Planetary reducer robot joint module

Abstract

The utility model discloses a planetary reducer robot joint module which comprises a reducer assembly, the reducer assembly comprises a duplex sun gear, a first inner gear ring and a second inner gear ring, and the first inner gear ring and the second inner gear ring are located on the periphery of the duplex sun gear and are coaxial with the duplex sun gear. A plurality of duplex planet gears are meshed between the first inner gear ring and the duplex sun gear and between the second inner gear ring and the duplex sun gear; the duplex planet wheel is provided with a planet shaft, a first planet carrier is matched with a lower hole shaft of the planet shaft, a second planet carrier is matched with an upper hole shaft of the planet shaft, the upper surface of the first planet carrier is attached to the lower surface of the duplex planet wheel, the lower surface of the second planet carrier is attached to the upper surface of the duplex planet wheel, and the first planet carrier and the second planet carrier are connected through a plurality of limiting rods. The top of the second planet carrier is connected with an output end cover through a second fastener. Pressing force is applied to the end face of the duplex planet wheel through the first planet carrier and the second planet carrier, and therefore the purposes that the transmission gap is reduced, and meanwhile the structure is more compact are achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot joint equipment technical field, especially relate to planetary reducer robot joint module. BACKGROUND

[0002] The joint module is the core power component of the robot, through the integrated design of the reducer and the motor, the volume of the robot joint is greatly reduced, the structure is simplified, and the power transmission efficiency is improved. This integrated design not only optimizes the spatial layout, but also effectively improves the motion performance and response speed of the robot, and is widely used in the fields of industrial, medical and service robots.

[0003] Due to the structural design of the planetary gear reducer, it has high rigidity and can bear large load and impact, and has been widely used in robot joint modules. However, the traditional gear transmission has backlash, the gear will enter the gap dead zone when reversing, and due to the series accumulation of transmission chain error, the transmission gap of the planetary gear reducer is large, which reduces the transmission precision. At present, in order to reduce the transmission gap, two driving motors are usually set, and the two driving motors are kept a certain phase difference when running, which can make the reduction transmission system realize the motion output without transmission gap, however, this setting has the problems of complex structure, large space occupation and high motor control difficulty. UTILITY MODEL CONTENTS

[0004] The utility model aims at setting first planet carrier and second planet carrier to exert pressure on the end face of double planetary gear, so as to solve the problem of complex structure, large space occupation and high motor control difficulty of planetary reducer caused by increasing driving motor to avoid large transmission gap and low transmission precision of traditional planetary gear reducer.

[0005] The specific technical scheme of the utility model is as follows:

[0006] A planetary reducer robot joint module, comprising a reducer assembly, the reducer assembly comprising a double sun gear, the double sun gear comprising a first sun gear and a second sun gear coaxially fixedly connected, a sun gear base connected to the bottom of the double sun gear, a first inner gear ring and a second inner gear ring coaxially arranged at the periphery of the double sun gear, a plurality of first planet gears meshing between the first inner gear ring and the first sun gear, a plurality of second planet gears meshing between the second inner gear ring and the second sun gear, the first planet gears and the second planet gears being coaxially fixedly connected to form a double planet gear; the double planet gear is provided with a planet shaft, the lower hole shaft of the planet shaft is matched with a first planet carrier, the upper hole shaft of the planet shaft is matched with a second planet carrier, the upper surface of the first planet carrier is attached to the lower surface of the double planet gear, the lower surface of the second planet carrier is attached to the upper surface of the double planet gear, the first planet carrier and the second planet carrier are connected by a plurality of limiting rods, the top of the second planet carrier is connected with an output cover through fasteners two; the periphery of the first inner gear ring and the second inner gear ring is provided with an inner stator, the inner stator is connected with the first inner gear ring and the second inner gear ring through fasteners one, the outer periphery of the inner stator is coaxially provided with an outer rotor, and the outer rotor is clamped with the sun gear base.

[0007] Further, the first planet carrier is provided with a shaft hole one matched with the planet shaft, the second planet carrier is provided with a shaft hole two matched with the planet shaft, the planet shaft is matched with the first planet carrier hole through the shaft hole one, and the planet shaft is matched with the second planet carrier hole through the shaft hole two.

[0008] Further, the lower surface of the second planet carrier is provided with a plurality of limiting rods, the bottom of the limiting rod is wedge-shaped, and the upper surface of the first planet carrier is provided with a positioning groove matched with the wedge-shaped.

