Robot joint power unit and multi-stage speed reduction structure

Abstract

The utility model discloses a robot joint power unit and a multi-stage speed reduction structure, which belong to the technical field of robot accessories and comprise two groups of split type bases which are fixedly mounted together through a mounting component. A reduction gear cavity, a transmission cavity and an adjusting cavity are sequentially formed in the two split type bases from top to bottom. Through the arrangement of the driving assembly, the driving gear can be driven to rotate, then one set of reduction gear bodies are driven to rotate, and if the reduction ratio needs to be adjusted, a user can adjust the use position of the driving gear through the adjusting assembly to enable the driving gear to move to the corresponding reduction gear body, so that the reduction ratio is adjusted. The driving gear and the corresponding reduction gear body are in transmission connection together through the corresponding transmission assembly, through the arrangement of the device, multi-stage reduction adjustment can be achieved, and the multi-stage reduction gear has the advantage that multi-stage reduction selection can be conducted according to the use scene requirement.

Description

Technical Field

[0001] The utility model relates to the technical field of robot accessories, in particular to a robot joint power unit and a multi-stage deceleration structure. Background Art

[0002] A robot is an intelligent machine capable of semi- or fully autonomous operation. It can be programmed and automatically controlled to perform tasks such as work or movement. Possessing fundamental capabilities such as perception, decision-making, and execution, robots can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities. Robot joints are the primary driving force behind robots.

[0003] Patent publication number CN221762574U discloses a multi-stage reduction structure, a joint power unit, a legged robot, and a dexterous hand. The utility model provides a multi-stage reduction structure comprising a first reduction unit and a second reduction unit; the second reduction unit comprises a sun gear shaft, a sun gear directly fixed to the sun gear shaft, a planetary carrier with an output portion, duplex planetary gears uniformly distributed on the planetary carrier, and an internal gear ring; the sun gear shaft is connected to the first reduction unit, and the sun gear is directly fixed to the sun gear shaft; the duplex planetary gears comprise a first gear and a second gear directly coaxially connected, the first gear meshing with the sun gear, and the second gear meshing with the internal gear ring; the first reduction unit drives the sun gear to rotate via the sun gear shaft, and the sun gear drives the planetary carrier to rotate via the duplex planetary gears, outputting power via the output portion. The utility model employs a two-stage cylindrical gear combined with a planetary gear reduction structure, resulting in higher transmission efficiency and lower transmission resistance.

[0004] The robot joint power unit involved in the above patent has a multi-stage reduction structure that can improve transmission efficiency and reduce transmission resistance, but it cannot adjust the reduction ratio according to the usage scenario, and has great limitations in use. Therefore, we need to propose a robot joint power unit and a multi-stage reduction structure. Utility Model Content

[0005] The purpose of the present invention is to provide a robot joint power unit and a multi-stage deceleration structure, which have the advantage of being able to select multi-stage deceleration according to the requirements of the usage scenario, so as to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the utility model provides a robot joint power unit and a multi-stage reduction structure, comprising two groups of split bases, the two groups of split bases are fixed together by an installation assembly, the interiors of the two groups of split bases are sequentially provided with a reduction gear cavity, a transmission cavity and an adjustment cavity from top to bottom, wherein a main shaft is rotatably connected in the reduction gear cavity, one end of the main shaft passes through the reduction gear cavity and extends to the outside of the split base and is fixedly connected to an output part, several groups of reduction gear bodies are fixedly installed on the surface of the main shaft, and the diameters of several groups of reduction gear bodies are arranged in increasing or decreasing order, a driving gear is provided inside the transmission cavity, and a driving assembly for driving the driving gear to rotate is also installed in the transmission cavity, the top of the driving gear is meshed with the bottom of one group of the reduction gear bodies, and the top of the driving gear is transmission-connected to the remaining groups of the reduction gear bodies through the transmission assembly, and an adjustment assembly for adjusting the use position of the driving gear is installed inside the adjustment cavity.

[0007] Preferably, the transmission assembly includes a transmission gear arranged inside the reduction gear cavity, and the transmission gear is arranged in upper and lower correspondence with several groups of the reduction gear bodies. Both sides of the transmission gear are fixedly connected with support shafts, and the end of the support shaft away from the transmission gear is rotatably connected to the inner wall of the reduction gear cavity, and the upper and lower sides of the transmission gear are respectively engaged with the bottom of the reduction gear body and the top of the driving gear.

[0008] Preferably, the drive assembly includes a drive motor 1 fixedly mounted on one side of the split base, the output shaft of the drive motor 1 passes through the split base and extends to the interior of the transmission cavity where a drive rod is fixedly mounted, and the inner ring of the drive gear can be adjustably clamped to the surface of the drive rod through a sliding clamping assembly.

