block to slide away from the annular electromagnet against the elastic force of the third spring. The moving rod is driven by the deformable pulling member to move outwards against the elastic force of the second spring, so that the distance between the two sets of moving rods increases, and the wire group can be easily inserted or removed, facilitating the installation, replacement and maintenance operations of the wire group. When the annular electromagnet is powered off, the elastic force of the third spring is greater than the elastic force of the second spring. The third spring drives the magnetic block to move towards the annular electromagnet side. The magnetic block drives the deformable pulling member to retract, and the moving rod moves towards the approaching direction under the action of the second spring until the V-shaped frame clamps the wire group, ensuring that the wire group will not shake or displace during the movement of the robot, effectively reducing the friction between the wire group and other components, protecting the integrity of the wire group, and at the same time providing a reliable guarantee for the stable operation of the braking module and the entire reducer. In addition, this design reasonably utilizes magnetic force and spring elastic force, with a compact structure and no additional excessive space occupation, further improving the practicality of the braking module and the overall performance of the compact robot joint reducer.

[0021] A robot joint device provided by the present application adopts the following technical solution: It includes the compact robot joint reducer of any one of the above.

[0022] The technical effects of the present invention are mainly reflected in the following aspects: 1. The braking module of the present invention is integrated in the stepped portion of the inner hole of the output flange, making full use of the space inside the output flange. Without increasing the axial dimension of the reducer, the braking function is realized, meeting the requirements of the robot joint for compactness.

[0023] 2. Through the cooperation of the annular electromagnet and the magnetic ring, the present invention realizes the rapid response and reliable braking of the brake pads. When an emergency such as sudden power failure occurs, the input motor and the annular electromagnet are powered off synchronously. The annular electromagnet loses its magnetic force. Under the action of the resetting member, the magnetic ring will move towards the side of the secondary sun gear until it abuts against the secondary sun gear. Since the rotational speeds of the magnetic ring and the secondary sun gear are different, friction will be generated between them under the action of the speed difference, thereby forcing the entire reducer to stop rotating. Description of the Drawings

[0024] Figure 1 is a complete cross-sectional view of the joint reducer according to the embodiment of the present application.

[0025] Figure 2 is Figure 1 an enlarged view of part A in

[0026] Figure 3 is a schematic structural view of the brake pad according to the embodiment of the present application.

[0027] Figure 4 is a partial schematic structural view of the wire group restrictor according to the embodiment of the present application.

[0028] Description of the reference numerals: 10, inner gear box mounting plate; 11, bipolar inner gear box; 12, primary sun gear; 13, primary planet gear; 14, primary planet carrier; 15, secondary sun gear; 151, wear-resistant sheet; 16, secondary planet gear; 17, secondary planet carrier; 18, input flange; 19, output flange; 20, perforation; 21, bearing sleeve; 22, bearing outer ring pressing plate; 23, needle roller shaft; 24, deep groove ball bearing; 25, crossed roller bearing; 26, oil seal; 3, braking module; 31, first bearing; 311, first chute; 312, second chute; 313, through hole; 32, brake pad; 33, first spring; 34, annular electromagnet; 35, magnetic ring; 36, abutting block; 37, sliding rod; 4, wire group restrictor; 41, fixed rod; 42, moving rod; 421, V-shaped frame; 43, second spring; 44, magnetic block; 45, third spring; 46, deformable pulling member; 47, braking rib. Detailed Embodiment

[0029] The following is combined with the attached Figures 1 - 4The present application is further described in detail to make the technical solution of the present application easier to understand and master. Embodiment

[0030] An embodiment of the present application discloses a compact robot joint reducer.

[0031] Referring to Figures 1 - 4 , a compact robot joint reducer and a joint device in this embodiment include a first-stage sun gear 12, a second-stage sun gear 15, a first-stage planetary gear set, a second-stage planetary gear set, an inner gear box mounting plate 10, a two-stage inner gear box 11, an input flange 18, an output flange 19, and a braking module 3. The two-stage inner gear box 11 includes two-stage inner gear rings, which are respectively meshed with the first-stage planetary gear set and the second-stage planetary gear set, and are fixed in the inner gear box mounting plate 10 by screws. The first-stage sun gear 12 is used as the input power of the first-stage planetary gear set and meshes with the first-stage planetary gear set. The second-stage sun gear 15 is used as the input power of the second-stage planetary gear set and meshes with the second-stage planetary gear set. The second-stage sun gear 15 is fixedly connected to the planet carrier of the first-stage planetary gear set. A bearing sleeve 21 is welded on the first-stage sun gear 12. The input flange 18 is fixed on the bearing sleeve 21 by screws. The output flange 19 is fixed on the planet carrier of the second-stage planetary gear set by screws. The input flange 18, the output flange 19, the first-stage sun gear 12, and the second-stage sun gear 15 are coaxially arranged. Through holes 20 for the wire group to pass through are respectively formed on the first-stage sun gear 12 and the second-stage sun gear 15.

