Integrated planet carrier assembly for cycloidal-pin gear speed reducer

Abstract

The utility model provides an integrated planet carrier assembly for a cycloidal-pin gear speed reducer, and relates to the technical field of robot speed reducers, the planet carrier assembly comprises a long planet carrier and a short planet carrier, the long planet carrier and the short planet carrier are coaxially arranged at intervals, and the planet carrier assembly further comprises a pin, a ball bearing, a bearing outer ring and a retainer; one ends of the pins are pressed on the long planet carrier through interference connection, and the other ends of the pins are detachably and fixedly connected with the short planet carrier; the ball bearings are fixedly installed on the outer edge of the long planet carrier through a retainer, and the multiple ball bearings are arranged in the axial direction of the long planet carrier; the bearing outer ring is coaxially arranged outside the long planet carrier and covers the ball bearing and the retainer, the overall structural size and weight of the planet carrier assembly are reduced, and the requirements for light weight and miniaturization can be met.

Description

Technical Field

[0001] The utility model relates to the technical field of robot reducers, and in particular to an integrated planetary frame assembly for a cycloid pinwheel reducer. Background Art

[0002] With the continuous development of the humanoid robot industry, the demand for humanoid robots is getting higher and higher. In order to adapt to some extreme working conditions, such as running, jumping, and heavy load bearing, cycloid pinwheel reducers or RV reducers with strong load capacity and good impact resistance are required at the hip and knee joints of humanoid robots. Since humanoid robots have high requirements on the size and quality of reducers, it is difficult for common cycloid pinwheel reducers or RV reducers to meet their lightweight and miniaturization requirements.

[0003] The invention with the publication number CN117722482A discloses an RV reducer with an outer ring of a tapered roller bearing integrated on a planet carrier, wherein a plurality of bearing holes are respectively arranged on the long planet carrier and the short planet carrier of the RV reducer, and the inner ring of each bearing hole is respectively arranged with an outer ring of a tapered roller tapered bearing, and the inner ring of the bearing hole and the outer ring of the tapered bearing are integrally connected. Through the present invention, the inner rings of the bearing holes on the long and short planet carriers are designed to be integrally connected with the outer ring of the tapered bearing, and after the inner ring of the tapered roller bearing is integrated with the inner ring of the bearing holes on the long and short planet carriers, the requirements for the mounting shaft diameter of the main bearing of the planet carrier assembly and the wall thickness of the tapered roller raceway are greatly reduced, and the new structure after the outer ring of the tapered roller bearing is integrated will provide more space for arranging the tapered roller bearing, so as to increase the load of the tapered roller bearing, and at the same time provide more space inside the RV reducer.

[0004] The planetary carrier in this type of reducer can achieve load-bearing capacity through structural improvements and the addition of new structures, but the structure is complex and it is difficult to meet the needs of lightweight and miniaturization.

[0005] Therefore, there is room for improvement, and the utility model provides an integrated planetary carrier assembly for a cycloid pinwheel reducer. Utility Model Content

[0006] In view of the shortcomings of the prior art, the utility model aims to propose an integrated planetary carrier assembly for a cycloid pinwheel reducer, and the specific scheme is as follows:

[0007] An integrated planet carrier assembly for a cycloid pinwheel reducer, the planet carrier assembly comprising a long planet carrier and a short planet carrier, the long planet carrier and the short planet carrier are coaxially arranged and spaced apart from each other, the planet carrier assembly further comprising a pin, a ball bearing, a bearing outer ring, and a retaining frame;

[0008] There are several pins, one end of which is press-fitted on the long planet carrier through interference fit, and the other end is detachably fixedly connected to the short planet carrier;

[0009] A ball bearing is fixedly mounted on the outer edge of the long planet carrier through a retaining frame, and a plurality of ball bearings are arranged along the axial direction of the long planet carrier;

[0010] The bearing outer ring is coaxially arranged outside the long planetary carrier and covers the ball bearing and the retaining frame.

[0011] Therefore, when this planetary carrier assembly is used in a reducer, due to the provision of ball bearings, the planetary carrier can support the reducer through a single integrated bearing, and the bending moment rigidity of the reducer can be adjusted by simply adjusting the bearing parameters and bearing clearance. At this time, the short planetary carrier can no longer be used to support the reducer.

[0012] Furthermore, the outer ring of the bearing and the long planet carrier are respectively provided with a first groove and a second groove, and the first groove and the second groove cooperate to form an inner raceway of the bearing.

[0013] Therefore, the built-in groove provides space for assembling the ball bearing and the cage, that is, the inner raceway of the bearing, thereby achieving the effect of reducing the structural size.

[0014] Furthermore, the ball bearing adopts a four-point contact bearing to withstand bidirectional radial force and axial force.

[0015] Therefore, based on the characteristics of the ball bearing, the long planet carrier can independently support the reducer.

