Speed reducer based on duplex planetary gear, driving device and dexterous hand

Abstract

The embodiment of the utility model relates to the technical field of robots, and discloses a speed reducer based on a duplex planetary gear, a driving device and a dexterous hand. According to the utility model, the tooth number difference design of the duplex planetary gear and the inner gear is adopted, so that the grading speed reduction effect is realized, and the high-speed low-torque output of the motor is effectively converted into low-speed high-torque output. In addition, by means of the integrated single planet carrier fixing mode, the duplex planet gear achieves autorotation and revolution in the integrated structure, the number of parts is reduced, clearance configuration is simplified, and therefore the internal space is effectively compressed. And finally, a roller transmission structure is arranged between the second inner gear and the shell to replace a traditional bearing, and the size and the weight of the whole structure are further reduced while torque output stability is ensured by omitting inner and outer ring components.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a reducer, drive device, and dexterous hand based on a double planetary gear. Background Technology

[0002] Speed ​​reducers are key transmission components in various mechanical and robotic systems, widely used in industrial automation, service robots, aerospace, medical equipment, and other fields requiring high precision and high-performance transmission. They convert the high-speed, low-torque output of a motor into a low-speed, high-torque output, thus meeting the demands of various applications for high torque and precise motion control. In some systems sensitive to size and weight, speed reducers also need to achieve a compact and lightweight structural design as much as possible.

[0003] Related speed reducer technologies typically include planetary speed reducers, harmonic speed reducers, and RV speed reducers. However, these traditional gear transmission structures struggle to achieve high reduction ratios while maintaining small size and low weight, thus limiting their application in space- and weight-sensitive scenarios. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a reducer, drive device and dexterous hand based on double planetary gears, so as to meet the requirements of high reduction ratio, small size and low weight.

[0005] To solve the above-mentioned technical problems, embodiments of this utility model provide a reducer based on a double planetary gear, comprising: a sun gear for transmitting external torque to the reducer; at least one double planetary gear, including a first planetary gear and a second planetary gear, wherein the first planetary gear meshes with the sun gear, and the first planetary gear has more teeth than the second planetary gear; a planet carrier for fixing the double planetary gear on its orbital trajectory, including a first mounting surface and a second mounting surface, the first mounting surface being used to mount the first planetary gear, and the second mounting surface being used to mount the second planetary gear; a first internal gear meshing with the first planetary gear; and a second internal gear meshing with the second planetary gear and rotating with the housing via a roller drive structure, for outputting the torque of the second planetary gear, wherein the first internal gear has more teeth than the second internal gear.

[0006] An embodiment of this utility model also provides a driving device, including a reducer based on a double planetary gear as described above, and a drive motor; the drive motor is used to input rotational torque to the reducer; the reducer is used to receive the torque input by the drive motor, and after the input torque is reduced internally by the reducer, output torque to the outside.

[0007] An embodiment of this utility model also provides a dexterous hand, including the drive device as described above, which enables joint operation based on the torque output by the drive device.

[0008] In this embodiment of the invention, a differential tooth design using a double planetary gear and an internal gear achieves a graded speed reduction effect, effectively converting the high-speed, low-torque output of the motor into low-speed, high-torque output. Furthermore, the integrated single planetary carrier fixing method allows the double planetary gear to rotate and revolve within a single structure, simplifying the number of components and clearance configuration, thereby effectively compressing the internal space. Finally, a roller drive structure is installed between the second internal gear and the housing to replace the traditional bearing. By eliminating the inner and outer ring components, the overall size and weight of the structure are further reduced while ensuring stable torque output. Attached Figure Description

[0009] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0010] Figure 1 This is a schematic diagram of the overall structure of the reducer provided in the embodiment of this application;

[0011] Figure 2 This is a cross-sectional schematic diagram of the speed reducer provided in the embodiment of this application along one direction;

[0012] Figure 3 This is a cross-sectional schematic diagram of the speed reducer provided in an embodiment of this application along another direction;

[0013] Figure 4 This is a schematic diagram of one side of the reducer provided in the embodiment of this application;

[0014] Figure 5 This is a schematic diagram of the overall structure of the driving device provided in the embodiments of this application;

[0015] Figure 6 This is a schematic diagram of one side of the driving device provided in the embodiment of this application;

[0016] Figure 7 A cross-sectional view of the driving device provided in this application embodiment along one direction.

