Speed reducer, joint module, dexterous hand and robot
The combined structure of the input part, planetary gear and inner ring gear simplifies the reducer design, achieves a large reduction ratio and stability, solves the problem of complex structure of existing reducers, reduces costs and improves reliability.
Patent Information
- Application Number
- CN202511082102.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-01
- Publication Date
- 2025-10-17
AI Technical Summary
Existing reducers have complex structures, are difficult to manufacture, are expensive, are large in size and have low reliability, making it difficult to meet the requirements of compactness and lightweight.
The combined structure of input parts, planetary gears, first inner gear ring and second inner gear ring is adopted to achieve deceleration effect through the revolution and rotation of planetary gears, simplifying the components and achieving different reduction ratios through the difference in the number of teeth.
It achieves a large reduction ratio with a simple and compact structure, improves transmission rigidity, reduces manufacturing and maintenance costs, and enhances the stability and reliability of the equipment.
Smart Images
Figure CN120791849A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present disclosure relates to the technical field of robots, in particular to a reducer, a joint module and a robot. BACKGROUND
[0002] As a core component in mechanical transmission systems, reducers are mainly used to reduce rotational speed and increase torque, and are widely used in the fields of robots, automatic equipment and the like. However, the existing reducer structure is usually complex, involving the combination of multi-stage gear transmission, planetary gear sets and other precision mechanisms, resulting in high manufacturing process difficulty and high cost. In addition, the complex structure also makes the reducer large in size and weight, which is difficult to meet the requirements of modern equipment for compactness and light weight. At the same time, due to the large number of internal transmission elements of the reducer, the reducer is prone to wear and poor lubrication during operation, resulting in increased maintenance cost and reduced reliability. Therefore, how to design a simple structure reducer has always been the focus and difficulty in the field of mechanical transmission. SUMMARY
[0003] Therefore, the embodiments of the present disclosure provide a reducer, a joint module, a dexterous hand and a robot, which solve the problem of complex structure of the reducer in the related art.
[0004] In a first aspect, the embodiments of the present disclosure provide a reducer, comprising: an input member capable of rotating about a central axis; at least one planetary gear rotatably connected with the input member about an axis parallel to the central axis, the planetary gear comprising a first outer tooth segment and a second outer tooth segment arranged in sequence along an axial direction of the planetary gear, the number of teeth of the first outer tooth segment being equal to the number of teeth of the second outer tooth segment; a first inner tooth ring sleeved on the input member, the first inner tooth ring being engaged with the first outer tooth segment; and a second inner tooth ring sleeved on the input member, the second inner tooth ring being arranged adjacent to the first inner tooth ring along an extension direction of the central axis, the second inner tooth ring being engaged with the second outer tooth segment, the number of teeth of the second inner tooth ring being greater than the number of teeth of the first inner tooth ring.
[0005] In some embodiments, the difference between the number of teeth of the second inner tooth ring and the number of teeth of the first inner tooth ring is M, M being an integer greater than or equal to 1; and / or, the first outer tooth segment comprises N first outer teeth arranged in sequence along a circumferential direction of the planetary gear, and the second outer tooth segment comprises N second outer teeth arranged in sequence along the circumferential direction of the planetary gear, the first outer teeth and the second outer teeth being aligned one by one along the axial direction of the planetary gear.
[0006] In some embodiments, the number of planetary gears is Q, Q being an integer greater than or equal to 1, and in the case where Q is greater than 1, the Q planetary gears are arranged in sequence along a circumferential direction of the central axis.
[0007] In some embodiments, the speed reducer further comprises: a ring-shaped housing sleeved on the input member, the input member being rotatably connected with the ring-shaped housing, and the ring-shaped housing being connected with the first inner gear ring.
[0008] In some embodiments, the speed reducer further comprises: an output member sleeved on the input member, the input member being rotatably connected with the output member, and the output member being connected with the second inner gear ring.
[0009] In some embodiments, the input member comprises: an input shaft segment capable of being connected with a driving structure; a first support shaft segment connected with the input shaft segment and rotatably connected with the ring-shaped housing; a second support shaft segment rotatably connected with the output member; a first connecting segment connecting the first support shaft segment and the second support shaft segment, the first connecting segment having an avoiding space, and the planetary gear being at least partially located in the avoiding space; and a planetary pin connecting the first support shaft segment and the second support shaft segment and penetrating through the avoiding space, the planetary gear being sleeved on the planetary pin and rotatably connected with the planetary pin.
