Two-stage planetary reducing mechanism of actuator and actuator

Abstract

The utility model discloses an actuator's two-stage planetary reduction mechanism and robot, the actuator's two-stage planetary reduction mechanism includes drive motor, primary planetary reduction gear and secondary planetary reduction gear, the primary planetary reduction gear includes primary inner gear ring, primary sun gear, primary planet gear and primary planet support, and the secondary planetary reduction gear includes secondary inner gear ring, primary sun gear, primary planet gear and primary planet support. The primary sun gear is synchronously connected with the rotor bracket; a connecting groove is formed in the middle of the first-stage planet support. The second-stage planetary reducer comprises a second-stage inner gear ring, a second-stage sun gear, a second-stage planet gear and a second-stage planet support. The secondary sun gear is provided with a first transmission shaft; and the first transmission shaft is inserted into the connecting groove. The robot comprises the two-stage planetary speed reducing mechanism. The second-stage sun gear of the second-stage planetary reducer can be inserted and matched with the connecting groove of the first-stage planetary support of the first-stage planetary reducer through the first transmission shaft so as to be quickly disassembled and assembled.

Description

Technical Field

[0001] The utility model relates to the technical field of robot driving, in particular to a two-stage planetary reduction mechanism of an actuator and a robot. Background Art

[0002] The actuator of a robot is usually used in the joint part of the robot to drive the relevant parts of the robot to make corresponding movements. The actuator is usually composed of a driving mechanism, a reduction mechanism and a control unit. The driving mechanism is usually a motor, which serves as the input end, and its output power is transmitted to the output end of the actuator through the reduction mechanism. The reduction mechanism of existing actuators includes three types, namely planetary reduction mechanism, RV reduction mechanism and harmonic reduction mechanism. Among them, the planetary reduction mechanism is widely used in robot actuators due to its relatively mature technology and high stability.

[0003] In the existing actuators using planetary reduction mechanisms, speed reduction is usually achieved through a two-stage planetary reduction mechanism. During assembly, the assembly body of the two-stage planetary reduction mechanism is assembled in one shell and needs to be assembled in the same shell, resulting in many assembly relationships and one-to-one assembly, low assembly efficiency, and a large overall shell volume, which is not convenient for later maintenance. Utility Model Content

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the purpose of the utility model is to provide a two-stage planetary reduction mechanism and a robot of an actuator, wherein the secondary sun gear of the secondary planetary reducer can be inserted and matched with the connecting groove of the primary planetary bracket of the primary planetary reducer through the first transmission shaft to achieve quick disassembly and assembly.

[0005] The purpose of the utility model is achieved by the following technical solutions:

[0006] The two-stage planetary reduction mechanism of the actuator includes:

[0007] Drive motor;

[0008] A first-stage planetary reducer, comprising a first-stage inner gear ring, a first-stage sun gear, a first-stage planetary gear and a first-stage planetary support, wherein the first-stage planetary gear is rotatably mounted on the first-stage planetary support and is meshed between the first-stage sun gear and the first-stage inner gear ring, and the first-stage sun gear is connected to the output end of the drive motor to be driven to rotate by the drive motor; a connecting groove is provided in the middle of the first-stage planetary support;

[0009] A two-stage planetary reducer comprises a two-stage inner gear ring, a two-stage sun gear, a two-stage planetary gear and a two-stage planetary support, wherein the two-stage planetary gear is rotatably mounted on the two-stage planetary support and is meshed between the two-stage sun gear and the two-stage inner gear ring; the two-stage sun gear is provided with a first transmission shaft; the first transmission shaft is inserted into the connecting groove to synchronously connect the two-stage sun gear and the one-stage planetary support.

[0010] In this embodiment, during assembly, the first transmission shaft is inserted into the connection groove of the first-stage planetary bracket, so that the power input structure of the second-stage planetary reducer can be synchronously connected with the power output structure of the first-stage planetary reducer. During the assembly process, it is only necessary to assemble the first-stage planetary reducer and the second-stage planetary reducer separately, and then insert the first transmission shaft into the connection groove of the first-stage planetary reducer, which is convenient for assembly.

