Gear reducer for humanoid robot and use method of gear reducer

Abstract

The invention discloses a gear reducer for a humanoid robot and a using method of the gear reducer, and relates to the technical field of transmission instruments. The gear reducer comprises a rear seat assembly, and the rear seat assembly comprises a base mechanism; a sun gear mechanism is arranged at the head end of the base mechanism and comprises a main shaft fixedly connected with the rotating shaft in an inserted mode. A planet wheel mechanism is arranged at the head end of the rear seat assembly and comprises an outer sleeve fixedly connected with the base, and a gear ring is fixedly connected to the middle of the inner side of the outer sleeve; planet wheel assemblies are evenly meshed between the sun wheel mechanism and the gear ring at equal intervals. The spindle is fixedly sleeved with a shaft sleeve, clamping protrusions are evenly and fixedly connected to the outer side of the shaft sleeve at equal intervals, and spring washers are fixedly connected to the two circumferential sides of each clamping protrusion in an embedded mode respectively. The head end of the shaft sleeve is sleeved with a first bevel gear; and the tail end of the shaft sleeve is sleeved with a second bevel gear, second teeth are evenly and fixedly connected to the outer side of the second bevel gear at equal intervals, the gear return difference is reduced, and the rotation precision is improved.

Description

Technical Field

[0001] This invention relates to the field of transmission equipment technology, specifically to a gear reducer for humanoid robots and its usage method. Background Technology

[0002] Humanoid robots, as complex mechatronic systems integrating various cutting-edge technologies, are gradually moving from concept to practical application, demonstrating enormous potential in numerous fields such as service, industry, medicine, and rescue. Among the core components of humanoid robots, gear reducers play a crucial role, and their performance directly affects the robot's overall motion performance, operational accuracy, and reliability.

[0003] Patent CN118242415A discloses a speed reducer for humanoid robots, including gears made of carbon steel. This not only extends the overall service life of the speed reducer for humanoid robots but also reduces the overall production cost of the speed reducer for humanoid robots.

[0004] Humanoid robots require extremely high flexibility and precision in their joint movements to mimic natural human actions. This necessitates gear reducers with high-precision transmission performance and minimal backlash to ensure accurate positioning and motion control when performing complex actions, such as grasping delicate objects or completing precise assembly tasks. For example, in the hand joints of a humanoid robot, the reducer needs to provide high-precision motion control to achieve stable grasping of objects of different shapes and weights.

[0005] However, existing technologies still face many challenges and room for improvement in meeting the growing demands for complexity and high performance in humanoid robots. Therefore, there is an urgent need for humanoid robot gear reducers and their application methods to solve the aforementioned problems. Summary of the Invention

[0006] The purpose of this invention is to provide a gear reducer for humanoid robots and a method of using the same, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a gear reducer for a humanoid robot, comprising a rear seat assembly, the rear seat assembly comprising a base mechanism, the base mechanism comprising a base, and a rotating shaft being movably connected to the middle of the end wall of the base via a bearing;

[0008] The base mechanism is provided with a sun gear mechanism at its head end, and the sun gear mechanism includes a main shaft with a fixedly inserted rotating shaft;

[0009] The rear seat assembly is provided with a planetary gear mechanism at its head end. The planetary gear mechanism includes an outer sleeve that is fixedly connected to the base, and a gear ring is fixedly connected to the inner center of the outer sleeve.

[0010] The sun gear mechanism is inserted into the outer sleeve and flush with the gear ring;

[0011] Planetary gear assemblies are evenly and equidistantly meshed between the sun gear mechanism and the gear ring.

[0012] A bushing is fixedly sleeved on the main shaft, and a locking protrusion is fixedly connected to the outer side of the bushing at equal intervals. Spring pads are fixedly embedded on both sides of the circumferential direction of the locking protrusion.

[0013] The head end of the bushing is fitted with a first bevel gear that is adapted to the nested locking protrusion, and the outer side of the first bevel gear is fixedly connected with first teeth at equal intervals.

[0014] The tail end of the bushing is fitted with a second bevel gear that is adapted to the nested locking protrusion, and the outer side of the second bevel gear is fixedly connected with second teeth at equal intervals.

[0015] The first bevel gear and the second bevel gear are symmetrical, and the first teeth and the second teeth are interlocked;

[0016] The planetary gear assembly includes planetary gears. The middle of the planetary gears is provided with tooth grooves that are adapted to meshing gear rings at equal intervals. The two sides of the planetary gears are respectively provided with tooth surfaces that are adapted to the first bevel gear and the second bevel gear. The tooth surfaces are fixedly connected with third teeth that mesh with the first tooth and the second tooth at equal intervals.

[0017] As a preferred embodiment of the present invention, a chain groove is provided through the side wall of the base;

[0018] The base has evenly spaced grooves at equal intervals on the outer side of its tail end.