[0010] In some embodiments, the speed reducer further comprises: a first bearing arranged between the first support shaft segment and the ring-shaped housing; a second bearing arranged between the second support shaft segment and the output member; a third bearing arranged between the planetary pin and the first outer gear segment; and a fourth bearing arranged between the planetary pin and the second outer gear segment; wherein an inner ring of the planetary gear has a first limiting surface and a second limiting surface arranged in opposite directions, an end surface of an outer ring of the third bearing abuts against the first limiting surface, an end surface of an outer ring of the fourth bearing abuts against the second limiting surface, the speed reducer further comprises: a first retainer ring sleeved on the planetary pin and arranged between the third bearing and the first support shaft segment, a first end surface of the first retainer ring abutting against an end surface of an inner ring of the third bearing, and a second end surface of the first retainer ring abutting against the first support shaft segment; and a second retainer ring sleeved on the planetary pin and arranged between the fourth bearing and the second support shaft segment, a first end surface of the second retainer ring abutting against an end surface of an inner ring of the fourth bearing, and a second end surface of the second retainer ring abutting against the second support shaft segment.
[0011] In some embodiments, an outer side surface of the planetary gear has a ring-shaped avoiding groove located between the first outer gear segment and the second outer gear segment; and / or the planetary gear further comprises: a second connecting segment connecting the first outer gear segment and the second outer gear segment; and / or a center axis of a rotational inertia of the input member and the planetary gear rotating around the central axis is collinear with the central axis.
[0012] In a second aspect, embodiments of the present disclosure provide a joint module, comprising: the speed reducer of the first aspect.
[0013] In a third aspect, the embodiments of the present disclosure provide a dexterous hand, comprising the reducer of the first aspect.
[0014] In a fourth aspect, the embodiments of the present disclosure provide a robot, comprising the joint module of the second aspect; and / or the dexterous hand of the third aspect.
[0015] The reducer provided by the embodiments of the present disclosure comprises an input member, at least one planetary gear, a first inner gear ring and a second inner gear ring. The planetary gear comprises a first outer gear segment and a second outer gear segment arranged in sequence along an axial direction of the planetary gear. The input member can rotate around a central axis under the action of a driving structure or other external force. The planetary gear is rotatably connected to the input member around an axis parallel to the central axis, so that the input member can drive the planetary gear to revolve around the central axis. The first inner gear ring is sleeved on the input member, and the first inner gear ring is engaged with the first outer gear segment. Therefore, the planetary gear can also rotate around the axis parallel to the central axis. The second inner gear ring is sleeved on the input member and arranged adjacent to the first inner gear ring along the extension direction of the central axis. The second inner gear ring is engaged with the second outer gear segment, so that the second inner gear ring can rotate around the central axis under the driving of the planetary gear. The number of teeth of the second inner gear ring is greater than the number of teeth of the first inner gear ring, so that the rotation speed of the second inner gear ring is less than the revolution speed of the planetary gear, thereby achieving the effect of speed reduction.
[0016] In summary, the reducer of the present disclosure can achieve the effect of speed reduction by only using the input member, at least one planetary gear, the first inner gear ring and the second inner gear ring, and has few components and a simple and compact structure.
[0017] In addition, by setting the number of teeth of the second inner gear ring and the number of teeth of the first inner gear ring, different speed reduction ratios can be achieved. For example, the number of teeth of the second inner gear ring is set to 100, and the number of teeth of the first inner gear ring is set to 99, so that the speed reduction ratio of the reducer is 100. In other words, the reducer of the present disclosure can achieve a large speed reduction ratio by using a simple structure. BRIEF DESCRIPTION OF DRAWINGS
[0018] The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which like reference characters refer to like elements throughout. The accompanying drawings provide illustration of the embodiments of the present disclosure and serve to explain the principles of the present disclosure, and do not constitute a limitation of the present disclosure. In the drawings, like reference numerals refer to like elements throughout.
[0019] Figure 1 Fig. 1 shows a structural schematic diagram of a reducer provided by an embodiment of the present disclosure.
[0020] Figure 2 Fig. 2 shows a front view of the reducer provided by an embodiment of the present disclosure.
[0021] Figure 3 A structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure is shown. Figure 2 A sectional view of the speed reducer in the A-A direction is shown.
[0022] Figure 4 A structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure is shown.
[0023] Figure 5 A structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure is shown. Figure 4 A partial enlarged view of the planetary gear in the B region is shown.
[0024] Figure 6 A front view of the planetary gear provided by an embodiment of the present disclosure is shown.
[0025] Figure 7 A structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure is shown. Figure 6 A sectional view of the planetary gear in the C-C direction is shown.
[0026] Figure 8 A structural schematic diagram of an input provided by an embodiment of the present disclosure is shown.
[0027] Figure 9 A front view of the input provided by an embodiment of the present disclosure is shown.
[0028] Figure 10 A structural schematic diagram of an input provided by an embodiment of the present disclosure is shown. Figure 9 A sectional view of the input in the D-D direction is shown.
[0029] Figure 11 A structural schematic diagram of an input provided by an embodiment of the present disclosure is shown. Figure 3 A partial enlarged view of the speed reducer in the E region is shown.
[0030] Figure 12 A structural schematic diagram of an input provided by an embodiment of the present disclosure is shown. Figure 3 A partial enlarged view of the speed reducer in the F region is shown.
