Speed reducer, actuator, joint module, biped robot, point-foot robot, quadruped robot, four-wheel-foot robot, robot arm, and robot

Abstract

The utility model relates to the technical field of robots, and discloses a speed reducer, an actuator, a joint module, a biped robot, a point-foot robot, a quadruped robot, a four-wheel-foot robot, a mechanical arm and a robotic.The speed reducer mainly comprises a first-stage planet carrier, and the first-stage planet carrier is provided with a supporting bearing for supporting the first-stage planet carrier through a first supporting part; according to the first-stage planet carrier, the first bearing is supported from the outer side to the inner side, due to the fact that the outer side of the first-stage planet carrier has no structural requirement, an additional structural body can not be arranged any more, the hollow-out part is inevitably formed between the two shaft hole parts on the outer side of the first supporting part, and therefore the use amount of needed materials is reduced, and the weight of the first-stage planet carrier is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and more particularly to a reducer, an actuator, a joint module, a biped robot, a point-legged robot, a quadruped robot, a four-wheeled legged robot, a robotic arm, and a robot. Background Art

[0002] In robotics, actuators are often used to provide driving force for the robot's various motion structures, enabling the robot to complete its intended movements. The motor and reducer are the two main components of an actuator. The motor is used as the driving element to provide power, and the reducer's input is connected to the motor's rotor. The reducer acts as a power transmission mechanism to decelerate or increase torque output from the motor. By connecting the robot's driven components to the reducer's output, the robot's movements are driven. The position of the actuator's output flange needs to be accurately captured, typically through data monitoring using an encoder disk. The encoder disk is divided into one directly connected to the motor's rotor and one on the low-speed shaft fixedly connected to the planetary reducer's output flange.

[0003] In the prior art, for example, in the authorized patent CN202311292746.X, the support bearing of the first-stage sun gear is usually arranged between the first-stage sun gear and the first-stage planetary carrier, and the support of the first-stage planetary carrier is through the support bearing arranged between its radial outer side and the inner ring gear, that is, the inner and outer sides of the first-stage planetary carrier both need to be supported, and two sets of support bearings are installed at the same time. This requires sufficient structural strength for the first-stage planetary carrier, and the distance between the two bearing positions needs to span the distance between the first-stage sun gear and the inner ring gear, which results in the use of more materials for the first-stage planetary carrier and a heavier overall mass, which is not conducive to the lightweighting of the actuator. Utility Model Content

[0004] The present application provides a reducer, an actuator, a joint module, a biped robot, a point-legged robot, a quadruped robot, a four-wheeled legged robot, a robotic arm and a robot, aiming to solve the problem of the large overall mass of the first-stage planetary frame in the existing reducer.

[0005] In one scheme, a reducer is provided, which mainly includes a first-stage planetary carrier. The first-stage planetary carrier is constructed with a first support portion and multiple shaft hole portions that are integrally formed. The first support portion is roughly hollow cylindrical. The inner side of the first support portion is a bearing seat for assembling the first bearing of the first-stage planetary carrier. The shaft hole portion is roughly hollow cylindrical in structure. The shaft hole portion is used to assemble one end of the first-stage planetary shaft. The multiple shaft hole portions are arrayed and arranged around the outer side of the first support portion. The first support portion and the multiple shaft hole portions roughly overlap in their radial projections.

[0006] In one embodiment, the reducer further includes a sealing cover, a second bearing and a first-stage sun gear; the sealing cover is constructed with a second support portion that is roughly hollow cylindrical, and the opening direction of the second support portion is set toward the output end of the reducer; the opening direction of the first support portion is set away from the output end of the reducer, the outer ring of the first bearing abuts against the first support portion, the inner ring of the first bearing abuts against the radial outer side of the second support portion, the outer ring of the second bearing abuts against the radial inner side of the second support portion, and the inner ring of the second bearing abuts against the first-stage sun gear.

[0007] In one embodiment, the first support portion includes a cylindrical portion, the inner side of the cylindrical portion is defined as a bearing position, and in the projection direction of the rotation axis of the primary planet carrier, the shaft hole portion is located within the outer diameter range of the secondary planet carrier.

[0008] In one embodiment, the reducer further includes a first retaining ring, which is located on the inner side of the first support portion and abuts against the outer ring of the first bearing.

[0009] In one embodiment, the axial hole portion is connected to the outer side of the cylindrical portion, and connecting wings are provided on both sides of the axial hole portion adjacent to the cylindrical portion. The connecting wings are arc-shaped in radial cross-section, and the shape of the connecting wings in radial cross-section is opposite to the bending direction of the shapes in radial cross-section of the axial hole portion and the cylindrical portion at the corresponding connection point.

[0010] In one embodiment, the axial distance between the first retaining ring and the opening of the first support portion is substantially the same as the axial height of the first bearing.

[0011] In one aspect, the radial width of the first retaining ring is substantially the same as the radial thickness of the outer ring of the first bearing.

