Planetary-level module and modularized planetary gear reduction gearbox

Abstract

The invention relates to a planetary-level module and a modularized planetary gear reduction gearbox, and the modularized planetary gear reduction gearbox comprises an input-level module used for being connected with a driving source and an output-level module used for outputting torque; wherein the output end of the input stage module is detachably connected with the output stage sun gear of the output stage module. According to the reduction gearbox, due to modular and detachable arrangement, all modules of the reduction gearbox can be rapidly replaced, and the problems that a gearbox is inconvenient to maintain and single in speed ratio are solved; the output end of the input-stage module is detachably connected with a planetary-stage sun gear of the planetary-stage module, and the output end of a planet carrier assembly of the planetary-stage module is detachably connected with an output-stage sun gear of the output-stage module; the input stage module, the at least one planetary gearbox module and the output stage module are sequentially connected in series, the total transmission ratio of the reduction gearbox can be continuously adjusted by increasing or decreasing the number of the planetary gearbox modules connected in series, and therefore the reduction gearbox can adapt to different reduction ratios.

Description

Technical Field

[0001] This application relates to the field of speed reducer technology, and in particular to a planetary module and a modular planetary gear reducer. Background Technology

[0002] With the rapid development of industrial automation and precision transmission technology, planetary gearboxes are increasingly widely used in high-end fields such as robotics, aerospace, and precision medical devices due to their advantages such as compact structure, strong load-bearing capacity, and high transmission efficiency.

[0003] However, the transmission ratio of traditional planetary gearboxes is fixed during the design and manufacturing stages. To adapt to different operating conditions (such as load and speed), equipment manufacturers must customize or purchase multiple models of gearboxes. This not only leads to long development cycles and high costs but also creates significant inventory management and spare parts pressure, severely restricting the versatility and scalability of the equipment platform. Furthermore, once critical components such as internal gears and bearings of traditional planetary gearboxes are damaged, their complex structure and high assembly precision requirements often make on-site disassembly and repair difficult. In most cases, even with partial failures, users have to scrap and replace the entire gearbox assembly. This not only causes significant economic losses and material waste but also leads to prolonged equipment downtime, jeopardizing the stable operation of production lines or the continuity of medical services, contradicting the modern industrial pursuit of efficiency and reliability. To address these challenges, the modular design concept has been introduced into the field of planetary gearboxes. For example, invention patent CN 202211146790.5 discloses a modular planetary gearbox that, by modularizing two gear rings, reduces the difficulty of processing and assembly to a certain extent and achieves partial functional integration.

[0004] However, the speed ratio of the reducer remains fixed, and the overall transmission ratio adjustment flexibility of the system has not been fundamentally improved. It is impossible to achieve the effect of steplessly adjusting the total transmission ratio by adding or removing basic transmission stages. In addition, when any single part inside the reducer fails, the entire module still needs to be replaced. Summary of the Invention

[0005] This application provides a planetary module and a modular planetary gear reducer, achieving a higher degree of modularity and more flexible combination, thereby enabling quick replacement and addition / removal of intermediate gear stages of the planetary module, solving the problems of inconvenient gearbox maintenance and single speed ratio.

[0006] Therefore, this application provides a planetary-level module, including:

[0007] Planetary sun wheel;

[0008] Planetary gear ring, coaxially sleeved on the outside of the planetary sun gear, and its inner ring wall is provided with planetary internal gear ring;

[0009] The planetary carrier assembly includes a first planetary carrier and a second planetary carrier disposed opposite to each other, wherein the first planetary carrier and the second planetary carrier are respectively disposed at both ends of the axial direction of the planetary gear ring, and together with the planetary gear ring, they form a planetary gear mounting cavity;

[0010] Multiple planetary gears are evenly distributed circumferentially within the planetary gear mounting cavity, and each planetary gear simultaneously meshes with both the planetary internal gear ring and the planetary sun gear.

[0011] As a preferred embodiment, the planetary internal gear ring has a mounting groove at one axial end, and the first planetary carrier is supported on the planetary gear ring by a first bearing disposed in the mounting groove.

[0012] As a preferred embodiment, the other axial end of the planetary internal gear ring is provided with an assembly groove, which together with the outer wall of the second planetary carrier forms a receiving cavity.

[0013] As a preferred embodiment, the receiving cavity is provided with a transition block, and the transition block is spaced apart from the outer wall of the second planetary carrier.