[0031] Figure 13 A structural schematic diagram of a joint module provided by an embodiment of the present disclosure is shown.
[0032] Figure 14 A structural schematic diagram of a dexterous hand provided by an embodiment of the present disclosure is shown.
[0033] Figure 15 A structural schematic diagram of a robot provided by an embodiment of the present disclosure is shown.
[0034] Reference signs:
[0035] 1. Robot; 2. Dexterous hand; 10. Joint module; 100. Reducer; 110. Input member; 111. Input shaft segment; 112. First support shaft segment; 113. Second support shaft segment; 114. First connecting segment; 1140. Avoidance space; 115. Planetary pin; 120. Planetary gear; 121. First external gear segment; 1211. First external gear; 122. Second external gear segment; 1221. Second external gear; 123. First limiting surface; 124. Second Limiting surface; 125, annular avoidance groove; 126, second connecting section; 130, first inner ring gear; 140, second inner ring gear; 150, annular housing; 151, third limiting surface; 160, output member; 161, fourth limiting surface; 171, first bearing; 172, second bearing; 173, third bearing; 174, fourth bearing; 181, first retaining ring; 182, second retaining ring; 200, drive structure; L, center axis; L1, first axis. DETAILED DESCRIPTION
[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present disclosure without making any creative efforts shall fall within the scope of protection of the present disclosure.
[0037] Figure 1 Shown is a schematic structural diagram of a reducer provided in one embodiment of the present disclosure. Figure 2 Shown is a front view of a reducer provided in one embodiment of the present disclosure. Figure 3 The present invention provides an embodiment of the present invention. Figure 2 The cross-sectional view of the reducer in the AA direction is shown in FIG. Figures 1 to 3 As shown, the speed reducer 100 includes an input member 110 , at least one planetary gear 120 , a first inner ring gear 130 , and a second inner ring gear 140 .
[0038] like Figure 3 As shown, the input member 110 can rotate around the central axis L. Exemplarily, the input member 110 can rotate around the central axis L under the action of a driving structure or other external force. For example, the driving structure can be a structure that can provide rotational force, such as a motor or a rotary cylinder.
[0039] like Figure 3 As shown, the planetary gear 120 is rotatably connected to the input member 110 around an axis parallel to the central axis L. For example, Figure 3As shown, the axis parallel to the central axis L can be the first axis L1, that is, the planetary gear 120 is rotatably connected to the input member 110 around the first axis L1. The planetary gear 120 includes a first outer tooth segment 121 and a second outer tooth segment 122 arranged in sequence along the axial direction of the planetary gear 120 (that is, the extension direction of the first axis L1). The number of teeth of the first outer tooth segment 121 is equal to the number of teeth of the second outer tooth segment 122. Exemplarily, the planetary gear 120 is an external gear, and the first outer tooth segment 121 and the second outer tooth segment 122 both have external teeth, and the number of teeth of the external teeth of the first outer tooth segment 121 is equal to the number of teeth of the external teeth of the second outer tooth segment 122. Exemplarily, the first outer tooth segment 121 and the second outer tooth segment 122 can be integrally formed, or separately processed and then connected together.
[0040] like Figure 3 As shown, the first inner gear ring 130 is sleeved on the input member 110 and meshes with the first outer gear segment 121. For example, the inner ring of the first inner gear ring 130 has inner teeth and meshes with the first outer gear segment 121.
[0041] like Figure 3 As shown, the second inner ring gear 140 is sleeved on the input member 110 and is disposed adjacent to the first inner ring gear 130 along the extension direction of the central axis L. The second inner ring gear 140 meshes with the second outer tooth segment 122. The second inner ring gear 140 has a greater number of teeth than the first inner ring gear 130. Exemplarily, the inner ring of the second inner ring gear 140 has internal teeth, and the second inner ring gear 140 meshes with the second outer tooth segment 122.
[0042] The specific deceleration process of the reducer 100 is as follows: the input member 110 can rotate about the central axis L under the action of a driving structure or other external force. The planetary gears 120 are rotatably connected to the input member 110 about an axis parallel to the central axis L, so that the input member 110 can drive the planetary gears 120 to revolve about the central axis L. The first inner ring gear 130 is mounted on the input member 110 and meshes with the first outer gear segment 121. Therefore, the planetary gears 120 can also rotate about an axis parallel to the central axis L. The second inner ring gear 140 is mounted on the input member 110 and is arranged adjacent to the first inner ring gear 130 along the extension direction of the central axis L. The second inner ring gear 140 meshes with the second outer gear segment 122. Therefore, the second inner ring gear 140 can rotate about the central axis L under the drive of the planetary gear 120. The number of teeth of the second inner ring gear 140 is greater than that of the first inner ring gear 130 , so that the rotation speed of the second inner ring gear 140 is lower than the revolution speed of the planetary gear 120 , thereby achieving a deceleration effect.