[0012] In one embodiment, the reducer further includes a ring gear; the sealing cover is further constructed with a connecting portion and a covering portion; the connecting portion is fixedly connected to the ring gear, and the enclosed cavity formed between the ring gear, the covering portion and the first-stage planetary carrier is an oil storage cavity.

[0013] In one solution, an axial gap is provided between the cover portion and the first support portion.

[0014] In one embodiment, the second support portion includes a circular ring portion and a ring platform. The outer side of the circular ring portion abuts the inner ring of the first bearing. The ring platform is provided at one end of the circular ring portion away from the first planetary carrier, and the ring platform abuts one end of the inner ring of the first bearing.

[0015] In one embodiment, the reducer further includes a secondary sun gear, the primary planet carrier is constructed with a substantially hollow annular fixed portion, the fixed portion is located at one end of the primary planet carrier away from the first support portion, and the secondary sun gear is partially nested in the fixed portion.

[0016] In one solution, the fixed portion includes a toothed portion, and part of the external teeth of the secondary sun gear mesh with the toothed portion.

[0017] In one embodiment, an actuator is provided, which mainly includes the speed reducer as described above.

[0018] In one embodiment, a joint module is provided, which mainly includes the reducer as described above, or the actuator as described above.

[0019] In one embodiment, a bipedal robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above, or the reducer as described above.

[0020] In one embodiment, a point-legged robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above, or the reducer as described above.

[0021] In one embodiment, a quadruped robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above, or the reducer as described above.

[0022] In one embodiment, a four-wheeled legged robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above, or the reducer as described above.

[0023] In one embodiment, a robotic arm is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above, or the reducer as described above.

[0024] In one embodiment, a robot is provided, wherein at least one driving joint adopts the joint module as described above, or the actuator as described above, or the reducer as described above.

[0025] Beneficial effects of this application:

[0026] The present invention relates to a reducer, actuator, joint module, bipedal robot, point-legged robot, quadrupedal robot, four-wheeled legged robot, robotic arm, and robot. The reducer primarily includes a primary planetary carrier. The primary planetary carrier utilizes a first support portion to shift the primary planetary carrier's support bearing, i.e., the first bearing, from an outer support to an inner support. Because the outer side of the primary planetary carrier has no structural requirements, no additional structure is required. The primary planetary carrier comprises an integrally formed first support portion and multiple shaft holes. The first support portion is generally hollow cylindrical, with its inner side serving as a bearing seat for mounting the first bearing. The shaft hole portion is generally hollow, cylindrical, and is configured to mount one end of the primary planetary shaft. The multiple shaft holes are arrayed and arranged around the outer side of the first support portion, with the radial projections of the first support portion and the multiple shaft holes substantially overlapping. This combination of features ensures that a hollow portion is formed between the two shaft holes on the outer side of the first support portion. The presence of these hollow portions significantly reduces the amount of material required, thereby reducing the weight of the primary planetary carrier. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] Figure 1 This is a partial cross-sectional schematic diagram of a reducer in one embodiment of the present application;

[0029] Figure 2 This is a schematic exploded view of a portion of a reducer in a cross-sectional state according to an embodiment of the present application;

[0030] Figure 3 is a schematic cross-sectional view of an actuator in one embodiment of the present application;

[0031] Figure 4 is a partially exploded schematic diagram of an actuator in one embodiment of the present application;

[0032] Figure 5 is a schematic cross-sectional view of an actuator in a three-dimensional state in one embodiment of the present application;

[0033] Figure 6 is a partially exploded schematic diagram of an actuator in a three-dimensional state in one embodiment of the present application;

[0034] Figure 7 This is a schematic diagram of the three-dimensional structure of the first-stage planetary carrier and its associated components after assembly of the reducer in one embodiment of the present application;

[0035] Figure 8 yes Figure 7 A schematic cross-sectional view of the assembled first-stage planet carrier and its associated components;

[0036] Figure 9 yes Figure 7 Exploded diagram of the first-stage planet carrier and its associated components;

[0037] Figure 10 is an exploded schematic diagram of a first bearing and its associated components in a three-dimensional cross-sectional state in one embodiment of the present application;

[0038] Figure 11 This is an exploded schematic diagram of a primary planet carrier and a secondary sun gear in a three-dimensional cross-section state in one embodiment of the present application;

[0039] Figure 12 This is a schematic diagram of the three-dimensional structure of the assembled first-stage planet carrier in one embodiment of the present application;

[0040] Figure 13 yes Figure 12 Explosion diagram of the first-stage planet carrier;

[0041] Figure 14 This is a schematic diagram of the three-dimensional structure of a first-stage planet carrier in one embodiment of the present application;

[0042] Figure 15 This is a schematic top view of a first-stage planet carrier in one embodiment of the present application;

[0043] Figure 16 This is a schematic cross-sectional view of a first-stage planet carrier in one embodiment of the present application;

[0044] Figure 17 This is a schematic diagram of the three-dimensional structure of the sealing cover in one embodiment of the present application;

[0045] Figure 18 is a schematic top view of a sealing cover in one embodiment of the present application;

[0046] Figure 19 yes Figure 18 Schematic cross-sectional view of the seal cover at AA;

[0047] Figure 20 This is a schematic diagram of the three-dimensional structure of a robot in one embodiment of the present application;

[0048] Figure 21 This is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0049] Figure 22 This is a schematic diagram of the three-dimensional structure of another robot in one embodiment of the present application;

[0050] Figure 23It is a three-dimensional structural diagram of a robotic arm structure in one embodiment of the present application.