[0009] Preferably, the sliding clamping assembly includes a clamping rod fixedly installed on the upper and lower sides of the inner ring of the driving gear, and a clamping groove is opened on the surface of the driving rod at a corresponding position of the clamping rod, and the surface of the clamping rod is slidably connected to the inner wall of the clamping groove.

[0010] Preferably, the adjustment component includes a second drive motor fixedly mounted on one side of the split base, the output shaft of the second drive motor passes through the split base and extends to the interior of the adjustment cavity and is fixedly connected to a drive screw, the surface of the drive screw is matched with a slide, two groups of connecting plates are installed on the top of the slide, the top of the connecting plate passes through the adjustment cavity and extends to the interior of the transmission cavity and is fixedly mounted with two groups of adjusting rings, the two groups of adjusting rings are respectively arranged on both sides of the driving gear, and the inner ring of the adjusting ring is slidably connected to the surface of the driving rod, and a limiting component is also provided between the two sides of the slide and the inner wall of the adjustment cavity.

[0011] Preferably, the limiting assembly includes limiting rods fixedly mounted on both sides of the adjusting cavity, and limiting grooves adapted to the limiting rods are provided on both sides of the sliding seat, and the inner walls of the limiting grooves are slidably connected to the surface of the limiting rods.

[0012] Preferably, the mounting assembly includes mounting rods provided at the four corners of one side of one group of the split bases, one end of the mounting rod passes through the group of the split bases and is threadedly connected to the surface of the other group of the split bases, and a countersunk hole is provided on the surface of one group of the split bases at a corresponding position of the mounting seat rod, and one end of the mounting rod is hidden in the inner cavity of the countersunk hole.

[0013] Based on the above-mentioned multi-stage deceleration structure, the utility model also discloses a robot joint power unit, which includes the above-mentioned multi-stage deceleration structure.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] The utility model can drive the driving gear to rotate through the setting of the driving component, and then drive one of the reduction gear bodies to rotate. If the reduction ratio needs to be adjusted, the user can adjust the use position of the driving gear through the adjustment component, move it to the corresponding reduction gear body, and connect the driving gear and the corresponding reduction gear body together through the corresponding transmission component. Through the setting of this device, multi-stage reduction adjustment can be achieved, which has the advantage of being able to select multi-stage reduction according to the requirements of the usage scenario. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the utility model;

[0017] Figure 2 This is a schematic diagram of the internal structure of the split base of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the drive assembly and transmission assembly of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the adjustment component of the utility model;

[0020] Figure 5 This is a schematic structural diagram of the limit assembly of the utility model;

[0021] Figure 6 This is a structural diagram of the installation assembly of the utility model.

[0022] In the figure: 1. Split base; 2. Reduction gear chamber; 3. Transmission chamber; 4. Adjustment chamber; 5. Main shaft; 6. Output part; 7. Reduction gear body; 8. Drive gear; 9. Transmission gear; 10. Support shaft; 11. Drive motor 1; 12. Drive rod; 13. Clamping rod; 14. Clamping slot; 15. Drive motor 2; 16. Drive screw rod; 17. Slide; 18. Connecting plate; 19. Adjustment ring; 20. Limit rod; 21. Limiting slot; 22. Mounting rod; 23. Countersunk hole. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] See also Figures 1-6 The utility model provides a multi-stage deceleration structure, including two groups of split bases 1, which are fixed together by a mounting assembly. The mounting assembly includes a mounting rod 22 provided at the four corners of one side of one group of split bases 1, one end of the mounting rod 22 passes through the group of split bases 1 and is threadedly connected to the surface of the other group of split bases 1, and a countersunk hole 23 is provided on the surface of one group of split bases 1 at a corresponding position of the mounting seat rod, and one end of the mounting rod 22 is hidden in the inner cavity of the countersunk hole 23.

[0025] In this embodiment, the base is configured as a split base 1, which has the advantage of being detachable, and can facilitate the disassembly, assembly, inspection and maintenance of the internal structure of the split base 1. During installation, the user can put the two sets of split bases 1 together and tighten the mounting rod 22. When the mounting rod 22 is tightened, one end thereof will be hidden in the inner cavity of the countersunk hole 23, thereby improving the flatness of the surface of the split base 1.

[0026] Preferably, the interior of the two groups of split bases 1 are provided with a reduction gear cavity 2, a transmission cavity 3 and an adjustment cavity 4 from top to bottom, wherein the reduction gear cavity 2 is rotatably connected to a main shaft 5, one end of the main shaft 5 passes through the reduction gear cavity 2 and extends to the outside of the split base 1 and is fixedly connected to an output part 6, a plurality of groups of reduction gear bodies 7 are fixedly installed on the surface of the main shaft 5, and the diameters of the plurality of groups of reduction gear bodies 7 are arranged in increasing or decreasing order, a driving gear 8 is provided inside the transmission cavity 3, and a driving assembly for driving the driving gear 8 to rotate is also installed in the transmission cavity 3, the top of the driving gear 8 is engaged with the bottom of one of the groups of reduction gear bodies 7, the driving assembly includes a driving motor 11 fixedly installed on one side of the split base 1, and the output shaft of the driving motor 11 passes through the split base 1 and extends to the interior of the transmission cavity 3 and is fixedly installed with a driving rod 12.