[0009] Further, the first planet gear and the planet shaft are connected through a first planet gear bearing, and the second planet gear and the planet shaft are connected through a second planet gear bearing.

[0010] Further, the top and bottom of the first planet gear bearing are respectively provided with protective gaskets, and the top and bottom of the second planet gear bearing are respectively provided with protective gaskets.

[0011] Further, the bottom of the first inner gear ring is provided with a flange one, the lower surface of the inner stator is provided with an assembly hole one, the bottom of the inner stator is connected with the flange one through fasteners one, the top of the second inner gear ring is provided with a flange two, the upper surface of the inner stator is provided with an assembly hole two, and the top of the inner stator is connected with the flange two through fasteners one.

[0012] Further, the reducer assembly is externally provided with a housing assembly, the housing assembly comprises an articulation end cover and an articulation base, the articulation end cover is located on the top of the flange plate two, the articulation end cover is provided with an assembly hole three, the articulation end cover is connected with the flange plate two and the inner stator through fasteners one, and the articulation end cover is connected with the articulation base through fasteners three.

[0013] Further, the outer rotor is rotatably connected with the articulation base through an input end bearing, and the inner rotor is internally provided with a clamping groove matched with the sun gear base, so that the outer rotor is clamped with the double sun gear through the cooperation of the sun gear base and the clamping groove.

[0014] Further, the second inner gear ring is rotatably connected with the second planet carrier through an output end bearing.

[0015] Further, the first sun gear is fixedly connected with the sun gear base through a sun gear shaft, the first planet carrier is provided with a bearing hole at the shaft center, the bearing hole is internally provided with a sun gear bearing, and the sun gear shaft is rotatably connected with the bearing hole through the sun gear bearing.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The magnetic field is generated by supplying power to the coil of the inner stator, and the outer rotor is driven to rotate under the action of the magnetic field, power is transmitted to the double sun gear through the clamping of the clamping groove and the sun gear base, the double sun gear drives a plurality of double planetary gears to rotate, since the double planetary gears are meshed with the first inner gear ring and the second inner gear ring at the same time, the double planetary gears revolve around the double sun gear while rotating, therefore the planet shaft revolves around the double sun gear, the first planet carrier and the second planet carrier are driven to rotate, the second planet carrier drives the output end cover to rotate and output at the same time, through the double structure, the torque output by the articulation module and the stability of transmission are increased, so that it can bear greater load, the output end cover applies pressing force to the second planet carrier through the fasteners two, so that the first planet carrier and the second planet carrier are more closely connected through the limiting rod and the positioning groove, and the double planetary gears are more closely meshed with the double sun gear through the pressing force applied to the double planetary gears by the second planet carrier, so that the reducer assembly can realize motion output without transmission gap, the transmission gap of the reducer assembly is effectively reduced, high-precision transmission is realized, and the overall structure of the planetary reducer robot articulation module is more simple and compact, and the occupied space is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a three-dimensional structure schematic view of the utility model embodiment;

[0019] Figure 2 It is a three-dimensional schematic view of the bottom structure of the utility model embodiment;

[0020] Figure 3 It is the three-dimensional structure schematic view of the joint end cover state of the embodiment of the utility model;

[0021] Figure 4 It is the three-dimensional structure schematic view of the double sun gear of the embodiment of the utility model;

[0022] Figure 5 It is the assembly schematic view of the double sun gear and four double planetary gears of the embodiment of the utility model;

[0023] Figure 6 It is the three-dimensional structure schematic view of the first planet carrier of the embodiment of the utility model;

[0024] Figure 7 It is the three-dimensional structure schematic view of the second planet carrier of the embodiment of the utility model;

[0025] Figure 8 It is the assembly schematic view of the first planet carrier, the second planet carrier, the double sun gear and four double planetary gears of the embodiment of the utility model;

[0026] Figure 9 It is the three-dimensional structure schematic view of the second inner gear ring of the embodiment of the utility model;

[0027] Figure 10 It is the three-dimensional structure schematic view of the first inner gear ring of the embodiment of the utility model;

[0028] Figure 11 It is the assembly schematic view of the first inner gear ring, the second inner gear ring, the first planet carrier, the second planet carrier, the double sun gear and four double planetary gears of the embodiment of the utility model;

[0029] Figure 12 It is the three-dimensional structure schematic view of the inner stator of the embodiment of the utility model;

[0030] Figure 13 It is the three-dimensional structure schematic view of the outer rotor of the embodiment of the utility model;

[0031] Reference signs:

