Robot joint speed reducer with anti-abrasion function

Abstract

The invention belongs to the technical field of joint speed reducers, and particularly relates to a robot joint speed reducer with an anti-abrasion function, which comprises a protective shell, a speed reduction assembly is mounted in an inner cavity of the protective shell, a main shaft joint is mounted in the middle of the speed reduction assembly, and the main shaft joint can drive the speed reduction assembly to synchronously rotate in a high-speed rotation process. The speed reduction assembly is used for achieving speed reduction and torque increase through the small tooth difference meshing principle, and meanwhile motion obtained after speed reduction is output through the speed reduction assembly. And the reduction ratio and the torque transmission efficiency of the whole speed reducer are reduced, and meanwhile, high-frequency vibration of the speed reducer is caused, so that the track precision of the robot is influenced.

Description

Technical Field

[0001] This invention belongs to the field of joint reducer technology, specifically a robot joint reducer with wear resistance. Background Technology

[0002] With the development of robotics technology, various types of robots are increasingly being used in fields such as smart factories, smart logistics, and smart warehousing to significantly improve automation and reduce human resource costs. For the motion transmission of various components within a robot, the joint module, as a core component, is playing an increasingly important role. Among these components, the reducer is a crucial part of the joint module. Currently, traditional reducers, such as planetary gear reducers, harmonic reducers, and RV reducers, often employ meshing motion. During operation, the meshing of teeth in these reducers generates collisions and friction. In particular, with planetary gear reducers, if any tooth of the fixed gear ring, planetary gear, or sun gear is damaged, it will lead to a decrease in the reduction ratio and torque transmission efficiency of the entire reducer. It will also cause high-frequency vibration in the reducer, affecting the accuracy of the robot's trajectory. Moreover, when the robot needs to run at high speed, a single set of planetary gears is prone to tooth breakage during high-speed operation, which will also reduce torque transmission efficiency and cause the robot's joints to malfunction.

[0003] Therefore, the present invention provides a robot joint reducer with wear resistance. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0005] The technical solution adopted by the present invention to solve its technical problem is: a robot joint reducer with anti-wear function, comprising a protective shell, wherein a reduction component is installed in the inner cavity of the protective shell; The deceleration assembly includes two sets of planetary gear sets for deceleration and torque amplification, which are disposed in the inner cavity of the protective housing. A single set of planetary gear sets can be used to improve the response efficiency of the robot joints, while the two sets of planetary gear sets operate synchronously to improve the deceleration and torque amplification effect of the reducer and reduce the wear efficiency of the planetary gear sets. The deceleration assembly has a main shaft joint installed in the middle. During high-speed rotation, the main shaft joint can drive two sets of planetary gear sets to run synchronously or run individually. It utilizes the principle of low tooth difference meshing of the planetary gear sets to achieve deceleration and torque increase, and outputs the decelerated motion through the deceleration assembly.

[0006] Preferably, a sealing steel ring is installed at one end of the protective shell, and a sealing cap is installed at the other end of the protective shell.

[0007] Preferably, the deceleration assembly includes a bearing bracket rotatably connected in the inner cavity of the protective housing. A first planetary gear carrier is installed in the inner cavity of the bearing bracket. A mounting plate is installed at one end of the bearing bracket. An elastic element is provided inside the mounting plate. The elastic element slides between the bearing bracket and the first planetary gear carrier by compression, thereby fixing the first planetary gear carrier to the bearing bracket.

[0008] Preferably, the inner cavity of the first planetary gear carrier is equipped with three support shafts, and each support shaft has a plurality of cylindrical balls arranged in a ring around its outer side. A first driven gear is installed on the outer side of each cylindrical ball, and a first fixing frame is installed at one end of the protective shell.

[0009] Preferably, the first driven gear is meshed with a first master gear, a drive shaft is installed in the inner cavity of the first master gear, a steel wheel is fixedly installed in the inner cavity of the protective shell, and the inner cavity of the steel wheel is stepped, with a toothed ring fixedly connected to both stepped inner walls, and one of the toothed rings is meshed with the first driven gear.