[0017] The reference numerals in the attached drawings include: input shaft 1, sun gear 2, first internal gear 3, first planetary gear 4, second planetary gear 5, second internal gear 6, planetary carrier 7, output shaft 8, roller 9, housing 10, drive motor 11, connecting flange 12, reducer housing 13, and output synchronous pulley 14. Detailed Implementation

[0018] Speed ​​reducers are indispensable key transmission components in mechanical and robotic systems, widely used in industrial automation, service robots, aerospace, medical equipment, and other fields, especially in applications requiring precise control and high-load transmission. The main function of a speed reducer is to convert the high-speed, low-torque output of a motor into a low-speed, high-torque output to meet the demands for high-torque and high-precision motion control. In many applications, especially in robotics, speed reducers not only need to withstand high torque but also require a compact and lightweight design to adapt to space-constrained and weight-sensitive working environments.

[0019] While widely used, speed reducers must also meet a series of complex design requirements depending on the application scenario. For example, in industrial automation, speed reducers are typically used to drive robotic arms, conveyor systems, and precision machining machinery, requiring high load capacity, high precision, and long-term stable operation. In aerospace and medical equipment, speed reducers need to be small in size and weight while bearing large torque to adapt to harsh working environments. In service robotics, speed reducers not only need to provide stable power transmission but also require a high reduction ratio to ensure flexible motion control and long operating time.

[0020] Robotic end effectors, such as robotic arms and dexterous hands, require particularly high-precision motion control and high torque output. In such applications, the size, weight, and reduction ratio of the reducer become critical factors, as they directly affect the robot's ability and efficiency in performing tasks. Especially in micro-robots and precision surgical robots, reducers not only need to provide precise force control and motion accuracy but must also meet extremely small size and weight requirements.

[0021] Existing speed reducer technologies, including planetary speed reducers, harmonic speed reducers, and RV speed reducers, are widely used in various mechanical and robotic systems, but they still have certain limitations in some application scenarios:

[0022] Planetary gear reducers are widely used due to their simple structure and high efficiency. They mainly consist of a sun gear, planet gears, and an internal gear. The central sun gear is typically the input gear. The planet gears rotate around the sun gear while also rotating on their own axes. The internal gear meshes with the planet gears, which in turn drive the planet carrier to rotate. Power is ultimately output through the rotation of the planet carrier. However, planetary gear reducers generally have a relatively small reduction ratio (typically less than 100:1). Further increasing the reduction ratio significantly increases the size and weight of the reducer, often resulting in a decrease in transmission efficiency. Furthermore, because planetary gear reducers use spur gear transmission, they are prone to vibration and noise during operation, which can affect the performance of precision applications, especially micro-devices.

[0023] Harmonic reducers offer very high reduction ratios, making them suitable for high-precision transmission applications such as industrial robots and precision machinery. The main components of a harmonic reducer include a drive shaft, a harmonic generator, a flexible wheel, and an output shaft. When the drive shaft begins to rotate, the internal gear ring of the harmonic generator, fixed to the drive shaft, also begins to rotate. The cams on the internal gear ring engage with the grooves on the flexible wheel, causing the flexible wheel to rotate. Because the flexible wheel typically has more grooves than the internal gear ring, its rotational speed is slower than that of the internal gear ring, thus achieving a speed reduction effect. However, the flexible wheel of a harmonic reducer is relatively fragile and cannot withstand large loads, limiting its use in heavy-duty and micro-robot applications. Especially in micro-robots, the insufficient stability and load-bearing capacity of harmonic reducers prevent them from meeting the requirements for long-term high loads and high stability.