[0032] 1, speed reducer assembly;11, double sun gear;111, first sun gear;112, second sun gear;113, sun gear base;114, sun gear shaft;12, double planetary gear;121, first planetary gear;122, second planetary gear;13, planet shaft;131, protective gasket;14, first planet carrier;141, shaft hole one;142, positioning groove;143, bearing hole;15, second planet carrier;151, shaft hole two;16, limiting rod;17, first inner gear ring;171, flange one;18, second inner gear ring;181, flange two;

[0033] 2. inner stator;

[0034] 3. outer rotor; 31. clamping groove;

[0035] 4. housing assembly; 41. joint end cover; 411. assembly hole three; 42. joint base;

[0036] 5. input end bearing;

[0037] 6. output end bearing;

[0038] 7. output end cover. DETAILED DESCRIPTION

[0039] In order to better understand the purpose, structure and function of the utility model, the technical scheme in the utility model embodiment will be clearly and completely described below in combination with the drawings.

[0040] Referring to Figures 1 to 13The embodiment discloses a planetary reducer robot joint module, which comprises a reducer assembly 1, the reducer assembly 1 comprises a double sun gear 11, the double sun gear 11 comprises a first sun gear 111 and a second sun gear 112 which are fixedly connected and coaxial, a sun gear base 113 is connected to the bottom of the double sun gear 11, a first inner gear ring 17 and a second inner gear ring 18 are arranged coaxially outside the double sun gear 11, a plurality of first planetary gears 121 are engaged between the first inner gear ring 17 and the first sun gear 111, a plurality of second planetary gears 122 are engaged between the second inner gear ring 18 and the second sun gear 112, the first planetary gears 121 and the second planetary gears 122 are fixedly connected to form double planetary gears 12, and the first planetary gears 121 and the second planetary gears 122 are coaxial, the double planetary gears 12 are provided with a planet shaft 13, a first planet carrier 14 is matched with the lower hole shaft of the planet shaft 13, a second planet carrier 15 is matched with the upper hole shaft of the planet shaft 13, the upper surface of the first planet carrier 14 is attached to the lower surface of the double planetary gears 12, the lower surface of the second planet carrier 15 is attached to the upper surface of the double planetary gears 12, the first planet carrier 14 and the second planet carrier 15 are connected through a plurality of limiting rods 16, the output end cover 7 is connected to the top of the second planet carrier 15 through fastening piece two, the output end cover 7 exerts a pressing force on the second planet carrier 15 through the fastening piece two, so that the first planet carrier 14 and the second planet carrier 15 are more closely connected through the limiting rods 16, and the double planetary gears 12 exert a pressing force on the double planetary gears 12 through the second planet carrier 15, so that the double planetary gears 12 and the double sun gear 11 are more closely engaged, an inner stator 2 is arranged outside the first inner gear ring 17 and the second inner gear ring 18, the inner stator 2 is connected to the first inner gear ring 17 and the second inner gear ring 18 through fastening piece one, an outer rotor 3 is arranged coaxially outside the periphery of the inner stator 2, the outer rotor 3 is clamped to the sun gear base 113, a magnetic field is generated by supplying power to the coil of the inner stator 2, the outer rotor 3 is driven to rotate under the action of the magnetic field, power is transmitted to the double sun gear 11, the double sun gear 11 drives a plurality of double planetary gears 12 to rotate, since the double planetary gears 12 are engaged with the first inner gear ring 17 and the second inner gear ring 18 at the same time, the double planetary gears 12 rotate around the double sun gear 11 while revolving around the double sun gear 11, the planet shaft 13 also revolves around the double sun gear 11, the first planet carrier 14 and the second planet carrier 15 are driven to rotate by the planet shaft 13, and the second planet carrier 15 drives the output end cover 7 to rotate and output at the same time.

[0041] The first planetary carrier 14 is provided with a shaft hole one 141 matched with the planetary shaft 13, and the second planetary carrier 15 is provided with a shaft hole two 151 matched with the planetary shaft 13, and the planetary shaft 13 is matched with the first planetary carrier 14 through the shaft hole one 141, and the planetary shaft 13 is matched with the second planetary carrier 15 through the shaft hole two 151.

[0042] The lower surface of the second planetary carrier 15 is provided with a plurality of limiting rods 16, the bottom of the limiting rod 16 is wedge-shaped, the upper surface of the first planetary carrier 14 is provided with a positioning groove 142 matched with the wedge-shaped, and the wedge-shaped connection is self-locked through the slope friction force, can bear larger pressure, and has high connection stability.