[0016] Furthermore, the short planet carrier is provided with a plurality of screws, each screw corresponding to a pin;

[0017] A thread fastening groove is provided at the end of the column pin for threaded connection with the screw.

[0018] Therefore, the connection and fixation between the short planet carrier and the long planet carrier is achieved through the cooperation of the screws and the pins, which has a simple structure and is easy to operate.

[0019] Furthermore, the pin and the short planet carrier are positioned via a positioning stop.

[0020] Furthermore, the short planetary carrier has first and second positioning grooves respectively disposed on both sides corresponding to the pins and the screws.

[0021] Therefore, the first positioning groove serves as a positioning stop. Before the screw and the pin are connected and fixed, each pin is first inserted into the corresponding positioning groove. At the same time, each screw is inserted into the corresponding second positioning groove, so that the screw and the pin are stable when connected and fixed, which is convenient for operation.

[0022] Furthermore, a gasket is embedded between the pin and the screw, and the gasket is located in the first positioning groove.

[0023] Since there may be processing errors in the pins, the long planet carrier and the short planet carrier, after the gaskets are set, gaskets with suitable thickness are selected to ensure the shape and position tolerances of the planet carrier assembly.

[0024] Furthermore, the pins and screws are distributed in a ring array.

[0025] Therefore, with the cooperation of multiple pairs of pins and screws, the structural stability of the long planet carrier and the short planet carrier after being connected and fixed can be further improved.

[0026] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0027] (1) Therefore, when this type of planetary carrier assembly is used in a reducer, due to the provision of a ball bearing, the planetary carrier can support the reducer through a single integrated bearing. The bending moment rigidity of the reducer can be adjusted by simply adjusting the bearing parameters and the bearing clearance. At this time, the short planetary carrier can no longer be used to support the reducer. On the basis of ensuring the bending moment rigidity of the reducer, the overall structural size and weight of the planetary carrier assembly are reduced, meeting the requirements of lightweight and miniaturization.

[0028] In addition, the planet carrier assembly has a small number of structural components and is convenient to assemble. The long planet carrier and the short planet carrier can be assembled simply by using pins.

[0029] (2) Based on the characteristic that the four-point contact bearing can withstand bidirectional radial force and axial force, the long planetary carrier can independently support the reducer. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an overall schematic diagram of the utility model;

[0031] Figure 2 for Figure 1 A cross-sectional view of

[0032] Figure 3 for Figure 2 Enlarged schematic diagram of part A in the middle.

[0033] Figure numerals: 1, long planet carrier; 2, short planet carrier; 3, pin; 4, ball bearing; 5, bearing outer ring; 6, retaining frame; 7, screw; 8, first positioning groove; 9, second positioning groove; 10, gasket; 11, first groove; 12, second groove. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the embodiments and drawings, but the implementation methods of the present invention are not limited thereto.

[0035] The utility model proposes an integrated planetary frame assembly, which is used in a cycloid pinwheel reducer or an RV reducer to meet the needs of the joints of a humanoid robot. The planetary frame assembly is based on the existing structure and adds some components to ensure the support effect and load effect of the planetary frame assembly while ensuring light weight and miniaturization.

[0036] like Figure 1 and Figure 2 The planet carrier assembly includes two existing structures, a long planet carrier 1 and a short planet carrier 2, and the planet carrier assembly also includes a pin 3, a ball bearing 4, a bearing outer ring 5, and a retaining frame 6. The long planet carrier 1 and the short planet carrier 2 are coaxially arranged and spaced from each other, and the two and the space between the two are used to install other components.

[0037] There are several pins 3, at least eight, without any specific limitation. One end of the pins 3 is press-fitted on the long planet carrier 1 through interference fit, and the other end is detachably fixedly connected to the short planet carrier 2.

[0038] Specifically, a plurality of screws 7 are provided on the short planetary carrier 2. The screws 7 can be hexagon socket head screws 7, at least eight of which are not specifically limited. Each screw 7 corresponds to a pin 3. A threaded fastening groove is provided at the end of the pin 3 for threaded connection with the screw 7. The connection and fixation between the short planetary carrier 2 and the long planetary carrier 1 are achieved through the cooperation between the screw 7 and the pin 3.

[0039] It should be noted that the above-mentioned multiple pins 3 and multiple screws 7 are distributed in a circular array. Therefore, with the cooperation of multiple pairs of pins 3 and screws 7, the structural stability of the long planet carrier 1 and the short planet carrier 2 after being connected and fixed can be further improved.

[0040] Combination Figure 2 and Figure 3 It should be noted that the pin 3 and the short planetary carrier 2 are positioned by a positioning stop. At the same time, in order to facilitate the assembly of the pin 3 and the screw 7, the short planetary carrier 2 has a first positioning groove 8 and a second positioning groove 9 on both sides corresponding to the pin 3 and the screw 7. As shown in Figure 2, the specification of the first positioning groove 8 is slightly larger than the second positioning groove 9. The first positioning groove 8 serves as a positioning stop. Before the screw 7 is connected and fixed to the pin 3, each pin 3 is first inserted into the corresponding positioning groove. At the same time, each screw 7 is inserted into the corresponding second positioning groove 9, so that the screw 7 and the pin 3 are stable when connected and fixed, which is convenient for operation.