[0010] Preferably, an annular fixing frame is fixedly connected to the inner wall of the protective shell, a second ball bearing is installed on the inner wall of the annular fixing frame, a first ball bearing is installed on the inner wall of the second ball bearing, a second fixing frame is fixedly connected to the inner wall of the first ball bearing, a second planetary gear carrier is installed at one end of the second fixing frame, and the second fixing frame and the first fixing frame are rotatably installed.

[0011] Preferably, the inner cavity of the second planetary gear carrier is rotatably connected to three support bearings, and each support bearing is externally mounted with a second driven gear. The second driven gear meshes with the gear ring, and the second driven gear has fewer teeth than the first driven gear.

[0012] Preferably, the second driven gear is meshed with a second main gear, one end of the second main gear is fixedly connected to a rotating shaft sleeve, the rotating shaft sleeve is rotatably connected to the outside of the transmission shaft, one end of the rotating shaft sleeve is rotatably connected to a mounting cover, and the transmission shaft is fixedly installed to the mounting cover by fastening bolts.

[0013] Preferably, an electrical connection component is provided inside one end of the drive shaft, and the electrical connection component is used to control the connection between the drive shaft and the rotating shaft sleeve rod, and the electrical connection component can also control the drive shaft to be inserted into or disconnected from the first driven gear.

[0014] Preferably, the electrical connection assembly includes two electromagnets installed inside the drive shaft. The inner wall of the first driven gear has a slot, and the inner wall of the rotating shaft sleeve has a through slot. Four inserts are slidably connected to the outside of the drive shaft, with each pair of inserts forming a group and arranged symmetrically to connect with the through slot and the slot to fix the first driven gear and the rotating shaft sleeve. Each insert has a positive magnet at the end near the positive magnet. A thermoelectric heat spreader is provided on the outside of the drive shaft.

[0015] The beneficial effects of this invention are as follows: 1. The robot joint reducer with wear resistance described in this invention uses a twisting bolt to compress an elastic element, causing the elastic element to insert between a bearing bracket and a first planetary gear carrier, thereby fixing the first planetary gear carrier to the bearing bracket. Then, a motor drives a transmission shaft to rotate, which in turn drives a first main gear to rotate. The first main gear meshes with a first driven gear to rotate, while the first driven gear meshes with a gear ring to rotate on its own axis. The first driven gear also drives the first planetary gear carrier to rotate within the protective housing cavity, and simultaneously drives the bearing bracket, thus completing the first stage of speed reduction output to the robot joint load end. The transmission shaft does not drive the rotating shaft sleeve to rotate, thereby achieving speed reduction and torque increase for a single set of planetary gears. When the robot needs to operate in an energy-saving manner, it can sacrifice the reduction ratio to optimize efficiency, accuracy, and dynamic response, improving the robot's operating efficiency during light-load handling or rapid movement.

[0016] 2. In the wear-resistant robot joint reducer described in this invention, during the second-stage deceleration, the inner cavity of the steel wheel has a stepped double-tooth ring structure. A second main gear is mounted at the end of the first planetary gear carrier away from the transmission shaft, meshing with the second driven gear. The second driven gear then meshes with the other stepped inner wall tooth ring of the steel wheel. The first planetary gear carrier rotates at low speed, driving the rotating shaft sleeve to rotate synchronously via the transmission shaft, thus causing the second main gear to rotate. This, in turn, causes the second driven gear to rotate and revolve along the inner tooth ring, further decelerating the second planetary gear carrier and simultaneously rotating the second fixed frame. Power is output through the transmission bearing bracket. After two-stage reduction, the extremely low-speed, extremely high-torque motion is output to the robot joint load end via the bearing bracket. The integrated design of the steel wheel stepped double gear ring provides double rigid internal gear ring support for the two-stage reduction, dispersing the meshing reaction force of the first and second driven gears, improving the torsional stiffness and radial load capacity of the reducer. In addition, the first driven gear, in conjunction with the gear ring, is responsible for the high-speed, low-torque reduction, while the second driven gear, in conjunction with the gear ring, is responsible for the low-speed, high-torque output. This avoids a single gear bearing dual harsh working conditions, reduces tooth surface contact fatigue stress, and suppresses the risk of pitting and tooth breakage. Attached Figure Description