[0051] Reference numerals in the figures:

[0052] 1. First-stage planet carrier; 11. First support portion; 111. Cylinder portion; 112. Bearing seat; 113. Retaining ring; 12. Shaft hole portion; 13. First-stage planet shaft; 14. Connecting wing; 15. First-stage planet gear; 16. Fixing portion; 161. Toothed portion;

[0053] 21. First bearing; 22. Second bearing; 23. First-stage sun gear; 24. Second-stage sun gear; 241. External gear;

[0054] 3. Sealing cover; 31. Second supporting portion; 311. Circular portion; 312. Ring platform;

[0055] 32. Connecting portion; 321. Second assembly hole; 33. Covering portion;

[0056] 4. Gear ring; 41. First assembly hole; 42. Joint;

[0057] 51. Oil storage cavity; 52. Axial clearance; 53. Oil storage space;

[0058] 6. Wave spring;

[0059] 7. Reducer; 71. Output flange; 72. Hollow drive shaft;

[0060] 8. Motor; 81. Stator; 82. Rotor;

[0061] 91. Drive plate; 92. Upper housing; 93. Side housing; 94. Bottom housing; 95. Third bearing; 96. Fourth bearing;

[0062] 1000. Joint module. DETAILED DESCRIPTION

[0063] The specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application and not all embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0064] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present invention.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0066] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0067] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0068] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0069] In this utility model, the concept of "generally" describes the main characteristics of an overall structure or shape. When describing the shape of an object, this means that the object primarily exhibits a specific shape, but may vary in non-functional details. These detailed differences do not affect the overall characteristics and can therefore be classified as "generally" a certain shape. For example, when describing a round object, the expression "generally round" means that the object's overall shape is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "generally cubic" means that the object's overall shape is cubic, but there are differences in certain non-functional details.

[0070] In one embodiment, see Figures 1 to 6 , provides a reducer 7, which mainly includes a first-stage planetary carrier 1, the first-stage planetary carrier 1 is constructed with a first support portion 11 and a plurality of shaft hole portions 12 which are integrally formed, the first support portion 11 is roughly hollow cylindrical, the inner side of the first support portion 11 is a bearing position 112, which is used to assemble the first bearing 21 of the first-stage planetary carrier 1, the shaft hole portion 12 is roughly hollow cylindrical structure, the shaft hole portion 12 is used to assemble one end of the first-stage planetary shaft 13, the plurality of shaft hole portions 12 are arrayed and arranged around the outer side of the first support portion 11, and the projections of the first support portion 11 and the plurality of shaft hole portions 12 in their radial direction roughly overlap.

[0071] The reducer primarily comprises a first-stage planetary carrier 1. The first support portion 11 shifts the carrier's support bearing, namely the first bearing 21, from an outer support to an inner support. Since the outer side of the first-stage planetary carrier 1 has no structural requirements, no additional structure is required. The first-stage planetary carrier 1 is constructed with an integrally molded first support portion 11 and multiple shaft holes 12. The first support portion 11 is generally hollow cylindrical, with its inner side serving as the bearing seat for the first bearing 21. The shaft holes 12 are generally hollow cylindrical structures for receiving one end of a first-stage planetary shaft 13. Multiple shaft holes 12 are arranged in an array around the outer side of the first support portion 11, with their radial projections substantially overlapping. This combination of features ensures that a hollow portion is formed between two shaft holes 12 on the outer side of the first support portion 11. The presence of these hollow portions significantly reduces material consumption, thereby reducing the weight of the first-stage planetary carrier.

[0072] Furthermore, the first bearing 21 has been repositioned from an outboard support to an inboard support. This change in support point allows a smaller bearing to be used while maintaining effective support. This reduction in diameter also reduces the volume and mass of the first bearing 21.

[0073] In other words, the above-mentioned design change for the support position of the first-stage planetary carrier 1 reduces the overall mass of the first-stage planetary carrier 1. At the same time, the mass of the associated first bearing 21 will also be reduced due to the change in diameter, realizing multi-dimensional weight reduction. For the actuator, it can achieve an overall weight reduction effect.

[0074] In one embodiment, see Figures 10 to 16 The first support portion 11 of the first-stage planetary carrier 1 includes a cylindrical portion 111, the inner side of the cylindrical portion 111 is defined as a bearing position 112, and in the projection of the rotation axis direction of the first-stage planetary carrier 1, the shaft hole portion 12 is located within the outer diameter range of the second-stage planetary carrier.