[0011] In the first aspect of the utility model, as an optional embodiment, the outer surface of the first transmission shaft is provided with a first flat limit surface; the inner wall of the connecting groove is provided with a second flat limit surface; the second flat limit surface is used to abut and cooperate with the first flat limit surface when the first transmission shaft is inserted into the connecting groove to prevent the first transmission shaft from rotating relative to the first-stage planetary bracket.

[0012] In this embodiment, a first flat limiting surface is provided on the outer surface of the first transmission shaft, and the first flat limiting surface abuts against the second flat limiting surface on the inner wall of the connecting groove to prevent relative rotation between the first transmission shaft and the connecting groove, thereby making the transmission structure more stable.

[0013] In the first aspect of the utility model, as an optional embodiment, the drive motor includes a housing, a stator, a rotor, and a rotor support fixedly connected to the rotor; the stator is fixedly connected to the housing, the rotor is arranged on the periphery of the stator and located on the inner periphery of the housing, and the primary sun gear is synchronously connected to the rotor support;

[0014] The first-stage planetary reducer also includes a first-stage housing, which is fixedly connected to the inner circumference of the stator; the first-stage internal gear ring is fixedly connected to the inner circumference of the first-stage housing; the first-stage sun gear, the first-stage planets, and the first-stage planetary bracket are all installed in the first-stage housing; the first-stage planetary bracket is provided with a connecting seat extending from the top of the outer shell; the connecting groove is opened on the connecting seat.

[0015] In this embodiment, when assembling the first-stage planetary reducer, the first-stage internal gear ring is fixedly connected to the inner circumferential surface of the first-stage housing, and then the first-stage planetary gear and the first-stage planetary bracket are assembled, the first-stage sun gear is meshed between the first-stage planetary gears, and the first-stage planetary bracket is installed as a whole in the first-stage housing, and the first-stage planetary gear is meshed with the first-stage internal gear ring in the first-stage housing. After completing the assembly of the first-stage planetary reducer, the first-stage planetary reducer is installed as a whole in the housing of the drive motor, so that the first-stage sun gear of the first-stage planetary reducer is connected to the rotor bracket, which is convenient for assembly.

[0016] In the first aspect of the utility model, as an optional embodiment, the two-stage planetary reducer also includes a two-stage housing, the two-stage internal gear ring is fixedly connected to the inner circumferential surface of the two-stage housing; a retaining housing is provided at the top end of the outer housing; the retaining housing is arranged around the periphery of the connecting seat; after the first transmission shaft is inserted into the connecting groove, the bottom end of the two-stage housing is connected to the top end of the retaining housing.

[0017] In this embodiment, when the secondary planetary reducer is assembled with the primary planetary reducer, the first transmission shaft is inserted into the connecting groove. At this time, the bottom end of the secondary shell can be connected to the top end of the enclosure shell, so that the secondary shell of the secondary planetary reducer and the outer shell of the drive motor are abutted against each other and close the connection position between the primary planetary reducer and the secondary planetary reducer, thereby improving the internal sealing performance.

[0018] In the first aspect of the utility model, as an optional embodiment, the top end of the enclosure shell is provided with an insertion hole; the bottom end of the secondary shell is provided with a connecting column; the connecting column is inserted into the insertion hole to connect the secondary shell with the enclosure shell.

[0019] When the secondary shell and the enclosure shell are in abutment with each other, the connecting column can be inserted into the insertion hole to realize the connection between the secondary shell and the enclosure shell, which makes disassembly and assembly more convenient.

[0020] In the first aspect of the utility model, as an optional embodiment, the bottom end of the enclosure shell is provided with a rotation through hole; one end of the connecting seat passes through the rotation through hole and cooperates with the rotation through hole through a first bearing.

[0021] When the first-stage planetary bracket rotates, the connecting seat rotates accordingly, and the connecting seat can be pivotally matched with the rotating through hole of the enclosure shell through the first bearing, so that the rotation process of the first-stage planetary bracket is more stable.

