Robot joint module planetary reducer

Abstract

The utility model relates to a robot joint module planetary reducer which comprises an inner tooth sleeve, an inner tooth ring is arranged in the inner tooth sleeve, a speed reduction structure is arranged in the inner tooth sleeve, the speed reduction structure comprises at least two sets of speed reduction units, and the robot joint module planetary reducer is characterized in that a crossed bearing is arranged between every two adjacent sets of speed reduction units; the speed reduction units are connected into an integral speed reduction structure through cross bearings in a matched mode, each speed reduction unit comprises a gear set and a limiting structure, each limiting structure comprises an output end, each gear set is integrally located in the corresponding limiting structure and drives the corresponding output end to rotate, and outer teeth of each gear set are connected with an inner gear ring of the corresponding inner gear sleeve in a meshed mode. The robot joint module planetary reducer effectively solves the problems of gear clamping and axial movement in the prior art, and has the advantages of being high in component assembling and matching precision, good in concentricity, good in impact resistance and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of robot drive modules, in particular to a robot joint module double-stage planetary reducer. Background Art

[0002] Nowadays, with the maturity and improvement of AI technology, artificial intelligence is gradually developing towards a more intelligent trend. This has led to the rapid development of the robotics industry. The robotics industry can now replace a large number of special application scenarios with insufficient labor, special environments and special conditions.

[0003] The movement and action of robots and auxiliary machinery and equipment require a drive module to achieve, which needs to meet the characteristics of lightness, thinness, and high torque. At present, only the outer rotor brushless permanent magnet motor can meet the current needs. With the update and iteration of the robot industry, the torque of the brushless motor is far from enough, so it is extended to add a planetary reduction mechanism to the brushless motor to increase the motor output torque to meet the needs. Due to the particularity of the robot industry, the reduction mechanism not only needs to increase the torque, but also needs to meet the accuracy of the gear set. Therefore, the accuracy of the planetary reducer has a great influence on the joint. The single-stage planetary reducer can only make the reduction ratio within 1 to 10 under the premise of ensuring the thickness and outer diameter of the entire joint, so there is an urgent need for a two-stage planetary reducer to achieve a large reduction ratio. However, the two-stage planetary reducer can only be installed in bulk due to the special installation of the joint module, and it is difficult to ensure the concentricity of the upper and lower stages and the motor output shaft and the accuracy of the overall rotation angle. Utility Model Content

[0004] The utility model provides a planetary reducer for a robot joint module, which solves the problems of gear sticking and axial movement in the prior art and has the advantages of high component assembly and matching accuracy, good concentricity and good impact resistance.

[0005] In order to achieve the above purpose, the following technical solutions are adopted.

[0006] A planetary reducer for a robot joint module comprises an internal gear sleeve, an internal gear ring is arranged in the internal gear sleeve, a reduction structure is arranged in the internal gear sleeve, the reduction structure comprises at least two groups of reduction units, a cross bearing is arranged between each two adjacent groups of reduction units, the reduction units are connected to form an overall reduction structure through the cross bearings, the reduction unit comprises a gear set and a limiting structure, the limiting structure comprises an output end, the gear set is located as a whole in the limiting structure and drives the output end to rotate, and the outer teeth of the gear set are meshed and connected with the inner gear ring of the internal gear sleeve.

[0007] In the above technical solution, the inner gear sleeve is used as the outer shell of the reducer, and the inner gear sleeve includes an inner gear ring with a tooth surface structure. At least two groups of reduction units are set, and the gear sets of each reduction unit are meshed with the inner gear ring. Among them, the reduction unit located at the upper end is a driving reduction unit, which is used to connect with the external driving structure. The driving structure drives the gear set in the reduction unit located at the upper end to rotate in the limiting structure, and the rotation of each gear in the gear set is self-rotation; while the gear set rotates, it revolves along the inner gear ring of the inner gear sleeve. When the sun gear rotates, it drives the output end to rotate together; the upper output end drives the reduction unit located at the lower end to start self-rotation and revolve along the inner gear ring; the linkage in each reduction unit is circulated in this way, forming a multi-stage reduction. By setting a multi-stage gear set, the speed ratio between the shafts in each gear set can be reduced, so that the reduction ratio of the entire reducer reaches the required value. The multi-stage gear set reduction can also reduce the load on each gear shaft and improve the accuracy of the gear set. Cross bearings are arranged between adjacent reduction units, and the cross bearings are fixedly connected to the adjacent reduction units respectively. The reduction units are connected to form an integral structure through cross bearings. The overall structure has stronger impact resistance, improves the concentricity between the reduction units, and is more stable and reliable during the torque transmission process. At the same time, it effectively prevents the problems of gear axial movement and tooth jamming. The planetary gear reducer has the advantages of high component assembly accuracy, good concentricity and good impact resistance.