[0014] As a preferred embodiment, the second planetary carrier has a first bearing groove on the side facing the first planetary carrier, and one end of the planetary sun gear is supported on the second planetary carrier by a second bearing provided in the first bearing groove, and is spaced apart from the second planetary carrier.

[0015] As a preferred embodiment, the end of the planetary sun gear facing away from the second planetary carrier is provided with a limiting structure, which is located in the second bearing groove formed by the first planetary carrier and the planetary sun gear.

[0016] As a preferred embodiment, each planetary gear is fitted with a corresponding planetary gear pin, the planetary gear pin axially passes through the second planetary carrier and is fixed in a blind hole in the first planetary carrier; and each planetary gear pin is fitted with a third bearing.

[0017] This application also provides a modular planetary gear reducer, comprising:

[0018] The input-level module is used to connect to the driver source;

[0019] Output stage module for outputting torque;

[0020] The output terminal of the input stage module is detachably connected to the output stage sun gear of the output stage module.

[0021] As a preferred embodiment, the system also includes the planetary phase module, wherein the output terminal of the input stage module is detachably connected to the planetary phase sun gear of the planetary phase module, and the output terminal of the planet carrier assembly of the planetary phase module is detachably connected to the output stage sun gear of the output stage module.

[0022] As a preferred embodiment, there are multiple planetary phase modules, and adjacent planetary phase modules are detachably connected to the planetary sun gear of the next planetary phase module through the output end of the planetary carrier assembly of the previous planetary phase module; wherein, the output end of the input stage module is detachably connected to the planetary sun gear of the first planetary phase module, and the output end of the planetary carrier assembly of the last planetary phase module is detachably connected to the input end of the output stage module.

[0023] The beneficial effects of this application are:

[0024] The planetary module includes a planetary sun gear, a planetary ring gear, a planetary carrier assembly, and multiple planetary gears. The planetary ring gear is coaxially sleeved on the outside of the planetary sun gear, and its inner ring wall is provided with a planetary internal ring gear. The planetary carrier assembly includes a first planetary carrier and a second planetary carrier arranged opposite each other, and the first planetary carrier and the second planetary carrier are respectively located at the axial ends of the planetary ring gear, and together with the planetary ring gear, they form a planetary gear mounting cavity. Multiple planetary gears are evenly distributed circumferentially in the planetary gear mounting cavity, and each planetary gear simultaneously meshes with the planetary internal ring gear and the planetary sun gear.

[0025] By arranging the first and second planetary carriers opposite each other to form a robust cage or clamp-type structure, the planetary gear shafts are reliably supported at both ends, greatly improving the overall rigidity of the planetary carriers, effectively preventing deformation, and ensuring that the load is evenly distributed on each planetary gear. Simultaneously, the split arrangement of the dual planetary carriers ensures the parallelism of all planetary gear shafts and the accuracy of the center distance with the sun gear and ring gear, thereby guaranteeing smooth gear meshing and reducing vibration and noise. Furthermore, the planetary sun gear and the bearing hole of the first planetary carrier form an input interface for connecting to the output end of the preceding module (i.e., the input stage module or the previous planetary gear module); the mounting hole of the second planetary carrier serves as another output interface for connecting to the input end of the following module (i.e., the output stage module or the next planetary gear module). Due to the standardization of its input and output interfaces, it can be connected in series at any position in the transmission chain, thus ensuring that each planetary gear module has a fixed and precise single-stage reduction ratio.

[0026] This modular planetary gear reducer includes an input stage module for connecting to a drive source and an output stage module for outputting torque. The output end of the input stage module is detachably connected to the output sun gear of the output stage module. The modular and detachable design of the input and output stage modules allows for quick replacement of modules, addressing the problems of inconvenient gearbox maintenance and limited speed ratios. It also includes planetary gear modules, with the output end of the input stage module detachably connected to the planetary sun gear of the planetary gear module, and the output end of the planetary carrier assembly of the planetary gear module detachably connected to the output sun gear of the output stage module. Thus, the input stage module, at least one planetary gearbox module, and the output stage module are connected in series, allowing for continuous adjustment of the overall transmission ratio of the reducer by increasing or decreasing the number of planetary gearbox modules connected in series, thereby adapting to different reduction ratios. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a structural diagram of a modular planetary gear reducer according to this application;

[0029] Figure 2 for Figure 1 Cross-sectional view;

[0030] Figure 3 for Figure 1 A top view of the Bank of China star-rating module;

[0031] Figure 4 This application provides a schematic diagram of the structure of a modular planetary gear reducer.

