A reduction motor and robot

Abstract

The application discloses a speed reduction motor and a robot, and relates to the technical field of motors. One end of an output shaft of the speed reduction motor is fixed with an output end of a speed reduction assembly, the other end is supported on a rear cover through a first bearing, and a clearance is left when the output shaft passes through an internal rotating part, so that large-span support and physical isolation are realized at two ends, friction heat loss is completely avoided, and the anti-deviation ability and overall stability during operation are significantly improved. Meanwhile, feedback assemblies arranged in layers are adopted, a coil disc is used as a double-path data acquisition hub, the change of a magnet rotating with a rotor connecting piece at the bottom and the change of an angle code disc rotating with the output shaft above are synchronously read, double-end angle data of an undecelerated rotor and an output shaft after deceleration is compactly and efficiently acquired without increasing the axial length, and a hardware foundation is provided for accurate compensation of transmission back difference.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and in particular to a geared motor and a robot. Background Technology

[0002] With the widespread application of robot joints and precision automated equipment, the market demand for highly integrated power drive devices is constantly growing. Currently, conventional geared motors typically integrate the motor and reduction gear together to output low-speed, high-torque power. Meanwhile, to achieve precise servo control, position feedback components are often installed inside the drive device to detect the motor's rotation angle and speed.

[0003] However, existing geared motors with reduction mechanisms still face several technical challenges in terms of structure and function. Firstly, in conventional drive structures, the output shaft typically comes into physical contact with multiple internal rotating transmission components. When the motor operates at high speed, the output shaft is prone to friction, heat generation, and wear with the internal planetary reduction gear set or the motor rotor. This not only reduces transmission efficiency but also shortens the equipment's lifespan. Furthermore, due to the lack of a stable, large-span end-support structure, the central output shaft is prone to radial yaw when subjected to variable load impacts, severely affecting the overall operational stability. Secondly, in terms of measurement feedback, existing equipment struggles to balance compact structure with dual-end data acquisition. Conventional feedback devices can usually only measure the angle of the motor rotor or only detect the angle of the final output shaft. Blindly stacking multiple sets of feedback sensors in the axial space would significantly increase the overall length of the motor. Existing designs struggle to simultaneously acquire the first angle data of the unreduced motor rotor and the second angle data of the reduced output end within the limited tail space using a compact circuit structure. This results in the transmission hysteresis of the internal planetary gear set not being effectively compensated by the control algorithm, thus limiting the motor's precision closed-loop control performance. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that: when the existing geared motor is running at high speed, the output shaft is prone to friction with the internal rotating transmission components and is prone to radial sway. At the same time, the existing speed feedback device is difficult to acquire the double-end angle data before and after deceleration in a limited and compact space.

[0005] The above-mentioned technical problems are solved by the following technical solutions: A geared motor includes a protective housing, one end of which is closed to form a rear cover; a rotor connector housed within the protective housing; a reduction assembly including a first central transmission component, a second central transmission component, and a second intermediate speed-changing component connected in sequence, the first central transmission component being driven by the rotor connector; a first bearing mounted in the middle of the rear cover; an output shaft, one end of which is fixedly connected to the second intermediate speed-changing component; and a middle section passing through the central area of ​​the rotor connector and the reduction assembly with a clearance.

[0006] In a preferred embodiment of the geared motor of the present invention: the other end is supported on the rear cover by the first bearing, and the protective housing includes a reducer housing, a first motor housing, a second motor housing and the rear cover, which are sequentially spliced ​​and fixed along the output shaft axis; a mounting hole is provided in the middle of the rear cover, and the outer ring of the first bearing is fixed in the mounting hole.

[0007] In a preferred embodiment of the geared motor of the present invention: the reduction assembly includes a first-stage reduction unit and a peripheral fixing member; the first central transmission member belongs to the first-stage reduction unit, and the first-stage reduction unit further includes a first intermediate speed change member; the inner ring of the first intermediate speed change member cooperates with the first central transmission member, and the outer ring of the first intermediate speed change member cooperates with the peripheral fixing member.

