A compact planetary reduction box, joint module and robot thereof

Abstract

The utility model discloses a compact planetary reduction box, including a primary planetary assembly, a shaft assembly, a secondary planetary assembly, a planetary gear ring group, a first bearing, a second bearing and an output disk; one end of the shaft assembly is plugged with the primary planetary assembly and the first bearing in sequence; the other end is plugged with the secondary planetary assembly, the second bearing and the output disk; the first bearing is embedded in the planetary gear ring group, one side of the second bearing fits the planetary gear ring group, and the other side is fixedly connected to the output disk; the primary planetary assembly and the secondary planetary assembly are respectively meshed with the inner wall of the planetary gear ring group; the shaft assembly is driven to rotate by an external motor, and the primary planetary assembly and the secondary planetary assembly are used to reduce the speed of the output disk. It can significantly improve the integration of the robot joint module and reduce the overall weight of the motor; the motor shaft and the reduction box shaft are integrated to improve the efficiency of robot product development.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and in particular to a planetary reduction box with a compact structure, a joint module and a robot thereof. Background Art

[0002] Planetary reducer is a reducer with three planetary gears rotating around a sun gear. With the rapid development of the planetary reducer industry, more and more industries and different companies have applied planetary reducers. The main products are planetary gear reducers; helical gear-spiral bevel gear reducers; spiral bevel gear steering boxes; hardened helical gear reducers; parallel shaft helical gear reducers; helical gear-worm reducers; hardened industrial gearboxes; continuously variable speed machines; worm gear reducers and various series of non-standard reducers. It is suitable for industrial sectors such as lifting and transportation, engineering machinery, metallurgy, mining, petrochemicals, construction machinery, light industry and textiles, medical equipment, instruments and meters, automobiles, ships, weapons and aerospace.

[0003] Existing robot joint modules generally have low power density and torque density, and are mainly assembled by robot integrators using standard reducers and servo motors. Such a design cannot meet the robot's requirements for torque density and power density, and also causes the problem of too low system integration, causing a certain degree of trouble in system stability and maintainability.

[0004] In the past, robot joints were made of standard parts, which could not meet the requirements of high integration, and could not provide sufficient torque density and power density to guarantee the performance of the robot. This situation would cause the robot products of integrated manufacturers to have low cycle speed, poor maintainability, poor load capacity, etc. In some complex applications, they could not provide sufficient performance. Utility Model Content

[0005] The utility model aims to overcome at least one defect of the above-mentioned prior art and provide a planetary reduction box with a compact structure to achieve the purpose of high integration, small occupied space and small volume.

[0006] Specifically, the utility model provides a planetary reduction box with a compact structure, including a primary planetary assembly, a shaft assembly, a secondary planetary assembly, a planetary gear ring group, a first bearing, a second bearing and an output disk; one end of the shaft assembly is plugged into the primary planetary assembly and the first bearing in sequence; the other end is plugged into the secondary planetary assembly, the second bearing and the output disk; the first bearing is embedded in the planetary gear ring group, one side of the second bearing is in contact with the planetary gear ring group, and the other side is fixedly connected to the output disk; the primary planetary assembly and the secondary planetary assembly are respectively meshed with the inner walls of the planetary gear ring group; the shaft assembly is driven to rotate by an external motor, and the primary planetary assembly and the secondary planetary assembly are used to reduce the speed of the output disk.

[0007] The utility model is a modularly designed spur-tooth one-stage planetary reducer. For industrial robots that require high precision joints, as well as high torque density and power density, the planetary reducer of the utility model can effectively meet the joint requirements of industrial robots. The utility model adopts a two-stage planetary operation mode, and selects larger 6707 bearings, namely the first bearing and the second bearing, at the output end of the reducer; it can provide radial and axial support at the same time, and for robot applications, it can save the shaft system design outside the robot arm, greatly improving the system integration. The driving force of the external motor is transmitted from the shaft assembly through the first planetary assembly and the second planetary assembly, and finally the output disc speed is reduced.

[0008] More specifically, the planetary gear ring group includes a first planetary gear ring and a second planetary gear ring, one end of the inner wall of the first planetary gear ring and the second planetary gear ring is a smooth end, and the other end is a meshing end; the smooth ends of the first planetary gear ring and the second planetary gear ring are fitted to form a mounting position; the first bearing is installed in the mounting position; the meshing end of the first planetary gear ring is used to mesh with the first-stage planetary assembly; the meshing end of the second planetary gear ring is used to mesh with the second-stage planetary assembly.