[0008] Furthermore, the limiting structure also includes a retaining frame, which is arranged above the gear group and covers the output end. The output end is provided with a placement space for placing the gear group and allowing the gears in the gear group to rotate freely. The gears in the gear group are located between the retaining frame and the output end.

[0009] In the above technical solution, the space placed on the output end is set so that each gear is placed between the retaining frame and the output end after assembly to form an enclosed or semi-enclosed structure, so that the assembly accuracy of each component in the gear set is higher, the operating stability is better, and the problem of axial movement of the gear is avoided.

[0010] Furthermore, the depth of the placement space is higher than the height of the gears in the gear set, and gaps are left between the upper and lower end surfaces of the gears and the bottom surface of the retaining frame and the base surface of the output end, respectively.

[0011] In the above technical solution, the depth of the placement space is higher than the height of the gear placed therein, which effectively ensures that the two end faces of the gear are free faces, thereby ensuring that the gear can rotate freely under the action of external drive, that is, it can rotate freely, avoiding the problem of tooth jamming.

[0012] Furthermore, the limiting structures on at least two groups of reduction units are coaxially arranged, and the retaining frame and the output end in the limiting structure are coaxially arranged.

[0013] In the above technical solution, each limiting structure is coaxially arranged, and the retaining frame and the output end in each limiting structure are coaxially arranged, that is, the retaining frame and the output end in all reduction units are coaxially arranged, which effectively ensures the concentricity of each retaining frame, the output end and the inner gear ring, and ensures that the gear set is concentric with the pitch circle of the inner gear ring during revolution through the mutual limitation of the limiting structures, thereby ensuring the operating accuracy and stability of the reducer.

[0014] Furthermore, the output end of the upper reduction unit of the two adjacent groups of reduction units is connected to the retaining frame of the lower reduction unit via a cross bearing, and the upper and lower concentricity is achieved by cooperating with the cross bearing.

[0015] In the above technical solution, in this embodiment, the output end is fixedly connected to the cross bearing through fasteners, and the retaining frame is also connected to the cross bearing through fasteners. Adjacent reduction units are connected as a whole through the cross bearing, and the upper and lower concentricity is achieved by cooperating with the cross bearing, so that the two adjacent reduction units form an overall reduction structure with better stability.

[0016] Furthermore, the gear set includes a sun gear and more than two planetary gears, the more than two planetary gears are evenly distributed around the sun gear and meshed with the sun gear, and the sun gear is an integrated gear shaft structure. The middle part of the sun gear is a tooth meshed with the planetary gear, the lower shaft of the sun gear is rotatably connected to the output end through a bearing, the planetary gear includes a gear shaft, a rotatable planetary gear is provided on the gear shaft, and the upper and lower parts of the planetary gear shaft are respectively connected to the retaining frame and the output end.

[0017] In the above technical solution, the sun gear is located at the center of the gear set, and more than two planetary gears are evenly distributed around the sun gear. The sun gear is an integrated gear shaft structure connected to the external drive structure, and the two ends of the gear shaft in the middle of the planetary gear extend into the gear shaft groove on the retaining frame and the output end respectively. The external drive structure drives the sun gear to rotate, and the sun gear meshes with the gears in the planetary gear located on its circumference through the teeth in the middle, driving the planetary gear to rotate. While the planetary gear rotates, it revolves along the inner gear ring. While the planetary gear revolves, it drives the output end to rotate along the inner gear ring through the gear shaft groove.

[0018] As a preferred technical solution of the utility model, there are two groups of reduction units, which are an upper reduction unit and a lower reduction unit respectively. The retaining frame in the upper reduction unit is connected to the internal gear sleeve through an upper bearing, and the output end in the lower reduction unit is connected to the internal gear sleeve through a lower bearing. A sun gear sleeve extending downward is provided in the middle of the output end of the upper reduction unit, and the upper part of the sun tooth in the lower reduction unit extends into the sun gear sleeve.

