Planetary reducer for bionic robot joint

Abstract

The planetary reducer used for the bionic robot joint comprises a protective shell and a planetary reducer structure, the planetary reducer structure is arranged on the protective shell, and the protective shell is used for limiting installation of the planetary reducer structure; the planetary reducer structure comprises an input shaft, a matching disc, an output shaft, a driving gear, a driven gear, a cooperation frame, a damping protection structure and an outer gear ring, the matching disc is fixedly connected to the side end of the input shaft, the driving gear is fixedly connected to the center of the matching disc, and the driven gear is connected to the side end of the driving gear in an engaged mode. The number of the driven gears is three, the side ends of the three driven gears are fixedly connected with the cooperation frame, the side ends of the cooperation frame and the damping protection structure are fixed in a limited mode, and the damping protection structure rotates on the inner wall of the output shaft. The planetary reducer is used for joints of a bionic robot, and the purpose of speed reduction control is achieved through structural arrangement.

Description

Technical Field

[0001] This utility model relates to the field of planetary reducer technology, specifically a planetary reducer used in biomimetic robot joints. Background Technology

[0002] Planetary gear reducers are a widely used industrial product that can reduce the speed of a motor while increasing the output torque. Planetary gear reducers can be used as supporting components in industries such as lifting, excavation, transportation, and construction. Bionic robot joints also require planetary gear reducers. By setting up planetary gear reducers, power output can be facilitated.

[0003] However, the planetary reducers currently used in bionic robot joints have the following problems: they are not conducive to efficient vibration reduction and can easily lead to a reduction in mechanical lifespan, which requires improvement. Utility Model Content

[0004] The purpose of this invention is to provide a planetary reducer for use in biomimetic robot joints to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a planetary reducer for use in a bionic robot joint, comprising a protective shell and a planetary reducer structure, wherein the planetary reducer structure is provided on the protective shell, and the protective shell is used for limiting the installation of the planetary reducer structure;

[0006] The planetary reducer structure includes an input shaft, a mating disc, an output shaft, a drive gear, a driven gear, a coordinating frame, a vibration damping protection structure, and an external gear ring. The mating disc is fixedly connected to the side end of the input shaft, and the drive gear is fixedly connected to the center of the mating disc. The driven gear is meshed with the side end of the drive gear, and there are three driven gears. The side ends of the three driven gears are fixedly connected to the coordinating frame, and the side end of the coordinating frame is limited and fixed by the vibration damping protection structure. The vibration damping protection structure rotates on the inner wall of the output shaft. The external gear ring is meshed with the outer ring of the driven gear, and the side end of the external gear ring is fixedly connected to the output shaft.

[0007] Specifically, the shock absorption and protection structure includes a hydraulic shock absorption shaft, a mating ring plate, and a central ring plate. The inner wall of the mating ring plate is telescopically connected to the hydraulic shock absorption shaft, and the center of the hydraulic shock absorption shaft is telescopically connected to the central ring plate.

[0008] Specifically, the central ring plate is fixedly connected to the side end of the coordinating frame.

[0009] Specifically, when the driven gear and the cooperating frame rotate, they drive the hydraulic damping shaft, the mating ring, and the central ring to rotate and adjust, and the mating ring rotates on the inner wall of the output shaft.

[0010] Specifically, the hydraulic damping shaft is hydraulically controlled and can absorb vibrations from multiple locations.

[0011] Specifically, the protective housing is rotatably connected to the input shaft and the output shaft, and the drive gear drives the driven gear to rotate. The driven gear drives the output shaft to rotate through the external gear ring.

[0012] Compared with the prior art, the beneficial effects of this utility model are:

[0013] 1. By installing a protective housing, the planetary reducer structure is protected during installation. The input shaft of the planetary reducer is connected to the motor. Driven by the motor, the input shaft and the mating disc can be rotated. When the mating disc rotates, it drives the drive gear to rotate as well. The side end of the drive gear meshes with the driven gear, causing the driven gear to rotate on its own axis. At the same time, the driven gear revolves and adjusts through the coordinating frame. The driven gear meshes with the external gear ring, which can drive the external gear ring to rotate around the center of the coordinating frame, thereby causing the output shaft to rotate and perform power reduction output.