[0017] The invention will now be further described with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the overall structure of the main view of the present invention; Figure 2 This is a schematic diagram of the internal structure of the reducer of the present invention; Figure 3 This is a schematic diagram of the assembly structure of the second driven gear of the present invention; Figure 4 This is a schematic diagram of the assembly structure of the first driven gear of the present invention; Figure 5 This is a schematic diagram of the assembly structure of the second ball bearing of the present invention; Figure 6 This is a schematic diagram of the assembly structure of the first fixing frame of the present invention; Figure 7 This is a schematic diagram of the exploded structure of the reducer of the present invention; Figure 8 This is a half-sectional structural diagram of the transmission shaft of the present invention; Figure 9 This is a schematic diagram of the overall structure of the drive shaft of the present invention; Figure 10 This is a partial cross-sectional view of the installation disk of the present invention; In the diagram: 100, protective housing; 200, sealing steel ring; 300, main shaft joint; 400, sealing cover; 500, reduction gear assembly; 501, steel wheel; 502, first driven gear; 503, first main gear; 504, support shaft; 505, cylindrical ball bearing; 506, second driven gear; 507, second main gear; 508, shaft sleeve; 509, fastening bolt; 510, support bearing; 511, drive shaft; 512, mounting cover; 51 3. First planetary gear carrier; 514. Second planetary gear carrier; 515. First ball bearing; 516. Second ball bearing; 517. Bearing bracket; 518. Gear ring; 519. Mounting plate; 600. First fixing bracket; 700. Second fixing bracket; 800. Annular fixing bracket; 900. Electrical connection assembly; 901. Electromagnet; 902. Slot; 903. Through slot; 904. Positive pole magnet; 905. Insert block; 1000. Thermoelectric heat spreader. Detailed Implementation

[0019] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0020] Example 1, as Figure 1 and Figure 2 As shown in the figure, a robot joint reducer with wear resistance function according to an embodiment of the present invention includes a protective shell 100, and a reduction assembly 500 is installed in the inner cavity of the protective shell 100. The deceleration assembly 500 includes two sets of planetary gear sets for deceleration and torque increase disposed in the inner cavity of the protective housing 100. A single set of planetary gear sets can be used to improve the response efficiency of the robot joints, while the two sets of planetary gear sets operate synchronously to improve the deceleration and torque increase effect of the reducer and reduce the wear efficiency of the planetary gear sets. The reduction assembly 500 has a main shaft joint 300 installed in the middle. During high-speed rotation, the main shaft joint 300 can drive two sets of planetary gear sets to run synchronously or run individually. It utilizes the principle of low tooth difference meshing of the planetary gear sets to achieve speed reduction and torque increase. At the same time, the reduced motion is output through the reduction assembly 500. A sealing steel ring 200 is installed at one end of the protective shell 100, and a sealing cover 400 is installed at the other end of the protective shell 100.

[0021] Specifically, in existing technologies, reducers typically contain only one set of planetary gears. A single set of planetary gears requires a high-torque motor, but the addition of a high-torque motor increases the weight of the robot joint and also increases the wear efficiency of the planetary gear set. If any tooth of the fixed gear ring, planetary gear, or sun gear is damaged, it will lead to a decrease in the reduction ratio and torque transmission efficiency of the entire reducer. It will also cause high-frequency vibration in the reducer, affecting the accuracy of the robot's trajectory. On the other hand, a low-torque motor will have excessively high joint output speed and insufficient torque, making it unable to drive the weight and load of the robotic arm, thus causing damage to the reducer and affecting its service life.

[0022] When the motor drives the main spindle joint 300 to rotate at high speed, the present invention drives the reduction assembly 500 to rotate through the main spindle joint 300. The reduction assembly 500 achieves deceleration and torque increase through the tooth difference meshing principle. At the same time, the reduction assembly 500 outputs its deceleration and torque increase power to the corresponding joint of the robot. Thus, the setting of the reduction assembly 500 can achieve the effect of deceleration and torque increase, while also reducing the wear efficiency of the reducer and increasing the service life of the reducer, thereby solving the above problems.