[0032] Figure 5 for Figure 4 Cross-sectional view;

[0033] Figure 6 for Figure 4 A schematic diagram of the structure of multiple planetary modules in a modular planetary gear reducer.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Planetary stage module; 11. Planetary sun gear; 12. Planetary gear ring; 121. Planetary internal gear ring; 1211. Mounting slot; 1212. Assembly slot; 13. Planetary carrier assembly; 131. First planetary carrier; 1311. First bearing slot; 132. Second planetary carrier; 1321. Second bearing slot; 14. Planetary gear; 141. Planetary gear pin; 151. First bearing; 152. Second bearing; 153. Third bearing; 16. Adapter block; 17. Limiting structure; 2. Input stage module; 21. Housing; 22. Transition sleeve; 3. Output stage module; 31. Output stage sun gear; 32. Front end cover; 4. Motor. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0038] like Figures 1 to 3 As shown, this application provides a planetary module, including a planetary sun gear 11, a planetary gear ring 12, a planetary carrier assembly 13, and a plurality of planetary gears 14; the planetary gear ring 12 is coaxially sleeved on the outside of the planetary sun gear 11, and its inner ring wall is provided with a planetary inner gear ring 121; the planetary carrier assembly 13 includes a first planetary carrier 131 and a second planetary carrier 132 arranged opposite to each other, and the first planetary carrier 131 and the second planetary carrier 132 are respectively disposed at the axial ends of the planetary gear ring 12, and together with the planetary gear ring 12, they form a planetary gear 14 mounting cavity; the plurality of planetary gears 14 are evenly distributed circumferentially in the planetary gear 14 mounting cavity, and each planetary gear 14 simultaneously meshes with the planetary inner gear ring 121 and the planetary sun gear 11.

[0039] By setting the first planetary carrier 131 and the second planetary carrier 132 opposite to each other, a robust cage-like or clamp-like structure is formed to reliably support the planetary gear 14 shafts at both ends, which greatly improves the overall rigidity of the planetary carrier, effectively prevents deformation, and ensures that the load is evenly distributed on each planetary gear 14. At the same time, the split arrangement of the double planetary carriers ensures the parallelism of all planetary gear 14 shafts and the accuracy of the center distance with the sun gear and the ring gear, thereby ensuring smooth gear meshing and reducing vibration and noise. Furthermore, the planetary sun gear 11 and the bearing hole of the first planetary carrier 131 form an input interface for connecting to the output end of the previous module (i.e., input stage module 2 or the previous planetary module 1); the mounting hole of the second planetary carrier 132 serves as another output interface for connecting to the input end of the next module (i.e., output stage module 3 or the next planetary module 1). Due to the standardization of its input and output interfaces, it can be connected in series at any position in the transmission chain, so that each planetary module 1 has a fixed and precise single-stage reduction ratio; that is, by selecting different speed ratios and different numbers of modules for combination, the user can achieve diversification of the total transmission ratio by utilizing the speed ratio product effect, thus realizing the flexibility brought by modularization.

[0040] In this embodiment, as Figure 2 As shown, the planetary internal gear ring 121 has a mounting groove 1211 at one axial end, and the first planetary carrier 131 is supported on the planetary gear ring 12 by a first bearing 151 provided in the mounting groove 1211. The mounting groove 1211 is machined at one axial end of the planetary gear ring 12. The outer ring of the first bearing 151 is pressed into the mounting groove 1211, and its inner ring is pressed onto the corresponding journal of the first planetary carrier 131. This forms a short-span, high-rigidity radial support, which provides precise radial positioning and ensures that the planetary carrier assembly 13 (and the planetary gears 14 mounted on it) and the gear ring are absolutely coaxial. This ensures that the meshing clearance between all planetary gears 14 and the planetary internal gear ring 121 is uniform and consistent, avoiding uneven load, vibration and abnormal wear caused by misalignment. At the same time, the first bearing 151 serves as a solid support point, preventing the deformation and displacement of the planetary carrier assembly 13 and the planetary inner ring under force, so that the load can be evenly distributed on all planetary gears 14, thereby significantly improving the torque carrying capacity and fatigue life of the entire module.

[0041] When users connect the modules in series on-site, they only need to focus on the external connections between modules (such as spline alignment and flange bolt tightening), without needing to adjust the internal meshing state of the modules. This greatly simplifies on-site assembly and ensures that each module can perform as designed. Since a stable rigid structure is formed inside the module via the first bearing 151, these external assembly stresses will not easily disrupt the precise meshing of the internal gears. This means that no matter how many times a module is disassembled and reinstalled, as long as its internal structure remains intact, its transmission performance will remain consistent, thus laying a solid foundation for reliable and rapid replacement and maintenance.

