Two-stage planetary reducer mechanism for robot joint module

Abstract

The embodiment of the application relates to a robot joint module two-stage planetary reducer mechanism, a shell is arranged on the robot joint module two-stage planetary reducer mechanism; a first-stage planetary reducer structure is arranged in the shell; a two-stage planetary reducer structure is arranged on one side of the first-stage planetary reducer structure; a motor outputs power and drives the first-stage planetary reducer structure to operate; the first-stage planetary reducer structure transmits power to the two-stage planetary reducer structure and drives the two-stage planetary reducer structure to operate; two-stage reduction is output; the technical problems of the prior art, such as limited reduction ratio of a traditional single-stage planetary reducer, multiple stages in series if a large reduction ratio needs to be realized, resulting in increased structure size and reduced efficiency, complex support structure due to multiple shafts in the prior art multiple-stage series reducer, easy production of cumulative transmission error, deviation of input / output coaxiality caused by assembly gap of each shaft section, reduced transmission stability and aggravated wear, and high maintenance cost due to large number of parts of the prior art reducer and complex assembly process are solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to robot joint modules, and more particularly to a two-stage planetary reducer mechanism for robot joint modules. Background Technology

[0002] Traditional single-stage planetary reducers have limited reduction ratios. To achieve a large reduction ratio, multiple stages need to be connected in series, which increases the structural volume and reduces efficiency. Traditional multi-stage series reducers are prone to cumulative transmission errors due to the large number of shafts and complex support structures. Furthermore, the assembly clearance of each shaft section causes input and output coaxiality deviations, reducing transmission smoothness and aggravating wear. Traditional reducers are prone to dynamic response lag and positioning errors due to their large inertia and large backlash. Traditional reducers also have a large number of parts, complex assembly processes, and high maintenance costs. Summary of the Invention

[0003] The purpose of this invention is to provide a two-stage planetary reducer mechanism for robot joint modules that is compact in structure and has a large output speed ratio.

[0004] To achieve the above objectives, embodiments of the present invention provide a two-stage planetary reducer mechanism for a robot joint module, comprising: The housing is mounted on the two-stage planetary reducer mechanism of the robot joint module; A first-stage planetary reducer structure is provided inside the housing. A two-stage planetary reducer structure is provided on one side of the first-stage planetary reducer structure; the motor outputs power to drive the first-stage planetary reducer structure, and the first-stage planetary reducer structure transmits power to the two-stage planetary reducer structure to drive its operation, resulting in two-stage reduction output.

[0005] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, the outer shell of the threading shaft is fixed on one side of the housing.

[0006] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, the first-stage planetary reducer structure includes: A primary sun gear is fixed on the threading shaft; A primary planetary carrier support bearing is movably connected inside the housing. A primary gear ring is fixedly connected to the housing; the primary sun gear is at the center of the primary gear ring. A first-stage planetary gear, which movably connects several first-stage planetary gears inside the first-stage gear ring; A primary planetary carrier, wherein the plurality of primary planetary gears are fixedly connected to the primary planetary carrier via a first needle roller bearing and a first pin; the primary planetary carrier rotates with the primary planetary gears.

[0007] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, the first-stage sun gear meshes with the first-stage planetary gear, and the first-stage sun gear drives the first-stage planetary gear to rotate; the first-stage planetary gear meshes with the first-stage gear ring, and the first-stage planetary gear rotates within the first-stage gear ring.

[0008] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, the two-stage planetary reducer structure includes: The second-stage sun gear is fixed to one side of the first-stage planetary carrier; A secondary sun gear support bearing is movably connected to the outer side of the secondary sun gear; A secondary gear ring is fixedly connected to one side of the primary gear ring and to the housing; the secondary sun gear is at the center of the secondary gear ring. A secondary planetary gear is movably connected to several secondary planetary gears on the inner side of the secondary gear ring and the outer side of the secondary sun gear; A secondary planetary carrier, with several secondary planetary gears fixedly connected to the secondary planetary carrier via second needle roller bearings and second pins; the secondary planetary carrier rotates with the secondary planetary gears.

[0009] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, the number of first-stage planetary gears in the first-stage planetary reducer structure is 3; the number of second-stage planetary gears in the two-stage planetary reducer structure is 3.

[0010] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, the secondary sun gear meshes with the secondary planetary gear; the secondary planetary gear meshes with the secondary gear ring, and the secondary planetary gear rotates within the secondary gear ring.

[0011] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, a rear cover plate is fixed on the other side of the housing.

[0012] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, a cross roller bearing is movably connected between the secondary planetary carrier and the rear cover plate; the outer ring of the cross roller bearing is fixed to the rear cover plate; the inner ring of the cross roller bearing is fixed to the secondary planetary carrier; and a retaining ring is fixed on the inner side of the cross roller bearing.