[0043] The speed reducer 100 of the present disclosure can achieve the speed reduction effect only by using the input member 110, the at least one planetary gear 120, the first inner ring gear 130 and the second inner ring gear 140, and has few components and a simple and compact structure. In addition, by setting the number of teeth of the second inner ring gear 140 and the number of teeth of the first inner ring gear 130, different speed reduction ratios can be achieved. For example, the number of teeth of the second inner ring gear 140 is set to 100, the number of teeth of the first inner ring gear 130 is set to 99, and the speed reduction ratio of the speed reducer 100 is 100. For another example, the number of teeth of the second inner ring gear 140 is set to 100, the number of teeth of the first inner ring gear 130 is set to 98, and the speed reduction ratio of the speed reducer 100 is 50. In other words, the speed reducer 100 of the present disclosure can achieve a large speed reduction ratio by using a simple structure.
[0044] Exemplarily, the number of teeth of the first inner ring gear 130 is Z1, the modulus is m1, the number of teeth of the second inner ring gear 140 is Z2, the modulus is m2, the number of teeth of the first outer tooth segment 121 is Z3, the modulus is m1, the number of teeth of the second outer tooth segment 122 is Z3, the modulus is m2, and the speed reduction ratio is i.
[0045] According to the meshing condition, the center distance between the first inner ring gear 130 and the first outer tooth segment 121 is equal to the center distance between the second inner ring gear 140 and the second outer tooth segment 122, that is, the above parameters need to satisfy the following equation (1).
[0046]
[0047] The calculation formula of the speed reduction ratio i is formula (2).
[0048]
[0049] Exemplarily, according to the above formula (2), the number of teeth of the second inner ring gear 140 is Z2=100, the number of teeth of the first inner ring gear 130 is Z1=99, and the speed reduction ratio i of the speed reducer 100 is 100. Exemplarily, according to the above formula (2), the number of teeth of the second inner ring gear 140 is Z2=100, the number of teeth of the first inner ring gear 130 is Z1=98, and the speed reduction ratio i of the speed reducer 100 is 50. Exemplarily, according to the above formula (2), the number of teeth of the second inner ring gear 140 is Z2=50, the number of teeth of the first inner ring gear 130 is Z1=49, and the speed reduction ratio i of the speed reducer 100 is 50.
[0050] The present disclosure uses the first inner ring gear 130 and the second inner ring gear 140 with a small tooth difference, and realizes large speed reduction ratio transmission by the modulus difference of the first outer tooth segment 121 and the second outer tooth segment 122 of the planetary gear 120. The structure is compact, compared with the harmonic reducer, the speed reducer 100 of the present disclosure has no flexible components, while realizing large speed reduction ratio, greatly improves the rigidity of transmission, overcomes the shortcomings of high manufacturing cost and easy damage of the harmonic reducer.
[0051] In some embodiments, the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 is M. M is an integer greater than or equal to 1. Exemplarily, M = Z2-Z1, that is, the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 is an integer greater than or equal to 1. According to the calculation of the above formula (2), when M = 1, the reduction ratio of the speed reducer 100 is the largest. In other words, in order to achieve the largest reduction ratio with a simple structure, the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 of the speed reducer 100 can be 1.
[0052] Figure 4 Fig. 1 shows a structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure. Figure 5 Fig. 2 shows a structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure. Figure 4 Fig. 3 shows a partial enlarged view of the planetary gear in a B region. Figure 6 Fig. 4 shows a front view of a planetary gear provided by an embodiment of the present disclosure. Figure 7 Fig. 5 shows a structural schematic diagram of a planetary gear provided by an embodiment of the present disclosure. Figure 6 Fig. 6 shows a sectional view of the planetary gear in a C-C direction. In some embodiments, as shown in Fig. 6, the first outer tooth segment 121 includes N first outer teeth 1211 arranged in sequence along the circumferential direction of the planetary gear 120, and the second outer tooth segment 122 includes N second outer teeth 1221 arranged in sequence along the circumferential direction of the planetary gear 120. Figures 4 to 7 As shown in Fig. 6, the first outer tooth 1211 and the second outer tooth 1221 are aligned one by one along the axial direction of the planetary gear 120. As shown in Fig. 6, Figure 5 As shown in Fig. 6, Figure 5 The extension direction of the dashed line in Fig. 6 represents the axial direction of the planetary gear 120. As can be seen, the N first outer teeth 1211 and the N second outer teeth 1221 are respectively aligned, so that the first outer tooth 1211 and the first inner ring 130 are engaged at the same time, and the second outer tooth 1221 and the second inner ring 140 are also engaged, thereby improving the stability of the operation of the speed reducer 100.
[0053] Exemplarily, the tooth profile of the first outer tooth 1211 is the same as the tooth profile of the second outer tooth 1221. For example, the tooth profile of the first outer tooth 1211 and the tooth profile of the second outer tooth 1221 can be involute tooth profile, cycloid tooth profile, circular arc tooth profile, trapezoidal tooth profile, rectangular tooth profile, etc.