[0042] In this embodiment, as Figure 2 As shown, the planetary internal gear ring 121 has an assembly groove 1212 at its other axial end. The assembly groove 1212 and the outer wall of the second planetary carrier 132 together form an annular receiving cavity. A transition block 16 is provided within the receiving cavity, and the transition block 16 is spaced apart from the outer wall of the second planetary carrier 132. The annular receiving cavity formed by the assembly groove 1212 and the second planetary carrier 132 provides precise installation and positioning space for the transition block 16, avoiding spatial conflicts between the transition block 16 and other components (such as the internal gear ring and planetary gears 14). Furthermore, during subsequent maintenance, the transition block 16 within the receiving cavity can be disassembled and installed individually without disassembling the entire planetary module 1, significantly improving maintenance efficiency. In addition, the gap completely prevents direct friction or collision between the second planetary carrier 132 and the transition block 16, eliminating problems such as jamming and abnormal noise, and ensuring the transmission accuracy and smooth operation of the planetary gear 14 system. Meanwhile, the gap can serve as an error compensation range, offsetting minor errors generated during machining (such as dimensional tolerances of the internal gear ring and the second planetary carrier 132) or assembly, avoiding localized stress concentration caused by rigid contact; it can also further buffer impact loads, reduce fatigue damage to the internal gear ring and planetary carrier, and extend the overall service life. The gap between the adapter block 16 and the second planetary carrier 132 can serve as a lubricating oil flow channel, allowing lubricating oil to enter the receiving cavity through the gap, providing continuous lubrication to the adapter block 16, the outer wall of the second planetary carrier 132, and surrounding components (such as bearings), reducing frictional losses. At the same time, the flowing lubricating oil can also carry away localized heat (such as frictional heat) within the receiving cavity, preventing high-temperature aging of components caused by heat accumulation, indirectly ensuring the long-term working efficiency of the gearbox.

[0043] During assembly, when the output stage module 3 is assembled with the planetary stage module 1, the output stage sun gear 3 of the output stage module 3 is inserted into the mounting hole of the second planetary carrier 132 of the planetary stage module 1. The fifth planetary carrier of the output stage module 3 is embedded in the receiving cavity and abuts against the second planetary carrier 132 of the planetary stage module 1. At this time, the outer ring of the fourth bearing of the output stage module 3 abuts against the inner wall of the adapter block 16, and the lower end of the adapter block 16 abuts against the inner ring of the output stage. Then, the screws are used for final tightening. At this time, the screws mainly bear the overturning moment and ensure the structural locking, thereby optimizing the axial space layout of the overall structure, making the structure more compact, and significantly reducing the axial space required for module series connection.

[0044] In other words, the output function of the second planetary carrier 132 of planetary module 1 and the input function and support structure of the fifth planetary carrier of output stage module 3 are spatially overlapped and integrated. This shortens the axial length of the entire gearbox, making the structure more compact and the power density higher. It is known that the assembly process of adjacent planetary modules 1 is consistent with the above-described assembly process, which will not be elaborated upon here.

[0045] In this embodiment, as Figure 2 As shown, the second planetary carrier 132 has a first bearing groove 1311 on the side facing the first planetary carrier 131. One end of the planetary sun gear 11 is supported on the second planetary carrier 132 by a second bearing 152 located in the first bearing groove 1311, and is spaced apart from the second planetary carrier 132. The second bearing 152 on the second planetary carrier 132 provides a second support point, which greatly enhances the rigidity of the planetary sun gear 11, ensuring stable and precise meshing with all planetary gears 14 along its entire length. Simultaneously, the force acting on the planetary carrier assembly 13 through this bearing is more balanced, reducing torsional deformation and internal stress of the planetary carrier, further enhancing the structural integrity and reliability of the entire module, significantly improving transmission smoothness and load-bearing capacity, and extending gear life.

[0046] In this embodiment, as Figure 2As shown, the planetary sun gear 11 has a limiting structure 17 at the end opposite to the second planetary carrier 132. The limiting structure 17 is located in the second bearing groove 1321 formed by the first planetary carrier 131 and the planetary sun gear 11, realizing precise axial positioning of the planetary sun gear 11 and preventing axial movement. Preferably, the limiting structure 17 can be a retaining ring, a shoulder, and a locking nut, or a retaining ring fixed on the planetary sun gear 11 that cooperates with a corresponding structure on the first planetary carrier 131, such as a retaining ring groove, a mounting hole, or a shoulder, to form a rigid axial stop, thereby preventing any uncontrolled axial movement of the planetary sun gear 11 during operation, thus ensuring the stability of the meshing area between the planetary sun gear 11 and the planetary gears 14, and avoiding uneven load, increased noise, and abnormal wear caused by axial movement.