[0022] In the first aspect of the utility model, as an optional embodiment, the first-level planetary bracket includes a first-level base and a first-level top cover, the first-level base is provided with a plurality of positioning pillars, and the plurality of positioning pillars are distributed at intervals in the circumferential direction of the first-level base; the first-level top cover is connected to the top ends of the plurality of positioning pillars so that an installation space for assembling the first-level planetary gear is formed between two adjacent positioning pillars; the connecting seat is arranged in the middle of the first-level top cover.

[0023] In order to facilitate the assembly of the primary planetary gear, the primary sun gear and the primary planetary bracket, the primary sun gear can be positioned and clamped through the middle position surrounded by multiple positioning pillars, and the primary planetary gear can be clamped in the space between two adjacent positioning pillars, so that the clamping accuracy of the primary sun gear and the primary planetary gear is higher. After the clamping is completed, the primary top cover and the multiple positioning pillars on the primary base are assembled by screws or bolts, etc., which is more convenient for disassembly and assembly. At this time, the primary planetary gear is located in the installation space formed by the primary top cover and the two adjacent positioning pillars, and its outer edge is protruding to facilitate meshing with the primary inner gear ring.

[0024] In the first aspect of the utility model, as an optional embodiment, the first-stage sun gear is rotatably connected to the middle part of the first-stage top cover through a second transmission shaft, and the second transmission shaft is pivotally engaged with the first-stage top cover through a second bearing.

[0025] The first-stage sun gear uses the first-stage planetary bracket as the assembly basis, and realizes rotational cooperation with the first-stage top cover through the second bearing, so that the rotation process is more stable.

[0026] In the first aspect of the utility model, as an optional embodiment, the secondary planetary bracket includes a secondary base and a secondary top cover, the secondary base is provided with a plurality of positioning blocks, and the plurality of positioning blocks are spaced apart in the circumferential direction of the secondary base; the secondary top cover is connected to the top ends of the plurality of positioning blocks so that an installation space for assembling the secondary planetary gear is formed between two adjacent positioning blocks.

[0027] In order to facilitate the assembly of the secondary planetary gear, the secondary sun gear and the secondary planetary bracket, the positioning and clamping of the secondary sun gear can be achieved through the middle position surrounded by multiple positioning blocks, and the secondary planetary gear can be clamped in the space between two adjacent positioning blocks, so that the clamping accuracy of the secondary sun gear and the secondary planetary gear is higher. After the clamping is completed, the secondary top cover and the multiple positioning blocks on the secondary base are assembled by screws or bolts, etc., which is convenient for disassembly and assembly. At this time, the secondary planetary gear is located in the installation space formed by the secondary top cover and the two adjacent positioning blocks, and its outer edge is protruding to facilitate meshing with the secondary inner gear ring.

[0028] A second aspect of the utility model provides a robot, comprising the two-stage planetary reduction mechanism.

[0029] Compared with the prior art, the beneficial effects of the utility model are:

[0030] The secondary sun gear of the secondary planetary reducer in the utility model can be inserted and matched with the connecting groove of the primary planetary bracket of the primary planetary reducer through the first transmission shaft, so as to realize rapid disassembly and assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a cross-sectional view of the utility model;

[0032] Figure 2 It is a schematic diagram of the overall structure of the utility model;

[0033] Figure 3 It is a schematic diagram of a partial decomposition structure of the utility model;

[0034] Figure 4 It is a structural schematic diagram of another viewing angle of a partial decomposition of the utility model;

[0035] Figure 5 It is a partial exploded structural diagram of a first-stage planetary reducer of the utility model;

[0036] Figure 6 It is a schematic diagram of the partial exploded structure of the two-stage planetary reducer of the utility model.

[0037] In the figure: 10, outer shell; 11, stator; 12, rotor; 13, rotor bracket; 14, enclosure shell; 21, primary sun gear; 22, primary planetary gear; 23, primary inner ring gear; 24, primary shell; 25, primary planetary bracket; 251, primary base; 252, primary top cover; 253, positioning pillar; 26, connecting seat; 27, connecting groove; 271, second flat limiting surface; 31, secondary sun gear; 32, secondary planetary gear; 33, secondary inner ring gear; 34, secondary planetary bracket; 341, secondary base; 342, secondary top cover; 343, positioning block; 35, secondary shell; 351, connecting column; 36, first transmission shaft; 361, first flat limiting surface. DETAILED DESCRIPTION

[0038] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0039] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0040] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary 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 this application can be understood according to specific circumstances.