[0027] Through the setting of the driving component, when the output shaft of the driving motor 11 drives the driving rod 12 to rotate, it will drive the driving gear 8 to rotate. The rotation of the driving gear 8 will drive the corresponding reduction gear body 7 to rotate directly or through the transmission component, and then drive the output part 6 to rotate through the main shaft 5, which is used to drive the robot joint movement.

[0028] Among them, the inner ring of the driving gear 8 can be adjustably clamped to the surface of the driving rod 12 through a sliding clamping assembly. The sliding clamping assembly includes a clamping rod 13 fixedly installed on the upper and lower sides of the inner ring of the driving gear 8. A clamping groove 14 is opened on the surface of the driving rod 12 and at the corresponding position of the clamping rod 13. The surface of the clamping rod 13 is slidably connected to the inner wall of the clamping groove 14.

[0029] Through the setting of the sliding clamping assembly, when the driving gear 8 is installed, the clamping rod 13 will be clamped in the inner cavity of the clamping slot 14. Through the coordinated use of the clamping rod 13 and the clamping slot 14, the driving rod 12 can drive the driving gear 8 to rotate when it rotates. Moreover, the use position of the driving gear 8 in this embodiment can also be moved. When moving, the driving gear 8 will drive the clamping rod 13 to slide in the inner cavity of the clamping slot 14.

[0030] It is worth noting that the top of the driving gear 8 is connected to the remaining several groups of reduction gear bodies 7 through a transmission assembly. The transmission assembly includes a transmission gear 9 arranged inside the reduction gear cavity 2. The transmission gear 9 and several groups of reduction gear bodies 7 are arranged in an upper and lower corresponding manner. Both sides of the transmission gear 9 are fixedly connected with a support shaft 10. The end of the support shaft 10 away from the transmission gear 9 is rotatably connected to the inner wall of the reduction gear cavity 2. The upper and lower sides of the transmission gear 9 are respectively engaged with the bottom of the reduction gear body 7 and the top of the driving gear 8.

[0031] Through the setting of the transmission assembly, when the driving gear 8 is located on the far left, its top will directly engage with the bottom of a group of reduction gear bodies 7 located on the far left. When the driving gear 8 is moved to the right to the corresponding position of the corresponding reduction gear body 7, its top cannot directly engage with the corresponding reduction gear body 7, and needs to be transmitted through the transmission gear 9, so that the driving gear 8 can drive the corresponding reduction gear body 7 to rotate through the transmission gear 9 when it rotates.

[0032] Furthermore, an adjustment component for adjusting the use position of the drive gear 8 is installed inside the adjustment chamber 4, and the adjustment component includes a drive motor 2 15 fixedly installed on one side of the split base 1, and the output shaft of the drive motor 2 15 passes through the split base 1 and extends to the interior of the adjustment chamber 4 and is fixedly connected to a drive screw 16, and a slide 17 is installed on the surface of the drive screw 16, and two groups of connecting plates 18 are installed on the top of the slide 17, and the top of the connecting plate 18 passes through the adjustment chamber 4 and extends to the interior of the transmission chamber 3 and is fixedly installed with two groups of adjustment rings 19, and the two groups of adjustment rings 19 are respectively arranged on both sides of the drive gear 8, and the inner ring of the adjustment ring 19 is slidably connected to the surface of the drive rod 12.

[0033] Through the setting of the adjustment component, when the reduction ratio needs to be adjusted, the user can drive the driving screw 16 to rotate through the driving motor 2 15. The rotation of the driving screw 16 will drive the connecting plate 18 to move through the slide 17, and then drive the adjustment ring 19 to move. The movement of the adjustment ring 19 will drive the driving gear 8 to slide on the surface of the driving rod 12, and move the driving gear 8 to the corresponding position of the corresponding reduction gear body 7.

[0034] Furthermore, a limit assembly is provided between the sides of the slide 17 and the inner wall of the adjustment chamber 4. The limit assembly includes limit rods 20 fixedly mounted on both sides of the adjustment chamber 4. Limit slots 21 are formed on both sides of the slide 17 to mate with the limit rods 20. The inner walls of the limit slots 21 are slidably connected to the surface of the limit rods 20. The provision of the limit assembly can limit the slide 17, preventing it from rotating with the drive screw 16. When the slide 17 moves, it causes the limit slots 21 on both sides to slide on the surface of the limit rods 20.