[0047] When the preceding planetary module 1 of the input stage module 2 is connected to the planetary module 1, the mounting hole of the input stage planetary carrier of the input stage module 2 is fitted with the planetary sun gear 11 of the planetary module 1 and abuts against the limiting structure 17. There must be a spline or tight fit between the mounting hole and the input end of the sun gear to transmit torque. The axial abutment ensures that the spline pair is in the optimal meshing position, avoiding impact and wear caused by axial movement. In other words, the limiting structure 17 achieves axial fixation and radial support, while preventing assembly errors between modules from interfering with the precise meshing inside a single module.

[0048] It is known that the limiting structure 17 is hidden in the second bearing groove 1321 formed by the first planetary carrier 131 and the planetary sun gear 11, without adding any additional axial or radial dimensions. The structure is compact. This built-in design keeps the external interface of the entire module clean and does not affect the series connection with other modules, while protecting the limiting structure 17 itself from external collisions or interference.

[0049] In this embodiment, as Figure 2 As shown, each planetary gear 14 is fitted with a corresponding planetary gear pin 141. The planetary gear pin 141 passes axially through the second planetary carrier 132 and is then fixed in the blind hole of the first planetary carrier 131. After the planetary gear pin 141 is pressed in, a set screw is used to connect the pin and the planetary carrier assembly 13. Its structure is simple, but it plays a role in preventing the planetary gear pin 141 from falling off. Furthermore, each planetary gear pin 141 is fitted with a third bearing 153. Preferably, the third bearing 153 is a needle roller bearing to ensure the overall reduction gearbox is thin and light.

[0050] like Figures 4 to 5As shown, this application also provides a modular planetary gear reducer, including an input stage module 2 for connecting to a drive source and an output stage module 3 for outputting torque; wherein the output end of the input stage module 2 is detachably connected to the output stage sun gear 3 of the output stage module 3. The modular and detachable arrangement of the input stage module 2 and the output stage module 3 allows for quick replacement of each module, thus solving the problems of inconvenient gearbox maintenance and limited speed ratios.

[0051] In this embodiment, the planetary gear module 1 is also included. The output end of the input stage module 2 is detachably connected to the planetary sun gear 11 of the planetary gear module 1, and the output end of the planetary carrier assembly 13 of the planetary gear module 1 is detachably connected to the output sun gear 3 of the output stage module 3. The input stage module 2, at least one planetary gearbox module, and the output stage module 3 are connected in series, allowing for continuous adjustment of the overall transmission ratio of the modular planetary gear reducer by increasing or decreasing the number of connected planetary gearbox modules, thus adapting to different reduction ratios or torque requirements. Furthermore, the modular and detachable configuration of the input stage module 2, output stage module 3, and planetary gear module 1 enhances the modularity and flexibility of the reducer, enabling rapid replacement of modules and the addition or removal of the intermediate planetary gear module 1 to address the problems of inconvenient gearbox maintenance and limited speed ratios.

[0052] It is known that input stage module 2, output stage module 3, and planetary stage module 1 are all complete and independent single-stage planetary gear systems, each with a fixed single-stage reduction ratio. Thus, by connecting different numbers and single-stage speed ratios of planetary stage modules 1 in series between input stage module 2 and output stage module 3, the product effect of the speed ratios allows for diverse combinations of the total transmission ratio, enabling adaptation to different reduction ratios. The same product can meet the needs of different customers for different speed ratios, greatly improving its versatility. Furthermore, the modules are detachably connected via flanges, positioning stops, and bolts. When a module fails, only the faulty module can be replaced, achieving minimum unit replacement. This effectively reduces gearbox repair time and the scrap rate during use, avoiding the complete scrapping of assemblies with only partial damage, saving costs, and significantly shortening equipment downtime due to simplified maintenance procedures. Simultaneously, the modular structure makes installation convenient, connection reliable, and structurally simple.

[0053] In this embodiment, as Figure 6As shown, there are multiple planetary level modules 1. Adjacent planetary level modules 1 are detachably connected to the planetary sun gear 11 of the next planetary level module 1 through the output end of the planetary carrier assembly 13 of the previous planetary level module 1. The output end of the input stage module 2 is detachably connected to the planetary sun gear 11 of the first planetary level module 1, and the output end of the planetary carrier assembly 13 of the last planetary level module 1 is detachably connected to the input end of the output stage module 3.