[0054] In some embodiments, the number of planetary gears 120 is Q, and Q is an integer greater than or equal to 1. In the case where Q is greater than 1, the Q planetary gears 120 are arranged in sequence along the circumferential direction of the central axis L, thereby improving the stability of the operation of the speed reducer 100.
[0055] Exemplarily, if the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 is 1, the number of the planetary gears 120 can be one or two. If the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 is 1, and the number of the planetary gears 120 is one, the first outer tooth 1211 and the second outer tooth 1221 are axially aligned along the planetary gear 120. If the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 is 1, and the number of the planetary gears 120 is two, the first outer tooth 1211 and the second outer tooth 1221 are circumferentially staggered by 50% along the planetary gear 120. Exemplarily, if the difference between the number of teeth of the second inner ring 140 and the number of teeth of the first inner ring 130 is 2, the number of the planetary gears 120 can be one, two, three, four, and the like, as long as the plurality of planetary gears 120 do not interfere with each other.
[0056] Exemplarily, when the number of the planetary gears 120 is a plurality, the plurality of planetary gears 120 can be uniformly arranged in the axial direction of the central axis L to further improve the stability of the operation of the speed reducer 100.
[0057] Exemplarily, the rotation axes of the plurality of planetary gears 120 can be the first axis L1, the second axis, the third axis, and the like, respectively. The second axis, the third axis, and the like are also parallel to the central axis L.
[0058] In some embodiments, as shown in Figure 3 The speed reducer 100 further comprises a ring-shaped housing 150. The ring-shaped housing 150 is sleeved on the input member 110. The input member 110 is rotatably connected with the ring-shaped housing 150. The ring-shaped housing 150 is connected with the first inner ring 130. Exemplarily, the ring-shaped housing 150 can be integrally formed with the first inner ring 130 or separately arranged. The ring-shaped housing 150 and the first inner ring 130 arranged separately can be connected by interference, glued, or bolted. The coaxiality of the integrally formed ring-shaped housing 150 and the first inner ring 130 is high, which improves the stability of the operation of the speed reducer 100. The ring-shaped housing 150 and the first inner ring 130 arranged separately are convenient for processing and manufacturing.
[0059] The input member 110 is rotatably connected with the ring-shaped housing 150, that is, the ring-shaped housing 150 can provide rotational support for the input member 110, which is convenient for improving the stability of the rotation of the input member 110.
[0060] In some embodiments, as shown in Figure 3As shown, the speed reducer 100 further comprises an output member 160. The output member 160 is sleeved on the input member 110. The input member 110 is rotatably connected with the output member 160. The output member 160 is connected with the second inner ring 140. Exemplarily, the output member 160 can be integrally formed with the second inner ring 140 or separately arranged. The separately arranged output member 160 and the second inner ring 140 can be connected in interference, cemented or bolted. The integrally formed output member 160 and the second inner ring 140 have high coaxiality, which improves the stability of the speed reducer 100 in operation. The separately arranged output member 160 and the second inner ring 140 are convenient for processing and manufacturing.
[0061] The input member 110 is rotatably connected with the output member 160, that is, the output member 160 can provide rotational support for the input member 110, so as to further improve the stability of the rotation of the input member 110.
[0062] Figure 8 As shown is a structural schematic view of an input member provided by an embodiment of the present disclosure. Figure 9 As shown is a front view of an input member provided by an embodiment of the present disclosure. Figure 10 As shown is a structural schematic view of an input member provided by an embodiment of the present disclosure. Figure 9 As shown is a sectional view of the input member in the D-D direction. In some embodiments, as shown in the sectional view of the input member in the D-D direction, the input member 110 comprises an input shaft segment 111, a first support shaft segment 112, a second support shaft segment 113, a first connecting segment 114 and a planet pin 115. Figures 8 to 10 As shown, the input member 110 comprises an input shaft segment 111, a first support shaft segment 112, a second support shaft segment 113, a first connecting segment 114 and a planet pin 115.
[0063] The input shaft segment 111 can be connected with a driving structure. The first support shaft segment 112 is connected with the input shaft segment 111 and rotatably connected with the annular housing 150. The second support shaft segment 113 is rotatably connected with the output member 160. The first connecting segment 114 connects the first support shaft segment 112 and the second support shaft segment 113. The first connecting segment 114 has an avoiding space 1140. The planet wheel 120 is at least partially located in the avoiding space 1140. The planet pin 115 connects the first support shaft segment 112 and the second support shaft segment 113 and passes through the avoiding space 1140. The planet wheel 120 is sleeved on the planet pin 115 and rotatably connected with the planet pin 115.