[0019] In the above technical solution, the sun gear in the lower reduction unit and the sun gear sleeve extending from the bottom of the output end of the reduction unit located above, the sun gear sleeve is provided with at least one plane structure, when the output end in the upper reduction unit rotates, the sun gear in the lower reduction unit is driven to rotate through the sun gear sleeve, and the sun gear in the lower reduction unit then drives the planetary gears located on its circumference to rotate, and the planetary gears rotate while revolving along the inner ring gear to form a two-stage reduction.

[0020] As a preferred technical solution of the utility model, the number of the reduction units is three groups, namely, an upper reduction unit, an intermediate reduction unit and a lower reduction unit. The retaining frames in the upper reduction unit and the intermediate reduction unit are respectively connected to the internal gear sleeve through an upper bearing and an intermediate bearing, and the output end in the lower reduction unit is connected to the internal gear sleeve through a second bearing. The middle parts of the output ends of the upper reduction unit and the intermediate reduction unit are provided with a sun gear sleeve extending downward, and the upper parts of the sun teeth in the intermediate reduction unit and the lower reduction unit extend into the sun gear sleeves in the upper reduction unit and the intermediate reduction unit, respectively.

[0021] In the above technical solution, a sun gear sleeve extends out from the bottom of the output end of the reduction unit located above in any adjacent reduction unit, and at least one plane structure is provided inside the sun gear sleeve. When the output end of the reduction unit located above rotates, the sun gear sleeve drives the sun gear in the reduction unit located below to rotate, and the sun gear in the reduction unit located below then drives the planetary gears located on its circumference to rotate. The planetary gears rotate and revolve along the inner ring gear to form multi-stage reduction.

[0022] Furthermore, an upper anti-slip structure is provided on the top outer edge of the retaining frame in the upper reduction unit, and the upper bearing limit is located between the internal gear sleeve and the upper anti-slip structure; a lower anti-slip structure is provided on the bottom outer edge of the output end in the lower reduction unit, and the lower bearing limit is located between the internal gear sleeve and the lower anti-slip structure.

[0023] In the above technical solution, the upper anti-slip structure on the retaining frame in the upper reduction unit and the lower anti-slip structure on the output end of the lower reduction unit are set to effectively prevent the upper bearing or the lower bearing from leaving the reduction unit, ensuring stable operation of the reducer.

[0024] Compared with the prior art, the robot joint module planetary reducer of the utility model has the following beneficial effects:

[0025] The utility model can reduce the speed ratio between the shafts of each gear set by setting a multi-stage gear set, so that the reduction ratio of the entire reducer reaches the required value. The multi-stage gear set reduction can also reduce the load on each gear shaft and improve the accuracy of the gear set. The cross bearings are set between adjacent reduction units, and the cross bearings are fixedly connected to the adjacent reduction units respectively. The reduction units are connected to form an integral structure through the cross bearings. The impact resistance of the overall structure is stronger, the concentricity between the reduction units is improved, and the torque transmission process is more stable and reliable. At the same time, the axial movement of the gears and the problem of stuck teeth are effectively prevented. The planetary gear reducer has the advantages of high component assembly and matching accuracy, good concentricity, and good impact resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a cutaway view of a planetary reducer for a robot joint module of the utility model;

[0027] Figure 2 This is a schematic diagram of the structure of a planetary reducer reduction unit of a robot joint module of the utility model;

[0028] Figure 3 This is a partial structural top view of a planetary reducer for a robot joint module of the utility model;

[0029] Figure 4 This is a schematic diagram of an internal gear sleeve of a planetary reducer of a robot joint module of the utility model;

[0030] Figure 5 It is an exploded view of the primary output shaft and the secondary sun gear of the utility model;

[0031] Figure 6 This is a schematic diagram of a cross bearing of a planetary reducer of a robot joint module of the utility model;

[0032] Figure 7 This is a stereoscopic diagram of the upper output end of a planetary reducer of a robot joint module of the utility model;

[0033] Figure 8 This is a top view of the upper output end of a planetary reducer of a robot joint module of the utility model. DETAILED DESCRIPTION

[0034] The following will further describe in detail a robot joint module planetary reducer of the utility model in conjunction with specific embodiments and drawings.