[0075] The cylindrical portion 111 is provided with a radially inner portion adapted to accommodate the installation of the first bearing 21, thus streamlining the structure and ensuring the proper installation of the outer ring of the first bearing 21. Furthermore, in the projection of the primary planet carrier 1 in the direction of its rotational axis, the shaft hole 12 lies within the outer diameter of the secondary planet carrier. This arrangement makes the entire support structure more compact, reducing the radial dimension of the plane in which the shaft hole 12 lies. This creates a certain distance between the shaft hole 12 and the outer diameter of the primary planet carrier 1. This space is the material removed during the machining of the primary planet carrier 1, thereby reducing the weight of the primary planet carrier 1.

[0076] Although some material has been removed from the first-stage planet carrier 1, a bearing seat is provided on the inner side of the cylindrical portion 111 for mounting the first bearing 21. This inward support design not only reduces radial dimensions but also brings the support point closer to the axis of rotation, improving the structural rigidity and load-bearing capacity. Furthermore, multiple axial holes 12 are arranged in an array around the outer side of the cylindrical portion 111. These axial holes 12 roughly overlap radially with the projection of the cylindrical portion 111, forming a stable support structure and further enhancing the overall structural strength. This embodiment of the present application replaces the existing support structure for the outer side of the first-stage planet carrier with support for the inner side of the inner cylindrical portion 111. This design reduces the diameter of the support structure, thereby reducing radial dimensions. The hollow cylindrical structure of the cylindrical portion 111 evenly distributes stress, avoids localized stress concentration, and improves overall deformation resistance. This inward support design brings the support point closer to the axis of rotation, further enhancing structural stability. Therefore, even with a reduced diameter, the first-stage planet carrier 1 maintains excellent stability and balance when subjected to external loads.

[0077] The reduced diameter of the support structure creates a hollowed-out portion between the two shaft holes 12 outside the cylindrical portion 111, significantly reducing material usage and overall weight, thereby improving the robot's maneuverability and energy efficiency. The design of the inner support and the rational layout of the shaft holes 12 ensure that the first-stage planetary carrier 1 maintains high strength while also exhibiting improved mechanical properties and reliability.

[0078] In one embodiment, see Figures 3 to 8 The reducer also includes a sealing cover 3, a second bearing 22 and a first-stage sun gear 23; the sealing cover 3 is constructed with a second support portion 31 that is roughly hollow cylindrical, and the opening direction of the second support portion 31 is set toward the output end of the reducer 7; the opening direction of the first support portion 11 is set away from the output end direction of the reducer, the outer ring of the first bearing 21 abuts against the first support portion 11, the inner ring of the first bearing 21 abuts against the radial outer side of the second support portion 31, the outer ring of the second bearing 22 abuts against the radial inner side of the second support portion 31, and the inner ring of the second bearing 22 abuts against the first-stage sun gear 23.

[0079] The second bearing 22 is mainly responsible for supporting the first-stage sun gear 23 to ensure its stability and accuracy during rotation. Compared with the traditional technical solution of setting the bearing between the planetary carrier and the sun gear, the supporting side of the first-stage sun gear 23 support bearing, that is, the outer ring of the second bearing 22, abuts against the second support part 31, thus ensuring the supporting effect of the first-stage sun gear 23, and the sealing cover 3 where the second support part 31 is located is relatively fixed to the gear ring 4, and is a stationary component, which avoids the inner and outer rings of the second bearing 22 being in an active state, provides more stable support, and can effectively reduce noise during use.

[0080] The two sides of the second support part 31 are squeezed by the outer ring of the second bearing 22 and the inner ring of the first bearing 21 respectively. The preload forces generated by the two are in opposite directions and can offset each other to a certain extent, reducing the force on the second support part 31 and ensuring the structural stability of the second support part 31.

[0081] The opening of the first support portion 11 is oriented in the opposite direction to the opening of the second support portion 31, with the first bearing 21 between them acting as a seal. The first bearing 21 and the second bearing 22 are installed in opposite directions relative to the second support portion 31, forming an S-shaped installation pattern. This prevents grease in the oil reservoir 51 from entering the second bearing 22 through the first bearing 21 and escaping. The inner and outer rings of the second bearing 22 also act as a seal between the second support portion 31 and the primary sun gear 23.

[0082] The inner ring of the first bearing 21 and the outer ring of the second bearing 22 on both sides of the second support portion 31 can remain relatively stationary, thereby preventing the second support portion 31 from being worn by the relative movement of the inner and outer rings of the bearings.

[0083] In one embodiment, see Figures 1 to 16 The first support portion 11 further includes a first retaining ring 113 . The first retaining ring 113 is located inside the cylindrical portion 111 and abuts against the outer ring of the first bearing 21 .