[0009] The design of the utility model is different from the traditional design in that the planetary gear ring is designed to be two parts. Each stage of the reducer is equipped with a planetary gear ring separately, and a 6707 bearing is added between the planetary gear rings, that is, connected through the second bearing, which more effectively improves the stability of the torque transmission from the first reducer to the second reducer, and greatly improves the torque density of the planetary reducer.

[0010] Further, the primary planetary assembly includes a primary planetary wheel and a primary planetary carrier; the primary planetary wheel is fixed on the primary planetary carrier; the secondary planetary assembly includes a secondary planetary wheel and a secondary planetary carrier; the secondary planetary wheel is fixed on the secondary planetary carrier; the primary planetary wheel is meshed with the first planetary gear ring; the secondary planetary wheel is meshed with the second planetary gear ring. The shaft assembly passes through the primary planetary carrier and the secondary planetary carrier for fixing.

[0011] Specifically, there are three primary planetary gears, which are evenly fixed on one side of the primary planet carrier; and the three primary planetary gears are respectively meshed with the inner wall gears of the first planetary gear ring; similarly, there are three secondary planetary gears, which are evenly fixed on one side of the secondary planet carrier; and the three secondary planetary gears are respectively meshed with the inner wall gears of the second planetary gear ring. A circular through hole is provided in the middle of the primary planet carrier and the secondary planet carrier, and the shaft assembly is connected by passing through the circular through hole.

[0012] Furthermore, the shaft assembly includes a hollow shaft and a secondary sun gear shaft; the secondary sun gear shaft sleeve is arranged at one end of the hollow shaft, the hollow shaft passes through the secondary planetary carrier and the primary planetary carrier, and the other end is externally connected to the motor; the secondary sun gear shaft sleeve is connected to the output disk.

[0013] The design of the utility model adopts a combination of a brushless motor and a two-stage planetary reducer, and integrates the two on the same hollow output shaft, and integrates the sun gear of the planetary reducer on the motor rotor, eliminating the redundant shaft system design. In addition, the utility model designs a two-stage planetary gear structure, and the three planetary gears of each stage rotate around a sun gear. The hollow shaft serves as both a connecting shaft and an integrated drive shaft on the motor rotor, eliminating the redundant shaft system design.

[0014] The utility model also provides a joint module, comprising the above-mentioned planetary reduction box.

[0015] Furthermore, the joint module of the utility model also includes a controller and a motor assembly; one end of the motor assembly is connected to the controller, and the other end is connected to the planetary reduction box; the start and stop of the motor assembly is controlled by the controller, thereby driving the start and stop of the planetary reduction box. The controller is mainly a control PCB board; the control PCB board is attached and fixed to one side of the motor assembly, and the other side of the motor assembly is connected to the planetary reduction box.

[0016] Furthermore, the motor assembly is also provided with a sensor element and a detection magnet, and the sensor element provides output angle information to the controller; the sensor element cooperates with the detection magnet to detect the position of the motor shaft and transmits the detection information to the controller.

[0017] Furthermore, the motor assembly includes a motor stator and a motor rotor; one end of the shaft assembly connected to the first-stage planetary assembly is a kinetic energy input end; the kinetic energy input end is sequentially inserted into the central axes of the motor rotor and the motor stator, and is fixed to the motor stator; the motor rotor is fixed to the planetary reduction box; the sensor element includes a sensor driving wheel and a sensor driven wheel, the sensor driving wheel is plugged into the kinetic energy input end; the sensor driven wheel is meshed with the sensor driving wheel; the detection magnet is arranged on the inner side of the sensor driven wheel.

[0018] In the design of the utility model, an encoder sensor element is integrated at the rear end of the motor, which can provide the controller board with output angle-related information. The position of the motor shaft, that is, the position of the hollow shaft rotation, is detected in the form of a transmission gear by cooperating with the detection magnet of the sensor element, which can effectively save the space occupied by the sensor element.

[0019] Furthermore, the joint module of the utility model also includes a first end cover, a reducer fixing seat and a second end cover; one side of the motor stator is locked with the first end cover, and the other side is locked with the reducer fixing seat; the other end of the reducer fixing seat is locked with the second end cover.

[0020] In traditional designs, the motor housing and the reducer housing are generally designed separately and then combined by couplings or other methods. In the solution of the utility model, the overall motor housing consists of two parts: one is the second end cover, which is the entire housing of the output end and can also provide a fixed installation function; the other is the integrated reducer fixing seat, which integrates the motor assembly and the housing of the planetary reducer; these two structural parts are fastened and locked by special housing locking nuts and screws, and cooperate with anti-rotation screws to achieve axial integration and radial anti-rotation of the front and rear covers at the same time. Further providing an integrated integrated design of the system can also greatly improve the power density and torque density of the joint module.