[0035] Reference Figure 1A non-limiting embodiment of the utility model, a planetary reducer for a robot joint module, comprises an internal gear sleeve 1, an internal gear ring 11 is arranged in the internal gear sleeve 1, a reduction structure is arranged in the internal gear sleeve 1, the reduction structure comprises at least two groups of reduction units, a cross bearing 4 is arranged between each two adjacent groups of reduction units, the reduction units are connected to form an integral reduction structure through the cross bearing 4, the reduction unit comprises a gear set and a limiting structure, the limiting structure comprises an output end, the gear set is located as a whole in the limiting structure, and drives the output end to rotate, and the outer teeth of the gear set are meshed and connected with the inner gear ring 11 of the internal gear sleeve 1. In this embodiment, the inner gear sleeve 1 is used as the outer shell of the reducer, which is a fixed part. During the operation of the reducer, the inner gear sleeve 1 is fixed; the inner gear sleeve 1 includes an inner gear ring 11 with a tooth surface structure, and at least two groups of reduction units are set, and the gear groups of each reduction unit are meshed with the inner gear ring 11, wherein the reduction unit at the upper end is a driving reduction unit, which is used to connect with an external driving structure, and the driving structure drives the gear group in the reduction unit at the upper end to rotate in the limiting structure, and the rotation of each gear in the gear group is self-rotation; while the gear group rotates, it revolves along the inner gear ring 11 of the inner gear sleeve 1. When the sun gear rotates, it drives the output end to rotate together; the upper output end 23 drives the reduction unit at the lower end to start self-rotation, and revolves along the inner gear ring 11 at the same time; the linkage in each reduction unit is circulated in this way, forming a multi-stage reduction. By setting a multi-stage gear set, the speed ratio between the shafts in each gear set can be reduced, so that the reduction ratio of the entire reducer reaches the required value. The multi-stage gear set reduction can also reduce the load on each gear shaft and improve the accuracy of the gear set. The cross bearing 4 is set between adjacent reduction units, and the cross bearing 4 is fixedly connected to the adjacent reduction units respectively. The reduction units are connected to form an integral structure through the cross bearing 4, which not only effectively prevents the axial movement of the gears, but also has a stronger impact resistance of the overall structure; and the setting of the limit structure improves the concentricity between the reduction units, so that the backlash between the gear set and the inner gear ring 11 is stable and the accuracy is higher, thereby ensuring that the torque transmission process is more stable and reliable, and effectively preventing the problem of stuck teeth. The planetary gear reducer has the advantages of high component assembly matching accuracy, good concentricity, good impact resistance and high backlash accuracy.

[0036] Reference Figures 1 to 5In this embodiment, the number of reduction units is preferably two groups, and the two groups of reduction units are respectively an upper reduction unit 2 and a lower reduction unit 3. The upper reduction unit 2 includes a primary gear set 22 and a primary limiting structure. The primary gear set 22 includes a primary sun tooth 222 and two or more primary planetary teeth 221 distributed on the peripheral side of the primary sun tooth 222. The inner side of the primary planetary teeth 221 is meshed with the primary sun tooth 222, and the outer side of the primary planetary teeth 221 is meshed with the inner gear ring 11; the lower reduction unit 3 includes a secondary gear set 32 ​​and a secondary limiting structure. The secondary gear set 32 ​​includes a secondary sun tooth 322 and two or more secondary planetary teeth 321 distributed on the peripheral side of the secondary sun tooth 322. The inner side of the secondary planetary teeth 321 is meshed with the secondary sun tooth 322, and the outer side of the secondary planetary teeth 321 is meshed with the inner gear ring 11.

[0037] Reference Figures 1 to 8 The number of the primary planetary gears 221 and the secondary planetary gears 321 is three, and the three primary planetary gears 221 are evenly distributed on the circumference of the primary sun gear 222, and the three secondary planetary gears 321 are evenly distributed on the circumference of the secondary sun gear 322; the primary limiting structure includes an upper retainer 21 and an upper output end 23, the upper retainer 21 is arranged above the primary gear set 22 and covers the upper output end 23, the upper retainer 21 and the upper output end 23 are fastened and connected by a fastener 7, and the upper output end 23 is provided with a placement space for placing the primary gear set 22 and allowing the gears in the primary gear set 22 to rotate freely. 231, the gears in the primary gear set 22 are located between the upper retainer 21 and the upper output end 23; the secondary limiting structure includes a lower retainer 31 and a lower output end 33, the lower retainer 31 is arranged above the secondary gear set 32 ​​and covers the lower output end 33, the lower retainer 31 and the lower output end 33 are fastened and connected by fasteners, the lower output end 33 is provided with a placement space 231 for placing the secondary gear set 32 ​​and allowing the gears in the secondary gear set 32 ​​to rotate freely, and the gears in the secondary gear set 32 ​​are located between the lower retainer 31 and the lower output end 33. The upper retainer 21 is connected to the internal gear sleeve 1 through the upper bearing 5, the lower output end 33 is connected to the internal gear sleeve 1 through the lower bearing 6, a sun gear sleeve 233 extending downward is provided in the middle of the upper output end 23, and the upper part of the secondary sun gear 322 extends into the sun gear sleeve 233.