[0084] The setting of the first retaining ring 113 realizes the abutment against the outer ring of the first bearing 21, specifically the end of the first bearing 21 close to the output flange 71 of the reducer 7. This setting enables the outer ring of the first bearing 21 to be clamped radially inward and limited at the bottom, thereby increasing the degree of engagement between the outer ring of the first bearing 21 and the first support portion 11, ensuring that the outer ring of the first bearing 21 is stationary relative to the first support portion 11, and no relative movement occurs between the two, which is beneficial to reducing wear and achieving a stable support effect. The service life of the outer ring of the first bearing 21 is also guaranteed, and at the same time, vibration and noise can be effectively reduced.

[0085] In one embodiment, see Figures 12 to 15 The axial hole portion 12 is connected to the outer side of the cylindrical portion 111, and connecting wings 14 are provided on both sides of the axial hole portion 12 adjacent to the cylindrical portion 111. The connecting wings 14 have an arc-shaped structure in the radial cross-section, and the shape of the connecting wings 14 in the radial cross-section is opposite to the bending direction of the shapes of the axial hole portion 12 and the cylindrical portion 111 at the corresponding connection.

[0086] The connection wing 14 increases the connection area between the shaft hole portion 12 and the cylindrical portion 111, thereby improving the support of the shaft hole portion 12 on the cylindrical portion 111. Together with the shaft hole portion 12 evenly surrounding the outer side of the cylindrical portion 111, the combination of the three can increase the overall structural strength.

[0087] The radial cross-section of the connecting wing 14 curves in the opposite direction to the radial cross-section of the corresponding connecting shaft hole 12 and cylindrical portion 111. This arrangement allows the shaft hole 12, cylindrical portion 111, and connecting wing 14 to be located outside the arc-shaped area of the other two. This creates abutment within the arc-shaped structure, supporting each other and enhancing structural strength.

[0088] In one embodiment, the first-stage planetary carrier 1 is an integral structure and is processed by subtractive processing. The setting of the connecting wing 14 is suitable for processing by milling, and its tool can directly process the connecting wing 14. At the same time, the connecting wing 14 makes the transition between the shaft hole portion 12 and the cylindrical portion 111 smooth, which can reduce stress concentration during processing and increase the overall stability of the first-stage planetary carrier 1.

[0089] There are two symmetrical connecting wings 14 between the shaft hole portion 12 and the cylindrical portion 111. The end surface of the shaft hole portion 12 away from the cylindrical portion 111 is roughly cylindrical. Such a structure is more stable and can ensure the structural stability after assembling the first-stage planetary shaft 13.

[0090] In one embodiment, see Figures 3 to 6 A second retaining ring extending inward is provided inside the second support portion 31, and a wave spring 6 is provided between the second bearing 22 and the second retaining ring. The wave spring 6 is located in the gap between the second bearing 22 and the second retaining ring, and contacts both the second bearing 22 and the second retaining ring, thereby providing prestress to keep the second bearing 22 away from the second retaining ring. The prestress applied by the wave spring 6 is used to keep the second bearing 22 stable even during high-speed rotation.

[0091] There is an axial gap between the outer ring of the second bearing 22 and its ball, and the bottom of the outer ring is not in direct contact with the second retaining ring, which will cause the axial gap to become larger and affect the stability of the bearing during rotation. The wave spring 6 provides prestress away from the second retaining ring, which can keep the axial gap in a smaller state, thereby adapting to high-speed rotation.

[0092] In one embodiment, see Figures 1 to 5 as well as Figure 8 The axial distance between the first retaining ring 113 and the opening of the first support portion 11 is approximately the same as the axial height of the first bearing 21. This arrangement ensures that the height of the cylindrical portion 111 matches the axial height of the first bearing 21, making the axial space more compact. Furthermore, due to the relative movement between the first support portion 11 and the cover portion 33, a certain gap must be left to avoid motion interference. This position allows for communication with the axial end face of the first bearing 21 away from the first retaining ring 113, facilitating the entry of lubricating grease and achieving good bearing lubrication.

[0093] In one embodiment, see Figures 1 to 8 The radial width of the first retaining ring 113 is approximately the same as the radial thickness of the outer ring of the first bearing 21. This arrangement effectively limits the axial movement of the first retaining ring 113. Even if abutment occurs between the two, the significant size difference prevents a large gap from forming, which could lead to scratches or even wear, thereby improving system stability and reliability. Furthermore, the controlled clearance between the first retaining ring 113 and the first bearing 21 helps reduce vibration and noise, improving operational smoothness.

[0094] In one embodiment, see Figures 1 to 3 The reducer 7 also includes a ring gear 4. The sealing cover 3 is further configured with a connecting portion 32 and a covering portion 33. The connecting portion 32 is fixedly connected to the ring gear 4. The enclosed cavity formed between the ring gear 4, the covering portion 33, and the first-stage planet carrier 1 is an oil storage chamber 51. This arrangement can accommodate and store a large amount of lubricating grease, improve the lubrication effect of various components within the reducer 7, and meet the lubrication requirements of the reducer 7.

[0095] In one embodiment, see Figures 12 to 15 The two adjacent shaft holes 12 and the outer side of the first support portion 11 form an oil storage space 53, which is connected to the oil storage cavity 51. This arrangement allows the first-stage planet carrier 1 to form an oil storage space 53, further improving the storage capacity of lubricating grease.