[0024] RV reducers: RV reducers use cycloidal pinwheel transmission, which offers a smaller size and greater load capacity compared to traditional planetary gear systems. However, RV reducers have a complex structure, high manufacturing costs, and relatively large size, thus limiting their application in space-constrained and cost-sensitive applications, especially in micro-robots or precision surgical robots.

[0025] To address the limitations of existing technologies, this invention proposes a novel speed reducer designed to resolve the contradiction between high reduction ratio, low weight, and small size. Through innovative design, this invention achieves a large transmission ratio within a small space while maintaining the speed reducer's portability and efficiency. Compared to existing technologies, this speed reducer not only boasts a higher reduction ratio and smaller size but also reduces structural weight while delivering high torque output, making it suitable for various applications requiring precise control and high loads.

[0026] To make the objectives, apparatus, and advantages of the embodiments of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many apparatus details are presented in the various embodiments of this utility model to facilitate a better understanding of this application. However, the apparatus claimed in this application can be implemented even without these apparatus details and various variations and modifications based on the following embodiments. The division of the following embodiments is for ease of description and should not constitute any limitation on the specific implementation of this utility model. The various embodiments can be combined with and referenced to each other without contradiction.

[0027] One embodiment of this utility model relates to a reducer based on a double planetary gear, which can be applied in various fields such as precision robots, industrial automation equipment, medical devices, service robots, and aerospace systems. Particularly in end effectors of robots such as micro-robots and dexterous hands, it can provide high-precision gripping force and high torque output, while also being compact and lightweight, making it suitable for scenarios with strict requirements on size and weight. Furthermore, this reducer can also be widely used in power tools, automated transmission equipment, precision instruments, and other equipment requiring efficient transmission and precise control, ensuring high efficiency and stability in various working environments.

[0028] One embodiment of this application includes a sun gear for transmitting external torque to the reducer; at least one double planetary gear, including a first planetary gear and a second planetary gear, wherein the first planetary gear meshes with the sun gear, and the first planetary gear has more teeth than the second planetary gear; a planet carrier for fixing the double planetary gear on its orbital trajectory, including a first mounting surface and a second mounting surface, the first mounting surface for mounting the first planetary gear and the second mounting surface for mounting the second planetary gear; a first internal gear meshing with the first planetary gear; and a second internal gear meshing with the second planetary gear and rotating with the housing via a roller drive structure, for outputting the torque of the second planetary gear, and the first internal gear has more teeth than the second internal gear. In this embodiment of the invention, the differential tooth number design of the double planetary gear and internal gear achieves a graded reduction effect, effectively converting the high-speed, low-torque output of the motor into a low-speed, high-torque output. Furthermore, the integrated single planetary carrier fixing method allows the double planetary gear to achieve rotation and revolution within an integrated structure, simplifying the number of parts and clearance configuration, thereby effectively compressing the internal space. Finally, a roller drive structure is installed between the second internal gear and the housing to replace the traditional bearing. By eliminating the inner and outer ring components, the size and weight of the overall structure are further reduced while ensuring stable torque output.

[0029] The following is a detailed description of a device for a speed reducer based on a double planetary gear according to an embodiment of the present invention. The following content is only for the convenience of understanding and is not necessary for implementing the device.

[0030] Figures 1 to 4 This is a schematic diagram of the overall structure of the reducer provided in the embodiments of this application. The reducer based on double planetary gears involved in this application includes:

[0031] Input shaft 1 and output shaft 8: The input shaft 1 is fixedly connected to the sun gear 2 and the external power device, and is used to receive the torque of the external device and make the sun gear 2 rotate; the output shaft 8 is fixedly connected to the second internal gear 6, and is used to output the torque of the second internal gear 6 outward to form a gripping force.