[0043] The first planetary gear 121 is connected with the planetary shaft 13 through a first planetary gear bearing, and the second planetary gear 122 is connected with the planetary shaft 13 through a second planetary gear bearing.

[0044] The top and bottom of the first planetary gear bearing are respectively provided with protective pads 131, and the top and bottom of the second planetary gear bearing are respectively provided with protective pads 131, which can prevent dust and impurities from entering the first planetary gear bearing and the second planetary gear bearing, affect the service life, and ensure the smooth operation of the first planetary gear bearing and the second planetary gear bearing.

[0045] The bottom of the first inner gear ring 17 is provided with a flange plate one 171, the lower surface of the inner stator 2 is provided with an assembly hole one, the bottom of the inner stator 2 is connected with the flange plate one 171 through a fastener one, the top of the second inner gear ring 18 is provided with a flange plate two 181, the upper surface of the inner stator 2 is provided with an assembly hole two, and the top of the inner stator 2 is connected with the flange plate two 181 through a fastener one, and the inner stator 2 is fixedly installed between the flange plate one 171 and the flange plate two 181, which increases the stability of the inner stator 2 and prevents relative displacement with the outer rotor 3.

[0046] The reducer assembly 1 is externally provided with a shell assembly 4, the shell assembly 4 includes a joint end cover 41 and a joint base 42, and has a protection effect on the reducer assembly 1, the joint end cover 41 is located at the top of the flange plate two 181, the joint end cover 41 is provided with an assembly hole three 411, the joint end cover 41 is connected with the flange plate two 181 and the inner stator 2 through a fastener one, and the joint end cover 41 is connected with the joint base 42 through a fastener three.

[0047] The outer rotor 3 is rotationally connected with the joint base 42 through an input end bearing 5, reduces friction and energy loss, and the inner rotor 3 is internally provided with a clamping groove 31 matched with the sun gear base 113, and the outer rotor 3 is clamped with the double sun gear 11 through the cooperation of the sun gear base 113 and the clamping groove 31.

[0048] The second inner gear ring 18 is rotationally connected with the second planet carrier 15 through an output end bearing 6 to reduce friction and energy loss.

[0049] The first sun gear 111 is fixedly connected with the sun gear base 113 through a sun gear shaft 114, the first planet carrier 14 is provided with a bearing hole 143 at the shaft center, the bearing hole 143 is provided with a sun gear bearing, and the sun gear shaft 114 is rotationally connected with the bearing hole 143 through the sun gear bearing, so that friction is reduced and energy loss is lowered.

[0050] In the embodiment, the fasteners one, two and three are preferably screws, and the screw connection has good anti-vibration performance and is not easy to loosen, and is suitable for a dynamic load environment.

[0051] Working principle: a magnetic field is generated by power supply to the coil of the inner stator 2, and the outer rotor 3 is driven to rotate under the action of the magnetic field; power is transmitted to the double sun gear 11 through the clamping of the clamping groove 31 and the sun gear base 113; the double sun gear 11 drives a plurality of double planetary gears 12 to rotate; since the double planetary gears 12 are simultaneously engaged with the first inner gear ring 17 and the second inner gear ring 18, the double planetary gears 12 rotate around the double sun gear 11 while rotating; therefore, the planet shaft 13 rotates around the double sun gear 11, and the first planet carrier 14 and the second planet carrier 15 are driven to rotate; the second planet carrier 15 simultaneously drives the output end cover 7 to rotate and output; through the double connection structure, the torque and the transmission stability of the joint module output are increased, so that the joint module can bear greater load; the output end cover 7 applies a pressing force to the second planet carrier 15 through the fastener two, so that the first planet carrier 14 and the second planet carrier 15 are more closely connected through the limiting rod 16 and the positioning groove 142, and the double planetary gears 12 are more closely engaged with the double sun gear 11 through the second planet carrier 15, so that the speed reducer assembly 1 can realize motion output without transmission gap, the transmission gap of the speed reducer assembly 1 is effectively reduced, high-precision transmission is realized, and the overall structure of the planetary speed reducer robot joint module is more simple and compact, and the occupied space is reduced.