[0038] Reference Figures 1 to 8In this embodiment, the primary sun gear 222 and the secondary sun gear 322 are both integrated gear shaft structures, the middle parts of the primary sun gear 222 and the secondary sun gear 322 are teeth meshing with the primary planetary gear 221, the lower axial positions of the primary sun gear 222 and the secondary sun gear 322 are rotatably connected to the upper output end 23 and the lower output end 33 through roller bearings 8, the primary planetary gear 221 and the secondary planetary gear 321 both include gear shafts, on which rotatable planetary gears are provided, and the upper and lower parts of the planetary gears are respectively connected to the retaining frame located at the upper part thereof and the output end located at the lower part thereof, that is, the upper and lower parts of the gear shaft in the primary planetary gear 221 respectively extend into the gear shaft groove 232 on the upper retaining frame 21 and the upper output end 23; the upper and lower parts of the gear shaft in the secondary planetary gear 321 respectively extend into the gear shaft groove 232 on the lower retaining frame 31 and the lower output end 33. In this embodiment, the primary sun gear 222 is located at the center of the primary gear set 22, and more than two primary planetary gears 221 are evenly distributed around the primary sun gear 222 and meshed with the primary sun gear 222 respectively; the secondary sun gear 322 is located at the center of the secondary gear set 32, and more than two secondary planetary gears 321 are evenly distributed around the secondary sun gear 322 and meshed with the secondary sun gear 322 respectively. The primary sun gear 222 is connected to an external driving structure, and the primary sun gear 222 is driven by the external driving structure to rotate, and the primary sun gear 222 further drives the planetary gear in the primary planetary gear 221 meshed with it to rotate. While the planetary gear rotates, under the reaction of the internal gear sleeve 1, the primary planetary gear 221 is driven to revolve along the inner gear ring 11 in the internal gear sleeve 1, and while the primary planetary gear 221 revolves, the upper output end 23 is driven to rotate along the center through the cooperation of the gear shaft at the center of the primary planetary gear 221 and the gear shaft groove 232.