[0008] In a preferred embodiment of the geared motor of the present invention: the first intermediate speed change component includes a first star wheel and a first star frame, there are a plurality of first star wheels and they are rotatably connected to the first star frame; the first star wheel meshes with the first central transmission component; the first star wheel meshes with the inner ring of the peripheral fixing component.

[0009] In a preferred embodiment of the geared motor of the present invention: the gearing assembly further includes a second-stage gearing unit; the second central transmission component and the second intermediate speed change component belong to the second-stage gearing unit, one end of the second central transmission component and one end of the first intermediate speed change component are fixedly connected, the outer ring of the second central transmission component and the inner ring of the second intermediate speed change component are engaged; the outer ring of the second intermediate speed change component and the inner ring of the peripheral fixing component are engaged.

[0010] In a preferred embodiment of the geared motor of the present invention: the second intermediate speed change component includes a second star wheel, an output end component, and an output end cover; there are a plurality of second star wheels, which are evenly arranged around the output end component and the output end cover, and the second star wheels and the output end component are rotatably connected; the second star wheel meshes with the second central transmission component; the second star wheel meshes with the inner ring of the peripheral fixing component.

[0011] In a preferred embodiment of the geared motor of the present invention: a feedback component, the feedback component including an angle encoder, a sensing circuit, and a coil disk; a power component, the power component including a magnet; the magnet being sleeved on the inner ring of the bottom of the rotor connector; the coil disk being disposed below the magnet; the angle encoder being fixedly sleeved on the middle of the output shaft and located below the coil disk; the sensing circuit being disposed below the angle encoder; the coil disk reading the angle changes of the magnet and the angle encoder respectively, and transmitting the data to the sensing circuit.

[0012] In a preferred embodiment of the geared motor of the present invention: a support assembly, the support assembly including a second bearing, a third bearing and a fourth bearing; two second bearings are respectively disposed between the rotor connector and the first motor housing, and between the rotor connector and the second motor housing; two third bearings are respectively disposed between the first central transmission member and the first star frame, and between the second central transmission member and the output end member; the fourth bearing is disposed between the output end member and the reducer housing.

[0013] In a preferred embodiment of the geared motor of the present invention: the support assembly further includes a limiting end cover disposed on the top of the output end piece, the limiting end cover including an inner bearing cover and an outer bearing cover; the bottom of the inner bearing cover is fixedly connected to the top of the output end piece; the bottom of the outer bearing cover is fixedly connected to the top of the reducer housing.

[0014] The present invention also provides a robot, including a geared motor.

[0015] The beneficial effects of this invention are as follows: one end of the output shaft is fixed to the output end of the reduction assembly, while the other end is supported on the rear cover by a first bearing. A clearance is provided when passing through the internal rotating parts, achieving large-span support and physical isolation at both ends. This completely avoids heat loss due to friction and significantly improves the anti-sway capability and overall stability during operation. Simultaneously, a stacked feedback assembly is used, with a coil disk serving as a dual-channel data acquisition hub. It synchronously reads the changes in the magnet at the bottom as it rotates with the rotor connector and the changes in the angle encoder disk at the top as it rotates with the output shaft. Without increasing the axial length excessively, it compactly and efficiently acquires the angle data at both ends of the unreduced rotor and the reduced-speed output shaft, providing a hardware foundation for accurate compensation of transmission hysteresis. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention.