[0021] The utility model also provides a robot, comprising the above-mentioned planetary reduction box or the above-mentioned joint module.

[0022] Compared with the prior art, the beneficial effects of the utility model are:

[0023] The design of the utility model can significantly improve the integration of the robot joint module, reduce the space occupied by the control encoder, and reduce the overall weight of the motor; the motor shaft and the reduction gearbox shaft are integrated on the same hollow shaft, which is convenient for integrated manufacturers to quickly complete robot product development.

[0024] Moreover, the design of the utility model reduces redundant connection structures and redundant shaft system designs, which can improve the power density and torque density of the robot joint module, and can better adapt to the overall design of the robot with complex design requirements and high performance requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the exploded structure of the planetary reduction box of the utility model.

[0026] Figure 2 It is a schematic diagram of the partial explosion structure of the planetary reduction box of the utility model.

[0027] Figure 3 This is a schematic diagram of the shaft assembly structure of the planetary reduction box of the utility model.

[0028] Figure 4 It is a three-dimensional structural schematic diagram of the joint module of the utility model.

[0029] Figure 5 It is a schematic diagram of the exploded structure of the joint module of the utility model.

[0030] Figure 6 This is a schematic diagram of the structure of the joint module of the utility model with both ends disassembled.

[0031] Figure 7 It is a schematic diagram of the longitudinal cross-sectional structure of the joint module of the utility model. DETAILED DESCRIPTION

[0032] The drawings in the embodiments provide a more detailed description of the technical solutions in the embodiments of the utility model. In the drawings, the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The described embodiments are part of the embodiments of the utility model, not all of them. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the utility model, and should not be construed as limitations on the utility model. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. The embodiments of the utility model are described in detail below in conjunction with the drawings.

[0033] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0034] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0035] Example 1

[0036] A compact planetary reduction gearbox, such as Figure 1 As shown, it includes three primary planetary gears 1, a primary planetary carrier 2, a shaft assembly 3, three secondary planetary gears 4, a secondary planetary carrier 5, a planetary gear ring set 6, a first bearing 7, a second bearing 8 and an output disc 9; the primary planetary gear 1 is fixed on the primary planetary carrier 2; the secondary planetary gear 4 is fixed on the secondary planetary carrier 5. One end of the shaft assembly 3 is plugged with the primary planetary carrier 2 and the first bearing 7 in sequence; the other end is plugged with the secondary planetary carrier 5, the second bearing 8 and the output disc 9; the first bearing 7 is embedded in the planetary gear ring set 6, one side of the second bearing 8 is attached to the planetary gear ring set 6, and the other side is fixedly connected to the output disc 9; the primary planetary gear 1 and the secondary planetary gear 4 are respectively meshed with the inner wall of the planetary gear ring set 6; the shaft assembly 3 is driven to rotate by an external motor, and the output disc 9 is decelerated by the primary planetary gear 1 and the secondary planetary gear 4.

[0037] Combination Figure 2 As shown, the planetary gear ring group 6 includes a first planetary gear ring 601 and a second planetary gear ring 602, wherein one end of the inner wall of the first planetary gear ring 601 and the second planetary gear ring 602 is a smooth end, and the other end is a meshing end; the smooth ends of the first planetary gear ring 601 and the second planetary gear ring 602 are fitted to form a mounting position 10; the first bearing 7 is installed in the mounting position 10; the meshing end of the first planetary gear ring 601 is used to mesh with the primary planetary gear 1; the meshing end of the second planetary gear ring 602 is used to mesh with the secondary planetary gear 4.

[0038] As Figure 2 As shown, three primary planetary gears 1 are evenly fixed on one side of the primary planetary carrier 2; and the three primary planetary gears 1 are respectively meshed with the inner wall gears of the first planetary gear ring 601; three secondary planetary gears 4 are evenly fixed on one side of the secondary planetary carrier 5; and the three secondary planetary gears 4 are respectively meshed with the inner wall gears of the second planetary gear ring 602. Figures 1-2As shown, a circular through hole 11 is provided in the middle of the primary planet carrier 2 and the secondary planet carrier 5, and the shaft assembly 3 passes through the circular through hole 11 to achieve connection.