[0013] Furthermore, in the two-stage planetary reducer mechanism of the robot joint module of the present invention, a motor is fixed on one side of the two-stage planetary reducer mechanism of the robot joint module; the output shaft of the motor is fixedly connected to one side of the threading shaft.

[0014] Compared with the prior art, the embodiments of the present invention employ a housing on a two-stage planetary reducer mechanism of a robot joint module; a single-stage planetary reducer structure is set inside the housing; a two-stage planetary reducer structure is set on one side of the single-stage planetary reducer structure; the motor outputs power to drive the single-stage planetary reducer structure, which in turn transmits power to the two-stage planetary reducer structure, driving them to run. This two-stage reduction output solves the problems of limited reduction ratios in traditional single-stage planetary reducers, the need for multiple stages in series to achieve large reduction ratios, which leads to increased structural volume and reduced efficiency; the tendency for traditional multi-stage series reducers to accumulate transmission errors due to multiple shafts and complex support structures, and the assembly clearances of each shaft segment causing input-output coaxiality deviations, reducing transmission smoothness and exacerbating wear; the large inertia and large backlash of traditional reducers easily leading to dynamic response lag and positioning errors; and the high number of parts, complex assembly processes, and high maintenance costs of traditional reducers. Attached Figure Description

[0015] Figure 1 This is an exploded view of the present invention; Figure 2 This is a perspective view of the present invention; Figure 3 This is the front view of the present invention; Figure 4 This is a top view of the present invention; Figure 5 This is the left view of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the various embodiments of this invention will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this invention to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0017] Embodiments of the present invention relate to a two-stage planetary reducer mechanism for a robot joint module, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, it includes: In this embodiment, a housing 1 is provided on the two-stage planetary reducer mechanism of the robot joint module. The housing 1 serves as a support frame for the two-stage planetary reducer mechanism of the robot joint module and protects the internal components.

[0018] A first-stage planetary reducer structure 21 is installed inside the housing 1; A two-stage planetary reducer structure 22 is set on one side of the first-stage planetary reducer structure 21. The motor outputs power to drive the first-stage planetary reducer structure 21, which in turn transmits power to the two-stage planetary reducer structure 22, causing them to run. The two-stage reduction output is achieved. The motor outputs power and transmits it to the first-stage sun gear 4 through the through-shaft 2. The first-stage sun gear 4 drives several first-stage planetary gears 7 that mesh with it to rotate. The several first-stage planetary gears 7 revolve around the first-stage sun gear 4 and rotate on their own axes. The first-stage planet carrier 10 rotates with the several first-stage planetary gears 7, transmitting power to the second-stage sun gear 11. This is the first stage of reduction. The second-stage sun gear 11 drives several second-stage planetary gears 14 to rotate. The several second-stage planetary gears 14 revolve around the second-stage sun gear 11 and rotate on their own axes, transmitting power to the second-stage planet carrier 17. Finally, the power after two-stage reduction is output, which improves the output speed ratio and enhances the torque.

[0019] In this embodiment, a two-stage planetary reducer structure 22 is provided on one side of the single-stage planetary reducer structure 21. The motor outputs power to drive the single-stage planetary reducer structure 21, which in turn transmits power to the two-stage planetary reducer structure 22, driving them to run. The two-stage reduction output solves the problems of the limited reduction ratio of traditional single-stage planetary reducers, which require multiple stages in series to achieve a large reduction ratio, resulting in increased structural volume and reduced efficiency; the complex support structure of traditional multi-stage series reducers, due to the large number of shafts, easily leads to cumulative transmission errors, and the assembly clearance of each shaft section causes input and output coaxiality deviation, reducing transmission smoothness and aggravating wear; the large inertia and large backlash of traditional reducers easily lead to dynamic response lag and positioning errors; and the large number of parts, complex assembly process, and high maintenance cost of traditional reducers.

[0020] To achieve the above-mentioned technical effects, such as Figure 1 As shown, the outer shell 3 of the threading shaft 2 is fixed on one side of the housing 1. The threading shaft 2 transmits the motor power to the first-stage sun gear 4. The outer shell 3 protects and supports the threading shaft 2, preventing external factors from damaging or interfering with the threading shaft 2.

[0021] To achieve the above-mentioned technical effects, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the first-stage planetary reducer structure 21 includes: A primary sun gear 4 is fixed on the threading shaft 2, and the primary sun gear 4 drives several primary planetary gears 7 that mesh with it to rotate.

[0022] Inside the housing 1, a primary planetary carrier support bearing 5 is movably connected. The primary planetary carrier support bearing 5 provides support for the primary planetary carrier 10, enabling it to rotate flexibly and reducing friction and resistance during rotation.

