Multi-stage speed reducer at robot joint
By designing a multi-stage reducer at the joint of a robot including an input component, a reduction component and an output component, the problem of difficulty in adjusting the output speed and maintaining low torque power operation in the prior art is solved, and better motor control and stability are achieved.
Patent Information
- Application Number
- CN202420684189.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-05
- Publication Date
- 2025-03-07
- Estimated Expiration
- 2034-04-05
Smart Images
Figure CN222577243U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of reduction motors, in particular to a multi-stage reduction motor at a robot joint. Background Art
[0002] The multi-stage reducer at the robot joint is mainly used to adjust and reduce the speed and torque of the robot joint movement, so as to achieve accurate and efficient motion control. The following are the main functions of the multi-stage reducer: speed regulation, torque amplification, precise control, motor protection, and energy saving and high efficiency. In summary, the multi-stage reducer at the robot joint mainly achieves accurate, efficient and stable deceleration of the motor output power through multi-stage gear transmission to meet the robot's precise control requirements for speed, torque and accuracy.
[0003] Generally speaking, torque is inversely proportional to speed, and robotic joints are an application that requires high torque. Existing motors are usually more efficient at high speeds, so by keeping the motor running within its optimal operating speed range, the efficiency of the entire system can be improved. In addition, controlling the speed of the motor is more complicated, especially in applications that require precise control and regulation. Using a reducer can more easily adjust the output speed while keeping the motor running at a lower torque power, which is beneficial to the control and stability of the motor.
[0004] In view of this, we propose a multi-stage reducer at the joint of the robot, which can more conveniently adjust the output speed while keeping the motor running at a lower torque power, which is beneficial to the control and stability of the motor. Utility Model Content
[0005] The purpose of the utility model is to provide a multi-stage reducer at a robot joint to solve the problems raised in the above background technology.
[0006] To achieve the above-mentioned purpose, the utility model provides a multi-stage reducer at the joint of a robot, comprising an input component coaxially connected to the output shaft of a motor to be reduced, the input component being used to input low-torque power of the motor to be reduced, the end of the input component away from the motor to be reduced is coaxially connected to a reduction component, the reduction component being used to reduce the low-torque power input component, the end of the reduction component away from the input component is coaxially connected to an output component, the output component being used to output high-torque power after being reduced by the reduction component.
[0007] As a further improvement of the technical solution, the input component includes a main shaft coaxially connected to the output shaft of the motor to be decelerated, the end of the main shaft away from the motor to be decelerated is coaxially connected to a secondary shaft, and a plurality of connecting parts are coaxially connected to the secondary shaft.
[0008] As a further improvement of the present technical solution, the reduction assembly includes a reduction wheel coaxially connected to a plurality of connecting parts, a tooth opening is provided on the periphery of the reduction wheel, a linkage column is meshed on the periphery of the tooth opening, and the plurality of reduction wheels are located inside the linkage column.
[0009] As a further improvement of the present technical solution, the output assembly includes a plurality of connecting holes opened on the reduction wheel at the edge of the connecting portion, a plurality of connecting holes are inserted with connecting columns, and a plurality of connecting columns are fixedly connected to an output rod at one end away from the reduction wheel.
[0010] As a further improvement of the technical solution, sealed bearings are provided between the plurality of reduction wheels.
[0011] Compared with the prior art, the utility model has the following beneficial effects:
[0012] In the multi-stage reducer at the joint of the robot, an input component is set up to input the low-torque power of the motor to be decelerated, a reduction component is used to decelerate the input component of the low-torque power, and an output component is used to output the high-torque power after being decelerated by the reduction component. BRIEF DESCRIPTION OF THE DRAWINGS
[0013] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model;
[0014] Figure 2 It is a schematic diagram of the overall structure explosion of an embodiment of the utility model;
[0015] Figure 3 It is a schematic cross-sectional view of the overall structure of an embodiment of the utility model;
[0016] Figure 4 This is a schematic diagram of the input component structure of an embodiment of the utility model;
[0017] Figure 5 This is a schematic diagram of the structure of a deceleration assembly according to an embodiment of the utility model;
[0018] Figure 6 This is a schematic diagram of the output component structure of an embodiment of the utility model;
[0019] Figure 7 This is a schematic diagram of the sealed bearing structure of an embodiment of the utility model.
[0020] The meaning of each number in the figure is:
[0021] 10. Input assembly; 11. Main shaft; 12. Secondary shaft; 13. Connecting part;
[0022] 20. Speed reduction assembly; 21. Speed reduction wheel; 22. Tooth opening; 23. Linkage column;
[0023] 30. output assembly; 31. connection hole; 32. connection column; 33. output rod;
[0024] 40. Sealed bearings. DETAILED DESCRIPTION
[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0026] Example
[0027] See also Figure 1-Figure 7 As shown, this embodiment provides a multi-stage reducer at the joint of a robot, including an input component 10 coaxially connected to the output shaft of the motor to be reduced, the input component 10 is used to input the low torque power of the motor to be reduced, the end of the input component 10 away from the motor to be reduced is coaxially connected to the reduction component 20, the reduction component 20 is used to reduce the low torque power input component 10, the end of the reduction component 20 away from the input component 10 is coaxially connected to the output component 30, the output component 30 is used to output the high torque power after being reduced by the reduction component 20.
[0028] Working principle: When the multi-stage reducer at the robot joint provided by the utility model is used, the input component 10 is used to input the low torque power of the motor to be decelerated, the reduction component 20 is used to input the low torque power of the motor to be decelerated, and the output component 30 is used to output the high torque power after deceleration by the reduction component 20.