[0019] As a preferred embodiment of the present invention, a baffle is fixedly connected to the head end of the spindle;

[0020] A retaining plate that fits the middle of the planetary gear is fixedly sleeved in the middle of the bushing, and a disc pad is fixedly embedded on both sides of the axial direction of the retaining plate.

[0021] A threaded groove is provided on the outer side of the tail end of the main shaft, and a bolt is screwed to the tail end of the main shaft through the threaded groove;

[0022] The first bevel gear mating disc pad, and the second bevel gear mating disc pad;

[0023] A pad for fixing the baffle is provided between the first bevel gear and the baffle, and a disc spring for fixing the bolt is provided between the second bevel gear and the bolt.

[0024] As a preferred embodiment of the present invention, the planetary gear has a wheel axle movably inserted through the middle of the planetary gear via a bearing, the head end of the wheel axle is connected to a planet carrier, and the head end of the planet carrier is fixedly connected to an output shaft that penetrates the outer end wall.

[0025] As a preferred technical solution of the present invention, the tail end of the base mechanism is provided with a connecting mechanism, the connecting mechanism includes a connecting seat, the middle of the head end of the connecting seat is fixedly connected with a plug shaft adapted to be inserted into the rotating shaft, the outer side of the plug shaft is sleeved with a connecting sleeve adapted to be inserted into the rotating shaft, and the connecting sleeve is movably connected to the connecting seat through a bearing.

[0026] The head end of the connector is fixedly connected to a clamping sleeve that is compatible with the plug-in base, and the inner side of the clamping sleeve is fixedly connected to an arched arc-shaped plate support at equal intervals.

[0027] The sleeve is fitted with a chain that passes through the clamp and the arc-shaped plate support;

[0028] A spring is fixedly connected between the connecting seat and the base;

[0029] A pad is fixedly connected to the tail end of the connector;

[0030] The connecting seat has clips evenly spaced at the outer side of the head end. The middle of the clip is hinged to a clamp seat via a torsion spring shaft. The clamp seat is fixedly connected to the connecting seat. The head end of the clip fits against the base and is fixedly connected to a clip block that fits the insertion slot. The tail end of the clip is raised.

[0031] The connecting seat is movably fitted with a retaining ring that snaps into the end of the buckle, and an elastic sleeve adapted to the connecting seat is fixedly connected between the retaining ring and the pad.

[0032] As a preferred technical solution of the present invention, an airbag mechanism for protection is provided on the outer side of the planetary gear mechanism. The airbag mechanism includes an air ring that is fixedly sleeved on the outer sleeve. Air holes are evenly and equidistantly opened on the surface of the air ring. The air holes are staggered with the clips. An air membrane is fixedly embedded inside each air hole.

[0033] The head end of the air ring is fixedly covered with a protective bladder, and the protective bladder is adapted to be fitted with an outer sleeve.

[0034] An air cylinder is fixedly connected to the tail end of the air hole. An air plate is slidably inserted inside the air cylinder. Push rods are fixedly connected at equal and even intervals to the tail end face of the air plate. The tail end of the push rods is correspondingly attached to the retaining ring.

[0035] The steps for using a gear reducer for humanoid robots are as follows:

[0036] S1: The outer sleeve is installed at the joint shaft, the output shaft is connected to the joint shaft, and the external chain drive is installed on one side of the joint shaft;

[0037] S2: Move the screw on the main shaft by rotating the screw groove, and adjust the position of the second bevel gear by the disc spring so that the planetary gear assembly is between the first bevel gear and the second bevel gear;

[0038] S3: Start the drive, drive the main shaft to rotate through the insert shaft and sleeve, and the first and second teeth mesh with the third tooth from different sides, thereby causing the first bevel gear to control the forward rotation of the planetary gear assembly and the second bevel gear to control the rotation of the planetary gear assembly.

[0039] S4: The connecting seat is fastened to the base by a clip. When the humanoid robot falls and bumps its joints, the protective bladder is compressed, which pushes the gas towards the air membrane, causing the air membrane to inflate. This then pushes the air plate, and the push rod pushes out the retaining ring of the clip. The clip springs up under the action of the torsion spring shaft, and the connecting seat and the base are separated under the action of the spring, preventing the robot from continuing to drive in case of an accident.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] (1) A gear reducer for humanoid robots and its usage method, wherein a circumferential preload is provided by the spring pads on both sides of the circumferential cam, the first tooth and the second tooth are interlocked, the first tooth meshes with one side of the third tooth from one side, and the second tooth meshes with the other side of the corresponding third tooth from the other side, so that the first bevel gear and the second bevel gear are tightly meshed with the third teeth on both sides of the planetary gear assembly, respectively. When rotating, the forward and reverse rotation of the planetary gear assembly is limited by the first bevel gear and the second bevel gear on both sides, thereby reducing gear backlash and improving rotation accuracy.