[0032] Specifically, the input shaft 1 receives torque from an external power source (such as a motor) through a fixed connection with the sun gear 2 and transmits it to the sun gear 2, causing the sun gear to rotate. This connection method ensures that torque can be effectively transmitted from the outside to the inside of the reducer. The output shaft 8 is fixedly connected to the second internal gear 6. After receiving the reduced torque from the second planetary gear 5, the second internal gear 6 transmits the torque to the output shaft through meshing, completing the final power output.

[0033] Sun gear 2 is used to transmit external torque to the inside of the reducer.

[0034] Specifically, such as Figure 2 and Figure 3 As shown, the sun gear 2 initiates the rotation of the planetary gear system by meshing with the planetary gears. The rotation of the sun gear 2 drives the planetary gears to produce a compound motion, including rotation and revolution. This precise meshing relationship ensures the efficient transmission of power.

[0035] At least one double planetary gear, including a first planetary gear 4 and a second planetary gear 5, wherein the first planetary gear 4 meshes with the sun gear 2, and the first planetary gear 4 has more teeth than the second planetary gear 5.

[0036] Optionally, the number of teeth of the first planetary gear 4 in the reducer is one or two more than the number of teeth of the second planetary gear 5, and the number of teeth of the first internal gear 3 is one or two more than the number of teeth of the second internal gear 6.

[0037] Specifically, the sun gear 2 receives power from the input shaft 1 and transmits that power to at least one double planetary gear (including a first planetary gear 4 and a second planetary gear 5). The sun gear 2, through meshing with the planetary gears, causes the planetary gear system to begin rotating. Due to the precise meshing relationship between the sun gear and the planetary gears, the rotation of the sun gear drives the planetary gears to produce a combined motion of rotation and revolution.

[0038] In addition, such as Figure 2 and Figure 3As shown, the reducer employs a double planetary gear system, which achieves increased torque through multi-stage reduction. Specifically, the first planetary gear 4 and the second planetary gear 5 in the double planetary gear system are fixedly connected, thus their rotational angular velocities are the same. However, the first planetary gear 4 has more teeth, so its rotational circumference is greater than that of the second planetary gear 5 in one revolution. Due to this difference in tooth count, the rotational speed of the second planetary gear 5 decreases, while the output torque increases, thereby achieving a high reduction ratio. Through this design, the reducer can increase torque while reducing speed, ensuring high output torque and low speed, and achieving precise power conversion.

[0039] The planet carrier 7 is used to fix the double planetary gear on the revolution track, and includes a first mounting surface and a second mounting surface. The first mounting surface is used to assemble the first planetary gear 4, and the second mounting surface is used to assemble the second planetary gear 5.

[0040] Optionally, the first planetary gear 4 and the second planetary gear 5 can be positioned on the planet carrier 7 by means of a central shaft or welding.

[0041] Specifically, such as Figure 1 and Figure 2 As shown, a planet carrier 7 is designed to ensure the stability of the double planetary gears during their revolution. The main function of the planet carrier 7 is to hold the double planetary gears on their revolution trajectory and ensure that they move along a predetermined path. The planet carrier 7 can be in the form of a disc or a support; the following explanation uses the disc form as an example: In the disc-shaped planet carrier 7, there are several limiting holes. By inserting the central shaft protrusion of the first planetary gear 4 into one of the limiting holes on the planet carrier 7, and embedding the central groove of the second planetary gear 5 into the central shaft protrusion of the first planetary gear 4, the double planetary gears can be limited. This design allows the double planetary gears to revolve along a fixed trajectory on the planet carrier 7, ensuring their stability during rotation. Furthermore, the central shaft of the second planetary gear 5 can also be designed as a protrusion, thus giving the first planetary gear 4 a central shaft groove. With this structure, the double planetary gears can also achieve stable limiting and maintain their motion trajectory.