[0029] In order to input the low torque power of the motor to be decelerated, the input component 10 includes a main shaft 11 coaxially connected to the output shaft of the motor to be decelerated, the end of the main shaft 11 away from the motor to be decelerated is coaxially connected to the secondary shaft 12, and a plurality of connecting parts 13 are coaxially connected to the secondary shaft 12; the end of the main shaft 11 away from the secondary shaft 12 is coaxially connected to the output shaft of the motor to be decelerated, the motor to be decelerated drives the main shaft 11 to rotate, and the main shaft 11 drives the plurality of connecting parts 13 on the secondary shaft 12 to rotate through the secondary shaft 12. Since the input component 10 and the output shaft of the motor to be decelerated are coaxially connected, without considering the natural energy loss, the rotation speed of the input component 10 is the same as the rotation speed of the motor to be decelerated.
[0030] Taking into account the need to input low-torque power of the motor to be decelerated, the reduction assembly 20 includes a reduction wheel 21 coaxially connected to a plurality of connecting parts 13, a tooth opening 22 is provided on the periphery of the reduction wheel 21, and a linkage column 23 is meshed on the periphery of the tooth opening 22, and the plurality of reduction wheels 21 are all located inside the linkage column 23; after the input assembly 10 inputs the low-power torque of the motor to be decelerated, the plurality of connecting parts 13 respectively drive the reduction wheels 21 coaxially connected thereto to actively rotate, and the reduction wheel 21 then drives the linkage column 23 on the periphery of the reduction wheel 21 to rotate through the tooth opening 22 on its periphery, that is, the rotational speed is automatically reduced from a high speed through the gear structure, and the more reduction wheels 21 are set, the greater the reduction ratio is.
[0031] In order to achieve the output of high torque power after being decelerated by the reduction assembly 20, the output assembly 30 includes a plurality of connecting holes 31 opened on the reduction wheel 21 and located at the edge of the connecting portion 13, and connecting columns 32 are inserted into the plurality of connecting holes 31, and the ends of the plurality of connecting columns 32 away from the reduction wheel 21 are fixedly connected to output rods 33; sealed bearings 40 are provided between the plurality of reduction wheels 21; after the low-power torque of the motor to be decelerated is decelerated and increased by the reduction assembly 20, the plurality of reduction wheels 21 drive the connecting columns 32 to rotate through the connecting holes 31, and the connecting columns 32 drive the output rods 33 to rotate, thereby outputting the high torque power to other parts.
[0032] When the multi-stage reducer at the joint of the robot provided in the utility model is used, the input component 10 is set to input the low torque power of the motor to be reduced. Specifically, the end of the main shaft 11 away from the secondary shaft 12 is coaxially connected to the output shaft of the motor to be reduced. The motor to be reduced drives the main shaft 11 to rotate, and the main shaft 11 drives several connecting parts 13 on the secondary shaft 12 to rotate through the secondary shaft 12. Since the input component 10 and the output shaft of the motor to be reduced are coaxially connected, without considering the natural energy loss, the rotation speed of the input component 10 is the same as the rotation speed of the motor to be reduced. The reduction component 20 is used to reduce the low torque power input component 10. Specifically, the input component 10 inputs the output shaft of the motor to be reduced. After the low-power torque of the speed-reducing motor is decelerated, several connecting parts 13 respectively drive the reduction wheel 21 coaxially connected thereto to actively, and the reduction wheel 21 then drives the linkage column 23 on the periphery of the reduction wheel 21 to rotate through the tooth mouth 22 on its periphery, that is, the speed is automatically reduced from high to low through the gear structure, and the more reduction wheels 21 are set, the greater the reduction ratio; and then the output component 30 is used to output the high-torque power after being decelerated by the reduction component 20. Specifically, after the low-power torque of the speed-reducing motor is decelerated and increased by the reduction component 20, several reduction wheels 21 drive the connecting column 32 to rotate through the connecting hole 31, and the connecting column 32 drives the output rod 33 to rotate, thereby outputting the high-torque power to other parts.
[0033] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.
Claims
1. A multi-stage reducer at a robot joint, characterized in that: The invention comprises an input component (10) coaxially connected to the output shaft of a motor to be decelerated, the input component (10) being used to input low torque power of the motor to be decelerated, the end of the input component (10) away from the motor to be decelerated being coaxially connected to a deceleration component (20), the deceleration component (20) being used to decelerate the input component (10) with low torque power, the end of the deceleration component (20) away from the input component (10) being coaxially connected to an output component (30), the output component (30) being used to output high torque power decelerated by the deceleration component (20).
2. The multi-stage reducer at the robot joint according to claim 1, characterized in that: The input assembly (10) comprises a main shaft (11) coaxially connected to the output shaft of the motor to be decelerated, an end of the main shaft (11) away from the motor to be decelerated is coaxially connected to a secondary shaft (12), and a plurality of connecting parts (13) are coaxially connected to the secondary shaft (12).
3. The multi-stage reducer at the robot joint according to claim 2, characterized in that: The deceleration assembly (20) comprises a deceleration wheel (21) coaxially connected to a plurality of connection parts (13); a tooth opening (22) is provided on the periphery of the deceleration wheel (21); a linkage column (23) is meshed on the periphery of the tooth opening (22); and the plurality of deceleration wheels (21) are located inside the linkage column (23).
4. The multi-stage reducer at the robot joint according to claim 3, characterized in that: The output assembly (30) comprises a plurality of connecting holes (31) formed on the reduction wheel (21) and located at the edge of the connecting portion (13), a plurality of connecting holes (31) are inserted with connecting posts (32), and a plurality of connecting posts (32) are fixedly connected with output rods (33) at one end away from the reduction wheel (21).
5. The multi-stage reducer at the robot joint according to claim 3, characterized in that: A sealed bearing (40) is provided between the plurality of reduction wheels (21).