[0042] (2) A gear reducer for humanoid robots and its usage method: By symmetrically setting the first bevel gear and the second bevel gear and adapting them to fit the tooth surface of the planetary gear assembly, and by combining the axial pressure applied by the rotating bolt and the disc spring, the pressure of the first bevel gear, the second bevel gear and the tooth surface can be precisely adjusted. This adjustment mechanism can ensure that the first bevel gear and the second bevel gear stably fit the planetary gear assembly from both sides, making the application of axial preload more uniform and controllable, effectively avoiding the problem of excessive preload fluctuation in the traditional preload method, further improving the stability of the preload, and providing a reliable guarantee for the stable operation of the reducer.

[0043] (3) A gear reducer for humanoid robots and its usage method, which uses axial preload to make the tooth surfaces of the first bevel gear, the second bevel gear and the planetary gear assembly fit tightly together, and the third tooth on the tooth surface meshes with the first tooth and the second tooth at the same time, which greatly reduces the gap during the meshing process, significantly reduces the return error, and can ensure that the robot can perform fine operations and improve the overall operation performance.

[0044] (4) A gear reducer for humanoid robots and its usage method, featuring a symmetrical and compatible structural design of the first and second bevel gears, and adjustable contact surface pressure via bolts, enabling it to adapt well to the needs of humanoid robot joints under different motion states. Stable preload and tight meshing ensure the rigidity and stability of the transmission system, reducing transmission deviations caused by impacts, vibrations, and other factors, and improving the reliability of the reducer under complex working conditions.

[0045] (5) For use in humanoid robot gear reducers and their usage methods, by optimizing the contact state and preload between the sun gear mechanism and the planetary gear mechanism, stress concentration during meshing of the first bevel gear, the second bevel gear and the planetary gear assembly is reduced, reducing the probability of failures such as tooth surface wear and tooth root breakage. At the same time, stable preload helps to maintain the smoothness of transmission, reduce operating noise, extend the service life of the reducer, and reduce maintenance frequency and cost.

[0046] (6) A gear reducer for humanoid robots and its usage method, wherein the connecting mechanism serves as the link between the external drive and the sun gear mechanism. When the robot falls and bumps into the joint, the protective bladder installed on the outer sleeve of the planetary gear mechanism and the bladder pad connected to the tail end of the connecting seat will provide impact protection for the reducer, thereby reducing the impact of the bumps at the joint on the reducer and the robot, and improving the safety performance during application.

[0047] (7) Used in gear reducers for humanoid robots and their usage method. When the protective bladder is impacted, the internal gas gathers towards the air film with greater elasticity and causes it to bulge. Through the air hole, it pushes the air plate and push rod to work together, and finally causes the retaining ring to drive the buckle to flip up, so as to realize the quick separation of the buckle block from the buckle groove, and timely cut off the power connection between the connecting mechanism and the base mechanism, thereby avoiding hard damage to the core transmission components from the root and improving the accuracy of triggering overload protection.

[0048] (8) Gear reducer for humanoid robots and its usage method, the process of gas flow and elastic body bulging has buffering characteristics, and the deformation of the gas film can be adjusted according to the magnitude of the impact energy, which not only ensures the protection effect under extreme working conditions, but also reduces the interference of slight collisions on the normal operation of the robot and improves the adaptability to impact intensity.

[0049] (9) For use in humanoid robot gear reducers and their usage methods, by cutting off the power connection, the transmission chain is in an unloaded state, avoiding the impact load from being transmitted to the second bevel gear and planetary gear assembly through the meshing tooth surface, effectively protecting the stability of the sun gear mechanism and the meshing accuracy of the first bevel gear, the second bevel gear and planetary gear assembly, reducing the calibration difficulty and cost during subsequent maintenance, and improving the accuracy protection of core instruments.

[0050] (10) A gear reducer for humanoid robots and its usage method, wherein the connecting mechanism can be reset and reconnected to the base mechanism through a simple operation, and operation can be resumed without disassembling the core components. This reusable design greatly improves the robot's durability in complex environments. Attached Figure Description

[0051] Figure 1 This is a schematic diagram of the structure of the present invention;

[0052] Figure 2 This is a schematic diagram of the rear seat assembly of the present invention;

[0053] Figure 3 This is a schematic diagram of the base mechanism of the present invention;

[0054] Figure 4 This is a schematic diagram of the sun gear mechanism of the present invention;

[0055] Figure 5 This is a schematic diagram of the back of the sun gear mechanism of the present invention;

[0056] Figure 6 This is a schematic diagram of the main shaft of the present invention;

[0057] Figure 7 This is a schematic diagram of the bevel gear of the present invention;

[0058] Figure 8 This is a schematic diagram of the connection mechanism of the present invention;

[0059] Figure 9 This is a top view schematic diagram of the connection mechanism of the present invention;

[0060] Figure 10 For the present invention Figure 9 Enlarged view of point A;

[0061] Figure 11 This is a schematic diagram of the planetary gear mechanism of the present invention;

[0062] Figure 12 This is a schematic diagram showing the position of the planetary gear assembly of the present invention;

[0063] Figure 13 This is a schematic diagram of the planetary gear assembly connection of the present invention;

[0064] Figure 14 This is a schematic diagram of the back of the planetary gear assembly of the present invention.