[0054] To elaborate further, such as Figure 6 As shown, when there are multiple planetary gear modules 1, the required number and specifications of planetary gearbox modules are determined according to the target transmission ratio and torque requirements. The selected number of planetary gear modules 1 are connected in series between the input stage module 2 and the output stage module 3. That is, the output end of the input stage module 2 is detachably connected to the sun gear of the first planetary gear module 1 to transmit power. The power is reduced in speed by the planetary gear 14 system inside each planetary gear module 1 and then output by its planetary carrier assembly 13. The output end of the planetary carrier of the previous stage is connected to the input end of the sun gear of the next stage, and so on. The output end of the planetary carrier of the last planetary gear module 1 is detachably connected to the input end of the output stage module 3 to finally output power. In other words, the input stage module 2, the planetary gear modules 1 and the output stage module 3 are fixedly connected by a detachable connection structure to form a rigid whole, realizing the continuous adjustment of the transmission ratio and the convenience of maintenance, and solving the problems of single speed ratio and inconvenient maintenance of planetary gearboxes.

[0055] It is clear that each planetary module 1 has a standard input interface for connecting the sun gear at its "front end" and a standard output interface mounted on the planetary carrier at its "rear end." Since each module is connected via standard interfaces, such as splines or flanges, and its power flow is clearly independent, when any planetary module 1 in the drivetrain fails, maintenance personnel can loosen its connecting bolts to the preceding and following stages, extract the faulty module as a whole, and replace it with a new module of the same model. The entire process requires no disassembly of any module's internal parts or adjustment of the meshing state of other modules, thus truly achieving modular maintenance, enabling rapid on-site replacement, and significantly reducing downtime.

[0056] In this embodiment, the input stage module 2 includes an input stage sun gear, an input stage ring gear, an input stage planetary carrier, multiple input stage planetary gears 14, a housing 21, and a transition sleeve 22. The input stage ring gear is coaxially sleeved on the outside of the input stage sun gear. The input stage planetary carrier includes a third planetary carrier and a fourth planetary carrier arranged opposite to each other, and the third planetary carrier and the fourth planetary carrier are respectively located at the axial ends of the input stage ring gear, forming a planetary gear 14 receiving cavity with the input stage ring gear. The multiple input stage planetary gears 14 are rotatably supported between the third planetary carrier and the fourth planetary carrier through the input stage planetary gear 14 shaft, and are evenly distributed circumferentially. The input stage planetary gears 11 are arranged in the receiving cavity of the planetary gears 14, and each of the input stage planetary gears 14 meshes with both the input stage ring gear and the input stage sun gear. The housing 21 is located at the end of the input stage ring gear and surrounds the input stage module 2, and is fixedly connected to the inner ring of the planetary module 1 by screws. The transition sleeve 22 is sleeved on the end of the input stage sun gear away from the fourth planetary carrier through the fourth bearing, and the fourth bearing is placed in the bearing hole of the third planetary carrier. In addition, the transition sleeve 22 is connected to the motor 4, and the motor 4 is located in the housing 21. The end of the planetary sun gear 11 near the motor 4 is provided with a keyway. When the input stage module 2 is connected to the planetary stage module 1, the mounting hole of the fourth planetary carrier of the input stage module 2 is fitted onto the planetary sun gear 11 of the planetary stage module 1 and abuts against the limiting structure 17 of the planetary sun gear 11 of the planetary stage module 1. At the same time, the housing 21 of the input stage module 2 is supported by bearings and fixedly connected to the inner ring of the planetary stage module 1 via an annular receiving cavity between the first planetary carrier 131 and the inner ring of the planetary stage module 1, and further fixedly connected by screws.

[0057] The input stage module 2 itself is a planetary reducer, providing a basic single-stage reduction ratio. This ratio becomes a multiplier factor for the overall transmission ratio of the entire system, further enriching the diversity of transmission ratio combinations. If a fault occurs at motor 4 or a different type of motor 4 needs to be replaced, only the transition sleeve 22 can be removed for adaptation or maintenance. If the input stage module 2 itself (such as the sun gear or planet gear 14) is damaged, its connection to motor 41 and the first planetary module 1 can be loosened, allowing the entire input stage module 2 to be replaced as a whole without affecting other parts, thus achieving the principle of minimum unit replacement.