[0096] In one embodiment, see Figures 1 to 8 An axial gap 52 is provided between the cover portion 33 and the first support portion 11. The axial gap 52 provides additional space for storing lubricating grease and facilitates its passage, thereby increasing its storage capacity. This arrangement also allows the lubricating grease to enter the end of the first bearing 21 facing the cover portion 33, facilitating lubrication of the first bearing 21. The lubricating grease within the axial gap 52 also serves to prevent noise transmission. Even if some noise is generated, the properties of the lubricating grease will reduce transmission, thereby reducing the noise transmitted out of the reducer 7.

[0097] The position of the shaft hole portion 12 is coaxial with the first-stage planetary shaft 13, and the first support portion 11 is located in the space surrounded by the shaft hole portion 12, that is, the span of the oil storage space 53 is the radial outer side of the shaft hole portion 12 away from the first support portion 11 and the radial outer side of the first support portion 11, which is roughly equal to the diameter of the shaft hole portion 12, effectively increasing the overall oil storage capacity of the reducer 7.

[0098] The ring gear 4 has a first assembly hole 41 and a coupling portion 42. The connecting portion 32 has a second assembly hole 321. The coupling portion 42 is a cylindrical structure extending outward from the tooth end surface of the ring gear 4. The connecting portion 32 is assembled and connected to the coupling portion 42. The first assembly hole 41 and the second assembly hole 321 are aligned, and the ring gear 4 and the connecting portion 32 form a sealed structure when assembled.

[0099] The arrangement of the coupling portion 42 is to provide a reliable butt joint for the connecting portion 32, ensuring a tight connection between the connecting portion 32 and the gear ring 4. The coupling portion 42 forms a circumferential limit for the connecting portion 32, making the connection between the two more tight and reliable.

[0100] The alignment of the first assembly hole 41 and the second assembly hole 321 ensures the connection accuracy between the connecting portion 32 and the ring gear 4. This high connection accuracy improves the sealing performance and structural stability of the reducer 7. The first assembly hole 41 and the second assembly hole 321 extend perpendicular to the rotation axis of the reducer 7. This arrangement ensures the integrity of the covering portion 33 and utilizes the lateral position of the ring gear 4, avoiding the need to thicken the ring gear 4 radially to obtain sufficient material thickness to accommodate the assembly holes. This reduces material usage and improves lightweighting.

[0101] In addition, the provision of the sealing cover 3 separates the interior of the reducer 7 from the motor assembly of the actuator, thereby maintaining the internal sealing of the reducer 7, and the lubricating grease will not diffuse into the motor assembly and affect the motor assembly. At the same time, foreign matter or dust inside the motor assembly or the actuator will not enter the interior of the reducer 7, thereby providing a good operating environment for the reducer 7. In an environment with sufficient lubricating grease and a sealed environment, the failure probability of the reducer 7 can be reduced, and the frequency of replenishing lubricating grease can also be reduced. The maintenance frequency of the reducer 7 and even the entire actuator can be comprehensively reduced, thereby increasing its service life and reducing the cost of use.

[0102] The first-stage planetary shaft 13 is the rotating shaft of the first-stage planetary gear 15. The first-stage planetary gear 15 is fixed on the first-stage planetary shaft 13 and meshes with the internal teeth of the ring gear 4 for transmission. That is, the distance between the axis of the first-stage planetary shaft 13 and the ring gear 4 is roughly equal to the radius of the first-stage planetary gear 15, and the cooperation between the first support portion 11 and the shaft hole portion 12 makes the shaft hole portion 12 roughly coincide with the first-stage planetary shaft 13 in the axial direction. Therefore, the distance between the shaft hole portion 12 and the ring gear 4 is roughly equal to the radius of the first-stage planetary gear 15, that is, the radial span of the oil storage chamber 51 is roughly equal to the radius of the first-stage planetary gear 15, which can further ensure its storage capacity of lubricating grease.

[0103] In one embodiment, see Figure 1 、 Figure 3 and Figure 5An axial gap 52 is provided between the cover portion 33 and the first support portion 11. This axial gap 52 is an axial gap. Providing the axial gap 52 provides additional space for storing lubricating grease, increasing its storage capacity. This arrangement also allows the lubricating grease to enter the end of the first bearing 21 facing the cover portion 33, facilitating lubrication of the first bearing 21. The lubricating grease within the axial gap 52 also serves to prevent noise transmission. Even if some noise is generated, the properties of the lubricating grease will reduce transmission, thereby reducing the noise transmitted out of the reducer 7.

[0104] In one embodiment, see Figures 1 to 10 as well as Figures 17 to 19 The second support portion 31 includes a circular portion 311 and a ring platform 312. The outer side of the circular portion 311 abuts against the inner ring of the first bearing 21. The ring platform 312 is provided at one end of the circular portion 311 away from the first-stage planetary carrier 1, and the ring platform 312 abuts against one end of the inner ring of the first bearing 21.