[0035] Based on the above-mentioned multi-stage deceleration structure, this embodiment further discloses a robot joint power unit, including the above-mentioned multi-stage deceleration structure.

[0036] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-stage deceleration structure, comprising two groups of split bases (1), wherein the two groups of split bases (1) are fixed together by a mounting assembly, characterized in that: The interiors of the two groups of split bases (1) are provided with a reduction gear cavity (2), a transmission cavity (3) and an adjustment cavity (4) in sequence from top to bottom, wherein a main shaft (5) is rotatably connected in the reduction gear cavity (2), one end of the main shaft (5) passes through the reduction gear cavity (2) and extends to the outside of the split base (1) and is fixedly connected to an output portion (6), a plurality of groups of reduction gear bodies (7) are fixedly mounted on the surface of the main shaft (5), and the diameters of the plurality of groups of reduction gear bodies (7) are arranged in an increasing or decreasing manner, a driving gear (8) is arranged in the transmission cavity (3), and a driving assembly for driving the driving gear (8) to rotate is also installed in the transmission cavity (3), the top of the driving gear (8) is meshed with the bottom of one group of the reduction gear bodies (7), and the top of the driving gear (8) is transmission-connected to the remaining plurality of groups of the reduction gear bodies (7) through the transmission assembly, and an adjustment assembly for adjusting the use position of the driving gear (8) is installed in the adjustment cavity (4).

2. The multi-stage deceleration structure according to claim 1, characterized in that: The transmission assembly comprises a transmission gear (9) arranged inside the reduction gear cavity (2), the transmission gear (9) and a plurality of groups of the reduction gear bodies (7) being arranged in an upper and lower correspondence, both sides of the transmission gear (9) are fixedly connected with a support shaft (10), one end of the support shaft (10) away from the transmission gear (9) is rotatably connected to the inner wall of the reduction gear cavity (2), and the upper and lower sides of the transmission gear (9) are respectively engaged with the bottom of the reduction gear body (7) and the top of the driving gear (8).

3. The multi-stage deceleration structure according to claim 1, characterized in that: The driving assembly comprises a driving motor (11) fixedly mounted on one side of the split base (1); an output shaft of the driving motor (11) passes through the split base (1) and extends to the interior of the transmission cavity (3) where a driving rod (12) is fixedly mounted; and an inner ring of the driving gear (8) is adjustably engaged with the surface of the driving rod (12) via a sliding engaging assembly.

4. The multi-stage deceleration structure according to claim 3, characterized in that: The sliding clamping assembly comprises a clamping rod (13) fixedly mounted on the upper and lower sides of the inner ring of the driving gear (8); a clamping groove (14) is provided on the surface of the driving rod (12) at a position corresponding to the clamping rod (13); and the surface of the clamping rod (13) is slidably connected to the inner wall of the clamping groove (14).

5. The multi-stage reduction structure according to claim 1, characterized in that: The adjustment component includes a second drive motor (15) fixedly mounted on one side of the split base (1), an output shaft of the second drive motor (15) passes through the split base (1) and extends to the interior of the adjustment chamber (4) and is fixedly connected to a drive screw (16), a slide (17) is matched with the surface of the drive screw (16), two groups of connecting plates (18) are installed on the top of the slide (17), the top of the connecting plate (18) passes through the adjustment chamber (4) and extends to the interior of the transmission chamber (3) and is fixedly mounted with two groups of adjusting rings (19), the two groups of adjusting rings (19) are respectively arranged on both sides of the driving gear (8), and the inner ring of the adjusting ring (19) is slidably connected to the surface of the driving rod (12), and a limiting component is also provided between the two sides of the slide (17) and the inner wall of the adjustment chamber (4).

6. The multi-stage reduction structure according to claim 5, characterized in that: The limiting assembly includes limiting rods (20) fixedly mounted on both sides of the regulating cavity (4); limiting grooves (21) adapted to the limiting rods (20) are provided on both sides of the sliding seat (17); and the inner walls of the limiting grooves (21) are slidably connected to the surfaces of the limiting rods (20).

7. The multi-stage reduction structure according to claim 1, characterized in that: The mounting assembly comprises mounting rods (22) provided at the four corners of one side of one group of the split bases (1), one end of the mounting rod (22) passes through the group of the split bases (1) and is threadedly connected to the surface of another group of the split bases (1), a countersunk hole (23) is provided on the surface of one group of the split bases (1) at a position corresponding to the mounting rod, and one end of the mounting rod (22) is hidden in the inner cavity of the countersunk hole (23).

8. A robot joint power unit, characterized in that: It comprises the multi-stage deceleration structure according to any one of claims 1 to 7.

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