[0014] Second, by installing a vibration damping protection structure, which is located on the side of the cooperating frame and rotates within the output shaft, the vibration damping protection structure can be driven to rotate together when the cooperating frame rotates. When vibration occurs, the central ring plate transmits the vibration and acts on the hydraulic damping shaft. The hydraulic damping shaft can absorb the vibration using hydraulic pressure. In conjunction with the ring plate rotating within the output shaft, it moves in close contact with the output shaft, thereby ensuring the stability of power output. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of the present utility model;

[0016] Figure 2 This is a perspective view of the planetary reducer structure of this utility model;

[0017] Figure 3 This is an exploded view of the planetary reducer structure of this utility model;

[0018] Figure 4 This is a perspective view of the shock absorption and protection structure of this utility model.

[0019] In the diagram: 1-protective housing; 2-planetary reducer structure; 3-input shaft; 4-mating disc; 5-output shaft; 6-drive gear; 7-driven gear; 8-coupling frame; 9-shock-damping protection structure; 10-external gear ring; 11-hydraulic shock-damping shaft; 12-mating ring plate; 13-center ring plate. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1-4 This utility model provides a technical solution: a planetary reducer for use in a bionic robot joint, including a protective shell 1 and a planetary reducer structure 2. The protective shell 1 is provided with the planetary reducer structure 2 and is used for limiting the installation of the planetary reducer structure 2.

[0022] The planetary reducer structure 2 includes an input shaft 3, a mating disc 4, an output shaft 5, a drive gear 6, a driven gear 7, a cooperating frame 8, a shock-absorbing protection structure 9, and an external gear ring 10. The mating disc 4 is fixedly connected to the side end of the input shaft 3. The drive gear 6 is fixedly connected to the center of the mating disc 4. The driven gear 7 is meshed with the side end of the drive gear 6, and there are three driven gears 7. The side ends of the three driven gears 7 are fixedly connected to the cooperating frame 8. The side ends of the cooperating frame 8 are limited and fixed by the shock-absorbing protection structure 9, which rotates within the inner wall of the output shaft 5. The external gear ring 10 is meshed with the outer ring of the driven gear 7. The side end of the external gear ring 10 is connected to the output shaft. 5. Fixed connection: A protective housing 1 is installed to protect the planetary reducer structure 2. The input shaft 3 inside the planetary reducer structure 2 is connected to the motor. Driven by the motor, the input shaft 3 and the mating disc 4 can be rotated. When the mating disc 4 rotates, it drives the drive gear 6 to rotate as well. The side end of the drive gear 6 meshes with the driven gear 7, causing the driven gear 7 to rotate on its own axis. At the same time, the driven gear 7 revolves and adjusts through the coordinating frame 8. The driven gear 7 meshes with the external gear ring 10, which can drive the external gear ring 10 to rotate around the center of the coordinating frame 8, thereby causing the output shaft 5 to rotate and perform power reduction output.

[0023] The vibration damping protection structure 9 includes a hydraulic damping shaft 11, a mating ring 12, and a central ring 13. The inner wall of the mating ring 12 is telescopically connected to the hydraulic damping shaft 11, and the center ring 13 is telescopically connected to the center of the hydraulic damping shaft 11. By installing the vibration damping protection structure 9, which is located on the side of the cooperating frame 8 and rotates within the output shaft 5, the vibration damping protection structure 9 can be driven to rotate together when the cooperating frame 8 rotates. When a vibration problem occurs, the central ring 13 transmits the vibration and acts on the hydraulic damping shaft 11. The hydraulic damping shaft 11 can absorb the vibration using hydraulic pressure. The mating ring 12 rotates within the output shaft 5 and moves in accordance with the output shaft 5, thereby ensuring the stability of the power output.

[0024] The central ring plate 13 is fixedly connected to the side end of the coordinating frame 8.

[0025] When the driven gear 7 and the cooperating frame 8 rotate, they drive the hydraulic damping shaft 11, the cooperating ring 12, and the central ring 13 to rotate and adjust, and the cooperating ring 12 rotates on the inner wall of the output shaft 5.

[0026] The hydraulic damping shaft 11 is hydraulically controlled and can absorb vibrations from multiple locations.

[0027] The protective housing 1 is rotatably connected to the input shaft 3 and the output shaft 5, and the drive gear 6 drives the driven gear 7 to rotate. The driven gear 7 drives the output shaft 5 to rotate through the external gear ring 10.