[0058] In this embodiment, the output stage module 3 includes an output stage sun gear 3, an output stage ring gear, an output stage planetary carrier, multiple output stage planetary gears 14, and a front end cover 32. The output stage ring gear is coaxially sleeved on the outside of the output stage sun gear 3. The output stage planetary carrier includes a fifth planetary carrier and a sixth planetary carrier arranged opposite to each other, and the fifth planetary carrier and the sixth planetary carrier are respectively located at the axial ends of the output stage ring gear, forming a second planetary gear 14 receiving cavity with the output stage ring gear. The multiple output stage planetary gears 14 are rotatably supported between the fifth planetary carrier and the sixth planetary carrier through the output stage planetary gear 14 shaft, and are evenly distributed circumferentially. The second planetary gear 14 is housed within the cavity, and each of the output stage planetary gears 14 simultaneously meshes with the output stage ring gear and the output stage sun gear 3. When the output stage module 3 is connected to the planetary module 1, the mounting hole of the second planetary carrier 132 of the planetary module 1 is fitted onto the output stage sun gear 3 of the output stage module 3 and abuts against the second limiting structure 17 of the output stage sun gear 3. Simultaneously, the adapter block 16 of the planetary module 1 is fixedly connected to the output stage inner ring of the output stage module 3 via a bearing supported in the annular cavity between the fifth planetary carrier and the inner ring of the planetary module 3, and further fixed by screws. The front end cover 32 is located at the end of the output stage ring gear and is connected to the sixth planetary carrier via a sixth bearing, and is spaced apart from the sixth planetary carrier. This space is typically used as a lubrication chamber, allowing the heat generated by gear meshing to be carried away by the lubricating oil circulation, while avoiding direct contact between the front end cover 32 and the planetary carrier to prevent frictional heat generation or mechanical interference. The front cover 32 is fixed to the end of the output stage gear ring, serving as the outermost shell of the entire gearbox. It protects the internal gear train and, through the sixth bearing, provides an additional, larger-span support point for the sixth planetary carrier (output shaft). This ensures that the sixth bearing only provides radial support, constraining the radial runout of the output shaft and guaranteeing output accuracy. Simultaneously, it avoids unnecessary axial constraints on the output shaft from the bearing, allowing the entire system a certain degree of axial freedom during thermal expansion or deformation under stress. This prevents bearing damage or transmission jamming due to over-alignment, thereby enhancing the rigidity and stability of the output end. This enables it to withstand various radial forces and vibrations from the load end, improving the overall lifespan and reliability of the gearbox.

[0059] The output stage module 3 is also a complete single-stage planetary gear reduction unit. Its function is to serve as the final output and load interface of the entire gearbox, maintaining a core structure highly consistent with the input stage and intermediate planetary gear module 1, ensuring the commonality of design and manufacturing processes. It is understood that the output stage planetary carrier will be the final power output shaft of the entire modular planetary gear reducer, directly connected to the load equipment; and its built-in planetary gear pairs can further optimize the overall reduction ratio, and can be stacked with the front-end planetary gear module 1 to flexibly match the speed / torque requirements of the load. Similar to input stage module 2 and planetary stage module 1, output stage module 3 is an independent unit with a transmission unit and output interface. It is connected to the housing of the last planetary stage module 1 via flange bolts through its gear ring fixing part, receiving power from the previous stage. Its output stage sun gear 3 is connected to the planet carrier of the previous planetary stage module 13 via splines, completing the final link of power input. It enhances the power characteristics through planetary gear pairs and adapts to different loads through modular structure, echoing the flexibility and high reliability of the entire gearbox, thereby providing the final reduction ratio and further amplifying the flexibility and range of speed ratio combinations of the modular system.

[0060] It is known that in the planetary gear transmission of the input stage module 2, planetary stage module 1 and output stage module 3, the sun gear and planet gear 14 will generate axial force when meshing. By adopting the series connection of the sun gear and planet carrier, the forces between adjacent modules (such as axial force) can be mutually transmitted and partially canceled through the connection structure, which effectively reduces gearbox noise, forms a more balanced internal force system, reduces the dependence of the entire gearbox on fixed supports, improves the smoothness of operation, and effectively prevents moisture from the external environment from entering the gearbox, thereby extending the service life of the entire gearbox.

[0061] Preferably, the input-stage planetary carrier, planetary carrier assembly 13, and output-stage planetary carrier are all made of stainless steel to ensure structural integrity and load-bearing capacity, thereby extending the lifespan of critical components.