[0017] Figure 1 A cross-sectional view of the geared motor is shown; Figure 2 A cross-sectional view of the power assembly is shown; Figure 3 An exploded view of the deceleration assembly is shown; Figure 4 A front view of the feedback component is shown; Figure 5 A cross-sectional view of the support assembly is shown; Figure 6 A flowchart illustrating the usage of the geared motor is shown. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0019] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0020] Reference Figure 1 This embodiment provides a geared motor, including a protective housing 405, one end of which is closed to form a rear cover 405d, forming a closed accommodating space to block external dust and impurities. At the same time, the rear cover 405d provides a stable tail end assembly and support base for the internal structure. The rotor connector 102 is housed within the protective housing 405 and serves as a power input carrier, capable of smoothly transmitting the rotational power generated by the drive source to the subsequent transmission mechanism. The speed reduction assembly 200 includes a first central transmission component 201a, a second central transmission component 202a, and a second intermediate speed change component 202b connected in sequence. The first central transmission component 201a is driven by the rotor connector 102 and achieves speed reduction and torque increase through multi-stage nested gear physical meshing, thereby outputting high torque low-speed power that meets the actual operation requirements of the equipment. The first bearing 401 is installed in the middle of the rear cover 405d to reduce the frictional resistance when the output shaft rotates and limit its radial runout to ensure the stability of the overall rotational accuracy.

[0021] It should be noted that existing geared motors often have a design where the central output shaft is in direct contact with the internal rotor or planetary gear set, or with minimal clearance. When the equipment operates continuously at high speeds, the central output shaft is prone to friction, heat generation, and even wear with these high-speed rotating transmission components. This friction not only consumes the system's driving energy, significantly reducing overall transmission efficiency, but also causes severe radial runout when subjected to external variable load impacts due to the lack of effective tail support. This greatly shortens the motor's lifespan and fails to guarantee the stability required by precision equipment.

[0022] Therefore, to address the aforementioned problems, this invention designs an output shaft with one end fixedly connected to the reduction output end and the other end supported by a first bearing 401 on the rear cover 405d, while providing sufficient physical clearance when it passes through the central area of ​​the motor and reducer. This large-span, two-end supported, and centrally suspended isolation structure completely cuts off the friction path between the output shaft and the internal high-speed rotating components. This effectively eliminates unnecessary heat sources and kinetic energy losses, significantly extends the service life of internal mechanical components, and, thanks to the limiting effect of the tail bearing, significantly enhances the output shaft's ability to resist radial runout, enabling the geared motor to maintain extremely high rotational smoothness and transmission reliability while outputting high torque.

[0023] Reference Figures 1 to 5 This embodiment provides a geared motor, including a power component 100, a reduction component 200, a feedback component 300, and a support component 400.

[0024] Specifically, the output shaft 301 is fixedly connected at one end to the second intermediate speed change component 202b; the middle part passes through the central area of ​​the rotor connector 102 and the reduction assembly 200 with a clearance; the other end is supported on the rear cover 405d by the first bearing 401.

[0025] In another embodiment, the output shaft 301 can be replaced with a hollow output shaft. The through-cavity allows external cables to pass through smoothly, thus avoiding tangling, while the clearance design allows it to completely detach from physical contact with the motor heating element and high-speed gears when rotating at high speed.

[0026] This design, with its large span, two-end support, and a clearance in the middle, prevents the output shaft 301 from physical friction with the rotor connector 102 and the internal rotating parts of the reduction assembly 200 during operation. This not only reduces energy loss but also significantly improves the ability to resist radial sway through the tail support of the first bearing 401.

[0027] Specifically, the protective housing 405 includes a reducer housing 405a, a first motor housing 405b, a second motor housing 405c, and a rear cover 405d, which are sequentially spliced ​​and fixed along the output shaft 301. A mounting hole H1 is provided in the middle of the rear cover 405d, and the outer ring of the first bearing 401 is fixed in the mounting hole H1.

[0028] The multi-segment housing design, which is assembled sequentially along the axial direction, greatly facilitates the step-by-step assembly and subsequent disassembly and maintenance of the geared motor. Among them, the rear cover 405d and its mounting hole H1 provide a stable positioning reference for the first bearing 401, ensuring the concentricity of the entire output shaft support system.

[0029] Specifically, the deceleration assembly 200 includes a first-stage deceleration unit 201 and an outer fixing member 203; the first central transmission member 201a belongs to the first-stage deceleration unit 201, and the first-stage deceleration unit 201 also includes a first intermediate transmission member 201b; the inner ring of the first intermediate transmission member 201b cooperates with the first central transmission member 201a, and the outer ring of the first intermediate transmission member 201b cooperates with the outer fixing member 203.