[0041] Since there may be processing errors among the pin 3, the long planet carrier 1 and the short planet carrier 2, a gasket 10 is embedded between the pin 3 and the screw 7, and the gasket 10 is in the first positioning groove 8. By selecting a gasket 10 with a suitable thickness, the shape and position tolerance of the planet carrier assembly can be guaranteed.

[0042] Secondly, the ball bearing 4 is fixedly mounted on the outer edge of the long planet carrier 1 through the retaining frame 6 . Meanwhile, the bearing outer ring 5 is coaxially arranged outside the long planet carrier 1 and covers the ball bearing 4 and the retaining frame 6 .

[0043] like Figure 2 Specifically, the outer ring 5 of the bearing and the long planet carrier 1 are respectively provided with a first groove 11 and a second groove 12, which cooperate to form an inner raceway of the bearing. When installing the ball bearing 4, a bearing retainer (i.e., retainer 6) suitable for the prior art is used to assemble the ball bearing 4 in the inner raceway of the bearing.

[0044] It should be noted that the ball bearing 4 is a four-point contact bearing, which can withstand bidirectional radial force and axial force. There are several, at least four, ball bearings arranged along the axial direction of the long planet carrier 1, and there is no specific limitation.

[0045] Therefore, when this planetary carrier assembly is used in a reducer, due to the provision of the ball bearing 4, the planetary carrier can support the reducer through a single integrated bearing, and the bending moment rigidity of the reducer can be adjusted by adjusting the bearing parameters and the bearing clearance. At this time, the short planetary carrier 2 can no longer be used to support the reducer. On the basis of ensuring the bending moment rigidity of the reducer, the overall structural size and weight of the planetary carrier assembly are reduced to meet the requirements of lightweight and miniaturization.

[0046] It should be noted that, since the short planetary carrier 2 is no longer used to support the reducer, a low-strength and lightweight aluminum material can be used to further reduce the overall weight of the reducer.

[0047] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An integrated planetary carrier assembly for a cycloid pinwheel reducer, the planetary carrier assembly comprising a long planetary carrier (1) and a short planetary carrier (2), the long planetary carrier (1) and the short planetary carrier (2) being coaxially arranged and spaced apart from each other, characterized in that: The planet carrier assembly also includes a pin (3), a ball bearing (4), a bearing outer ring (5), and a retaining frame (6); A plurality of pins (3) are provided, one end of which is press-fitted onto the long planet carrier (1) through an interference fit, and the other end of which is detachably fixedly connected to the short planet carrier (2); A ball bearing (4) is fixedly mounted on the outer edge of the long planet carrier (1) via a retaining frame (6), and a plurality of ball bearings are arranged along the axial direction of the long planet carrier (1); The bearing outer ring (5) is coaxially arranged outside the long planetary carrier (1) and covers the ball bearing (4) and the retaining frame (6).

2. The integrated planetary carrier assembly for a cycloid pinwheel reducer according to claim 1, characterized in that: The outer ring (5) of the bearing and the long planet carrier (1) are respectively provided with a first groove (11) and a second groove (12), and the first groove (11) and the second groove (12) cooperate to form an inner raceway of the bearing.

3. The integrated planet carrier assembly for a cycloid pinwheel reducer according to claim 2, characterized in that: The ball bearing (4) is a four-point contact bearing and is used to bear bidirectional radial force and axial force.

4. The integrated planetary carrier assembly for a cycloid pinwheel reducer according to claim 1, characterized in that: The short planet carrier (2) is provided with a plurality of screws (7), each screw (7) corresponding to a pin (3); The end of the column pin (3) is provided with a threaded fastening groove for threaded connection with the screw (7).

5. The integrated planet carrier assembly for a cycloid pinwheel reducer according to claim 4, characterized in that: The pin (3) and the short planet carrier (2) are positioned via a positioning stop.

6. The integrated planet carrier assembly for a cycloid pinwheel reducer according to claim 5, characterized in that: A first positioning groove (8) and a second positioning groove (9) are respectively formed on both sides of the short planetary frame (2) corresponding to the column pin (3) and the screw (7).

7. The integrated planet carrier assembly for a cycloid pinwheel reducer according to claim 6, characterized in that: A gasket (10) is embedded between the pin (3) and the screw (7), and the gasket (10) is located in the first positioning groove (8).

8. The integrated planet carrier assembly for a cycloid pinwheel reducer according to claim 7, characterized in that: The pins (3) and screws (7) are distributed in a ring array.

Images