[0039] Reference Figures 1 to 8 In this embodiment, see Figure 8, at least one plane structure 234 is provided in the sun gear sleeve 233 extending from the bottom of the upper output end 23, and the upper part of the secondary sun gear 322 is a limit shaft 3221 matched with the sun gear sleeve 233. When the upper output end 23 rotates, the secondary sun gear 322 is driven to rotate by the sun gear sleeve 233, and the secondary sun gear 322 further drives the gears in the secondary planetary gear 321 located on its circumference to rotate, and the secondary planetary gear 321 rotates while revolving along the inner gear ring 11 to form a two-stage reduction. In this embodiment, the placement space 231 on the upper output end 23 is set so that each gear in the primary gear set 22 is placed between the upper retaining frame 21 and the upper output end 23 after assembly to form an open semi-enclosed structure; the placement space 231 on the lower output end 33 is set so that each gear in the secondary gear set 32 ​​is placed between the lower retaining frame 31 and the lower output end 33 after assembly to form an open enclosed structure. Specifically, in this embodiment, after the primary sun gear 222 in the middle of the primary gear set 22 is arranged in the placement space 231 on the upper output end 23, the side of the placement space 231 forms an open surrounding structure for the primary sun gear 222, and after the secondary sun gear 322 in the middle of the secondary gear set 32 ​​is arranged in the placement space 231 on the lower output end 33, the side of the placement space 231 forms an open surrounding structure for the secondary sun gear 322; and the plurality of primary planetary gears 221 located on the side of the primary sun gear 222 in the primary gear set 22 are arranged in the placement space 231 on the upper output end 23. 31, the placement space 231 forms an open surrounding structure for the primary planetary gear 221; after the multiple secondary planetary gears 321 located on the secondary sun gear 322 in the secondary gear set 32 ​​are arranged in the placement space 231 on the lower output end 33, the placement space 231 forms an open surrounding structure for the secondary planetary gear 321. The placement space 231 on the upper output end 23 and the lower output end 33 is set to limit the gear set and ensure that the gear set can operate normally, so that the assembly accuracy of each component in the gear set is higher, the operating stability is better, and the problem of axial movement of the gear is avoided. Of course, in addition to the above-mentioned two-stage reduction, the present technical solution can also set the number of the reduction units to three groups, namely, an upper reduction unit 2, an intermediate reduction unit and a lower reduction unit 3. The retaining frames in the upper reduction unit 2 and the intermediate reduction unit are respectively connected to the internal gear sleeve 1 through an upper bearing 5 and an intermediate bearing, and the output end of the lower reduction unit 3 is connected to the internal gear sleeve 1 through a second bearing. The middle part of the output end of the upper reduction unit 2 and the intermediate reduction unit is provided with a downwardly extending sun gear sleeve 233, and the upper part of the sun gear in the intermediate reduction unit and the lower reduction unit 3 extends into the sun gear sleeve 233 in the upper reduction unit 2 and the intermediate reduction unit, respectively.In the present embodiment, a sun gear sleeve 233 extends out from the bottom of the output end of the reduction unit located above in any adjacent reduction unit, and at least one plane structure 234 is provided in the sun gear sleeve 233. When the output end of the reduction unit located above rotates, the sun gear sleeve 233 drives the sun gear in the reduction unit located below to rotate, and the sun gear in the reduction unit located below further drives the planetary gears located on its circumference to rotate. While rotating, the planetary gears revolve along the inner gear ring 11 to form a multi-stage reduction.

[0040] Reference Figure 1 and Figure 7 , the depth of the placement space 231 is higher than the height of the gear in the gear set, and there is a gap between the upper and lower end faces of the gear and the corresponding bottom face of the cage and the base surface of the output end. In this embodiment, the depth of the placement space 231 is higher than the height of the gear placed therein, which effectively ensures that the two end faces of the gear are free faces, thereby ensuring that the gear can rotate freely under the action of external drive, that is, free rotation, to avoid the problem of stuck teeth.

[0041] Reference Figure 1 , the primary limiting structure on the primary reduction unit and the secondary limiting structure on the secondary reduction unit are coaxially arranged, and the upper retainer 21 and the upper output end 23 in the primary limiting structure are coaxially arranged with the lower retainer 31 and the lower output end 33 in the secondary limiting structure. In this embodiment, each limiting structure is coaxially arranged, and the retainer and the output end in each limiting structure are coaxially arranged, that is, the retainer and the output end in all reduction units are coaxially arranged, which effectively ensures the concentricity of each retainer, the output end and the inner gear ring 11, and ensures that the gear set is concentric with the pitch circle of the inner gear ring 11 during revolution through the mutual limiting of the limiting structures, thereby ensuring the operating accuracy and stability of the reducer.

[0042] Reference Figure 1 , the upper output end 23 in the primary reduction unit is connected to the lower retainer 31 in the secondary reduction unit through the cross bearing 4, and the upper and lower concentricity is achieved by cooperating with the cross bearing 4. In this embodiment, the upper output end 23 is fixedly connected to the bearing outer ring 41 of the cross bearing 4 through the fastener A, and the lower retainer 31 is fixedly connected to the bearing inner ring 42 of the cross bearing 4 through the fastener B. The adjacent reduction units are connected as a whole through the cross bearing 4, and the upper and lower concentricity is achieved by cooperating with the cross bearing 4, so that the two adjacent reduction units form an integral reduction structure with better stability.

[0043] Reference Figure 1, the top outer edge of the upper retainer 21 is provided with an upper anti-slip structure 211, and the upper bearing 5 is limited to be located between the inner gear sleeve 1 and the upper anti-slip structure 211; the bottom outer edge of the lower output end 33 is provided with a lower anti-slip structure 331, and the lower bearing 6 is limited to be located between the inner gear sleeve 1 and the lower anti-slip structure 331. In this embodiment, the provision of the upper anti-slip structure 211 on the upper retainer 21 and the lower anti-slip structure 331 on the lower output end 33 effectively prevents the upper bearing 5 or the lower bearing 6 from being prevented from leaving the reduction unit, thereby ensuring the stable operation of the reducer.