[0030] The modular hierarchy of the reduction assembly 200 is defined. The first central transmission component 201a, as the sun gear of the first-stage reduction, directly receives the primary high-speed power from the rotor, and together with the externally fixed peripheral component 203, constitutes the operating boundary of the first-stage reduction unit 201.

[0031] Specifically, the first intermediate transmission component 201b includes a first star wheel 201b-1 and a first star frame 201b-2. There are several first star wheels 201b-1, which are rotatably connected to the first star frame 201b-2. The first star wheel 201b-1 meshes with the first central transmission component 201a. The first star wheel 201b-1 meshes with the inner ring of the peripheral fixing component 203.

[0032] By utilizing multiple first star wheels 201b-1 simultaneously meshing with the central transmission component and the fixed internal gear ring, the single-point force is cleverly distributed into multi-point force. While rotating on its own axis, the first star wheel 201b-1 revolves around the first central transmission component 201a, thereby driving the first star frame 201b-2 to output power after initial speed reduction and torque increase.

[0033] Specifically, the reduction assembly 200 also includes a second-stage reduction unit 202; the second central transmission component 202a and the second intermediate transmission component 202b belong to the second-stage reduction unit 202, one end of the second central transmission component 202a is fixedly connected to one end of the first intermediate transmission component 201b, and the outer ring of the second central transmission component 202a and the inner ring of the second intermediate transmission component 202b are engaged; the outer ring of the second intermediate transmission component 202b is engaged with the inner ring of the peripheral fixing component 203.

[0034] A series-type two-stage planetary reduction architecture was constructed. The power output from the first intermediate transmission component 201b is directly transmitted to the second central transmission component 202a, enabling the second-stage reduction unit 202 to further reduce the speed, meeting the application requirements of low speed and high torque.

[0035] Specifically, the second intermediate transmission component 202b includes a second star wheel 202b-1, an output end component 202b-2, and an output end cover 202b-3; there are several second star wheels 202b-1, which are evenly arranged around the output end component 202b-2 and the output end cover 202b-3, and the second star wheels 202b-1 and the output end component 202b-2 are rotatably connected; the second star wheels 202b-1 mesh with the second central transmission component 202a; the second star wheels 202b-1 mesh with the inner ring of the peripheral fixing component 203.

[0036] The second planetary gear 202b-1 is arranged in a uniformly circular pattern and rotates under the clamping of the output end piece 202b-2 and the output end cover 202b-3. This double-sided clamping planetary carrier structure greatly enhances the rigidity of the second intermediate gearbox 202b, making it less prone to deformation when outputting huge torques.

[0037] In one embodiment, the first-stage reduction unit 201 or the second-stage reduction unit 202 of the reduction assembly 200 can be replaced with a harmonic reduction mechanism.

[0038] In another embodiment, the entire deceleration assembly 200 can be replaced with a harmonic deceleration mechanism.

[0039] Specifically, the harmonic reduction mechanism includes a wave generator, a rigid wheel, and a flexible wheel. When the first-stage reduction unit 201 is replaced, the wave generator is connected to the rotor connector 102 to input initial power, the rigid wheel is fixed inside the protective housing 405, and the output end of the flexible wheel is fixedly connected to the second central transmission component 202a, thereby completing the primary speed reduction.

[0040] When the second-stage reduction unit 202 is replaced, the wave generator is connected to the output end of the first intermediate speed changer 201b to receive the power after the primary speed reduction. The rigid wheel is fixed inside the protective housing 405, and the output end of the flexible wheel is fixedly connected to the output shaft 301.

[0041] This partial replacement scheme can utilize the high transmission ratio and low backlash characteristics of the harmonic reduction mechanism to improve transmission accuracy at a specific level and meet different speed reduction and torque increase requirements.

[0042] Specifically, the wave generator is directly driven by the rotor connector 102 to obtain power, the rigid wheel is firmly fixed inside the protective housing 405, and the output end of the flexible wheel is directly fixedly connected to one end of the output shaft 301.