[0023] like Figure 2 , Figure 7 and Figure 10 As shown, the deceleration assembly 500 includes a bearing bracket 517 rotatably connected in the inner cavity of the protective housing 100. A first planetary gear carrier 513 is installed in the inner cavity of the bearing bracket 517. A mounting plate 519 is installed at one end of the bearing bracket 517. An elastic element is provided inside the mounting plate 519. The elastic element slides between the bearing bracket 517 and the first planetary gear carrier 513 by compression, thereby fixing the first planetary gear carrier 513 and the bearing bracket 517.

[0024] Specifically, when driving a single planetary gear set for deceleration and torque increase, the elastic element is squeezed by twisting the bolt, causing it to insert between the bearing bracket 517 and the first planetary gear carrier 513, thereby fixing the first planetary gear carrier 513 to the bearing bracket 517. Then, the motor drives the transmission shaft 511 to rotate, which in turn drives the first main gear 503 to rotate. The first main gear 503 meshes with the first driven gear 502 to rotate. At the same time, the first driven gear 502 meshes with the gear ring 518 to rotate on its own axis. The first driven gear 502 also drives the first planetary gear carrier 513 to rotate within the protective housing 100. Simultaneously, the first planetary gear carrier 513 drives the bearing bracket 517, thus completing the first stage of deceleration output to the robot joint load end. The transmission shaft 511 does not drive the rotating shaft sleeve 508 to rotate, thereby achieving deceleration and torque increase for the single planetary gear set. When the robot needs to operate in an energy-saving manner, efficiency, accuracy, and dynamic response optimization can be achieved by sacrificing the reduction ratio, thereby improving the robot's operating efficiency during light-load handling or rapid movement.

[0025] like Figure 2 , Figures 3 to 7 As shown, the inner cavity of the first planetary gear carrier 513 is equipped with three support shafts 504, and each support shaft 504 has multiple cylindrical balls 505 arranged in a ring on its outer side. A first driven gear 502 is installed on the outer side of the cylindrical balls 505. A first fixed frame 600 is installed at one end of the protective shell 100. The first driven gear 502 is meshed with a first main gear 503. A transmission shaft 511 is installed in the inner cavity of the first main gear 503. A steel wheel 501 is fixedly installed in the inner cavity of the protective shell 100. The inner cavity of the steel wheel 501 is stepped, and a gear ring 518 is fixedly connected to both stepped inner walls. One of the gear rings 518 is meshed with the first driven gear 502.

[0026] Specifically, when the reducer is in use, the motor drives the transmission shaft 511 to rotate, which in turn drives the first main gear 503 to rotate. The first main gear 503 then meshes with the first driven gear 502 to rotate. Simultaneously, the first driven gear 502 meshes with the gear ring 518 to rotate on its own axis. Furthermore, the first driven gear 502 drives the first planetary gear carrier 513 to rotate within the protective housing 100, thus completing the first stage of speed reduction output. The first planetary gear carrier 513 does not drive the bearing support 517 to rotate; instead, due to the internal structure of the steel wheel 501… The cavity features a stepped double-tooth ring 518 structure. A second main gear 507 is mounted at the end of the first planetary gear carrier 513 furthest from the drive shaft 511, meshing with a second driven gear 506. Simultaneously, the second driven gear 506 meshes with the gear ring 518 on the other stepped inner wall of the steel wheel 501. The low-speed rotation of the first planetary gear carrier 513 drives the rotating shaft sleeve 508 to rotate synchronously via the drive shaft 511, causing the rotating shaft sleeve 508 to drive the second main gear 507 to rotate. Simultaneously, the second main gear 507 meshes with and drives the second driven gear 506 to rotate. The second driven gear 506 rotates on its own axis while revolving around the inner gear ring 518, thereby driving the second planetary gear carrier 514 to further decelerate and rotate. At the same time, the second planetary gear carrier 514 drives the second fixed frame 700 to rotate, and the second fixed frame 700 transmits the output through the bearing bracket 517. The extremely low speed and extremely high torque motion after two stages of deceleration is output to the robot joint load end through the bearing bracket 517. Among them, the cylindrical ball bearing 505 forms a needle roller bearing structure between the support shaft 504 and the first driven gear 502, which converts sliding friction into rolling friction, significantly reducing meshing wear and improving transmission efficiency. This solves the problem that existing robot joint reducers with wear resistance function usually only have one set of planetary gears inside. A single set of planetary gears requires a very large torque motor, but the installation of a large torque motor increases the weight of the robot joint and affects the robot's operating efficiency. On the other hand, a small torque motor has too high a joint output speed and insufficient torque, which cannot drive the robot arm's own weight and load, thus causing the reducer to be damaged and affecting its service life.