[0065] Figure 15 This is a schematic diagram of the airbag mechanism of the present invention.

[0066] In the diagram: 1. Base mechanism; 101. Base; 102. Drive shaft; 103. Chain groove; 104. Buckle groove; 2. Sun gear mechanism; 201. Main shaft; 202. Baffle; 203. Pad; 204. Bushing; 205. Snap-fit ​​protrusion; 206. Spring washer; 207. Baffle plate; 208. Disc washer; 209. Threaded groove; 210. Bolt; 211. Disc spring; 212. First bevel gear; 213. First tooth; 214. Second bevel gear; 215. Second tooth; 3. Planetary gear mechanism; 301. Outer sleeve; 302. Gear ring; 303. Planetary gear; 304. Gear 305. Shaft; 306. Planetary carrier; 307. Output shaft; 308. Gear groove; 309. Tooth surface; 300. Third tooth; 4. Connecting mechanism; 401. Connecting seat; 402. Insert shaft; 403. Connecting sleeve; 404. Clip sleeve; 405. Arc-shaped plate support; 406. Chain; 407. Spring; 408. Bag pad; 409. Buckle; 410. Clamp seat; 411. Buckle block; 412. Retaining ring; 413. Elastic sleeve; 5. Airbag mechanism; 501. Air ring; 502. Air hole; 503. Air film; 504. Protective bag; 505. Air cylinder; 506. Air plate; 507. Push rod. Detailed Implementation

[0067] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] Example: Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 12 , Figure 13 , Figure 14 A gear reducer for humanoid robots includes a rear seat assembly, the rear seat assembly includes a base mechanism 1, the base mechanism 1 includes a base 101, and a rotating shaft 102 is movably connected to the middle of the end wall of the base 101 via a bearing.

[0069] The base mechanism 1 is provided with a sun gear mechanism 2 at its head end. The sun gear mechanism 2 includes a main shaft 201 that is fixedly connected to the rotating shaft 102.

[0070] The rear seat assembly is provided with a planetary gear mechanism 3 at the head end. The planetary gear mechanism 3 includes an outer sleeve 301 that is fixedly connected to the base 101. A gear ring 302 is fixedly connected to the inner center of the outer sleeve 301.

[0071] The sun gear mechanism 2 is inserted into the outer sleeve 301 and is flush with the gear ring 302;

[0072] Planetary gear assemblies are evenly meshed between the sun gear mechanism 2 and the gear ring 302 at equal intervals;

[0073] A bushing 204 is fixedly sleeved on the spindle 201. A locking protrusion 205 is fixedly connected at equal intervals on the outer side of the bushing 204. A spring pad 206 is fixedly embedded on both sides of the circumferential direction of the locking protrusion 205. The spring pad 206 is made of silicone material.

[0074] The head end of the bushing 204 is fitted with a first bevel gear 212 that is adapted to the nested locking protrusion 205. The outer side of the first bevel gear 212 is fixedly connected with first teeth 213 at equal intervals.

[0075] The tail end of the bushing 204 is fitted with a second bevel gear 214 that is adapted to the nested locking protrusion 205. The outer side of the second bevel gear 214 is fixedly connected with second teeth 215 at equal intervals.

[0076] The first bevel gear 212 and the second bevel gear 214 are symmetrical, and the first tooth 213 and the second tooth 215 are interlocked;

[0077] The planetary gear assembly includes a planetary gear 303. The planetary gear 303 has tooth grooves 307 that are evenly spaced in the middle to adapt to the meshing gear ring 302. The planetary gear 303 has tooth surfaces 308 that are adapted to the first bevel gear 212 and the second bevel gear 214 on both sides. The tooth surfaces 308 are fixedly connected at equal intervals to the third tooth 309 that meshes with the first tooth 213 and the second tooth 215. The first tooth 213 fits against one side of the third tooth 309, and the second tooth 215 fits against the other side of the third tooth 309.

[0078] Please see Figure 3 A chain groove 103 is provided through the side wall of the base 101;

[0079] The outer side of the tail end of the base 101 is provided with evenly spaced grooves 104.