[0042] Besides using locating holes, the double planetary gears can also be fixed to the planet carrier by welding. This design ensures the orbital revolution of the double planetary gears while also ensuring structural stability. After welding, the central axes of the first planetary gear 4 and the second planetary gear 5 will completely overlap, further enhancing the stability and durability of the double planetary gears.

[0043] Optionally, the planetary carrier is fixed in the following way: one end of the central shaft of the planetary carrier 7 is connected to the central shaft groove of the sun gear 2 through an optical shaft oil film, and the other end of the central shaft is connected to the central shaft groove of the second internal gear 6 through an optical shaft oil film.

[0044] Specifically, such as Figure 1 As shown, to ensure the planetary carrier 7 is stably fixed in the reducer and can achieve smooth rotational motion with the revolution of the double planetary gears, the central shaft of the planetary carrier 7 is designed with a two-end connection. Specifically, one end of the central shaft of the planetary carrier 7 is connected to the central shaft groove of the sun gear 2 via a smooth shaft oil film, and the other end is connected to the central shaft groove of the second internal gear 6 via an oil film. The use of the oil film effectively reduces friction, allowing the planetary carrier and gears to move more smoothly during operation, thereby extending the service life of the reducer. Compared with the traditional structure that uses the inner and outer rings of bearings to achieve the rotation of the planetary carrier, this design, through the smooth shaft oil film connection, significantly reduces the size and weight of the reducer. Through this innovative structure, the reducer can achieve a more compact and lighter design while maintaining high efficiency, making it suitable for applications with strict requirements on size and weight.

[0045] The first internal gear 3 meshes with the first planetary gear 4;

[0046] The second internal gear 6 meshes with the second planetary gear 5 and rotates with the housing 10 through a roller transmission structure. It is used to output the torque of the second planetary gear 5, and the first internal gear 3 has more teeth than the second internal gear 6.

[0047] Specifically, such as Figure 1 and Figure 2 As shown, the second planetary gear 5 meshes with the second internal gear 6, and the motion of the second planetary gear is transmitted to the second internal gear 6 through this meshing. Then, the second internal gear 6 outputs the transmitted torque through the output shaft 8, which is fixedly connected to it, thus completing the transmission of power and the output of torque.

[0048] Optionally, in one embodiment, the roller drive structure includes: a roller cage mounted on the outside of the second internal gear for positioning the roller; and rollers 9 mounted on the roller cage and in direct contact with the housing of the reducer.

[0049] Specifically, such as Figure 4As shown, to maximize structural space savings, a traditional bearing system is not used between the outer side of the second internal gear 6 and the reducer housing 10. Instead, an outer roller cage is designed on the outer side of the second internal gear, with the balls evenly distributed on the outer side of the cage. The outer side of the balls directly contacts the reducer housing 10, achieving smooth torque transmission. This structure abandons the traditional inner and outer ring design of bearings, instead embedding the balls and ball cage between the outer side of the second internal gear and the housing. This design ensures a significant reduction in the reducer's outer diameter through precise control of dimensions and geometric tolerances. Furthermore, the use of an outer roller structure allows the reducer to maintain high torque output capacity and stability while achieving miniaturization and weight reduction, thereby improving the overall performance and applicability of the reducer.

[0050] Optionally, the number of double planetary gears that can be installed in the reducer can range from 2 to 4.

[0051] Specifically, in this embodiment, the number of double planetary gears in the reducer can be selected between 2 and 4, and the number of planetary gears is closely related to the structural stability of the reducer. For example... Figure 3 As shown, if two planetary gears are installed in the reducer, these two planetary gears are usually installed symmetrically to ensure the balance of the reducer's operation and the uniformity of torque transmission. The two-planetary gear design is suitable for applications with lower requirements for torque and reduction ratio. Furthermore, due to the smaller number of planetary gears, the structure is simpler, and the reducer's size is more compact. When three or four planetary gears are installed in the reducer, each planetary gear can still maintain high transmission efficiency and provide more torque transmission paths. The advantage of this design is that it increases the load-bearing capacity of the planetary gear system, allowing each gear to better share the load, reducing the working pressure on individual gears, thereby improving the reducer's durability and reliability. In addition, in this embodiment, the number of planetary gears can be increased to four or more. Increasing the number of planetary gears can further improve load distribution capability, structural stability, and system durability. However, increasing the number of planetary gears will also correspondingly increase the size and weight of the reducer. Therefore, in miniaturized applications, a suitable balance needs to be found between reducing size and enhancing performance.