[0032] Referring to Figures 1 - 4 , the braking module 3 includes a first bearing 31, a driving member, a brake pad 32, and a wire group limiting member 4. The inner hole of the output flange 19 has a stepped portion. The outer ring of the first bearing 31 is fixedly arranged on the stepped portion. The wire group limiting member 4 is fixedly arranged on the inner ring of the first bearing 31 and is used for limiting the wire group passing through. The brake pad 32 is arranged opposite to the second-stage sun gear 15. At least two sliding rods 37 are relatively arranged on one side surface of the brake pad 32 away from the second-stage sun gear 15. Corresponding first sliding grooves 311 are formed on the outer ring of the first bearing 31. The sliding rods 37 are slidably connected in the corresponding first sliding grooves 311 along the axial direction of the input flange 18. The driving member is arranged between the brake pad 32 and the inner ring of the first bearing 31 and is used for driving the brake pad 32 to move.

[0033] Referring to Figures 1 - 4, the braking module 3 is integrated into the stepped portion of the inner hole of the output flange 19, making full use of the space inside the output flange 19. Without increasing the axial dimension of the reducer, the braking function is realized, meeting the requirements of the robot joint for compactness. At the same time, the wire group restrictor 4 restricts the wire group, which can not only limit the position of the wire group inside the joint, but also reduce the friction between the wire group and the first sun gear 12 and the second sun gear 15 caused by the swaying of the wire group during the movement of the robot to a certain extent, playing a protective role for the wire group and ensuring the stability of the wire group. At the same time, the wire group can in turn restrict the rotation of the inner ring of the first bearing 31, thus providing conditions for the stable installation of the driving part.

[0034] Refer to Figures 1 - 4 , the first planetary gear set includes a first planetary carrier 14 and a number of first planetary gears 13. The number of first planetary gears 13 are evenly arranged on the circumferential outer side of the first sun gear 12 and meshed with the first sun gear 12. The number of first planetary gears 13 are simultaneously meshed with the corresponding internal gear rings of the double-stage internal gear box 11. The first planetary gears 13 are rotatably connected to the first planetary carrier 14 through needle rollers 23. The first planetary carrier 14 is rotatably connected to the double-stage internal gear box 11 through deep groove ball bearings 24. The first sun gear 12 is rotatably connected to the first planetary carrier 14 through deep groove ball bearings 24.

[0035] Refer to Figures 1 - 4 , the second planetary gear set includes a second planetary carrier 17 and a number of second planetary gears 16. The number of second planetary gears 16 are evenly arranged on the circumferential outer side of the second sun gear 15 and meshed with the second sun gear 15. The number of second planetary gears 16 are simultaneously meshed with the corresponding internal gear rings of the double-stage internal gear box 11. The second planetary gears 16 are rotatably connected to the second planetary carrier 17 through needle rollers 23. The second planetary carrier 17 is rotatably connected to the internal gear box mounting plate 10 through crossed roller bearings 25. The second sun gear 15 is coaxially welded to the first planetary carrier 14. The output flange 19 is fixed to the end of the second planetary carrier 17 by screws.

[0036] Refer to Figures 1 - 4 , the installation structure of the first planetary gear set and the second planetary gear set is disclosed. The reasonable application of the needle rollers 23, deep groove ball bearings 24 and crossed roller bearings 25 can not only ensure the flexible rotation of the planetary gears and the planetary carriers, but also improve the load-bearing capacity and stability of the entire reducer.

[0037] Refer to Figures 1 - 4, in order to improve the stability of the crossed roller bearing 25, a bearing outer ring pressing plate 22 is fixed on the inner gear box mounting plate 10 by screws and is used to press against the outer ring of the crossed roller bearing 25; the bearing sleeve 21 and the input flange 18 cooperate to limit the inner ring of the corresponding deep groove ball bearing 24. At the same time, oil seals 26 are installed between the first-stage sun gear 12 and the first-stage planet carrier 14, between the second-stage sun gear 15 and the second-stage planet carrier 17, and between the output flange 19 and the bearing outer ring pressing plate 22.