[0105] The annular portion 311 and the annular platform 312 abut against the inner ring of the first bearing 21, maintaining their relative positions. This prevents movement of the inner ring of the first bearing 21, reduces wear, provides stable support, and ensures the service life of the inner ring of the first bearing 21. The immobility of the inner ring of the first bearing 21 eliminates friction, effectively reducing vibration and noise.

[0106] Furthermore, the contact direction of the ring platform 312 against the inner ring of the first bearing 21 is opposite to the contact direction of the first retaining ring 113 against the outer ring of the first bearing 21. This, combined with the support provided by the cylindrical portion 111 for the inner ring of the first bearing 21 and the support provided by the annular portion 311 for the outer ring of the first bearing 21, fully positions the first bearing 21. The inner and outer rings, respectively, are coupled to the second support portion 31 and the first support portion 11, ensuring the support of the first bearing 21 and providing a foundation for the stable operation of the first-stage planetary carrier 1. This coordination helps reduce wear on the first bearing 21, guarantees the service life of the inner and outer rings of the first bearing 21, and effectively reduces vibration and noise.

[0107] In one embodiment, see Figures 7 to 16 The reducer 7 also includes a secondary sun gear 24. The primary planet carrier 1 is configured with a generally hollow, annular fixing portion 16 located at the end of the primary planet carrier 1 away from the first support portion 11. The secondary sun gear 24 is partially nested within the fixing portion 16. The fixing portion 16 is configured to nest and secure the secondary sun gear 24, thereby achieving transmission from the primary planet carrier 1 to the secondary sun gear 24. This nested fixing method facilitates assembly and improves efficiency.

[0108] In one embodiment, see Figures 7 to 16 The fixed portion 16 includes a toothed portion 161, with a portion of the external teeth 241 of the secondary sun gear 24 meshing with the toothed portion 161 and forming a tight connection. This arrangement ensures that the secondary sun gear 24 and the fixed portion 16 are circumferentially limited, ensuring transmission accuracy. The meshing method can also withstand high torques, reducing the possibility of damage to the connection between the two. Compared to traditional fastener-based connections, the transmission is more accurate and reliable, eliminating the need for redundant assembly parts and reducing maintenance frequency.

[0109] Optionally, after the secondary sun gear 24 and the fixing portion 16 are combined, an axial fixing effect is formed, which can prevent the two from falling off, and the structure is compact and highly combined.

[0110] In one embodiment, an actuator is provided, comprising the reducer of any of the above-described embodiments. The specific structure of the reducer shifts the first bearing 21 from an outboard support to an inboard support, ensuring efficient power transmission and precise motion control. Furthermore, the overall mass of the actuator can be reduced by reducing the weight of the primary planet carrier 1.

[0111] In one embodiment, the actuator has a generally cylindrical structure and includes a motor 8, a reducer 7, an upper shell 92, a side shell 93, and a bottom shell 94. The side shell 93 is used to cover the motor 8 and reducer 7. The side shell 93 is fixedly connected to the drive plate 91 on the side away from the motor 8. The motor 8 is an outer rotor motor, including an inner stator 81 and an outer rotor 82. The rotor connector is connected to the side shell 93 via a third bearing 95. The bottom shell 94 is connected to the outer ring of the output flange 71 via a fourth bearing 96. The upper shell 92 is fixed to the side shell 93 via a fixing member and covers the drive plate 91. The fourth bearing 96 can be a cross-roller bearing. The reducer 7 includes an output flange 71 and a hollow drive shaft 72 that are interconnected. The output flange 71 outputs power outward, while the hollow drive shaft 72 cooperates with the drive plate 91 to record the real-time speed of the output flange 71.

[0112] In one embodiment, a joint module 1000 is provided, which includes an actuator as in any of the above embodiments, or a reducer as in any of the above embodiments.

[0113] In one embodiment, see Figure 22 , provides a biped robot, at least one driving joint of which adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments, or the reducer as in any of the above embodiments.

[0114] In one embodiment, see Figure 20, provides a point-legged robot, at least one driving joint of which adopts a joint module 1000 as in any of the above embodiments, or an actuator as in any of the above embodiments, or a reducer as in any of the above embodiments.

[0115] In one embodiment, a quadruped robot is provided, wherein at least one driving joint thereof adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments, or the reducer as in any of the above embodiments.

[0116] In one embodiment, see Figure 21 , provides a four-wheeled leg robot, at least one driving joint of which adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments, or the reducer as in any of the above embodiments.

[0117] In one embodiment, see Figure 23 , provides a robotic arm, at least one driving joint of which adopts a joint module 1000 as in any of the above embodiments, or an actuator as in any of the above embodiments, or a reducer as in any of the above embodiments.

[0118] In one embodiment, a robot is provided, wherein at least one driving joint of the robot adopts the joint module 1000 as in any of the above embodiments, or the actuator as in any of the above embodiments, or the reducer as in any of the above embodiments.