[0052] Optionally, the thickness of the first planetary gear 4 and the second planetary gear 5 does not exceed 1.2 mm, and the thickness of the planetary carrier does not exceed 1.2 mm. This design ensures that the total thickness of the combined device of the double planetary gears and the planetary carrier does not exceed 3.6 mm, thereby effectively optimizing the internal structure of the reducer. Through this compact design, the reducer can be integrated more efficiently into micro-devices, making it particularly suitable for applications with very strict requirements on size and weight, such as micro-robots, dexterous hands, and other precision instruments.

[0053] like Figures 1 to 4 As shown in the embodiment of this application, a reducer structure can achieve a reduction ratio of over 300:1, specifically as follows:

[0054]

[0055] Where Zi represents the number of teeth on the corresponding gear, and the subscript i indicates... Figures 1 to 4 The component numbers of the reducer. In this embodiment, Z2 (sun gear) has 10 teeth, Z3 (first internal gear) and Z6 (second internal gear) have 66 and 65 teeth respectively, and Z4 (first planetary gear) and Z5 (second planetary gear) have 28 and 27 teeth respectively.

[0056] Overall, this embodiment has the following beneficial effects:

[0057] 1. Compact Size: By employing a single planetary carrier design and combining it with the optical shaft oil film technology used in planetary carrier rotation, the combined thickness of the double planetary gears and planetary carrier does not exceed 3.6mm, which greatly reduces the structural volume required to achieve revolution. Furthermore, the external roller drive structure in the design is located outside the second internal gear, further optimizing the space occupied by the reducer and making the entire reducer more compact.

[0058] 2. Low weight: By employing a single planetary carrier design and eliminating the traditional bearing structure, this embodiment significantly reduces the weight of the reducer compared to traditional designs that include multiple planetary carriers, bearings, and bearing housings. This lightweight design helps improve the adaptability of the reducer, making it particularly suitable for miniaturized devices and applications with stringent weight requirements.

[0059] 3. High Torque Output: Through the design of a double planetary gear system, and by combining the differences in the number of teeth between the first planetary gear, the second planetary gear, the first internal gear, and the second internal gear, the reducer achieves a multi-stage reduction effect. This design effectively increases the external input torque, and in one specific embodiment, the reduction ratio reaches over 300:1, thereby providing higher output torque to meet the needs of high-load applications.

[0060] In this embodiment of the invention, a differential tooth design using a double planetary gear and an internal gear achieves a graded speed reduction effect, effectively converting the high-speed, low-torque output of the motor into low-speed, high-torque output. Furthermore, the integrated single planetary carrier fixing method allows the double planetary gear to rotate and revolve within a single structure, simplifying the number of components and clearance configuration, thereby effectively compressing the internal space. Finally, a roller drive structure is installed between the second internal gear and the housing to replace the traditional bearing. By eliminating the inner and outer ring components, the overall size and weight of the structure are further reduced while ensuring stable torque output.

[0061] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0062] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0063] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0064] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0065] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0066] Another embodiment of this utility model relates to a driving device, such as... Figures 5 to 7 As shown, it includes a reducer based on a double planetary gear as described in the above embodiment, and a drive motor;

[0067] The drive motor is used to input rotational torque to the reducer;

[0068] The reducer is used to receive the torque input from the drive motor, and after the input torque is reduced internally by the reducer, output torque to the outside.