[0080] Please see Figure 6 A baffle 202 is fixedly connected to the head end of the spindle 201;

[0081] A retaining plate 207 that fits the middle of the planetary gear 303 is fixedly sleeved in the middle of the bushing 204. A disc pad 208 is fixedly embedded on both sides of the axial direction of the retaining plate 207. The disc pad 208 is made of silicone material.

[0082] A threaded groove 209 is provided on the outer side of the tail end of the spindle 201, and a bolt 210 is screwed onto the tail end of the spindle 201 through the threaded groove 209.

[0083] The first bevel gear 212 is in contact with the disc pad 208, and the second bevel gear 214 is in contact with the disc pad 208;

[0084] A pad 203 is provided between the first bevel gear 212 and the baffle 202 to fix the baffle 202, and a disc spring 211 is provided between the second bevel gear 214 and the bolt 210 to fix the bolt 210.

[0085] Please see Figure 11 The planetary gear 303 has a shaft 304 that is movably inserted through the middle of the planetary gear 303 via a bearing. The head end of the shaft 304 is connected to a planetary carrier 305. The head end of the planetary carrier 305 is fixedly connected to an output shaft 306 that passes through the end wall of the outer sleeve 301.

[0086] Please see Figure 8 , Figure 9 , Figure 10 The base mechanism 1 is provided with a connecting mechanism 4 at its tail end. The connecting mechanism 4 includes a connecting seat 401. The middle of the head end of the connecting seat 401 is fixedly connected to a plug shaft 402 adapted to be inserted into the rotating shaft 102. The outer side of the plug shaft 402 is fitted with a sleeve 403 adapted to be inserted into the rotating shaft 102. The sleeve 403 is movably connected to the connecting seat 401 through a bearing.

[0087] The head end of the connector 401 is fixedly connected to a clamp 404 that is adapted to the plug-in base 101. The clamp 404 and the base 101 are in contact. The inner side of the clamp 404 is fixedly connected to an arched arc plate support 405 at equal intervals.

[0088] A chain 406 is sleeved on the sleeve 403, which passes through the clamp 404 and the arc-shaped plate support 405. The chain 406 is externally driven.

[0089] A spring 407 is fixedly connected between the connecting seat 401 and the base 101;

[0090] A pad 408 is fixedly connected to the tail end of the connector 401;

[0091] The outer side of the head end of the connecting seat 401 is provided with clips 409 evenly spaced. The middle part of the clip 409 is movably hinged to the clamp seat 410 through a torsion spring shaft. The clamp seat 410 is fixedly connected to the connecting seat 401. The head end of the clip 409 is attached to the base 101 and fixedly connected to the buckle block 411 that is adapted to the insertion buckle groove 104. The tail end of the clip 409 is raised.

[0092] A retaining ring 412 is movably sleeved on the connector 401 and inserted into the end of the snap-on clip 409. An elastic sleeve 413 adapted to connect the retaining ring 412 and the pad 408 is fixedly connected between them.

[0093] Please see Figure 15The outer side of the planetary gear mechanism 3 is provided with an airbag mechanism 5 for protection. The airbag mechanism 5 includes an air ring 501 that is fixedly sleeved on the outer sleeve 301. Air holes 502 are evenly and equidistantly opened on the surface of the air ring 501. The air holes 502 are staggered with the clips 409. An air membrane 503 is fixedly embedded inside each air hole 502.

[0094] The head end of the air ring 501 is fixed with a protective bladder 504, and the protective bladder 504 is adapted to be connected to the outer sleeve 301;

[0095] An air cylinder 505 is fixedly connected to the tail end of the air hole 502. An air plate 506 is slidably inserted inside the air cylinder 505. Push rods 507 are fixedly connected at equal intervals on the tail end face of the air plate 506. The tail end of the push rod 507 is correspondingly attached to the retaining ring 412.

[0096] The steps for using a gear reducer for humanoid robots are as follows:

[0097] S1: The outer sleeve 301 is installed at the joint shaft, the output shaft 306 is connected to the joint shaft, and the chain 406 external drive is installed on one side of the joint shaft;

[0098] S2: Rotate the bolt 210 via the screw groove 209 to move it on the main shaft 201, and adjust the position of the second bevel gear 214 via the disc spring 211 so that the planetary gear assembly is between the first bevel gear 212 and the second bevel gear 214;

[0099] S3: Start the drive, drive the main shaft 201 to rotate through the insert shaft 402 and the sleeve 403, and the first tooth 213 and the second tooth 215 respectively mesh with the third tooth 309 from different sides, thereby making the first bevel gear 212 control the forward rotation of the planetary gear assembly and the second bevel gear 214 control the rotation of the planetary gear assembly.