[0043] This single-stage harmonic deceleration scheme can not only significantly shorten the overall axial physical length of the motor, but also achieve zero backlash high-precision transmission at the output end, making it very suitable for precision drive scenarios such as robot joints where space size is extremely limited and positioning accuracy is extremely high.

[0044] Specifically, the feedback component 300 includes an angle encoder 302, a sensing circuit 303, and a coil disk 304; the power component 100 includes a magnet 103; the magnet 103 is sleeved on the inner bottom ring of the rotor connector 102; the coil disk 304 is located below the magnet 103; the angle encoder 302 is fixedly sleeved on the middle of the output shaft 301 and located below the coil disk 304; the sensing circuit 303 is located below the angle encoder 302; the coil disk 304 reads the angle changes of the magnet 103 and the angle encoder 302 respectively, and transmits the data to the sensing circuit 303.

[0045] A compact, vertically stacked layout is adopted, using coil disk 304 as a dual-channel data acquisition hub. Coil disk 304 reads downwards from magnet 103, which rotates synchronously with rotor connector 102, and upwards from angle encoder disk 302, which rotates synchronously with output shaft 301. Without significantly increasing the axial length of the motor, it simultaneously acquires dual-end angle data before and after deceleration, providing a hardware foundation for accurate error compensation of the servo system.

[0046] Specifically, the support assembly 400 includes a second bearing 402, a third bearing 403, and a fourth bearing 404. There are two second bearings 402, which are respectively disposed between the rotor connector 102 and the first motor housing 405b, and between the rotor connector 102 and the second motor housing 405c. There are two third bearings 403, which are respectively disposed between the first central transmission component 201a and the first star frame 201b-2, and between the second central transmission component 202a and the output end component 202b-2. The fourth bearing 404 is disposed between the output end component 202b-2 and the reducer housing 405a.

[0047] The second bearing 402 ensures the smooth rotation of the motor rotor; the third bearing 403 provides stable support between the cascaded rotating parts inside the reducer, reducing mechanical losses during power transmission; and the fourth bearing 404 provides strong radial support between the final output end piece 202b-2 and the reducer housing 405a, ensuring operational stability under high torque output.

[0048] Specifically, the support assembly 400 also includes a limiting end cover 406 disposed on the top of the output end piece 202b-2. The limiting end cover 406 includes an inner bearing cover 406a and an outer bearing cover 406b. The bottom of the inner bearing cover 406a is fixedly connected to the top of the output end piece 202b-2. The bottom of the outer bearing cover 406b is fixedly connected to the top of the reducer housing 405a.

[0049] The limiting end cover 406, through the cooperation of the inner bearing cover 406a and the outer bearing cover 406b, tightly encapsulates the internal transmission components and support system within the housing. This not only serves to axially position and prevent parts from falling off, but also significantly enhances the sealing and dustproof capabilities of the motor end.

[0050] It should be noted that existing geared motors often have a structural design that allows the central output shaft to directly contact the internal rotor or planetary gear set, or the assembly clearance is extremely small. When the motor is running, the central output shaft is prone to friction, heat generation, and even wear with these high-speed rotating internal transmission components. This physical interference not only consumes the driving energy of the power source, leading to a decrease in transmission efficiency, but also causes severe radial runout when subjected to external variable load impacts due to the lack of effective support at the tail of the output shaft. This significantly shortens the overall service life of the motor and fails to meet the operational smoothness requirements of precision drive equipment.

[0051] Therefore, to address the aforementioned problems, this invention installs a first bearing 401 in the middle of the rear cover 405d formed by the protective housing 405, and fixes one end of the output shaft 301 to the second intermediate speed-changing component 202b, allowing it to pass through the rotor connector 102 and the central area of ​​the reduction assembly 200. A physical clearance is specifically provided along this passageway, and finally, the other end of the output shaft 301 is securely supported on the rear cover 405d via the first bearing 401. This structural design provides the output shaft 301 with stable support at both ends over a large span, while the middle section is suspended and isolated, completely blocking interference and frictional heat generation paths between the output shaft and the high-speed rotating components inside the motor. This not only eliminates unnecessary mechanical losses and significantly extends the service life of each component, but also greatly enhances the system's resistance to radial runout by relying on the tail-end limiting effect of the first bearing 401, ensuring that the entire geared motor maintains excellent structural rigidity and rotational smoothness even when outputting low-speed, high-torque power.

