Split type robot joint speed reducer

Abstract

The utility model relates to the technical field of speed reducers, in particular to a split type robot joint speed reducer which comprises a motor, a swing rod, a speed reduction gear set and a split cavity. The whole split cavity is in a circular tube shape, one end of the split cavity is fixed to the motor, and the other end of the split cavity is arranged on the reduction gear set in a sleeving mode. An output shaft of the motor penetrates through the split cavity, is connected with the reduction gear set and is used for driving the reduction gear set to rotate; a swing notch is formed in the side face of the split cavity, one end of the swing rod is fixedly connected with the reduction gear set, and the other end of the swing rod penetrates through the swing notch. The speed reducer has the advantages that the design of the split cavity plays a role in heat insulation between the motor and the reduction gear set, so that the service life of the speed reducer is prolonged; the split type robot joint speed reducer is simple in structure, few in included parts and low in manufacturing difficulty and manufacturing cost.

Description

Technical Field

[0001] The utility model relates to the technical field of reducers, and more specifically, to a split-type robot joint reducer. Background Art

[0002] A reducer is a relatively sophisticated machine designed to reduce speed and increase torque. It matches speed and transmits torque between the prime mover and the working machine or actuator, and is widely used in modern machinery. Reducers can be divided into general-purpose and specialized categories based on their intended use. Each category has distinct design, manufacturing, and operational characteristics.

[0003] Reducers are widely used, especially in robots. However, the reducers currently used in existing robots have complex structures and high manufacturing costs.

[0004] Chinese patent document: CN216842921 U, announcement date 2022.06.28, discloses an industrial robot RV simplified reducer, including: a planetary carrier, a pinion housing, a double eccentric shaft, a cycloid wheel, a spacer, a bearing, a needle pin and a round end cover connected to the stop of the pinion housing. The planetary carrier includes a main and auxiliary discs, a pin and a pin sleeve, and the cycloid wheel adopts the optimal positive equidistance-positive displacement modification. The advantages are: eliminating the influence of the original planetary-level manufacturing accuracy, not only reducing the manufacturing difficulty, but also reducing the cost, and solving the technical problems of reducer backlash, heat generation and extended service life. However, this technical solution has a complex structure, contains many parts, and has high manufacturing difficulty and cost.

[0005] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Utility Model Content

[0006] The purpose of the utility model is to provide a split-type robot joint reducer, which has a simple structure, contains fewer parts, and has low manufacturing difficulty and cost.

[0007] The utility model provides a split robot joint reducer, comprising a motor, a rocker arm, a reduction gear set and a split cavity; the split cavity is in the shape of a circular tube as a whole, one end of the split cavity is fixed to the motor, and the other end of the split cavity is sleeved on the reduction gear set; the output shaft of the motor passes through the split cavity and is connected to the reduction gear set to drive the reduction gear set to rotate; a swing notch is provided on the side of the split cavity, one end of the rocker arm is fixedly connected to the reduction gear set, and the other end of the rocker arm passes through the swing notch.

[0008] Furthermore, the reduction gear set includes a secondary planet carrier, a primary planet carrier, a primary sun gear, a secondary sun gear, a secondary planet gear, a primary planet gear and an outer ring gear; the secondary planet carrier is rotatably sleeved on the output shaft of the motor, and the rocker arm is fixed to a surface of the secondary planet carrier close to the motor; the primary sun gear and the secondary sun gear are fixedly connected to the output shaft of the motor in sequence, and the primary planet carrier is sleeved between the primary sun gear and the secondary sun gear; the secondary planet gear is rotatably connected to the secondary planet carrier, and the primary sun gear is meshed with the primary planet gear; the secondary planet gear is rotatably connected to the secondary planet carrier, and the secondary sun gear is meshed with the secondary planet gear; the outer ring gear is generally tubular, and a secondary internal tooth and a primary internal tooth are respectively provided on the inner wall of the outer ring gear, the outer ring gear is sleeved on the secondary planet gear and the primary planet gear, and the primary internal tooth and the secondary internal tooth are respectively meshed with the secondary planet gear and the primary planet gear; one end of the outer ring gear is fixedly connected to the split cavity, and the split cavity is fixedly connected to the motor.

[0009] Furthermore, three secondary planetary gears are rotatably connected to the secondary planetary carrier, and the angle between the three secondary planetary gears is 120 degrees; three primary planetary gears are rotatably connected to the primary planetary carrier, and the angle between the three primary planetary gears is 120 degrees.

[0010] Furthermore, a bearing is fixed on the output shaft of the motor, and the secondary planetary carrier is fixedly sleeved on the bearing.

[0011] The split robot joint reducer of the present invention can be used in desktop robots, welding robots, etc., and the end of the rocker arm can be used to install the robot's operating head (such as the welding head of a welding robot); when the motor rotates, the motor output shaft will drive the reduction gear set to rotate, and the reduction gear set will drive the rocker arm to swing around the swing gap; in addition, the design of the split cavity plays a heat insulation role between the motor and the reduction gear set, thereby increasing the service life of the reducer; the split robot joint reducer of the present invention has a simple structure, contains fewer parts, and has low manufacturing difficulty and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic structural diagram of a split robot joint reducer provided in an embodiment of the utility model.