[0038] Refer to Figures 1 - 4 , the driving member includes a reset member, an annular electromagnet 34 and a magnetic ring 35. The annular electromagnet 34 is coaxially and fixedly arranged on the side surface of the inner ring of the first bearing 31 facing the second-stage sun gear 15. The power supply wire of the annular electromagnet 34 and the input motor power supply wire connected to the input flange 18 are powered by the same power supply. The magnetic ring 35 is coaxially and fixedly connected to the side surface of the brake pad 32 away from the second sun gear. The annular electromagnet 34 faces the magnetic ring 35, and the annular electromagnet 34 is energized to adsorb the magnetic ring 35.

[0039] Refer to Figures 1 - 4 , a contact block 36 is coaxially arranged on the side surface of the outer ring of the first bearing 31 facing the second sun gear. When the magnetic ring 35 abuts against the contact block 36, there is always a gap between the annular electromagnet 34 and the magnetic ring 35; the reset member acts on the slide bar 37 and is used to drive the slide bar 37 to move toward the second-stage sun gear 15.

[0040] Refer to Figures 1 - 4 , the cooperation between the annular electromagnet 34 and the magnetic ring 35 realizes the quick response and reliable braking of the brake pad 32; since the annular electromagnet 34 and the input motor power supply wire are powered by the same power supply, when working under normal power supply, the annular electromagnet 34 is always energized to generate magnetic force to adsorb the magnetic ring 35. After the magnetic ring 35 is adsorbed, it is pressed tightly against the contact block 36 and does not directly contact the annular electromagnet 34. Therefore, when the joint reducer is running, the magnetic ring 35 rotates and runs together with the output flange 19. Under the action of the wire group limiting member 4, the annular electromagnet 34 is almost stationary relative to the wire group. There is no direct friction between the annular electromagnet 34 and the magnetic ring 35. At the same time, the magnetic ring 35 is far from the second-stage sun gear 15 and does not affect the movement of the second-stage sun gear 15.

[0041] Refer to Figures 1 - 4 , when an emergency such as a sudden power failure occurs, the input motor and the annular electromagnet 34 are powered off synchronously. The annular electromagnet 34 loses its magnetic force. Under the action of the reset member, the magnetic ring 35 will move toward the second-stage sun gear 15 and press tightly against the second-stage sun gear 15. Since the rotational speeds of the magnetic ring 35 and the second-stage sun gear 15 are different, friction will be generated between the two under the action of the speed difference, thereby forcing the entire reducer to stop rotating.

[0042] Refer toFigures 1 - 4 The reset member includes the same number of first springs 33 as the slide bar 37. The first springs 33 are located in the first chute 311, and both ends of the first springs 33 are respectively abutted against the bottom wall of the first chute 311 and the slide bar 37.

[0043] Refer to Figures 1 - 4 As the reset member, the first spring 33 has a simple structure, low cost, and can stably act on the slide bar 37, providing a driving force for the slide bar 37 toward the side of the secondary sun gear 15, so that the brake pad 32 can tightly press the secondary sun gear 15 in time when power is off, achieving reliable braking. At the same time, the first spring 33 is installed in the first chute 311, without occupying extra space, ensuring the compactness of the structure of the brake module 3.

[0044] Refer to Figures 1 - 4 On the side surface of the secondary sun gear 15 facing the brake pad 32, a wear-resistant sheet 151 is coaxially provided. On the side surfaces of the brake pad 32 and the wear-resistant sheet 151 facing each other, braking ridges 47 are respectively provided along the circumferential direction. The length direction of the braking ridges 47 is arranged along the radial direction of the brake pad 32 and the wear-resistant sheet 151.

[0045] Refer to Figures 1 - 4 The setting of the wear-resistant sheet 151 plays a protective role for the secondary sun gear 15, increasing the wear resistance of the contact part between the secondary sun gear 15 and the brake pad 32, and extending the service life of the secondary sun gear 15; there are two situations for the setting of the braking ridges 47. One is to use the braking ridges 47 as anti-slip lines to improve the friction between the brake pad 32 and the wear-resistant sheet 151, improve the braking effect, and make the braking process more rapid and stable; another situation is to use the braking ridges 47 as rigid abutting blocks. After the brake pad 32 abuts against the wear-resistant sheet 151, the braking ridges 47 on both sides are sequentially inserted at intervals. Due to the non-adjustable contradiction of the two-stage transmission speed ratio, the system will be completely locked due to the self-locking effect and immediately stop rotating, with a better effect.