[0027] Example 2, as Figures 3 to 4 and Figure 7 and Figure 9As shown, an annular fixing frame 800 is fixedly connected to the inner wall of the protective shell 100. A second ball bearing 516 is installed on the inner wall of the annular fixing frame 800. A first ball bearing 515 is installed on the inner wall of the second ball bearing 516. A second fixing frame 700 is fixedly connected to the inner wall of the first ball bearing 515. A second planetary gear carrier 514 is installed at one end of the second fixing frame 700. The second fixing frame 700 is rotatably mounted to the first fixing frame 600. The second fixing frame 700 is fixedly mounted to the bearing bracket 517. Three support bearings 51 are rotatably connected to the inner cavity of the second planetary gear carrier 514. 0, and each support bearing 510 is externally mounted with a second driven gear 506. The second driven gear 506 meshes with the gear ring 518. The second driven gear 506 has fewer teeth than the first driven gear 502. The second driven gear 506 meshes with a second main gear 507. One end of the second main gear 507 is fixedly connected to a rotating shaft sleeve 508. The rotating shaft sleeve 508 is rotatably connected to the outside of the drive shaft 511. One end of the rotating shaft sleeve 508 is rotatably connected to a mounting cover 512. The drive shaft 511 is fixedly installed to the mounting cover 512 by a fastening bolt 509.

[0028] Specifically, during the second-stage deceleration process, due to the stepped double-tooth ring 518 structure design of the inner cavity of the steel wheel 501, a second main gear 507 is installed at the end of the first planetary gear carrier 513 away from the transmission shaft 511. This gear meshes with the second driven gear 506, while the second driven gear 506 simultaneously meshes with the tooth ring 518 on the other stepped inner wall of the steel wheel 501. The low-speed rotation of the first planetary gear carrier 513 drives the rotating shaft sleeve 508 to rotate synchronously via the transmission shaft 511, causing the rotating shaft sleeve 508 to drive the second main gear 507 to rotate. When the second main gear 507 meshes with the second driven gear 506, the second driven gear 506 rotates along its inner gear ring 518 while rotating on its own axis, thereby driving the second planetary gear carrier 514 to further decelerate and rotate. At the same time, the second planetary gear carrier 514 drives the second fixed frame 700 to rotate, and the second fixed frame 700 drives the output of the transmission bearing bracket 517. The extremely low speed and extremely high torque motion after two stages of deceleration is output to the robot joint load end through the bearing bracket 517. The stepped double gear ring 518 of the steel wheel 501 is integrated into the design. This design effectively provides dual rigid internal gear ring support for the two-stage reduction, dispersing the meshing reaction force of the first driven gear 502 and the second driven gear 506 to the two stepped inner walls of the steel wheel 501. This significantly improves the torsional stiffness and radial load-bearing capacity of the reducer. The first driven gear 502, in conjunction with the gear ring 518, serves as the first stage for high-speed, low-torque reduction, while the second driven gear 506, in conjunction with the gear ring 518, serves as the second stage for low-speed, high-torque output. This avoids a single-stage gear simultaneously bearing the dual harsh conditions of high speed and high load, reducing tooth surface contact fatigue stress and suppressing the risk of pitting and tooth breakage. This solves the problem that in existing wear-resistant robot joint reducers, if one set of planetary gears breaks during operation and cannot be shut down, the other set of planetary gears, operating at high speed, will experience a speed difference due to the broken tooth, leading to increased wear efficiency or tooth jamming in the good planetary gear assembly. This can cause the good planetary gear set to also experience tooth jamming and breakage, rendering the reducer unusable.