[0064] Exemplarily, the input shaft segment 111 can be cylindrical or cylindrical, which is convenient for connecting with the output shaft of the driving structure. Exemplarily, the first support shaft segment 112 and the second support shaft segment 113 can be disc-shaped or annular, which is convenient for the annular housing 150 and the output member 160 to support the first support shaft segment 112 and the second support shaft segment 113, realizes double support for the two ends of the input member 110, and further improves the stability of the rotation of the input member 110.
[0065] Exemplarily, as shown in the sectional view of the input member in the D-D direction, Figure 10As shown, the cross-sectional shape of the first connecting section 114 in the cross section perpendicular to the axial direction of the input shaft section 111 can include an arc shape. Since the cross-sectional shape of the planetary gear 120 in the cross section perpendicular to the axial direction of the input shaft section 111 is generally circular, the cross-sectional shape of the first connecting section 114 in the cross section perpendicular to the axial direction of the input shaft section 111 including an arc shape can make full use of the space in the first inner ring gear 130 and the second inner ring gear 140, and ensure the connecting strength of the first connecting section 114.
[0066] In some embodiments, as Figure 3 As shown, the speed reducer 100 further includes a first bearing 171, a second bearing 172, a third bearing 173, and a fourth bearing 174. The first bearing 171 is arranged between the first support shaft section 112 and the ring-shaped housing 150. The second bearing 172 is arranged between the second support shaft section 113 and the output member 160. The third bearing 173 is arranged between the planetary pin 115 and the first outer tooth section 121. The fourth bearing 174 is arranged between the planetary pin 115 and the second outer tooth section 122. The first bearing 171 and the second bearing 172 achieve double support for the input member 110, and the third bearing 173 and the fourth bearing 174 achieve double support for the planetary gear 120, further improving the stability of rotation of the input member 110 and the planetary gear 120.
[0067] Figure 11 As shown, the speed reducer 100 further includes a first bearing 171, a second bearing 172, a third bearing 173, and a fourth bearing 174. The first bearing 171 is arranged between the first support shaft section 112 and the ring-shaped housing 150. The second bearing 172 is arranged between the second support shaft section 113 and the output member 160. The third bearing 173 is arranged between the planetary pin 115 and the first outer tooth section 121. The fourth bearing 174 is arranged between the planetary pin 115 and the second outer tooth section 122. The first bearing 171 and the second bearing 172 achieve double support for the input member 110, and the third bearing 173 and the fourth bearing 174 achieve double support for the planetary gear 120, further improving the stability of rotation of the input member 110 and the planetary gear 120. Figure 3 A partial enlarged view of the speed reducer 100 in the E area is shown. Figure 12 As shown, the speed reducer 100 further includes a first bearing 171, a second bearing 172, a third bearing 173, and a fourth bearing 174. The first bearing 171 is arranged between the first support shaft section 112 and the ring-shaped housing 150. The second bearing 172 is arranged between the second support shaft section 113 and the output member 160. The third bearing 173 is arranged between the planetary pin 115 and the first outer tooth section 121. The fourth bearing 174 is arranged between the planetary pin 115 and the second outer tooth section 122. The first bearing 171 and the second bearing 172 achieve double support for the input member 110, and the third bearing 173 and the fourth bearing 174 achieve double support for the planetary gear 120, further improving the stability of rotation of the input member 110 and the planetary gear 120. Figure 3 A partial enlarged view of the speed reducer 100 in the F area is shown. As Figure 11 and Figure 12 As shown, the inner ring of the planetary gear 120 has a first limiting surface 123 and a second limiting surface 124 arranged oppositely. The end face of the outer ring of the third bearing 173 abuts against the first limiting surface 123, and the end face of the outer ring of the fourth bearing 174 abuts against the second limiting surface 124, so that the third bearing 173 and the fourth bearing 174 achieve axial limiting of the planetary gear 120.
[0068] The speed reducer 100 further includes a first retainer 181 and a second retainer 182. The first retainer 181 is sleeved on the planetary pin 115 and arranged between the third bearing 173 and the first support shaft section 112. The first end face of the first retainer 181 abuts against the end face of the inner ring of the third bearing 173, and the second end face of the first retainer 181 abuts against the first support shaft section 112. The second retainer 182 is sleeved on the planetary pin 115 and arranged between the fourth bearing 174 and the second support shaft section 113. The first end face of the second retainer 182 abuts against the end face of the inner ring of the fourth bearing 174, and the second end face of the second retainer 182 abuts against the second support shaft section 113.
[0069] In summary, the first check ring 181, the third bearing 173, the planetary gear 120, the fourth bearing 174 and the second check ring 182 are sequentially arranged along the axial direction of the planetary pin 115, and the first check ring 181, the third bearing 173, the planetary gear 120, the fourth bearing 174 and the second check ring 182 are limited between the first support shaft section 112 and the second support shaft section 113, thereby preventing the planetary gear 120 from moving along the axial direction of the planetary gear 120.