[0046] Refer to Figures 1 - 4 The wire group restrictor 4 includes two sets of single-sided restrictors, which are symmetrically arranged on the first bearing 31. Each set of single-sided restrictors includes a fixed rod 41, a moving rod 42, and a second spring 43. The fixed rod 41 is fixedly arranged on the inner ring side wall of the first bearing 31. The moving rod 42 is slidably connected to the fixed rod 41 along the radial direction of the first bearing 31. At the end of the moving rod 42 facing the axis of the first bearing 31, a V-shaped frame 421 for restricting the wire group is provided. Both ends of the second spring 43 are respectively abutted against the inner ring side wall of the first bearing 31 and the corresponding moving rod 42, and are used to drive the two moving rods 42 to move toward the side close to each other.

[0047] Refer to Figures 1 - 4, Two sets of unilateral limiting members are symmetrically arranged on the first bearing 31. By using the combination of the fixed rod 41, the moving rod 42 and the second spring 43, the wire group can be restricted from both sides, effectively avoiding the random shaking of the wire group inside the joint reducer and ensuring its stable position; the V-shaped frame 421 at the end of the moving rod 42 is designed with a high degree of fit with the shape of the wire group, resulting in a better limiting effect; the second spring 43 drives the two moving rods 42 to approach each other, further enhancing the clamping force on the wire group, ensuring that the wire group can also remain stable in a complex motion environment, reducing the wear caused by shaking with the first sun gear 12 and the second sun gear 15, and extending the service life of the wire group.

[0048] Refer to Figures 1 - 4 , The unilateral limiting member further includes a magnetic block 44, a third spring 45 and a deformable pulling member 46. A second chute 312 is formed along the side surface of the inner ring of the first bearing 31 facing the annular electromagnet 34. The magnetic block 44 slides axially along the first bearing 31 in the second chute 312. The two ends of the third spring 45 respectively abut against the bottom wall of the second chute 312 and the magnetic block 44. The third spring 45 is used to drive the magnetic block 44 to move towards the annular electromagnet 34. The elastic force of the third spring 45 is greater than the elastic force of the second spring 43; a through hole 313 for the deformable pulling member 46 to pass through is formed through the bottom wall of the second chute 312. The moving rod 42 is located on the side of the fixed rod 41 away from the input flange 18. One end of the deformable pulling member 46 is fixed on the magnetic block 44, and the other end of the deformable pulling member 46 extends out of the through hole 313 and is fixed on the moving rod 42; when the annular electromagnet 34 is energized, a magnetic repulsion force is generated between it and the magnetic block 44.

[0049] Refer to Figures 1 - 4 , When the annular electromagnet 34 is energized, the magnetic repulsion force generated between it and the magnetic block 44 causes the magnetic block 44 to slide in a direction away from the annular electromagnet 34 against the elastic force of the third spring 45. The moving rod 42 is driven by the deformable pulling member 46 to move outward against the elastic force of the second spring 43, so that the distance between the two moving rods 42 increases, and the wire group can be easily inserted or removed, facilitating the installation, replacement and maintenance operations of the wire group.

[0050] Refer to Figures 1 - 4, when the ring electromagnet 34 is powered off, the elastic force of the third spring 45 is greater than that of the second spring 43. The third spring 45 drives the magnetic block 44 to move towards the side of the ring electromagnet 34. The magnetic block 44 drives the deformable pulling member 46 to retract. The moving rod 42 moves towards the approaching direction under the action of the second spring 43 until the V-shaped frame 421 clamps the wire group, ensuring that the wire group will not shake or displace during the movement of the robot, effectively reducing the friction between the wire group and other components, protecting the integrity of the wire group, and at the same time providing a reliable guarantee for the stable operation of the braking module 3 and the entire reducer. In addition, this design reasonably utilizes magnetic force and spring elastic force, has a compact structure, does not occupy too much extra space, and further improves the practicability of the braking module 3 and the overall performance of the compact robot joint reducer.