[0039] like Figure 3 As shown, the shaft assembly 3 includes a hollow shaft 301 and a secondary sun gear shaft 302; the secondary sun gear shaft 302 is sleeved on one end of the hollow shaft 301, and a sun gear is sleeved on the sun gear shaft 302. The hollow shaft 301 passes through the secondary planet carrier 5 and the primary planet carrier 2, and the other end is externally connected to the motor; the secondary sun gear shaft 302 is sleeved and connected to the output disk 9.

[0040] The design of the utility model adopts a combination of a brushless motor and a two-stage planetary reducer, and integrates the two on the same hollow output shaft, and integrates the sun gear of the planetary reducer on the motor rotor 132, eliminating the redundant shaft system design. In addition, the utility model designs a structure of a two-stage planetary gear 4, and the three planetary gears of each stage rotate around a sun gear. The hollow shaft 301 serves as both a connecting shaft and an integrated drive shaft on the motor rotor 132, eliminating the redundant shaft system design.

[0041] Example 2

[0042] This embodiment also provides a Figures 4 to 7 The joint module 100 shown includes the above-mentioned planetary reduction gearbox.

[0043] Combination Figure 5 As shown, the joint module of the utility model also includes a controller 12 and a motor assembly 13; one end of the motor assembly 13 is connected to the controller 12, and the other end is connected to the planetary reduction box; the start and stop of the motor assembly 13 is controlled by the controller 12, thereby driving the start and stop of the planetary reduction box. The controller 12 is mainly a control PCB board; the control PCB board is attached and fixed to one side of the motor assembly 13, and the other side of the motor assembly 13 is connected to the planetary reduction box.

[0044] like Figure 5 As shown, the motor assembly 13 is also provided with a sensor driving wheel 14, a sensor driven wheel 15 and a detection magnet 16. The sensor driving wheel 14 and the sensor driven wheel 15 provide output angle information for the controller 12; and cooperate with the detection magnet 16 to detect the position of the motor shaft and transmit the detection information to the controller 12.

[0045] like Figure 5As shown, the motor assembly 13 includes a motor stator 131 and a motor rotor 132; one end of the shaft assembly 3 connected to the first-stage planetary assembly is a kinetic energy input end; the kinetic energy input end is sequentially inserted into the central axis of the motor rotor 132 and the motor stator 131, and is fixed to the motor stator 131; the motor rotor 132 is fixed to the planetary reduction box; the sensor driving wheel 14 is plugged into the kinetic energy input end; the sensor driven wheel 15 is meshed with the sensor driving wheel 14; the detection magnet 16 is arranged on the inner side of the sensor driven wheel 15.

[0046] In the design of the utility model, an encoder sensor element is integrated at the rear end of the motor, which can provide output angle-related information for the controller 12 board. The position of the motor shaft, that is, the rotation position of the hollow shaft 301, is detected in the form of a transmission gear by cooperating with the detection magnet 16 of the sensor element, which can effectively save the space occupied by the sensor element.

[0047] like Figures 6-7 As shown, a primary sun gear shaft 303 is sleeved on the hollow shaft 301 ; a primary sun gear is disposed on the primary sun gear shaft 303 .

[0048] The joint module of the utility model also includes a first end cover 17, a reducer fixing seat 18 and a second end cover 19; one side of the motor stator 131 is locked with the first end cover 17, and the other side is locked with the reducer fixing seat 18; the other end of the reducer fixing seat 18 is locked with the second end cover 19.

[0049] In the scheme of the utility model, the overall motor housing is composed of two parts, one is the second end cover 19, that is, the whole machine housing of the output end, which can also provide a fixed installation function; the other is the integrated reducer fixing seat 18, which integrates the motor assembly 13 and the housing of the planetary reducer; these two structural parts are fastened and locked by special housing locking nuts and screws, and cooperate with anti-rotation screws to achieve axial integration and radial anti-rotation of the front and rear covers at the same time. Further providing an integrated integrated design of the system can also greatly improve the power density and torque density of the joint module.

[0050] Example 3

[0051] The utility model also provides a robot, comprising the above-mentioned planetary reduction box or the above-mentioned joint module.

[0052] The above embodiments are only used to illustrate the technical solution of the utility model and are not intended to limit it. Although the utility model is described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model. Those skilled in the art can also make other changes within the spirit of the utility model and apply them to the design of the utility model, as long as they do not deviate from the technical effects of the utility model. These changes made according to the spirit of the utility model should be included in the scope of protection claimed by the utility model.