[0041] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] Embodiment 1

[0043] Please refer to Figure 1-6As shown, a two-stage planetary reduction mechanism of an actuator provided by an embodiment of the utility model includes a drive motor, a first-stage planetary reducer and a second-stage planetary reducer. The drive motor includes a stator 11, a rotor 12 and a rotor bracket 13. The rotor 12 is arranged on the periphery of the stator 11. The rotor bracket 13 is connected to the rotor 12 and rotates with the rotor 12 when the rotor 12 rotates.

[0044] Specifically, the above-mentioned first-stage planetary reducer includes a first-stage internal gear ring 23, a first-stage sun gear 21, a first-stage planetary gear 22 and a first-stage planetary bracket 25. The first-stage internal gear ring 23 is fixedly connected to the inner circumference of the stator 11, and the above-mentioned first-stage planetary gear 22 is rotatably installed on the first-stage planetary bracket 25. The first-stage planetary gear 22 is meshed between the first-stage sun gear 21 and the first-stage internal gear ring 23. The first-stage sun gear 21 is synchronously connected to the rotor bracket 13, and a connecting groove 27 is provided in the middle of the first-stage planetary bracket 25.

[0045] In addition, the secondary planetary reducer includes a secondary internal gear ring 33, a secondary sun gear 31, a secondary planetary gear 32 and a secondary planetary bracket 34. The secondary planetary gear 32 is rotatably mounted on the secondary planetary bracket 34, and the secondary planetary gear 32 is meshed between the secondary sun gear 31 and the secondary internal gear ring 33; the secondary sun gear 31 is provided with a first transmission shaft 36; the first transmission shaft 36 is inserted into the connecting groove 27 to synchronously connect the secondary sun gear 31 with the primary planetary bracket 25.

[0046] On the basis of the above structure, when assembling the utility model, the first-stage planetary reducer and the second-stage planetary reducer can be assembled separately first, and then the first transmission shaft 36 can be inserted into the connecting groove 27 of the first-stage planetary bracket 25, so as to realize the synchronous connection between the power input structure of the second-stage planetary reducer and the power output structure of the first-stage planetary reducer, which is convenient for assembly.

[0047] When working, the driving motor starts, the rotor 12 rotates to drive the rotor bracket 13 to rotate, the rotor bracket 13 drives the primary sun gear 21 to rotate, and then drives the primary planetary gear 22 meshing with it to rotate, the primary planetary gear 22 meshes with the primary inner gear ring 23, and then can drive the primary planetary bracket 25 to rotate. Since the first transmission shaft 36 and the primary planetary bracket 25 are synchronously connected after being inserted, the secondary sun gear 31 can rotate synchronously under the drive of the primary planetary bracket 25, and then drive the secondary planetary gear 32 meshing with it to rotate, the secondary planetary gear 32 meshes with the secondary inner gear ring 33, and can drive the secondary planetary bracket 34 to rotate, and the secondary planetary bracket 34, as the power output end of the actuator, outputs a relatively stable low speed after being driven by the two-stage planetary reducer.

[0048] Since the synchronous connection between the first-stage planetary reducer and the second-stage planetary reducer is achieved by plugging and fitting the first transmission shaft 36 of the second-stage planetary reducer into the connecting groove 27 of the first-stage planetary reducer, the two are prone to relative rotation after insertion, so a first flat limiting surface 361 can be provided on the outer surface of the first transmission shaft 36, and a second flat limiting surface 271 can be provided on the inner wall of the connecting groove 27 accordingly. When the first transmission shaft 36 is inserted into the connecting groove 27, the second flat limiting surface 271 can abut against the first flat limiting surface 361 to prevent the first transmission shaft 36 from rotating relative to the connecting groove 27, so that the transmission structure is more stable.