[0051] Refer to Figures 1 - 4 , after the electromagnet is powered on, the magnetic pole distribution is axially arranged. The first bearing 31 is a customized bearing, and both its inner ring and outer ring are thicker than ordinary bearings to adapt to the grooving transformation. At the same time, the first bearing 31 needs to be a bearing that can withstand a certain axial load, such as a tapered roller bearing, a four-point contact ball bearing, etc. The wire group is generally an aggregate of wires such as control wires and power supply wires. The operator will initially bundle it and then pass it through the through-hole 20. The power supply connection of the ring electromagnet 34 can be selected according to the actual situation. The power supply wire can be mixed in the wire group or pulled separately for connection. In the fixation of the deformable pulling member 46, both ends of the deformable pulling member 46 can be fixed to the magnetic block 44 and the moving rod 42 by glue or welding. In order to reduce the wear of the deformable pulling member 46 and the inner ring of the first bearing 31, rounded corners are provided at appropriate positions on the inner ring of the first bearing 31. The sliding between the fixing rod 41 and the moving rod 42 adopts an I-shaped slideway or a wedge-shaped slideway. The deformable pulling member 46 can be a pull rope or an elastic metal sheet and other objects. Embodiment

[0052] The embodiment of the present application provides a robot joint device: including a joint, a driving motor, and the above-mentioned robot joint reducer. The joint and the driving motor are connected to the joint reducer; the joint includes at least two limbs, and adjacent two limbs are connected by the joint reducer; the driving motor is the source of power. The driving motor is connected to the input shaft of the joint reducer through a coupling or other connection methods, converts electrical energy into mechanical energy, and the output shaft is connected to the next limb, transmitting the decelerated low-speed and high-torque power to the next limb to drive the movement of the limb. Its installation method, connection method, or setting method are all common mechanical methods.

[0053] Of course, the above are only typical examples of the present application. In addition, the present application can also have many other specific implementation manners. Any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present application.

Claims

1. A compact robot joint reducer, characterized in that: The invention comprises a primary sun gear (12), a secondary sun gear (15), a primary planetary gear set, a secondary planetary gear set, a bipolar internal gear box (11), an input flange (18), an output flange (19) and a brake module (3); the bipolar internal gear box (11) is meshed with the primary planetary gear set and the secondary planetary gear set respectively; the primary sun gear (12) is meshed with the primary planetary gear set as the input power of the primary planetary gear set; the secondary sun gear (15) is meshed with the secondary planetary gear set as the input power of the secondary planetary gear set; the secondary sun gear (15) is fixedly connected to the planet carrier of the primary planetary gear set; the input flange (18) is connected to the primary sun gear (12); and the output flange (19) is connected to the planet carrier of the secondary planetary gear set; and the primary sun gear (12) and the secondary sun gear (15) are respectively provided with through holes (20) for passing a power line set; The brake module (3) comprises a first bearing (31), a driving member, a brake pad (32) and a wire group limiting member (4); the outer ring of the first bearing (31) is fixedly arranged on the output flange (19); the wire group limiting member (4) is arranged on the inner ring of the first bearing (31) and is used to limit the wire group passing through; the brake pad (32) is arranged opposite to the secondary sun gear (15); the brake pad (32) is movably connected to the outer ring of the first bearing (31) along the axial direction of the input flange (18); and the driving member is used to drive the brake pad (32) to move.

2. A compact robot joint reducer according to claim 1, characterized in that: It also includes an internal gear box mounting plate (10), the bipolar internal gear box (11) is fixed on the internal gear box mounting plate (10) by screws, the first-stage planetary gear set includes a first-stage planet carrier (14) and a plurality of first-stage planetary gears (13), the plurality of first-stage planetary gears (13) are uniformly arranged around the circumferential outer side of the first-stage sun gear (12) and meshedly connected with the first-stage sun gear (12), the plurality of first-stage planetary gears (13) are simultaneously meshedly connected with the corresponding inner gear ring of the bipolar internal gear box (11), the first-stage planetary gear (13) is rotatably connected to the first-stage planet carrier (14) by a needle roller shaft (23), the first-stage planet carrier (14) is rotatably connected to the bipolar internal gear box (11) by a deep groove ball bearing (24), the first-stage sun gear (12) is rotatably connected to the first-stage planet carrier (14) by a deep groove ball bearing (24), a bearing sleeve (21) is welded to the first-stage sun gear (12), and the input flange (18) is fixed to the bearing sleeve (21) by screws; The secondary planetary gear set comprises a secondary planet carrier (17) and a plurality of secondary planetary gears (16). The plurality of secondary planetary gears (16) are uniformly arranged around the circumferential outer side of the secondary sun gear (15) and meshedly connected with the secondary sun gear (15). The plurality of secondary planetary gears (16) are simultaneously meshedly connected with the corresponding inner gear ring of the bipolar internal gear box (11). The secondary planetary gears (16) are rotatably connected to the secondary planet carrier (17) via a needle roller shaft (23). The secondary planet carrier (17) is rotatably connected to the internal gear box mounting plate (10) via a cross roller bearing (25). The secondary sun gear (15) is coaxially welded to the primary planet carrier (14). The output flange (19) is fixed to the end of the secondary planet carrier (17) via screws.