[0052] Reference Figure 6 This embodiment provides a method for using a geared motor, which, when applied as described in the previous embodiment, includes the following steps.

[0053] S1, the rotor connector inputs high-speed power into the reduction system, while simultaneously driving the bottom magnet to rotate synchronously.

[0054] Specifically, the rotor connector 102 rotates, driving the first central transmission component 201a to rotate, which in turn inputs power into the reduction gear assembly 200. The magnet 103, which is fitted onto the inner ring at the bottom of the rotor connector 102, rotates synchronously. This operation smoothly inputs the high-speed power source into the reduction system, while the magnet 103 at the bottom begins to characterize the original speed and angle state of the input end in real time.

[0055] S2, the deceleration component reduces the output power and drives the output shaft to rotate synchronously with the angle encoder in the middle.

[0056] Specifically, after the power is reduced in speed and transmitted internally by the reduction gear 200, it is output outward by the second intermediate gearbox 202b, driving the output shaft 301, one end of which is fixedly connected to the second intermediate gearbox 202b, to rotate synchronously. This also drives the angle encoder 302, which is fixedly sleeved in the middle of the output shaft 301, to rotate synchronously. This stage completes the conversion of power reduction and torque increase, and directly transmits the final mechanical operating state synchronously to the angle encoder 302, which is responsible for signal feedback.

[0057] S3, the output shaft passes through the center clearance without friction and rotates smoothly under the support of the tail bearing.

[0058] Specifically, the output shaft 301 passes through the central area of ​​the rotor connector 102 and the reduction gear assembly 200 within the clearance, while the other end of the output shaft 301 rotates smoothly on the rear cover 405d under the support of the first bearing 401. This dynamic process demonstrates the advantages of the large-span isolation support of the output shaft 301, perfectly avoiding physical interference with the internal high-speed rotating components while outputting huge torque outwards, and effectively resisting radial runout.

[0059] S4, the coil disk synchronously reads the angle changes of the magnet and the angle code disk, and transmits the two data before and after deceleration to the sensing circuit.

[0060] Specifically, the coil disk 304 reads the angle change of the magnet 103 to obtain the first angle data of the rotor connector 102 before deceleration. Simultaneously, the coil disk 304 reads the angle change of the angle encoder 302 to obtain the second angle data of the output shaft 301 after deceleration. The coil disk 304 transmits these two data streams to the sensing circuit 303. This compact dual-end synchronous reading mechanism allows the servo system to accurately grasp the angle difference between the input and output ends while the motor is running, thus providing complete and reliable hardware data support for subsequent precise compensation of gear transmission backlash.

[0061] Finally, it should be noted that the usage methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways, as long as they do not depart from the scope of the present invention.

Claims

1. A geared motor, characterized in that, include: The protective outer shell (405) is closed at one end to form a back cover (405d). The rotor connector (102) is housed within the protective housing (405); The speed reduction assembly (200) includes a first central transmission component (201a), a second central transmission component (202a), and a second intermediate speed change component (202b) connected in sequence. The first central transmission component (201a) is driven by the rotor connector (102). The first bearing (401) is installed in the middle of the rear cover (405d); The output shaft (301) is fixedly connected at one end to the second intermediate speed change component (202b); the middle part passes through the central area of ​​the rotor connector (102) and the speed reduction assembly (200) with a clearance; the other end is supported on the rear cover (405d) by the first bearing (401).