[0049] As an optional embodiment, the drive motor also includes a housing 10, a stator 11 is fixedly connected to the housing 10, and a rotor 12 is arranged on the periphery of the stator 11 and located on the inner periphery of the housing 10, that is, the stator 11 and the rotor 12 are installed with the housing 10 as an assembly basis, and the housing 10 can also be used as the assembly basis of the above-mentioned first-stage planetary reducer.

[0050] Specifically, the first-stage planetary reducer also includes a first-stage housing 24, which is fixedly connected to the inner circumference of the stator 11; the first-stage internal gear ring 23 is fixedly connected to the inner circumference of the first-stage housing 24; the first-stage sun gear 21, the first-stage planetary gear 22, and the first-stage planetary bracket 25 are all installed in the first-stage housing 24; the first-stage planetary bracket 25 is provided with a connecting seat 26 extending from the top of the outer shell 10; and a connecting groove 27 is opened on the connecting seat 26.

[0051] On the basis of this structure, when assembling the first-stage planetary reducer, the first-stage internal gear ring 23 is fixedly connected to the inner circumference of the first-stage housing 24, and then the first-stage planetary gear 22 and the first-stage planetary bracket 25 are assembled, the first-stage sun gear 21 is meshed between the first-stage planetary gears 22, and the first-stage planetary bracket 25 is completely installed in the first-stage housing 24, and the first-stage planetary gear 22 is meshed with the first-stage internal gear ring 23 in the first-stage housing 24. After completing the assembly of the first-stage planetary reducer, the first-stage planetary reducer is completely installed in the housing 10 of the drive motor, so that the first-stage sun gear 21 of the first-stage planetary reducer is connected to the rotor bracket 13, and the assembly is convenient.

[0052] In addition, after the first-stage planetary reducer is assembled to the outer casing 10, in order to facilitate the plug-in connection of the first transmission shaft 36 of the second-stage planetary reducer, a connecting seat 26 can be set at the top of the first-stage planetary bracket 25. The connecting seat 26 extends out of the first-stage shell 24 and the outer casing 10 of the drive motor, so that the first transmission shaft 36 can be directly plugged into the connecting groove 27 of the connecting seat 26, which is convenient for assembly.

[0053] As an optional embodiment, the two-stage planetary reducer further includes a two-stage housing 35, and the two-stage inner gear ring 33 is fixedly connected to the inner circumference of the two-stage housing 35; a blocking housing 14 may also be provided at the top of the housing 10, and the blocking housing 14 is disposed around the periphery of the connecting seat 26. When the two-stage planetary reducer is assembled with the one-stage planetary reducer, the first transmission shaft 36 is inserted into the connecting groove 27, and at this time, the bottom end of the two-stage housing 35 may be connected to the top end of the blocking housing 14, so that the two-stage housing 35 of the two-stage planetary reducer and the housing 10 of the drive motor abut against each other and close the connecting position between the one-stage planetary reducer and the two-stage planetary reducer, thereby improving the internal sealing performance.

[0054] Specifically, an insertion hole is provided at the top of the enclosure shell 14, and a corresponding connecting column 351 can also be provided at the bottom end of the secondary shell 35. When the secondary shell 35 abuts against the enclosure shell 14, the connecting column 351 can be inserted into the insertion hole to realize the connection between the secondary shell 35 and the enclosure shell 14, which makes disassembly and assembly more convenient.

[0055] It should be noted that the connection column 351 may be a connection structure such as a latch or a screw in the prior art.

[0056] As an optional embodiment, a rotating through hole is provided at the bottom end of the enclosure shell 14. After one end of the connecting seat 26 passes through the rotating through hole, it can be pivotally matched with the rotating through hole through the first bearing. In this way, when the first-stage planetary bracket 25 rotates, the connecting seat 26 rotates accordingly, and the connecting seat 26 can be pivotally matched with the rotating through hole of the enclosure shell 14 through the first bearing, so that the rotation process of the first-stage planetary bracket 25 is more stable.

[0057] As an optional embodiment, the above-mentioned first-stage planetary bracket 25 includes a first-stage base 251 and a first-stage top cover 252. The first-stage base 251 is provided with a plurality of positioning pillars 253, and the plurality of positioning pillars 253 are distributed at intervals in the circumferential direction of the first-stage base 251; the first-stage top cover 252 is connected to the top ends of the plurality of positioning pillars 253 so that an installation space for assembling the first-stage planetary gear 22 is formed between two adjacent positioning pillars 253; the connecting seat 26 is provided in the middle of the first-stage top cover 252.