3. A compact robot joint reducer according to claim 1, characterized in that: At least two slide bars (37) are arranged on the side surface of the brake pad (32) away from the secondary sun gear (15); a corresponding number of first slide grooves (311) are arranged on the outer ring of the first bearing (31); the slide bars (37) are slidably connected to the corresponding first slide grooves (311) along the axial direction of the input flange (18); the driving member is arranged between the brake pad (32) and the inner ring of the first bearing (31) for driving the brake pad (32) to move; The driving member comprises a reset member, an annular electromagnet (34) and a magnetic ring (35); the annular electromagnet (34) is coaxially fixedly arranged on a side surface of the inner ring of the first bearing (31) facing the secondary sun gear (15); a power line of the annular electromagnet (34) and an input motor power line connected to the input flange (18) are powered by the same power source; the magnetic ring (35) is coaxially fixedly connected to a side surface of the brake pad (32) away from the second sun gear; the annular electromagnet (34) faces the magnetic ring (35); and the annular electromagnet (34) is energized to adsorb the magnetic ring (35); An abutment block (36) is coaxially provided on the side surface of the outer ring of the first bearing (31) facing the second sun gear. When the magnetic ring (35) abuts against the abutment block (36), a gap is always left between the annular electromagnet (34) and the magnetic ring (35). The reset member acts on the slide rod (37) to drive the slide rod (37) to move toward the side of the secondary sun gear (15).

4. A compact robot joint reducer according to claim 3, characterized in that: The reset member comprises the same number of first springs (33) as the sliding rod (37); the first springs (33) are located in the first sliding groove (311); two ends of the first spring (33) respectively abut against the bottom wall of the first sliding groove (311) and the sliding rod (37).

5. A compact robot joint reducer according to claim 3, characterized in that: A wear-resistant plate (151) is coaxially arranged on a side surface of the secondary sun gear (15) facing the brake plate (32); a brake convex strip (47) is circumferentially arranged on a side surface of the brake plate (32) and the wear-resistant plate (151) facing each other; and a length direction of the brake convex strip (47) is arranged along the radial direction of the brake plate (32) and the wear-resistant plate (151).

6. A compact robot joint reducer according to claim 3, characterized in that: The wire group limiting member (4) includes two groups of unilateral limiting members, which are symmetrically arranged on the first bearing (31). Each group of unilateral limiting members includes a fixed rod (41), a movable rod (42) and a second spring (43). The fixed rod (41) is fixedly arranged on the inner ring side wall of the first bearing (31). The movable rod (42) is slidably connected to the fixed rod (41) along the radial direction of the first bearing (31). The end of the movable rod (42) facing the axis of the first bearing (31) is provided with a V-shaped frame (421) for limiting the wire group. The two ends of the second spring (43) are respectively abutted on the inner ring side wall of the first bearing (31) and the corresponding movable rod (42) to drive the two movable rods (42) to move toward a side close to each other.

7. A compact robot joint reducer according to claim 6, characterized in that: The unilateral limiting member further comprises a magnetic block (44), a third spring (45) and a deformable pulling member (46); a second slide groove (312) is provided on the upper edge of the side surface of the inner ring of the first bearing (31) facing the annular electromagnet (34); the magnetic block (44) slides in the second slide groove (312) along the axial direction of the first bearing (31); two ends of the third spring (45) respectively abut against the bottom wall of the second slide groove (312) and the magnetic block (44); the third spring (45) is used to drive the magnetic block (44) to move toward one side of the annular electromagnet (34); The elastic force of the third spring (45) is greater than the elastic force of the second spring (43); a through hole (313) is provided on the bottom wall of the second slide groove (312) for the deformable pulling member (46) to pass through; the movable rod (42) is located on the side of the fixed rod (41) away from the input flange (18); one end of the deformable pulling member (46) is fixed on the magnetic block (44); the other end of the deformable pulling member (46) extends out of the through hole (313) and is fixed on the movable rod (42); when the annular electromagnet (34) is energized, it generates magnetic repulsion with the magnetic block (44).

8. A robot joint device, comprising the compact robot joint reducer described in any one of claims 1-7.

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