[0029] like Figures 3 to 4 , Figures 8 to 9As shown, an electrical connection assembly 900 is provided inside one end of the drive shaft 511. The electrical connection assembly 900 is used to control the connection between the drive shaft 511 and the rotating shaft sleeve 508. The electrical connection assembly 900 can also control the insertion or disconnection of the drive shaft 511 and the first driven gear 502. The electrical connection assembly 900 includes two electromagnets 901 installed inside the drive shaft 511. A slot 902 is opened on the inner wall of the first driven gear 502, and a through groove 903 is opened on the inner wall of the rotating shaft sleeve 508. Four insert blocks 905 are slidably connected to the outside of the drive shaft 511, and every two insert blocks 905 form a group and are mutually opposed. The device is configured to connect the through slot 903 and the card slot 902 to fix the first driven gear 502 and the rotating shaft sleeve 508. Each insert 905 has a positive magnet 904 at one end near the positive magnet 904. The drive shaft 511 is externally connected to two energized carbon brushes, which are electrically connected to two electromagnets 901 respectively. The drive shaft 511 is externally equipped with a thermoelectric heat spreader 1000, which can actively "pump" the heat of the shaft section from the high temperature zone to the low temperature zone by utilizing the "reversible heat pump" characteristic of the Peltier effect through positive and negative power supplies, thereby achieving temperature uniformity.

[0030] Specifically, when the teeth of the first driven gear 502 or its meshing gear ring 518 are damaged, a negative circuit is supplied to the electromagnet 901 through an energized carbon brush and wire. Simultaneously, utilizing the principle of attraction between positive and negative charges, the electromagnet 901 attracts the positive magnet 904, causing the positive magnet 904 to disengage the insert 905 from the slot 902 and slide it into the drive shaft 511. Then, a positive circuit is supplied to the electromagnet 901 at the other end of the drive shaft 511. The electromagnet 901, utilizing the principle of repulsion between positive and negative charges, pushes the positive magnet 904 to move, causing the positive magnet 904 to drive the insert 905 out of the drive shaft 511. This allows the insert 905 to engage with the through slot 903, thus driving the drive shaft 511 to rotate. The drive shaft 511 drives the insert block 905 to rotate. Simultaneously, the insert block 905, in conjunction with the through slot 903, drives the rotating shaft sleeve 508 to rotate, which in turn drives the second main gear 507 to rotate. This causes the second main gear 507 to mesh with and drive the second driven gear 506 to rotate. The second driven gear 506, while rotating on its own axis, revolves around the inner gear ring 518, simultaneously driving the second planetary gear carrier 514 to rotate at reduced speed. The second planetary gear carrier 514 then drives the second fixed frame 700 to rotate, causing the second fixed frame 700 to transmit power to the bearing bracket 517. This allows the second planetary gear carrier 514 to serve as a backup reduction assembly, enabling it to function as a backup in case the teeth of the first driven gear 502 are damaged. The reduction gear assembly maintains the robot's operation and extends the reducer's lifespan. During robot operation, an H-bridge commutation circuit within the protective housing 100 controls the current direction, while a PWM power control module within the housing 100 controls the heat flow. A temperature sensor array within the housing 100 controls the outer loop temperature and inner loop current, forming a closed-loop control system. This prevents uneven load distribution on the planetary gear assembly during robot operation, which could lead to temperature differences in the drive shaft 511 and cause electromagnet 901 malfunction. Furthermore, active thermal management is achieved using a thermoelectric temperature equalizer 1000, combined with lubricant within the reducer, ensuring proper functioning of both planetary gear sets. During the switching process, the temperature generated by the planetary gear assembly during operation is transferred to the non-operating planetary gear set, ensuring consistent thermal deformation between the two sets of planetary gears. This effectively eliminates the transient temperature difference generated during the switching process, thereby improving the wear resistance of the reducer. This solves the problem that existing wear-resistant robot joint reducers, when in operation, suffer from collisions and friction between teeth during operation. If any tooth of the fixed gear ring, planetary gear, or sun gear is damaged, the reduction ratio of the entire reducer will decrease and the torque transmission efficiency will be reduced, affecting the robot's trajectory accuracy and making it difficult for the robot to accelerate effectively.