[0070] Exemplarily, as shown in Figure 11 and Figure 12 , the annular housing 150 can have a third limiting surface 151, and the output member 160 can have a fourth limiting surface 161. The end surface of the outer ring of the first bearing 171 can abut against the third limiting surface 151, and the end surface of the outer ring of the second bearing 172 can abut against the fourth limiting surface 161.
[0071] In some embodiments, as shown in Figure 4 and Figure 7 , the outer side surface of the planetary gear 120 has an annular avoiding groove 125. The annular avoiding groove 125 is located between the first outer tooth section 121 and the second outer tooth section 122. In the process of machining the planetary gear 120, the annular avoiding groove 125 facilitates tool withdrawal, prevents the machining of the first outer tooth section 121 from interfering with the machining of the second outer tooth section 122, and improves the machining precision of the planetary gear 120.
[0072] In some embodiments, the planetary gear 120 further comprises a second connecting section 126. The second connecting section 126 connects the first outer tooth section 121 and the second outer tooth section 122. Exemplarily, the first outer tooth section 121, the second outer tooth section 122 and the second connecting section 126 can be integrally formed or separately arranged. The integrally formed first outer tooth section 121, the second outer tooth section 122 and the second connecting section 126 have high coaxiality, thereby improving the stability of rotation of the planetary gear 120. The separately arranged first outer tooth section 121, the second outer tooth section 122 and the second connecting section 126 facilitate machining and manufacturing.
[0073] In some embodiments, the center axis of the rotational inertia of the input member 110 and the planetary gear 120 rotating around the central axis L is collinear with the central axis L, so as to ensure the stability of operation of the input member 110 and the planetary gear 120. Exemplarily, in the process of designing the specific shape of the input member 110, simulation software can be used to simulate the rotation of the input member 110 and the planetary gear 120 around the central axis L, so as to adjust the shape and mass of the input member 110, and ensure that the center axis of the rotational inertia of the input member 110 and the planetary gear 120 rotating around the central axis L is collinear with the central axis L.
[0074] Figure 13 Fig. 1 shows a structure schematic diagram of a joint module provided by an embodiment of the present disclosure. As shown in Figure 13As shown, the joint module 10 comprises the reducer 100 in the above embodiment.
[0075] As shown, the joint module 10 further comprises a driving structure 200, which is connected with the input 110 of the reducer 100, so that the driving structure 200 drives the input 100 to rotate around the central axis L.
[0076] Since the joint module 10 comprises the reducer 100, the joint module 10 has all the technical features and technical effects of the reducer 100, which will not be repeated here.
[0077] Figure 14 As shown is a structural schematic diagram of a dexterous hand provided by an embodiment of the present disclosure. As shown in the figure, Figure 14 As shown, the dexterous hand 2 comprises the reducer 100 in the above embodiment.
[0078] The reducer 100 has a self-locking function. Specifically, the transmission torque direction of the reducer 100 is unidirectional, and can only be transmitted from the input 110 to the second inner ring gear 140, and cannot be transmitted in reverse. The reducer 100 of the present disclosure is simple and compact in structure, and small in size, for example, the diameter of the reducer can be 8mm, which is convenient for application on the dexterous hand 2. The dexterous hand 2 utilizes the reducer 100 to realize the speed reduction of the driver driving the finger joint, so as to realize the self-locking of the finger joint. The self-locked finger joint can improve the stability and safety of the dexterous hand 2. For example, when the dexterous hand carries heavy objects, the self-locked finger joint can protect the heavy objects from sliding out of the hand due to power failure or other faults.
[0079] Since the dexterous hand 20 comprises the reducer 100, the dexterous hand 2 has all the technical features and technical effects of the reducer 100, which will not be repeated here.
[0080] Figure 15 As shown is a structural schematic diagram of a robot provided by an embodiment of the present disclosure. As shown in the figure, Figure 15 As shown, the robot 1 comprises the joint module 10 and / or the dexterous hand 2 in the above embodiment.
[0081] Since the robot 1 comprises the joint module 10 and / or the dexterous hand 2, the robot 1 has all the technical features and technical effects of the joint module 10 and / or the dexterous hand 2, which will not be repeated here.
[0082] In the embodiments of the present disclosure, if the form of connection is not explicitly limited, the form of connection can be bolt-nut, screw, buckle, magnetic attraction, etc. In some connections, if there is no special requirement for the form of non-detachable cooperation, non-detachable connection can be achieved by welding, bonding, etc.
[0083] Reference throughout this specification to "an embodiment", "certain embodiments", "exemplary embodiment", "one embodiment", and so on, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
[0084] It should be understood that "on", "above", and "on top" in the present disclosure should be interpreted in the broadest relative terms consistent with the description, such that "on" means not only "directly on" but also "on" with intervening features or layers therebetween, and "above" or "on top" means not only "above" or "on top of" but also "above" or "on top of" with no intervening features or layers therebetween (i.e., directly on).