[0058] A planetary reducer generally has a plurality of primary planetary gears, for example, three, and the number of positioning pillars 253 matches the number of primary planetary gears. Therefore, in this embodiment, in order to facilitate the assembly of the primary planetary gear 22, the primary sun gear 21 and the primary planetary bracket 25, the primary sun gear 21 can be positioned and clamped through the middle position surrounded by a plurality of positioning pillars 253, and the primary planetary gear 22 can be clamped in the space between two adjacent positioning pillars 253, so that the clamping accuracy of the primary sun gear 21 and the primary planetary gear 22 is higher. After the clamping is completed, the primary top cover 252 and the plurality of positioning pillars 253 on the primary base 251 are assembled by screws or bolts, etc., so that the disassembly and assembly are more convenient. Since the primary planetary gear 22 is located in the installation space formed by the primary top cover 252 and the two adjacent positioning pillars 253 at this time, its outer edge protrudes to facilitate meshing with the primary inner gear ring 23.

[0059] As an optional embodiment, the primary sun gear 21 is rotatably connected to the middle of the primary top cover 252 through the second transmission shaft, and the second transmission shaft is pivotally matched with the primary top cover 252 through the second bearing. In this way, the primary sun gear 21 uses the primary planetary carrier 25 as an assembly basis, and realizes rotational matching with the primary top cover 252 through the second bearing, and the rotation process is more stable.

[0060] As an optional embodiment, the secondary planetary bracket 34 includes a secondary base 341 and a secondary top cover 342. The secondary base 341 is provided with a plurality of positioning blocks 343, and the plurality of positioning blocks 343 are spaced apart in the circumferential direction of the secondary base 341; the secondary top cover 342 is connected to the top ends of the plurality of positioning blocks 343 so that an installation space for assembling the secondary planetary gear 32 is formed between two adjacent positioning blocks 343.

[0061] A planetary reducer generally has a plurality of secondary planetary gears, for example, three, and the number of positioning blocks 343 matches the number of secondary planetary gears. Therefore, in this embodiment, in order to facilitate the assembly of the secondary planetary gear 32, the secondary sun gear 31 and the secondary planetary bracket 34, the positioning clamping of the secondary sun gear 31 can be achieved through the middle position surrounded by a plurality of positioning blocks 343, and the secondary planetary gear 32 can be respectively clamped in the space between two adjacent positioning blocks 343, so that the clamping accuracy of the secondary sun gear 31 and the secondary planetary gear 32 is higher. After the clamping is completed, the secondary top cover 342 and the plurality of positioning blocks 343 on the secondary base 341 are assembled by screws or bolts, etc., so that the disassembly and assembly are convenient. At this time, the secondary planetary gear 32 is located in the installation space formed by the secondary top cover 342 and the two adjacent positioning blocks 343, and its outer edge is protruding to facilitate the meshing with the secondary inner gear ring 33.

[0062] Embodiment 2

[0063] Embodiment 2 of the present invention provides a robot, which includes the actuator having the above-mentioned two-stage planetary reduction mechanism of the actuator. The other structures of the robot are the same as those in the prior art and will not be described in detail here.

[0064] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0065] The above-mentioned implementation mode is only a preferred implementation mode of the embodiment of the utility model, and cannot be used to limit the scope of protection of the embodiment of the utility model. Any non-substantial changes and replacements made by technical personnel in this field on the basis of the embodiment of the utility model shall fall within the scope of protection required by the embodiment of the utility model.