[0013] Figure 2 for Figure 1 Schematic plan view of the mid-split robot joint reducer.

[0014] Figure 3 for Figure 1Schematic diagram of the structure of the split cavity of the split robot joint reducer.

[0015] Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the reduction gear set of the mid-split robot joint reducer.

[0016] Figure 5 for Figure 1 Schematic diagram of the cross-sectional structure of the motor of the mid-split robot joint reducer.

[0017] Figure 6 for Figure 1 Schematic diagram of the structure of the outer ring gear of the mid-split robot joint reducer.

[0018] Figure 7 for Figure 1 Schematic plan view of the bearings of the mid-split robot joint reducer.

[0019] Figure 8 for Figure 1 Schematic diagram of the cross-sectional structure of the mid-split robot joint reducer.

[0020] The reference numerals and components in the drawings are as follows:

[0021] 1. Motor 11, output shaft 2, rocker arm

[0022] 3. Reduction gear set 31, secondary planetary carrier 32, primary planetary carrier

[0023] 33. Secondary sun gear 34. Primary sun gear 35. Secondary planetary gear

[0024] 36, first-stage planetary gear 37, outer ring gear 38, second-stage inner gear

[0025] 39, first-level internal teeth 4, split cavity 41, swing notch

[0026] 5. Bearings DETAILED DESCRIPTION

[0027] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0028] The terms "first", "second", "third", "fourth", etc. in the description and claims of the present utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0029] Example 1

[0030] Figure 1This is a schematic diagram of the structure of the split robot joint reducer provided by the embodiment of the utility model. Figure 2 for Figure 1 Plane diagram of the split robot joint reducer. Figure 3 for Figure 1 The structural diagram of the split cavity of the split robot joint reducer. Figure 1 、 Figure 2 、 Figure 3 The split robot joint reducer provided by the embodiment of the utility model includes a motor 1, a rocker arm 2, a reduction gear set 3 and a split cavity 4; the split cavity 4 is in the shape of a circular tube as a whole, one end of the split cavity 4 is fixed on the motor 1, and the other end of the split cavity 4 is sleeved on the reduction gear set 3; the output shaft 11 of the motor 1 passes through the split cavity 4 and is connected to the reduction gear set 3, so as to drive the reduction gear set 3 to rotate; a swing notch 41 is provided on the side of the split cavity 4, one end of the rocker arm 2 is fixedly connected to the reduction gear set 3, and the other end of the rocker arm 2 passes through the swing notch 41.

[0031] The split robot joint reducer of the utility model can be used in desktop robots, welding robots, etc., and the end of the rocker arm 2 can be used to install the operating head of the robot, such as the welding head of a welding robot.

[0032] It should be noted that when the motor 1 rotates, the output shaft 11 of the motor 1 drives the reduction gear set 3 to rotate, which in turn drives the rocker 2 to swing about the swing notch 41. Furthermore, the design of the split cavity 4 provides thermal insulation between the motor 1 and the reduction gear set 3, thereby extending the service life of the reducer. The split-type robot joint reducer of the present utility model has a simple structure, contains fewer parts, and is relatively easy and cost-effective to manufacture.

[0033] Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure of the reduction gear set of the split robot joint reducer. Figure 5 for Figure 1 Schematic diagram of the cross-sectional structure of the motor of the split robot joint reducer. Figure 6 for Figure 1 Schematic diagram of the structure of the outer gear ring of the split robot joint reducer. Figure 7 for Figure 1 Plane diagram of the bearings of the split robot joint reducer. Figure 8 for Figure 1 Cross-sectional structural diagram of the mid-split robot joint reducer. Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8The reduction gear set 3 of the present invention includes a secondary planet carrier 31, a primary planet carrier 32, a primary sun gear 34, a secondary sun gear 33, a secondary planet gear 35, a primary planet gear 36 and an outer ring gear 37; the secondary planet carrier 31 is rotatably sleeved on the output shaft 11 of the motor 1, and the rocker arm 2 is fixed on the side of the secondary planet carrier 31 close to the motor 1; the primary sun gear 34 and the secondary sun gear 33 are fixedly connected to the output shaft 11 of the motor 1 in sequence, and the primary planet carrier 32 is sleeved between the primary sun gear 34 and the secondary sun gear 33; the secondary planet gear 35 is rotatably connected to the secondary planet gear 36 On the carrier 31, the primary sun gear 34 is meshed with the primary planet gear 36; the secondary planet gear 35 is rotatably connected to the secondary planet carrier 31, and the secondary sun gear 33 is meshed with the secondary planet gear 35; the outer ring gear 37 is in the shape of a circular tube as a whole, and the inner wall of the outer ring gear 37 is respectively provided with secondary internal teeth 38 and primary internal teeth 39, and the outer ring gear 37 is sleeved on the secondary planet gear 35 and the primary planet gear 36, and the primary internal teeth 39 and the secondary internal teeth 38 are respectively meshed with the secondary planet gear 35 and the primary planet gear 36; one end of the outer ring gear 37 is fixedly connected to the split cavity 4, and the split cavity 4 is fixedly connected to the motor 1.