[0031] Working principle: By twisting the bolts, the elastic element is compressed and inserted between the bearing bracket 517 and the first planetary gear carrier 513, thereby fixing the first planetary gear carrier 513 to the bearing bracket 517. Then, the motor drives the transmission shaft 511 to rotate, which in turn drives the first main gear 503 to rotate. The first main gear 503 meshes with the first driven gear 502 to rotate. Simultaneously, the first driven gear 502 meshes with the gear ring 518 to rotate on its own axis. Furthermore, the first driven gear 502 drives the first planetary gear carrier 513 within the protective housing 100. The inner cavity rotates, and at the same time, the first planetary gear carrier 513 drives the bearing support 517, thereby completing the first stage of deceleration output to the robot joint load end. Meanwhile, the transmission shaft 511 will not drive the rotating shaft sleeve 508 to rotate, thus realizing the deceleration and torque increase of a single set of planetary gears. When the robot needs to run in energy-saving mode, it can sacrifice the reduction ratio to optimize efficiency, accuracy and dynamic response, improve the robot's operating efficiency when lightly loaded or moving quickly, and at the same time reduce the operating efficiency of the other set of planetary gears, reduce its wear during operation, and increase the service life of the reducer. During the second-stage deceleration process, due to the stepped double-tooth ring 518 structure design of the inner cavity of the steel wheel 501, a second main gear 507 is installed at the end of the first planetary gear carrier 513 away from the transmission shaft 511. This gear meshes with the second driven gear 506, which in turn meshes with the tooth ring 518 on the other stepped inner wall of the steel wheel 501. The low-speed rotation of the first planetary gear carrier 513 drives the rotating shaft sleeve 508 to rotate synchronously via the transmission shaft 511, causing the rotating shaft sleeve 508 to drive the second main gear 507 to rotate. Simultaneously, the second main gear 507 meshes with and drives the second driven gear 506 to rotate. The second driven gear 506, while rotating on its own axis, revolves along the inner tooth ring 518, thereby driving the second planetary gear carrier 514 to further decelerate and rotate. Simultaneously, the second planetary gear carrier 514 drives the second fixed frame 700 to rotate, causing the second fixed frame 700 to rotate. The fixed frame 700 transmission bearing bracket 517 outputs the extremely low speed and extremely high torque motion after two-stage reduction, which is then output to the robot joint load end through the bearing bracket 517. The stepped double gear ring 518 integrated design of the steel wheel 501 is equivalent to providing double rigid internal gear ring support for the two-stage reduction, and dispersing the meshing reaction force of the first driven gear 502 and the second driven gear 506 to the two stepped inner walls of the steel wheel 501, which significantly improves the torsional stiffness and radial load capacity of the reducer. The first driven gear 502, together with the gear ring 518, undertakes the reduction of the high speed and low torque segment in the first stage, while the second driven gear 506, together with the gear ring 518, undertakes the output of the low speed and high torque segment in the second stage. This avoids the single-stage gear bearing the dual harsh conditions of high speed and high load at the same time, reduces the tooth surface contact fatigue stress, and suppresses the risk of pitting and tooth breakage.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot joint reducer having an anti-wear function, characterized by: Including protective shell (100), the internal cavity of protective shell (100) is installed with deceleration assembly (500); The deceleration assembly (500) includes two groups of planetary gear sets for reducing speed and increasing torque arranged in the internal cavity of the protective shell (100), and a single group of the planetary gear sets can be used to improve the response efficiency of the robot joint, and the two groups of planetary gear sets are synchronously operated, which can be used to improve the speed reduction and torque increasing effect of the reducer and reduce the wear efficiency of the planetary gear sets. The deceleration assembly (500) is installed with a main shaft joint (300) in the middle, and the main shaft joint (300) can drive two groups of planetary gear sets to operate synchronously or a single group to operate during high-speed rotation, and the planetary gear sets realize speed reduction and torque increase through the principle of small tooth difference engagement, and the motion after speed reduction is output through the deceleration assembly (500).

2. The robot joint reducer with anti-wear function according to claim 1, characterized in that: One end of the protective shell (100) is installed with a sealing steel ring (200), and the other end of the protective shell (100) is installed with a sealing cover (400).