[0044] In the description of the present invention, it should be understood that terms such as "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] The above embodiments are only specific embodiments of the present invention, and their descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and these obvious replacement forms all belong to the protection scope of the present invention.

Claims

1. A robot joint module planetary reducer, comprising an internal gear sleeve, an internal gear ring is arranged in the internal gear sleeve, a reduction structure is arranged in the internal gear sleeve, and the reduction structure comprises at least two groups of reduction units, characterized in that: A cross bearing is provided between each two adjacent groups of reduction units, and the reduction units are connected to form an integral reduction structure through the cross bearings. The reduction unit includes a gear set and a limiting structure, and the limiting structure includes an output end. The gear set is located as a whole in the limiting structure and drives the output end to rotate, and the outer teeth of the gear set are meshed and connected with the inner gear ring of the internal gear sleeve.

2. According to claim 1, a robot joint module planetary reducer is characterized in that: The limiting structure also includes a retaining frame, which is arranged above the gear set and covers the output end. The output end is provided with a placement space for placing the gear set and allowing the gears in the gear set to rotate freely. The gears in the gear set are located between the retaining frame and the output end.

3. According to claim 2, a robot joint module planetary reducer is characterized in that: The depth of the placement space is higher than the height of the gears in the gear set, and gaps are left between the upper and lower end surfaces of the gears and the bottom surface of the retaining frame and the base surface of the output end, respectively.

4. According to claim 3, a robot joint module planetary reducer is characterized in that: The limiting structures on at least two groups of reduction units are coaxially arranged, and the retaining frame and the output end in the limiting structure are coaxially arranged.

5. According to claim 4, a robot joint module planetary reducer is characterized in that: The output end of the upper reduction unit of two adjacent groups of reduction units is connected to the retaining frame of the lower reduction unit through a cross bearing, and the upper and lower concentricity is achieved by cooperating with the cross bearing.

6. A robot joint module planetary reducer according to any one of claims 1 to 5, characterized in that: The gear set includes a sun gear and more than two planetary gears, wherein the more than two planetary gears are evenly distributed around the sun gear and meshed with the sun gear, and the sun gear is an integrated gear shaft structure.

7. A robot joint module planetary reducer according to claim 6, characterized in that: The middle part of the sun tooth is a tooth meshing with the planetary gear. The lower shaft of the sun tooth is rotatably connected to the output end through a bearing. The planetary gear includes a planetary gear shaft, and a rotatable planetary gear is provided on the gear shaft. The upper and lower parts of the planetary gear shaft are respectively connected to the retaining frame and the output end.

8. The robot joint module planetary reducer according to claim 7, characterized in that: There are two groups of reduction units, which are an upper reduction unit and a lower reduction unit respectively. The retaining frame in the upper reduction unit is connected to the internal gear sleeve through an upper bearing, and the output end in the lower reduction unit is connected to the internal gear sleeve through a lower bearing. A sun gear sleeve extending downward is provided in the middle of the output end of the upper reduction unit, and the upper part of the sun tooth in the lower reduction unit extends into the sun gear sleeve.

9. A robot joint module planetary reducer according to claim 8, characterized in that: The number of reduction units is three, namely, an upper reduction unit, an intermediate reduction unit and a lower reduction unit. The retaining frames in the upper reduction unit and the intermediate reduction unit are connected to the internal gear sleeve through an upper bearing and an intermediate bearing respectively, and the output end in the lower reduction unit is connected to the internal gear sleeve through a second bearing. A sun gear sleeve extending downward is provided in the middle of the output end of the upper reduction unit and the intermediate reduction unit, and the upper parts of the sun teeth in the intermediate reduction unit and the lower reduction unit extend into the sun gear sleeves in the upper reduction unit and the intermediate reduction unit respectively.

10. A robot joint module planetary reducer according to claim 8 or 9, characterized in that: An upper anti-slip structure is provided on the top outer edge of the retaining frame in the upper reduction unit, and the upper bearing limit is located between the internal gear sleeve and the upper anti-slip structure; a lower anti-slip structure is provided on the bottom outer edge of the output end in the lower reduction unit, and the lower bearing limit is located between the internal gear sleeve and the lower anti-slip structure.

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