[0100] S4: The connecting seat 401 is fastened to the base 101 by the clip 409. When the humanoid robot falls and bumps its joints, the protective bladder 504 is compressed, which pushes the gas towards the air membrane 503, causing the air membrane 503 to inflate. This then pushes the air plate 506, and the push rod 507 pushes out the retaining ring 412 that is fastened to the clip 409. The clip 409 bounces up under the action of the torsion spring shaft, and the connecting seat 401 and the base 101 are separated under the action of the spring 407 to prevent the robot from continuing to drive in case of an accident.

[0101] The working principle of this invention is as follows:

[0102] The first bevel gear 212 and the second bevel gear 214 are symmetrically separated by the baffle 207. The planetary gear assembly is fixed between the first bevel gear 212 and the second bevel gear 214. The first bevel gear 212 and the second bevel gear 214 are both sleeved on the bushing 204 and limited by the retaining protrusion 205. The spring pads 206 on both sides of the retaining protrusion 205 provide circumferential preload. The first tooth 213 and the second tooth 215 are interlocked. The first tooth 213 meshes with one side of the third tooth 309 from one side, and the second tooth 215 meshes with the other side of the corresponding third tooth 309 from the other side, so that the first bevel gear 212 and the second bevel gear 214 are tightly meshed with the third teeth 309 on both sides of the planetary gear assembly. When rotating, the forward and reverse rotation of the planetary gear assembly is limited by the first bevel gear 212 and the second bevel gear 214 on both sides, thereby reducing gear backlash and improving rotational accuracy.

[0103] In terms of preload control, by symmetrically setting the first bevel gear 212 and the second bevel gear 214 and adapting them to fit the tooth surface 308 of the planetary gear assembly, and by combining the axial pressure applied by the rotating bolt 210 and the disc spring 211, the pressure of the first bevel gear 212, the second bevel gear 214 and the tooth surface 308 can be precisely adjusted. This adjustment mechanism can ensure that the first bevel gear 212 and the second bevel gear 214 stably fit the planetary gear assembly from both sides, making the application of axial preload more uniform and controllable, effectively avoiding the problem of excessive preload fluctuation in the traditional preload method, further improving the stability of preload, and providing a reliable guarantee for the stable operation of the reducer.

[0104] Regarding transmission accuracy, axial preload ensures that the first bevel gear 212, the second bevel gear 214, and the tooth surface 308 of the planetary gear assembly are tightly engaged. Furthermore, the third tooth 309 on the tooth surface 308 simultaneously meshes with the first tooth 213 and the second tooth 215, significantly reducing the gap during meshing and substantially reducing the return error. This makes the system particularly suitable for high-precision applications such as robot joints, ensuring that the robot achieves higher positioning and motion control accuracy when performing fine operations, such as grasping precision parts and completing complex motion trajectories, thereby improving overall operational performance.

[0105] In terms of adaptability to various application scenarios, the symmetrical and compatible structural design of the first bevel gear 212 and the second bevel gear 214, along with the adjustable contact surface pressure via bolt 210, allows it to adapt well to the needs of humanoid robot joints in different motion states. Whether in the lower limb joint movements bearing heavy loads or in the hand joint movements requiring high precision, this structure ensures the rigidity and stability of the transmission system through stable preload and tight meshing, reducing transmission deviations caused by impacts, vibrations, and other factors, and improving the reliability of the reducer under complex working conditions.

[0106] By optimizing the engagement state and preload between the sun gear mechanism 2 and the planetary gear mechanism 3, the stress concentration during the meshing of the first bevel gear 212, the second bevel gear 214, and the planetary gear assembly is reduced, thus decreasing the probability of failures such as tooth surface wear and tooth root breakage. At the same time, the stable preload helps maintain the smoothness of the transmission, reduces operating noise, extends the service life of the reducer, reduces maintenance frequency and costs, and provides strong support for the long-term stable operation of the robot.

[0107] The connecting mechanism 4 serves as the link between the external drive and the sun gear mechanism 2. When the robot falls and bumps into the joints, the protective bladder 504 installed on the outer sleeve of the planetary gear mechanism 3 and the pad 408 connected to the tail end of the connecting seat 401 will provide impact protection for the reducer, thereby reducing the impact of the bumps at the joints on the reducer and the robot, and improving the safety performance during application.

[0108] When the protective bladder 504 is impacted, the internal gas gathers towards the more elastic air film 503, causing it to inflate. This inflates, pushing the air plate 506 and push rod 507 through the air hole 502, ultimately causing the retaining ring 412 to flip up the buckle 409, achieving rapid disengagement of the buckle block 411 from the buckle groove 104. The mechanical triggering mechanism responds quickly, without relying on the signal delay of electronic sensors, and can complete the action instantly upon impact. This ensures that the power connection between the connecting mechanism 4 and the base mechanism 1 is cut off in time before the first bevel gear 212, the second bevel gear 214, and the planetary gear assembly undergo plastic deformation or breakage due to continuous compression. This fundamentally avoids hard damage to the core transmission components and improves the accuracy of triggering overload protection.