[0028] Working principle: When needed, the user connects the motor to the input shaft 3, controlling the rotation of the mating disc 4 and the drive gear 6. The rotation of the driven gear 7 and the cooperating frame 8 causes the external gear ring 10 to rotate and adjust. Power is output through the output shaft 5. The shock-absorbing protection structure 9 effectively reduces vibration and absorbs stress. The protective housing 1 is installed to protect the planetary reducer structure 2. Inside the planetary reducer structure 2, the input shaft 3 is connected to the motor. Driven by the motor, the input shaft 3 and the mating disc 4 are controlled to rotate. When the mating disc 4 rotates, it drives the drive gear 6 to rotate as well. The side end of the drive gear 6 meshes with the driven gear 7, causing the driven gear 7 to rotate simultaneously, thus adjusting the rotation of the external gear ring 10. The driven gear 7 revolves and adjusts through the coordinating frame 8. The driven gear 7 meshes with the external gear ring 10, which drives the external gear ring 10 to rotate around the center of the coordinating frame 8, thereby causing the output shaft 5 to rotate and perform power reduction output. By installing a shock-absorbing protection structure 9, which is located on the side of the coordinating frame 8 and rotates within the output shaft 5, the shock-absorbing protection structure 9 can be driven to rotate together when the coordinating frame 8 rotates. When vibration occurs, the central ring plate 13 transmits the vibration, which acts on the hydraulic shock-absorbing shaft 11. The hydraulic shock-absorbing shaft 11 can absorb the vibration using hydraulic pressure. It works in conjunction with the ring plate 12 to rotate within the output shaft 5, conforming to the movement of the output shaft 5, thereby ensuring the stability of the power output and completing the work.

[0029] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A planetary reducer used in a biomimetic robot joint, characterized in that: It includes a protective housing (1) and a planetary reducer structure (2), wherein the protective housing (1) is provided with the planetary reducer structure (2), and the protective housing (1) is used for limiting the installation of the planetary reducer structure (2); The planetary reducer structure (2) includes an input shaft (3), a mating disc (4), an output shaft (5), a drive gear (6), a driven gear (7), a coordinating frame (8), a shock-absorbing protection structure (9), and an external gear ring (10). The mating disc (4) is fixedly connected to the side end of the input shaft (3). The drive gear (6) is fixedly connected to the center of the mating disc (4). The driven gear (7) is meshed with the side end of the drive gear (6). There are three driven gears (7). The side ends of the three driven gears (7) are fixedly connected to the coordinating frame (8). The side ends of the coordinating frame (8) are limited and fixed by the shock-absorbing protection structure (9). The shock-absorbing protection structure (9) rotates on the inner wall of the output shaft (5). The external gear ring (10) is meshed with the outer ring of the driven gear (7). The side end of the external gear ring (10) is fixedly connected to the output shaft (5).

2. The planetary reducer used in a bionic robot joint according to claim 1, characterized in that: The shock absorption and protection structure (9) includes a hydraulic shock absorption shaft (11), a mating ring (12) and a central ring (13). The inner wall of the mating ring (12) is telescopically connected to the hydraulic shock absorption shaft (11), and the center of the hydraulic shock absorption shaft (11) is telescopically connected to the central ring (13).

3. The planetary reducer used in a bionic robot joint according to claim 2, characterized in that: The central ring plate (13) is fixedly connected to the side end of the coordinating frame (8).

4. The planetary reducer used in a bionic robot joint according to claim 3, characterized in that: When the driven gear (7) and the cooperating frame (8) rotate, they drive the hydraulic damping shaft (11), the mating ring (12), and the central ring (13) to rotate and adjust, and the mating ring (12) rotates on the inner wall of the output shaft (5).

5. The planetary reducer used in a bionic robot joint according to claim 4, characterized in that: The hydraulic damping shaft (11) is hydraulically controlled and can absorb vibrations from multiple locations.

6. The planetary reducer used in a bionic robot joint according to claim 5, characterized in that: The protective shell (1) is rotatably connected to the input shaft (3) and the output shaft (5), and the drive gear (6) drives the driven gear (7) to rotate. The driven gear (7) drives the output shaft (5) to rotate through the external gear ring (10).

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