[0052] The above only describes preferred embodiments of the utility model, and is not used to limit the utility model, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A planetary reducer robot joint module, characterized in that: The system includes a reducer assembly (1), which includes a double sun gear (11). The double sun gear (11) includes a first sun gear (111) and a second sun gear (112) fixedly connected. A sun gear base (113) is connected to the bottom of the double sun gear (11) and is located on the periphery of the double sun gear (11). A first internal gear ring (17) and a second internal gear ring (18) are coaxially arranged with the double sun gear (11). Several first planetary gears (121) mesh between the first internal gear ring (17) and the first sun gear (111), and several second planetary gears (122) mesh between the second internal gear ring (18) and the second sun gear (112). The first planetary gears (121) and the second planetary gears (122) are fixedly connected to form a double planetary gear (12). The double planetary gear (12) is provided with a planetary shaft (13). The lower hole of the planetary shaft (13) is fitted with a first planetary carrier (14), and the upper hole of the planetary shaft (13) is fitted with a second planetary carrier (15). The upper surface of the first planetary carrier (14) is in contact with the lower surface of the double planetary gear (12), and the lower surface of the second planetary carrier (15) is in contact with the upper surface of the double planetary gear (12). The first planetary carrier (14) and the second planetary carrier (15) are connected by several limiting rods (16). The top of the second planetary carrier (15) is connected to an output end cap (7) by a fastener two. An inner stator (2) is sleeved around the first internal gear ring (17) and the second internal gear ring (18). The inner stator (2) is connected to the first internal gear ring (17) and the second internal gear ring (18) by a fastener one. An outer rotor (3) is coaxially provided around the inner stator (2). The outer rotor (3) is engaged with the sun gear base (113).

2. The planetary reducer robot joint module according to claim 1, characterized in that, The first planetary carrier (14) is provided with a first shaft hole (141) that is used with the planetary shaft (13), and the second planetary carrier (15) is provided with a second shaft hole (151) that is used with the planetary shaft (13). The planetary shaft (13) is engaged with the first planetary carrier (14) through the first shaft hole (141), and the planetary shaft (13) is engaged with the second planetary carrier (15) through the second shaft hole (151).

3. The planetary reducer robot joint module according to claim 2, characterized in that, The lower surface of the second planetary carrier (15) is provided with several limiting rods (16), the bottom of the limiting rods (16) is wedge-shaped, and the upper surface of the first planetary carrier (14) is provided with a positioning groove (142) that matches the wedge shape.

4. The planetary reducer robot joint module according to claim 1, characterized in that, The first planetary gear (121) is connected to the planetary shaft (13) via a first planetary gear bearing, and the second planetary gear (122) is connected to the planetary shaft (13) via a second planetary gear bearing.

5. The planetary reducer robot joint module according to claim 4, characterized in that, The first planetary gear bearing is provided with protective gaskets (131) at the top and bottom, and the second planetary gear bearing is provided with protective gaskets (131) at the top and bottom.

6. The planetary reducer robot joint module according to claim 1, characterized in that, The first internal gear ring (17) has a flange 1 (171) at the bottom, the inner stator (2) has an assembly hole 1 on the lower surface, the bottom of the inner stator (2) is connected to the flange 1 (171) by a fastener 1, the second internal gear ring (18) has a flange 2 (181) at the top, the inner stator (2) has an assembly hole 2 on the upper surface, and the top of the inner stator (2) is connected to the flange 2 (181) by a fastener 1.

7. The planetary reducer robot joint module according to claim 6, characterized in that, The reducer assembly (1) is provided with an outer shell assembly (4), which includes a joint end cap (41) and a joint base (42). The joint end cap (41) is located on top of the second flange (181). The joint end cap (41) is provided with a third mounting hole (411). The joint end cap (41) is connected to the second flange (181) and the inner stator (2) by a first fastener. The joint end cap (41) is connected to the joint base (42) by a third fastener.

8. The planetary reducer robot joint module according to claim 7, characterized in that, The outer rotor (3) and the joint base (42) are rotatably connected by the input end bearing (5). The outer rotor (3) has a slot (31) that is adapted to the sun gear base (113). The outer rotor (3) and the double sun gear (11) are engaged together by the cooperation between the sun gear base (113) and the slot (31).

9. The planetary reducer robot joint module according to claim 1, characterized in that, The second internal gear ring (18) and the second planetary carrier (15) are rotatably connected by the output end bearing (6).

10. The planetary reducer robot joint module according to claim 1, characterized in that, The first sun gear (111) is fixedly connected to the sun gear base (113) via the sun gear shaft (114). The first planet carrier (14) has a bearing hole (143) at its axis. The bearing hole (143) contains a sun gear bearing. The sun gear shaft (114) and the bearing hole (143) are rotatably connected via the sun gear bearing.

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