[0119] The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application. Although the embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. Those skilled in the art may make changes, modifications, replacements, and variations to the above embodiments within the scope of the present invention.

Claims

1. A reducer, characterized in that: include: A first-stage planetary carrier, the first-stage planetary carrier is constructed with a first support portion and multiple shaft hole portions that are integrally formed. The first support portion is roughly hollow cylindrical, and the inner side of the first support portion is a bearing seat for assembling the first bearing of the first-stage planetary carrier. The shaft hole portion is roughly hollow cylindrical in structure, and the shaft hole portion is used to assemble one end of the first-stage planetary shaft. Multiple shaft hole portions are arrayed and arranged around the outer side of the first support portion, and the first support portion and the multiple shaft hole portions roughly overlap in their radial projections.

2. The reducer according to claim 1, characterized in that It also includes a sealing cover, a second bearing and a first-stage sun gear; The sealing cover is configured with a second support portion that is substantially in the shape of a hollow cylinder, wherein the opening of the second support portion is arranged toward the output end of the reducer; The opening direction of the first support portion is set away from the output end direction of the reducer, the outer ring of the first bearing abuts against the first support portion, and the inner ring of the first bearing abuts against the radial outer side of the second support portion. The outer ring of the second bearing abuts against the radial inner side of the second support portion, and the inner ring of the second bearing abuts against the primary sun gear.

3. The reducer according to claim 1, characterized in that The first support portion includes a cylindrical portion, the inner side of the cylindrical portion is defined as a bearing position, and in the projection direction of the rotation axis of the primary planet carrier, the shaft hole portion is located within the outer diameter range of the secondary planet carrier.

4. The reducer according to claim 1, characterized in that The device further includes a first retaining ring, which is located on the inner side of the first support portion and abuts against the outer ring of the first bearing.

5. The reducer according to claim 3, characterized in that: The axial hole portion is connected to the outer side of the cylindrical portion, and connecting wings are provided on both sides of the axial hole portion adjacent to the cylindrical portion. The connecting wings are arc-shaped in radial cross-section, and the shape of the connecting wings in radial cross-section is opposite to the bending direction of the shapes in radial cross-section of the axial hole portion and the cylindrical portion at the corresponding connection.

6. The reducer according to claim 4, characterized in that An axial distance between the first retaining ring and the opening of the first support portion is substantially the same as an axial height of the first bearing.

7. The reducer according to claim 6, characterized in that: The radial width of the first retaining ring is substantially the same as the radial thickness of the outer ring of the first bearing.

8. The reducer according to claim 2, characterized in that: Also includes a ring gear; The sealing cover is further constructed with a connecting portion and a covering portion; The connecting portion is fixedly connected to the ring gear, and the closed cavity formed between the ring gear, the covering portion and the first-stage planet carrier is an oil storage cavity.

9. The reducer according to claim 8, characterized in that: An axial gap is provided between the covering portion and the first supporting portion.

10. The reducer according to claim 2, characterized in that: The second support portion includes a circular portion and a ring platform. The outer side of the circular portion abuts the inner ring of the first bearing. The ring platform is provided at one end of the circular portion away from the primary planetary carrier. The ring platform abuts one end of the inner ring of the first bearing.

11. The reducer according to any one of claims 1 to 10, characterized in that: It also includes a secondary sun gear. The primary planet carrier is constructed with a fixing portion that is roughly hollow and annular. The fixing portion is located at one end of the primary planet carrier away from the first support portion. The secondary sun gear is partially nested in the fixing portion.

12. The reducer according to claim 11, characterized in that The fixing portion includes a toothed portion, and part of the external teeth of the secondary sun gear are engaged with the toothed portion.

13. An actuator, characterized in that: The invention comprises the reducer according to any one of claims 1 to 12.

14. A joint module, characterized in that: The invention comprises the speed reducer according to any one of claims 1 to 12, or the actuator according to any one of claims 13.

15. A bipedal robot, characterized in that: At least one driven joint adopts the joint module according to claim 14, or the actuator according to any one of claims 13, or the reducer according to any one of claims 1 to 12.

16. A point-foot robot, characterized in that: At least one driven joint adopts the joint module according to claim 14, or the actuator according to any one of claims 13, or the reducer according to any one of claims 1 to 12.

17. A quadruped robot, characterized in that: At least one driven joint adopts the joint module according to claim 14, or the actuator according to any one of claims 13, or the reducer according to any one of claims 1 to 12.

18. A four-wheeled legged robot, characterized in that: At least one driven joint adopts the joint module according to claim 14, or the actuator according to any one of claims 13, or the reducer according to any one of claims 1 to 12.

19. A robotic arm, characterized in that: At least one driven joint adopts the joint module according to claim 14, or the actuator according to any one of claims 13, or the reducer according to any one of claims 1 to 12.

20. A robot, characterized in that: At least one driven joint adopts the joint module according to claim 14, or the actuator according to any one of claims 13, or the reducer according to any one of claims 1 to 12.

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