[0085] In addition, spatially relative terms, such as "beneath", "below", "lower", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
[0086] It should be noted that, as used in this document, the terms "include", "includes", or "including" are intended to be inclusive, such that a process, method, article, or apparatus that includes a list of elements is not necessarily limited to those elements, but can include other elements not expressly listed, or also include elements that are inherent to such process, method, article, or apparatus. An element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the stated element.
[0087] The preferred embodiments of the present disclosure have been described above with the understanding that these are the presently preferred embodiments, and are given by way of example only. It is apparent that modifications, equivalent replacements and the like of any kind can be made to the present disclosure within the spirit and principle of the present disclosure, and such modifications, equivalent replacements and the like are intended to be included in the scope of the present disclosure.
Claims
1. A reducer, characterized in that: include: an input member capable of rotating about a central axis; at least one planetary gear, the planetary gear being rotatably connected to the input member about an axis parallel to the central axis, the planetary gear comprising a first external tooth segment and a second external tooth segment sequentially arranged along an axial direction of the planetary gear, the number of teeth in the first external tooth segment being equal to the number of teeth in the second external tooth segment; a first inner gear ring, sleeved on the input member, the first inner gear ring being meshed with the first outer gear segment; The second inner gear ring is sleeved on the input member and is adjacent to the first inner gear ring along the extension direction of the central axis. The second inner gear ring is engaged with the second outer gear segment. The number of teeth of the second inner gear ring is greater than that of the first inner gear ring.
2. The reducer according to claim 1, characterized in that The difference between the number of teeth of the second inner gear ring and the number of teeth of the first inner gear ring is M, where M is an integer greater than or equal to 1; and / or, The first external tooth segment includes N first external teeth arranged in sequence along the circumference of the planetary gear, and the second external tooth segment includes N second external teeth arranged in sequence along the circumference of the planetary gear. Along the axial direction of the planetary gear, the first external teeth are aligned one by one with the second external teeth.
3. The reducer according to claim 1, characterized in that The number of the planetary gears is Q, where Q is an integer greater than or equal to 1. When Q is greater than 1, the Q planetary gears are sequentially arranged in the circumferential direction around the central axis.
4. The reducer according to any one of claims 1 to 3, characterized in that: Also includes: The annular housing is sleeved on the input member. The input member is rotatably connected to the annular housing. The annular housing is connected to the first inner gear ring.
5. The reducer according to claim 4, characterized in that: Also includes: The output member is sleeved on the input member, the input member and the output member are rotatably connected, and the output member is connected to the second inner gear ring.
6. The reducer according to claim 5, characterized in that: The input member comprises: An input shaft section capable of connecting with a drive structure; a first supporting shaft segment connected to the input shaft segment and rotatably connected to the annular housing; a second supporting shaft segment, rotatably connected to the output member; a first connecting section connecting the first supporting shaft section and the second supporting shaft section, wherein the first connecting section has an avoidance space, and the planetary gear is at least partially located in the avoidance space; A planetary pin connects the first supporting shaft segment and the second supporting shaft segment and passes through the avoidance space. The planetary gear is sleeved on the planetary pin and is rotatably connected to the planetary pin.
7. The reducer according to claim 6, characterized in that: Also includes: a first bearing, disposed between the first support shaft segment and the annular housing; a second bearing, disposed between the second support shaft segment and the output member; a third bearing, disposed between the planetary pin and the first outer gear segment; a fourth bearing, disposed between the planetary pin and the second outer gear segment; The inner ring of the planetary gear has a first limiting surface and a second limiting surface arranged in back-to-back relationship, the end surface of the outer ring of the third bearing abuts against the first limiting surface, and the end surface of the outer ring of the fourth bearing abuts against the second limiting surface. The reducer further includes: a first retaining ring, sleeved on the planetary pin and disposed between the third bearing and the first support shaft segment, wherein a first end face of the first retaining ring abuts against an end face of an inner ring of the third bearing, and a second end face of the first retaining ring abuts against the first support shaft segment; The second retaining ring is sleeved on the planetary pin and is arranged between the fourth bearing and the second support shaft segment. The first end face of the second retaining ring abuts the end face of the inner ring of the fourth bearing, and the second end face of the second retaining ring abuts the second support shaft segment.
8. The reducer according to any one of claims 1 to 3, characterized in that: The outer side surface of the planetary gear has an annular avoidance groove, and the annular avoidance groove is located between the first outer tooth segment and the second outer tooth segment; and / or, The planetary gear further comprises: a second connecting segment, connecting the first outer tooth segment and the second outer tooth segment; and / or, The central axes of rotational inertia of the input member and the planetary gear rotating about the central axis are collinear with the central axis.
9. A joint module, characterized in that: include: The reducer according to any one of claims 1 to 8.
10. A dexterous hand, characterized in that: include: The reducer according to any one of claims 1 to 8.
11. A robot, characterized in that: include: The joint module according to claim 9; and / or, The dexterous hand according to claim 10.