[0109] The gas flow and elastomer inflation process has buffering characteristics, allowing the deformation of the air film 503 to be adjusted according to the magnitude of the impact energy: Under mild impact, the air film 503 inflates only to a limited extent, triggering only a partial disengagement action and preventing the connecting mechanism 4 from popping out, thus avoiding unnecessary downtime; under severe impact, the gas rapidly accumulates, pushing the air film 503 to deform significantly, ensuring that the clip 409 fully flips up and, through the spring 407, ejects the connecting mechanism 4, completely separating the insert shaft 402, the sleeve 403, and the rotating shaft 102. This adaptive characteristic ensures protection under extreme conditions while reducing interference from minor collisions to the robot's normal operation, improving adaptability to impact intensity.

[0110] The meshing accuracy of the first bevel gear 212, the second bevel gear 214, and the planetary gear assembly directly affects the backlash and transmission rigidity of the reducer. Continuous compression during impact may lead to tooth surface scuffing, tooth root cracks, or shaft deformation. By cutting off the power connection, the transmission chain is in an unloaded state, preventing the impact load from being transmitted to the first bevel gear 212, the second bevel gear 214, and the planetary gear assembly through the meshing tooth surfaces. This effectively protects the stability of the sun gear mechanism 2 and the meshing accuracy of the first bevel gear 212, the second bevel gear 214, and the planetary gear assembly, reducing the calibration difficulty and cost during subsequent maintenance, and improving the precision protection of core components.

[0111] After the impact, the retaining sleeve 404 is pressed back into the base 101, and then the buckle 409 is moved to press the buckle block 411 into the buckle groove 104. The compressed elastic sleeve 413 provides a reset force, causing the retaining ring 412 to re-engage with the buckle 409. The connecting mechanism 4 can be reset and reconnected to the base mechanism 1 with a simple operation, and operation can be resumed without disassembling the core components. This reusable design greatly improves the robot's durability in complex environments, and is especially suitable for scenarios such as home service and outdoor rescue that require frequent responses to sudden collisions.

[0112] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gear reducer for humanoid robots, comprising a rear seat assembly, the rear seat assembly comprising a base mechanism (1), the base mechanism (1) comprising a base (101), wherein a rotating shaft (102) is movably fitted into the middle of the end wall of the base (101) via a bearing; The base mechanism (1) is provided with a sun gear mechanism (2) at its head end. The sun gear mechanism (2) includes a main shaft (201) with a fixedly inserted rotating shaft (102). The rear seat assembly is provided with a planetary gear mechanism (3) at its head end. The planetary gear mechanism (3) includes an outer sleeve (301) that is fixedly connected to the base (101). A toothed ring (302) is fixedly connected to the inner center of the outer sleeve (301). Planetary gear assemblies are uniformly meshed between the sun gear mechanism (2) and the gear ring (302); Its features are: A bushing (204) is fixedly sleeved on the main shaft (201), and locking protrusions (205) are fixedly connected at equal intervals on the outer side of the bushing (204). The head end of the bushing (204) is fitted with a first bevel gear (212) that is adapted to the nested locking protrusion (205), and the outer side of the first bevel gear (212) is fixedly connected with first teeth (213) at equal intervals; The bushing (204) is fitted with a second bevel gear (214) that is adapted to the nested locking protrusion (205) at its tail end. The outer side of the second bevel gear (214) is fixedly connected with second teeth (215) at equal intervals. The planetary gear assembly includes a planetary gear (303), and the middle of the planetary gear (303) is provided with tooth grooves (307) that are adapted to meshing tooth rings (302) at equal intervals. Tooth surfaces (308) are provided on both sides of the planetary gear (303), and third teeth (309) are fixedly connected to the tooth surfaces (308) at equal intervals.

2. The gear reducer for humanoid robots according to claim 1, characterized in that: The side wall of the base (101) is provided with a chain groove (103); The base (101) has evenly spaced and equidistant grooves (104) on the outer side of its tail end.

3. The gear reducer for humanoid robots according to claim 2, characterized in that: The sun gear mechanism (2) is inserted into the outer sleeve (301) and flush with the gear ring (302); A baffle (202) is fixedly connected to the head end of the main shaft (201); The card protrusion (205) has spring pads (206) fixedly embedded on both sides of its circumferential direction; The bushing (204) is fixedly sleeved with a baffle (207) that fits the middle of the planetary gear (303), and a disc pad (208) is fixedly embedded on both sides of the baffle (207) along the axial direction. The outer side of the tail end of the main shaft (201) is provided with a threaded groove (209), and a bolt (210) is screwed to the tail end of the main shaft (201) through the threaded groove (209); The first bevel gear (212) is in contact with the disc pad (208), and the second bevel gear (214) is in contact with the disc pad (208); The first bevel gear (212) and the second bevel gear (214) are symmetrical, and the first tooth (213) and the second tooth (215) are interlocked; A pad (203) for fixing the baffle (202) is provided between the first bevel gear (212) and the baffle (202), and a disc spring (211) for fixing the bolt (210) is provided between the second bevel gear (214) and the bolt (210).