3. The robot joint reducer with anti-wear function according to claim 1, characterized in that: The deceleration assembly (500) includes a bearing support (517) rotatably connected in the internal cavity of the protective shell (100), a first planetary gear carrier (513) is installed in the internal cavity of the bearing support (517), one end of the bearing support (517) is installed with a mounting disc (519), the mounting disc (519) is internally provided with an elastic element, and the elastic element is slid into the space between the bearing support (517) and the first planetary gear carrier (513) by extrusion, so that the first planetary gear carrier (513) and the bearing support (517) are fixed.

4. The robot joint reducer with anti-wear function according to claim 3, characterized in that: The internal cavity of the first planetary gear carrier (513) is installed with three support shafts (504), and the external surface of each support shaft (504) is annularly provided with a plurality of cylindrical balls (505), the external surface of the cylindrical ball (505) is installed with a first driven gear (502), and one end of the protective shell (100) is installed with a first fixed frame (600).

5. The robot joint reducer with anti-wear function according to claim 4, characterized in that: The first driven gear (502) is meshingly connected with a first main gear (503), the internal cavity of the first main gear (503) is installed with a transmission shaft (511), the internal cavity of the protective shell (100) is fixedly installed with a steel wheel (501), the internal cavity of the steel wheel (501) is annularly provided with a plurality of cylindrical balls (505), the external surface of the cylindrical ball (505) is installed with a first driven gear (502), and one end of the protective shell (100) is installed with a first fixed frame (600).

6. The robot joint reducer with anti-wear function according to claim 5, characterized in that: The internal cavity wall of the protective shell (100) is fixedly connected with an annular fixed frame (800), the internal wall of the annular fixed frame (800) is installed with a second ball bearing (516), the internal wall of the second ball bearing (516) is installed with a first ball bearing (515), the internal wall of the first ball bearing (515) is fixedly connected with a second fixed frame (700), one end of the second fixed frame (700) is installed with a second planetary gear carrier (514), and the second fixed frame (700) is rotatably installed with the first fixed frame (600).

7. The robot joint reducer with anti-wear function according to claim 6, characterized in that: Three support bearings (510) are rotatably connected in the inner cavity of the second planetary gear carrier (514), and one second driven gear (506) is mounted outside each support bearing (510), the second driven gear (506) is in meshing connection with the gear ring (518), and the number of teeth of the second driven gear (506) is less than that of the first driven gear (502).

8. The robot joint reducer with anti-wear function according to claim 7, characterized in that: The second driven gear (506) is in meshing connection with a second main gear (507), one end of the second main gear (507) is fixedly connected with a rotating shaft sleeve rod (508), the rotating shaft sleeve rod (508) is rotatably connected outside the transmission shaft (511), one end of the rotating shaft sleeve rod (508) is rotatably connected with a mounting cover (512), and the transmission shaft (511) is fixedly installed with the mounting cover (512) through a fastening bolt (509).

9. The robot joint reducer with anti-wear function according to claim 8, characterized in that: One end of the transmission shaft (511) is internally provided with an electric connection assembly (900), the electric connection assembly (900) is used for controlling the connection of the transmission shaft (511) and the rotating shaft sleeve rod (508), and the electric connection assembly (900) can also control the plug-in or disconnection of the transmission shaft (511) and the first driven gear (502).

10. The robot joint reducer with anti-wear function according to claim 9, characterized in that: The electric connection assembly (900) includes two electromagnets (901) mounted in the transmission shaft (511), the inner wall of the first driven gear (502) is provided with a clamping groove (902), the inner wall of the rotating shaft sleeve rod (508) is provided with a through groove (903), four plug blocks (905) are slidably connected outside the transmission shaft (511), every two plug blocks (905) form a group and are symmetrically arranged, the plug blocks (905) are used for plugging the through groove (903) and the clamping groove (902) to fix the first driven gear (502) and the rotating shaft sleeve rod (508), and each plug block (905) is provided with a positive magnet (904) near one end of the positive magnet (904), and the transmission shaft (511) is provided with a thermoelectric uniform temperature sheet (1000).

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