2. The geared motor as described in claim 1, characterized in that, Also includes: The protective housing (405) includes a reducer housing (405a), a first motor housing (405b), a second motor housing (405c), and a rear cover (405d) that are sequentially spliced ​​and fixed along the output shaft (301). The rear cover (405d) has a mounting hole (H1) in the middle, and the outer ring of the first bearing (401) is fixed in the mounting hole (H1).

3. The geared motor as described in claim 2, characterized in that: The deceleration assembly (200) includes a first-stage deceleration unit (201) and an external fixing component (203); The first central transmission component (201a) belongs to the first stage reduction unit (201), and the first stage reduction unit (201) further includes a first intermediate speed change component (201b); the inner ring of the first intermediate speed change component (201b) cooperates with the first central transmission component (201a), and the outer ring of the first intermediate speed change component (201b) cooperates with the peripheral fixing component (203).

4. The geared motor as described in claim 3, characterized in that: The first intermediate transmission component (201b) includes a first star wheel (201b-1) and a first star frame (201b-2). There are several first star wheels (201b-1), which are rotatably connected to the first star frame (201b-2). The first star wheel (201b-1) and the first central transmission component (201a) are engaged; The first star wheel (201b-1) and the inner ring of the peripheral fastener (203) are engaged.

5. The geared motor as described in claim 4, characterized in that: The deceleration assembly (200) also includes a second-stage deceleration unit (202); The second central transmission component (202a) and the second intermediate transmission component (202b) belong to the second stage reduction unit (202). One end of the second central transmission component (202a) is fixedly connected to one end of the first intermediate transmission component (201b). The outer ring of the second central transmission component (202a) and the inner ring of the second intermediate transmission component (202b) are engaged. The outer ring of the second intermediate gear change component (202b) and the inner ring of the peripheral fixing component (203) are engaged.

6. The geared motor as described in claim 5, characterized in that: The second intermediate transmission component (202b) includes a second star wheel (202b-1), an output end component (202b-2), and an output end cover (202b-3). There are several second star wheels (202b-1), which are evenly arranged around the output end piece (202b-2) and the output end cover (202b-3). The second star wheels (202b-1) and the output end piece (202b-2) are rotatably connected. The second star wheel (202b-1) and the second central transmission component (202a) are engaged; The second star wheel (202b-1) engages with the inner ring of the peripheral fastener (203).

7. The geared motor as described in claim 6, characterized in that, Also includes: Feedback component (300), the feedback component (300) includes angle encoder (302), sensing circuit (303), and coil disk (304); A power assembly (100) includes a magnet (103). The magnet (103) is sleeved on the bottom inner ring of the rotor connector (102); The coil disk (304) is disposed below the magnet (103); The angle code disk (302) is fixedly sleeved on the middle part of the output shaft (301) and located below the coil disk (304); The sensing circuit (303) is disposed below the angle encoder (302); The coil disk (304) reads the angle changes of the magnet (103) and the angle code disk (302) respectively, and transmits the data to the sensing circuit (303).

8. The geared motor as described in claim 6 or 7, characterized in that, Also includes: Support assembly (400), the support assembly (400) includes a second bearing (402), a third bearing (403) and a fourth bearing (404). There are two second bearings (402), one disposed between the rotor connector (102) and the first motor housing (405b), and the other disposed between the rotor connector (102) and the second motor housing (405c); There are two third bearings (403), which are respectively disposed between the first central transmission component (201a) and the first star carrier (201b-2), and between the second central transmission component (202a) and the output end component (202b-2); The fourth bearing (404) is disposed between the output end piece (202b-2) and the reducer housing (405a).

9. The geared motor as described in claim 8, characterized in that: The support assembly (400) further includes a limiting end cap (406) disposed on the top of the output end piece (202b-2), the limiting end cap (406) including an inner bearing cover (406a) and an outer bearing cover (406b). The bottom of the inner bearing cover (406a) is fixedly connected to the top of the output end piece (202b-2); The bottom of the outer bearing cover (406b) is fixedly connected to the top of the reducer housing (405a).

10. A robot, characterized in that, Includes the geared motor as described in any one of claims 1 to 9.

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