[0023] A primary gear ring 6 is fixedly connected to the housing 1; a primary sun gear 4 is located at the center of the primary gear ring 6; the primary gear ring 6 meshes with a primary planetary gear 7, and through the interaction between its internal teeth and the primary planetary gear 7, the direction and speed of power transmission are changed, thereby achieving primary speed reduction.

[0024] The first-stage planetary gear 7 is movably connected inside the first-stage ring gear 6. The first-stage planetary gear 7 meshes with the first-stage sun gear 4 and the first-stage ring gear 6 simultaneously. The first-stage planetary gear 7 is driven to rotate by the power transmitted by the first-stage sun gear 4, which drives the first-stage planetary carrier 10 to rotate synchronously, transmitting power to the second-stage sun gear 11, and also playing a role in deceleration.

[0025] Several first-stage planetary gears 7 are fixedly connected to the first-stage planetary carrier 10 via first needle roller bearings 8 and first pins 9 respectively; the first-stage planetary carrier 10 rotates with the first-stage planetary gears 7, and the first needle roller bearings 8 and first pins 9 are used to connect the first-stage planetary gears 7 and the first-stage planetary carrier 10, so that the first-stage planetary gears 7 drive the first-stage planetary carrier 10 to rotate; the first-stage planetary carrier 10 rotates with the first-stage planetary gears 7, and transmits the power after the first-stage reduction to the second-stage sun gear 11, driving the two-stage planetary reducer structure 22 to run.

[0026] To achieve the above-mentioned technical effects, such as Figure 1 As shown, the first-stage sun gear 4 meshes with the first-stage planet gear 7, and the first-stage sun gear 4 drives the first-stage planet gear 7 to rotate; the first-stage planet gear 7 meshes with the first-stage ring gear 6, and the first-stage planet gear 7 rotates within the first-stage ring gear 6.

[0027] To achieve the above-mentioned technical effects, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the two-stage planetary reducer structure 22 includes: A secondary sun gear 11 is fixed on one side of the primary planetary carrier 10. The secondary sun gear 11 receives the power transmitted from the primary planetary carrier 10 and drives the secondary planetary gear 14 to rotate.

[0028] A secondary sun gear support bearing 12 is movably connected to the outer side of the secondary sun gear 11. The secondary sun gear support bearing 12 provides support for the secondary sun gear 11, ensuring its stability during rotation and reducing friction and wear.

[0029] A secondary gear ring 13 is fixedly connected to one side of the primary gear ring 6 and the housing 1; the secondary sun gear is at the center of the secondary gear ring; the secondary gear ring 13 meshes with the secondary planetary gear 14, further changing the direction and speed of power transmission, and realizing secondary deceleration.

[0030] The secondary planetary gear 14 is movably connected to the inner side of the secondary ring gear 13 and the outer side of the secondary sun gear 11. The secondary planetary gear 14 meshes with the secondary sun gear 11 and the secondary ring gear 13, and transmits the power transmitted by the secondary sun gear 11 again to achieve further deceleration.

[0031] Several secondary planetary gears 14 are fixedly connected to the secondary planetary carrier 17 via a second needle roller bearing 15 and a second pin 16, respectively. The secondary planetary carrier 17 rotates with the secondary planetary gears 14. The second needle roller bearing 15 and the second pin 16 fix the secondary planetary gears 14 to the secondary planetary carrier 17, so that the secondary planetary gears 14 can drive the secondary planetary carrier 17 to rotate, outputting power after two stages of reduction, and ensuring the stability of the secondary planetary gears 14 during rotation.

[0032] To achieve the above-mentioned technical effects, such as Figure 1 As shown, the number of first-stage planetary gears 7 in the first-stage planetary reducer structure 21 is 3; the number of second-stage planetary gears 14 in the two-stage planetary reducer structure 22 is 3.

[0033] To achieve the above-mentioned technical effects, such as Figure 1 As shown, the secondary sun gear 11 meshes with the secondary planet gear 14; the secondary planet gear 14 meshes with the secondary ring gear 13, and the secondary planet gear 14 rotates within the secondary ring gear 13.

[0034] To achieve the above-mentioned technical effects, such as Figure 1 and Figure 2 As shown, a rear cover plate 20 is fixed on the other side of the housing 1. The rear cover plate 20 and the housing 1 together form a closed space to protect the internal components from external dust, impurities and other influences, which helps to improve the overall structural strength of the two-stage planetary reducer mechanism of the robot joint module.