[0062] In this embodiment, the detachable connection is one of a spline connection and / or a flange connection. The spline ensures transmission accuracy and efficiency, while the flange ensures overall rigidity and sealing. The combination of these two ensures that the performance of the modular gearbox is no different from, or even better than, that of a traditional integrated gearbox.

[0063] Preferably, all the bearings mentioned above, including the first bearing 151, the second bearing 152, and the third bearing 153, are needle roller bearings. The needle roller bearing is a bearing with a compact radial structure and high load-bearing capacity. When used in conjunction with key components such as planetary carriers, gear rings, and sun gears, the required axial space and radial wall thickness can be made smaller to achieve extreme radial space saving, making the structure more compact and the whole structure more robust.

[0064] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0066] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0068] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0069] The above description describes specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A planetary stage module, characterized by, The planetary gear module (1) comprises: a planetary sun gear (11); a planetary ring gear (12) coaxially sleeved outside the planetary sun gear (11), and an inner ring wall of the planetary ring gear (12) is provided with a planetary inner ring gear (121); a planetary carrier assembly (13) comprising oppositely arranged first and second planetary carriers (131, 132), and the first and second planetary carriers (131, 132) are respectively arranged at the axial two ends of the planetary ring gear (12) and jointly surround the planetary ring gear (12) to form a planetary wheel mounting cavity; a plurality of planetary wheels (14) are circumferentially distributed in the planetary wheel mounting cavity, and each planetary wheel (14) is simultaneously engaged with the planetary inner ring gear (121) and the planetary sun gear (11).

2. The planetary gear module of claim 1, wherein, An axial one end of the planetary inner ring gear (121) is provided with a mounting groove (1211), and the first planetary carrier (131) is supported on the planetary ring gear (12) through a first bearing (151) arranged in the mounting groove (1211).

3. The planetary gear module of claim 2, wherein, An axial other end of the planetary inner ring gear (121) is provided with a fitting groove (1212), and the fitting groove (1212) and the outer wall of the second planetary carrier (132) jointly surround a containing cavity.

4. The planetary gear module of claim 3, wherein, A transfer block (16) is arranged in the containing cavity, and the transfer block (16) is spaced apart from the outer wall of the second planetary carrier (132).

5. The planetary gear module of claim 4, wherein, A first bearing groove (1311) is arranged on a side of the second planetary carrier (132) facing the first planetary carrier (131), and one end of the planetary sun gear (11) is supported on the second planetary carrier (132) through a second bearing (152) arranged in the first bearing groove (1311) and is spaced apart from the second planetary carrier (132).

6. The planetary gear module of claim 5, wherein, A limiting structure (17) is arranged at an end of the planetary sun gear (11) away from the second planetary carrier (132), and the limiting structure (17) is located in a second bearing groove (1321) formed by the first planetary carrier (131) and the planetary sun gear (11).

7. The planetary gear module of claim 6, wherein, Each planetary wheel (14) is sleeved on a corresponding planetary wheel pin shaft (141), the planetary wheel pin shaft (141) axially penetrates the second planetary carrier (132) and is fixed in a blind hole of the first planetary carrier (131), and each planetary wheel pin shaft (141) is sleeved with a third bearing (153).

8. A modular planetary gear reduction box characterized in that, The planetary gear module (1) comprises: an input stage module (2) for connecting a driving source; an output stage module (3) for outputting torque; wherein the output end of the input stage module (2) is detachably coupled with an output stage sun gear (31) of the output stage module (3).

9. The modular planetary gear reduction box of claim 8, wherein, The planetary gear module (1) comprises: an input stage module (2) for connecting a driving source; an output stage module (3) for outputting torque; wherein the output end of the input stage module (2) is detachably coupled with an output stage sun gear (31) of the output stage module (3). The planetary gear module (1) comprises: an input stage module (2) for connecting a driving source; an output stage module (3) for outputting torque; wherein the output end of the input stage module (2) is detachably coupled with an output stage sun gear (31) of the output stage module (3).

10. The modular planetary gear reduction box of claim 9, wherein, The number of the planetary stage modules (1) is multiple, the output end of the planetary carrier assembly (13) of a previous planetary stage module (1) and the planetary stage sun gear (11) of a subsequent planetary stage module (1) are detachably connected between the adjacent planetary stage modules (1); wherein the output end of the input stage module (2) and the planetary stage sun gear (11) of the first planetary stage module (1) are detachably connected, and the output end of the planetary carrier assembly (13) of the last planetary stage module (1) and the input end of the output stage module (3) are detachably connected.

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