4. The gear reducer for humanoid robots according to claim 3, characterized in that: The planetary gear (303) has a wheel axle (304) movably inserted through the middle of the bearing. The head end of the wheel axle (304) is connected to the planet carrier (305). The head end of the planet carrier (305) is fixedly connected to the output shaft (306) that passes through the end wall of the outer sleeve (301). The tooth surface (308) is adapted to the first bevel gear (212) and the second bevel gear (214), and the third tooth (309) meshes with the first tooth (213) and the second tooth (215).

5. The gear reducer for humanoid robots according to claim 4, characterized in that: The base mechanism (1) is provided with a connecting mechanism (4) at its tail end. The connecting mechanism (4) includes a connecting seat (401). The middle of the head end of the connecting seat (401) is fixedly connected to a plug shaft (402) adapted to be inserted into the rotating shaft (102). A sleeve (403) adapted to be inserted into the rotating shaft (102) is sleeved on the outside of the plug shaft (402). The sleeve (403) is movably connected to the connecting seat (401) through a bearing. The head end of the connector (401) is fixedly connected to a retaining sleeve (404) that is adapted to the plug-in base (101), and the inner side of the retaining sleeve (404) is fixedly connected to an arched arc plate support (405) at equal intervals. The sleeve (403) is fitted with a chain (406) that passes through the clamp (404) and the arc-shaped plate support (405); A spring (407) is fixedly connected between the connecting seat (401) and the base (101); The tail end of the connecting seat (401) is fixedly connected to a bladder (408); The connecting seat (401) has clips (409) evenly spaced on the outer side of its head end. The middle part of the clip (409) is hinged to a clamp seat (410) via a torsion spring shaft. The clamp seat (410) is fixedly connected to the connecting seat (401). The head end of the clip (409) is attached to the base (101) and fixedly connected to a buckle block (411) that is adapted to the insertion buckle groove (104). The tail end of the clip (409) is raised. The connecting seat (401) is movably sleeved with a retaining ring (412) that snaps into the tail end of the buckle (409), and an elastic sleeve (413) adapted to the connecting seat (401) is fixedly connected between the retaining ring (412) and the pad (408).

6. The gear reducer for humanoid robots according to claim 5, characterized in that: The planetary gear mechanism (3) is provided with an airbag mechanism (5) for protection on its outer side. The airbag mechanism (5) includes an air ring (501) that is fixedly fitted with an outer sleeve (301). Air holes (502) are evenly and equidistantly opened on the surface of the air ring (501). The air holes (502) are staggered with the clips (409). An air membrane (503) is fixedly embedded inside each air hole (502). The head end of the air ring (501) is fixedly covered with a protective bladder (504), and the protective bladder (504) is adapted to be connected to an outer sleeve (301); An air cylinder (505) is fixedly connected to the tail end of the air hole (502). An air plate (506) is slidably inserted inside the air cylinder (505). Push rods (507) are fixedly connected at equal intervals on the tail end face of the air plate (506). The tail end of the push rod (507) is correspondingly attached to the retaining ring (412).

7. A method for using a gear reducer for a humanoid robot, applicable to the gear reducer for a humanoid robot as described in claim 6, comprising the following steps: S1: The outer sleeve (301) is installed at the joint shaft, the output shaft (306) is connected to the joint shaft, and the chain (406) is externally driven and installed on one side of the joint shaft; S2: Rotate the bolt (210) through the screw groove (209) to move it on the main shaft (201), and adjust the position of the second bevel gear (214) through the disc spring (211) so that the planetary gear assembly is between the first bevel gear (212) and the second bevel gear (214); S3: Start the drive, drive the main shaft (201) to rotate through the insert shaft (402) and the sleeve (403), and the first tooth (213) and the second tooth (215) respectively mesh with the third tooth (309) from different sides, thereby making the first bevel gear (212) control the forward rotation of the planetary gear assembly, and the second bevel gear (214) control the rotation of the planetary gear assembly; S4: The connecting seat (401) is fastened to the base (101) by the clip (409). When the humanoid robot falls and bumps its joints, the protective bag (504) is squeezed, which pushes the gas towards the air membrane (503), causing the air membrane (503) to bulge. Then, the air plate (506) is pushed, and the retaining ring (412) of the clip (409) is pushed out by the push rod (507). The clip (409) bounces up under the action of the torsion spring shaft and separates the connecting seat (401) and the base (101) under the action of the spring (407), so as to prevent the robot from continuing to drive in case of accident.

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