[0035] To achieve the above-mentioned technical effects, such as Figure 1As shown, a crossed roller bearing 18 is movably connected between the secondary planetary carrier 17 and the rear cover plate 20; the outer ring of the crossed roller bearing 18 is fixed to the rear cover plate 20; the inner ring of the crossed roller bearing 18 is fixed to the secondary planetary carrier 17; and a retaining ring 19 is fixed to the inner side of the crossed roller bearing 18. The crossed roller bearing 18 can withstand large radial and axial loads while having high rotational accuracy, ensuring the stability and rotational accuracy of the secondary planetary carrier 17 when outputting power. The retaining ring 19 is used to axially position the crossed roller bearing 18, preventing it from moving in the axial direction, ensuring its normal working position, and improving the reliability and stability of the entire mechanism.

[0036] To achieve the above-mentioned technical effects, such as Figure 1 As shown, a motor is fixed on one side of the two-stage planetary reducer mechanism of the robot joint module; the output shaft of the motor is fixedly connected to one side of the threaded shaft 2, and the motor provides power to the two-stage planetary reducer mechanism of the robot joint module.

[0037] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A two-stage planetary reducer mechanism for a robot joint module, characterized in that, include: The housing is mounted on the two-stage planetary reducer mechanism of the robot joint module; A first-stage planetary reducer structure is provided inside the housing. A two-stage planetary reducer structure is provided on one side of the first-stage planetary reducer structure; the motor outputs power to drive the first-stage planetary reducer structure, and the first-stage planetary reducer structure transmits power to the two-stage planetary reducer structure to drive its operation, resulting in two-stage reduction output.

2. The two-stage planetary reducer mechanism for the robot joint module according to claim 1, characterized in that, The outer casing of the threading shaft is fixed on one side of the casing.

3. The two-stage planetary reducer mechanism for the robot joint module according to claim 1, characterized in that, The first-stage planetary reducer structure includes: A primary sun gear is fixed on the threading shaft; A primary planetary carrier support bearing is movably connected inside the housing. A primary gear ring is fixedly connected to the housing; the primary sun gear is at the center of the primary gear ring. A first-stage planetary gear, which movably connects several first-stage planetary gears inside the first-stage gear ring; A primary planetary carrier, wherein the plurality of primary planetary gears are fixedly connected to the primary planetary carrier via a first needle roller bearing and a first pin; the primary planetary carrier rotates with the primary planetary gears.

4. The two-stage planetary reducer mechanism for the robot joint module according to claim 3, characterized in that, The first-stage sun gear meshes with the first-stage planetary gear, and the first-stage sun gear drives the first-stage planetary gear to rotate; the first-stage planetary gear meshes with the first-stage ring gear, and the first-stage planetary gear rotates within the first-stage ring gear.

5. The two-stage planetary reducer mechanism for the robot joint module according to claim 1, characterized in that, The two-stage planetary reducer structure includes: The second-stage sun gear is fixed to one side of the first-stage planetary carrier; A secondary sun gear support bearing is movably connected to the outer side of the secondary sun gear; A secondary gear ring is fixedly connected to one side of the primary gear ring and to the housing; the secondary sun gear is at the center of the secondary gear ring. A secondary planetary gear is movably connected to several secondary planetary gears on the inner side of the secondary gear ring and the outer side of the secondary sun gear; A secondary planetary carrier, with several secondary planetary gears fixedly connected to the secondary planetary carrier via second needle roller bearings and second pins; the secondary planetary carrier rotates with the secondary planetary gears.

6. The two-stage planetary reducer mechanism for the robot joint module according to claim 1, characterized in that, The number of first-stage planetary gears in the single-stage planetary reducer structure is 3; the number of second-stage planetary gears in the two-stage planetary reducer structure is 3.

7. The two-stage planetary reducer mechanism for the robot joint module according to claim 5, characterized in that, The secondary sun gear meshes with the secondary planetary gear; the secondary planetary gear meshes with the secondary ring gear, and the secondary planetary gear rotates within the secondary ring gear.

8. The two-stage planetary reducer mechanism for the robot joint module according to claim 1, characterized in that, The rear cover plate is fixed on the other side of the housing.

9. The two-stage planetary reducer mechanism for a robot joint module according to claim 5, characterized in that, A crossed roller bearing is movably connected between the secondary planetary carrier and the rear cover plate; the outer ring of the crossed roller bearing is fixed to the rear cover plate; the inner ring of the crossed roller bearing is fixed to the secondary planetary carrier; and a retaining ring is fixed to the inner side of the crossed roller bearing.

10. The two-stage planetary reducer mechanism for the robot joint module according to claim 2, characterized in that, A motor is fixed on one side of the two-stage planetary reducer mechanism of the robot joint module; the output shaft of the motor is fixedly connected to one side of the threading shaft.

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