[0034] It should be noted that when the motor 1 rotates, the output shaft 11 of the motor 1 will drive the first-stage sun gear 34, the second-stage planetary carrier 31, the first-stage planetary carrier 32, the second-stage sun gear 33, the second-stage planetary gear 35, the first-stage planetary gear 36 and the outer ring gear 37 to rotate, thereby driving the rocker arm 2 to rotate.

[0035] Furthermore, three secondary planetary gears 35 are rotatably connected to the secondary planetary carrier 31, and the angle between the three secondary planetary gears 35 is 120 degrees; three primary planetary gears 36 are rotatably connected to the primary planetary carrier 32, and the angle between the three primary planetary gears 36 is 120 degrees.

[0036] It should be noted that the design of three secondary planetary gears 35 and one primary planetary gear 36 improves the stability of the gear transmission.

[0037] Furthermore, a bearing 5 is fixed on the output shaft 11 of the motor 1, and the secondary planet carrier 31 is fixedly sleeved on the bearing 5. The design of the bearing 5 reduces friction and increases its service life.

[0038] Based on the above description, it can be seen that the advantages of the present invention are:

[0039] 1. The split robot joint reducer of the present invention has a simple structure, contains fewer parts, and has low manufacturing difficulty and cost.

[0040] 2. The split robot joint reducer of the present invention can be used in desktop robots, welding robots, etc., and the end of the rocker arm 2 can be used to install the operating head of the robot; when the motor 1 rotates, the output shaft 11 of the motor 1 will drive the reduction gear set 3 to rotate, and the reduction gear set 3 will drive the rocker arm 2 to swing around the swing gap 41; in addition, the design of the split cavity 4 plays a heat insulation role between the motor 1 and the reduction gear set 3, thereby improving the service life of the reducer.

[0041] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A split robot joint reducer, characterized in that: It comprises a motor (1), a swing rod (2), a reduction gear set (3) and a split cavity (4); The split cavity (4) is in the shape of a circular tube as a whole; one end of the split cavity (4) is fixed on the motor (1), and the other end of the split cavity (4) is sleeved on the reduction gear set (3); the output shaft (11) of the motor (1) passes through the split cavity (4) and is connected to the reduction gear set (3) to drive the reduction gear set (3) to rotate; A swing notch (41) is provided on the side of the split cavity (4); one end of the swing rod (2) is fixedly connected to the reduction gear set (3); and the other end of the swing rod (2) passes through the swing notch (41).

2. The split robot joint reducer according to claim 1 is characterized in that: The reduction gear set (3) comprises a secondary planet carrier (31), a primary planet carrier (32), a primary sun gear (34), a secondary sun gear (33), a secondary planet gear (35), a primary planet gear (36) and an outer ring gear (37); The secondary planet carrier (31) is rotatably sleeved on the output shaft (11) of the motor (1), and the rocker (2) is fixed on a surface of the secondary planet carrier (31) close to the motor (1); The primary sun gear (34) and the secondary sun gear (33) are fixedly connected in sequence to the output shaft (11) of the motor (1), and the primary planet carrier (32) is sleeved between the primary sun gear (34) and the secondary sun gear (33); The secondary planetary gear (35) is rotatably connected to the secondary planetary carrier (31), and the primary sun gear (34) is meshed with the primary planetary gear (36); the secondary planetary gear (35) is rotatably connected to the secondary planetary carrier (31), and the secondary sun gear (33) is meshed with the secondary planetary gear (35); The outer gear ring (37) is in the shape of a circular tube as a whole. A secondary internal tooth (38) and a primary internal tooth (39) are respectively arranged on the inner wall of the outer gear ring (37). The outer gear ring (37) is sleeved on the secondary planetary gear (35) and the primary planetary gear (36). The primary internal tooth (39) and the secondary internal tooth (38) are respectively meshed with the secondary planetary gear (35) and the primary planetary gear (36). One end of the outer gear ring (37) is fixedly connected to the split cavity (4), and the split cavity (4) is fixedly connected to the motor (1).

3. The split robot joint reducer according to claim 2 is characterized in that: Three secondary planetary gears (35) are rotatably connected to the secondary planetary carrier (31), and the angle between the three secondary planetary gears (35) is 120 degrees; The first-stage planet carrier (32) is rotatably connected to three first-stage planetary gears (36), and the included angle between the three first-stage planetary gears (36) is 120 degrees.

4. The split robot joint reducer according to claim 2, characterized in that: A bearing (5) is fixed on the output shaft (11) of the motor (1), and the secondary planet carrier (31) is fixedly sleeved on the bearing (5).

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