Claims

1. A compact planetary reduction gearbox, characterized in that: It comprises a primary planetary assembly, a shaft assembly (3), a secondary planetary assembly, a planetary gear ring assembly (6), a first bearing (7), a second bearing (8) and an output disc (9); One end of the shaft assembly (3) is plugged into the first-stage planetary assembly and the first bearing (7) in sequence; the other end is plugged into the second-stage planetary assembly, the second bearing (8) and the output disc (9); The first bearing (7) is embedded in the planetary gear ring set (6); one side of the second bearing (8) is in contact with the planetary gear ring set (6), and the other side is fixedly connected to the output disc (9); The first-stage planetary assembly and the second-stage planetary assembly are respectively meshed with the inner wall of the planetary gear ring assembly (6); The shaft assembly (3) is driven to rotate by an external motor, and the output disc (9) is decelerated by utilizing the first-stage planetary assembly and the second-stage planetary assembly.

2. The planetary reduction gearbox according to claim 1, characterized in that: The planetary gear ring set (6) comprises a first planetary gear ring (601) and a second planetary gear ring (602); one end of the inner wall of the first planetary gear ring (601) and the second planetary gear ring (602) is a smooth end, and the other end is a meshing end; the smooth ends of the first planetary gear ring (601) and the second planetary gear ring (602) are fitted together to form a mounting position (10); the first bearing (7) is installed in the mounting position (10); the meshing end of the first planetary gear ring (601) is used to mesh with the first-stage planetary assembly; and the meshing end of the second planetary gear ring (602) is used to mesh with the second-stage planetary assembly.

3. The planetary reduction gearbox according to claim 2, characterized in that: The first-stage planetary assembly comprises a first-stage planetary wheel (1) and a first-stage planetary carrier (2); the first-stage planetary wheel (1) is fixed on the first-stage planetary carrier (2); The secondary planetary assembly comprises a secondary planetary wheel (4) and a secondary planetary carrier (5); the secondary planetary wheel (4) is fixed on the secondary planetary carrier (5); The first-stage planetary gear (1) is meshed with the first planetary gear ring (601); and the second-stage planetary gear (4) is meshed with the second planetary gear ring (602).

4. The planetary reduction gearbox according to claim 3, characterized in that: The shaft assembly (3) comprises a hollow shaft (301) and a secondary sun gear shaft (302); the secondary sun gear shaft (302) is sleeved on one end of the hollow shaft (301), the hollow shaft (301) passes through the secondary planetary carrier (5) and the primary planetary carrier (2), and the other end is externally connected to a motor; the secondary sun gear shaft (302) is sleeved and connected to the output disc (9).

5. A joint module, characterized in that: It comprises the planetary reduction gearbox as claimed in any one of claims 1 to 4.

6. The joint module according to claim 5, characterized in that: It also includes a controller (12) and a motor assembly (13); one end of the motor assembly (13) is connected to the controller (12), and the other end is connected to the planetary reduction box; the start and stop of the motor assembly (13) is controlled by the controller (12), thereby driving the start and stop of the planetary reduction box.

7. The joint module according to claim 6, characterized in that: The motor assembly (13) is also provided with a sensor element and a detection magnet (16), and the sensor element provides output angle information for the controller (12); the sensor element cooperates with the detection magnet (16) to detect the position of the motor shaft and transmits the detection information to the controller (12).

8. The joint module according to claim 7, characterized in that: The motor assembly (13) comprises a motor stator (131) and a motor rotor (132); one end of the shaft assembly (3) connected to the first-stage planetary assembly is a kinetic energy input end; the kinetic energy input end is sequentially inserted into the central axis of the motor rotor (132) and the motor stator (131), and is fixed to the motor stator (131); the motor rotor (132) is fixed to the planetary reduction box; the sensor element comprises a sensor driving wheel (14) and a sensor driven wheel (15), the sensor driving wheel (14) is plugged into the kinetic energy input end; the sensor driven wheel (15) is meshed with the sensor driving wheel (14); the detection magnet (16) is arranged on the inner side of the sensor driven wheel (15).

9. The joint module according to claim 8, characterized in that: It also includes a first end cover (17), a reducer fixing seat (18) and a second end cover (19); one side of the motor stator (131) is locked with the first end cover (17), and the other side is locked with the reducer fixing seat (18); the other end of the reducer fixing seat (18) is locked with the second end cover (19).

10. A robot, characterized in that: It comprises the planetary reduction gearbox as described in any one of claims 1 to 4 or the joint module as described in any one of claims 6 to 9.

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