Claims

1. The two-stage planetary reduction mechanism of the actuator is characterized by: include, Drive motor; A first-stage planetary reducer, comprising a first-stage inner gear ring, a first-stage sun gear, a first-stage planetary gear and a first-stage planetary support, wherein the first-stage planetary gear is rotatably mounted on the first-stage planetary support and is meshed between the first-stage sun gear and the first-stage inner gear ring, and the first-stage sun gear is connected to the output end of the drive motor to be driven to rotate by the drive motor; a connecting groove is provided in the middle of the first-stage planetary support; A two-stage planetary reducer comprises a two-stage inner gear ring, a two-stage sun gear, a two-stage planetary gear and a two-stage planetary support, wherein the two-stage planetary gear is rotatably mounted on the two-stage planetary support and is meshed between the two-stage sun gear and the two-stage inner gear ring; the two-stage sun gear is provided with a first transmission shaft; the first transmission shaft is inserted into the connecting groove to synchronously connect the two-stage sun gear and the one-stage planetary support.

2. The two-stage planetary reduction mechanism of the actuator according to claim 1, characterized in that: A first flat limit surface is provided on the outer surface of the first transmission shaft; a second flat limit surface is provided on the inner wall of the connecting groove; the second flat limit surface is used to abut against the first flat limit surface when the first transmission shaft is inserted into the connecting groove to prevent the first transmission shaft from rotating relative to the first-stage planetary bracket.

3. The two-stage planetary reduction mechanism of the actuator according to claim 1, characterized in that: The driving motor comprises a housing, a stator, a rotor, and a rotor support fixedly connected to the rotor; the stator is fixedly connected to the housing, the rotor is arranged at the periphery of the stator and located at the inner periphery of the housing, and the primary sun gear is synchronously connected to the rotor support; The first-stage planetary reducer also includes a first-stage housing, which is fixedly connected to the inner circumference of the stator; the first-stage internal gear ring is fixedly connected to the inner circumference of the first-stage housing; the first-stage sun gear, the first-stage planetary gear, and the first-stage planetary bracket are all installed in the first-stage housing; the first-stage planetary bracket is provided with a connecting seat extending from the top of the outer shell; the connecting groove is opened on the connecting seat.

4. The two-stage planetary reduction mechanism of the actuator according to claim 3, characterized in that: The two-stage planetary reducer also includes a two-stage housing, the two-stage internal gear ring is fixedly connected to the inner circumferential surface of the two-stage housing; a retaining housing is provided at the top end of the outer housing; the retaining housing is arranged around the periphery of the connecting seat; after the first transmission shaft is inserted into the connecting groove, the bottom end of the two-stage housing is connected to the top end of the retaining housing.

5. The two-stage planetary reduction mechanism of the actuator according to claim 4, characterized in that: The top end of the enclosure shell is provided with an insertion hole; the bottom end of the secondary shell is provided with a connecting column; the connecting column is inserted into the insertion hole to connect the secondary shell with the enclosure shell.

6. The two-stage planetary reduction mechanism of the actuator according to claim 4, characterized in that: A rotation through hole is provided at the bottom end of the enclosure shell; one end of the connecting seat passes through the rotation through hole and cooperates with the rotation through hole through a first bearing.

7. The two-stage planetary reduction mechanism of the actuator according to any one of claims 3 to 6, characterized in that: The first-level planetary bracket includes a first-level base and a first-level top cover. The first-level base is provided with a plurality of positioning pillars, and the plurality of positioning pillars are distributed at intervals in the circumferential direction of the first-level base; the first-level top cover is connected to the top ends of the plurality of positioning pillars so that an installation space for assembling the first-level planetary gear is formed between two adjacent positioning pillars; the connecting seat is arranged in the middle of the first-level top cover.

8. The two-stage planetary reduction mechanism of the actuator according to claim 7, characterized in that: The primary sun gear is rotatably connected to the middle portion of the primary top cover via a second transmission shaft, and the second transmission shaft is pivotally engaged with the primary top cover via a second bearing.

9. The two-stage planetary reduction mechanism of the actuator according to any one of claims 1 to 6, characterized in that: The secondary planetary bracket includes a secondary base and a secondary top cover. The secondary base is provided with a plurality of positioning blocks, and the plurality of positioning blocks are spaced apart in the circumferential direction of the secondary base. The secondary top cover is connected to the top ends of the plurality of positioning blocks so that an installation space for assembling the secondary planetary gear is formed between two adjacent positioning blocks.

10. An actuator, characterized in that It comprises the two-stage planetary reduction mechanism as described in any one of claims 1-9.

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