[0069] Specifically, in Figure 5 In this design, the drive unit consists of several key components, including a drive motor 11 and a reducer. First, the drive motor 11 serves as the power source, providing driving force, and is fixedly connected to the reducer via a connecting flange 12. Through the connecting flange 12, the drive motor 11 transmits power to the transmission system inside the reducer.

[0070] like Figure 6 As shown, the first internal gear 3 meshes with the first planetary gear 4. The first planetary gear 4 receives power from the drive motor 11 and transmits the power to the next stage of the transmission system through the second planetary gear 5, which is fixedly connected to it. Specifically, the first planetary gear 4 and the second planetary gear 5 are double gears, meaning they rotate synchronously while rotating on their own axes, thereby improving the efficiency of power transmission. The second planetary gear 5 meshes with the second internal gear 6, transmitting torque and achieving deceleration through this engagement.

[0071] In addition, such as Figure 7 As shown, the rollers 9 play a crucial role in the reducer, maintaining the second internal gear 6's stable rotation around the reducer housing 13. With the assistance of the rollers 9, the second internal gear 6 can rotate smoothly within the reducer, ultimately driving the output synchronous pulley 14 to rotate. The output synchronous pulley 14 is connected to the output shaft, thus outputting the reduced-speed, high-torque power to the external load system, achieving the required drive function.

[0072] This application Figures 5 to 7 The drive device structure provided in the embodiment can achieve a reduction ratio of over 400:1, as shown in the following formula:

[0073]

[0074] Where Zi represents the number of teeth on the corresponding gear, and the subscript i represents... Figures 1 to 4 The component numbers of the reducer are as follows: Z2 (sun gear) has 10 teeth, Z3 (first internal gear) and Z6 (second internal gear) both have 73 teeth, Z4 (first planetary gear) has 32 teeth, and Z5 (second planetary gear) has 41 teeth. This gear design allows the reducer to achieve a reduction ratio as high as 467.2, ensuring high torque output while reducing speed, making it suitable for applications requiring high torque and precise control.

[0075] The drive unit, combined with the motor, provides low-speed, high-torque output through efficient power transmission and torque amplification. The high speed and low torque of the motor are reduced and amplified by a double planetary gear system in the reducer, ensuring stable power output. This design is suitable for applications with limited space and high requirements for load and precision, such as micro-robotics and precision machinery.

[0076] Another embodiment of this utility model relates to a dexterous hand, including a drive device as described in the above embodiments, capable of joint operation based on the torque output by the drive device.

[0077] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A reduction gear based on a double planetary gear, characterized in that Comprising: a sun gear for transmitting external torque to the inside of the reducer; at least one double planetary gear, including a first planetary gear and a second planetary gear, wherein the first planetary gear is engaged with the sun gear, and the first planetary gear has more teeth than the second planetary gear; a carrier for fixing the double planetary gear on a revolution track, including a first mounting surface for assembling the first planetary gear and a second mounting surface for assembling the second planetary gear; a first ring gear engaged with the first planetary gear; a second ring gear engaged with the second planetary gear and achieving revolution with the shell through a roller transmission structure, for outputting the torque of the second planetary gear, and the first ring gear has more teeth than the second ring gear.

2. The dual-pinion planetary-based speed reducer of claim 1, wherein, Further comprising an input shaft and an output shaft, wherein, the input shaft is fixedly connected with the sun gear and an external power device, for receiving the torque of the external device and rotating the sun gear; the output shaft is fixedly connected with the second ring gear, for outputting the torque of the second ring gear to the outside to form a gripping force.

3. The dual-pinion planetary-based speed reducer of claim 1, wherein, The first planetary gear and the second planetary gear are limited on the carrier through a middle shaft or welding.

4. The dual-pinion planetary-based speed reducer of claim 1, wherein, One end of the middle shaft of the carrier is connected with the middle shaft groove of the sun gear through an optical shaft oil film, and the other end is connected with the middle shaft groove of the second ring gear through an optical shaft oil film.

5. The dual-pinion planetary-based speed reducer of claim 1, wherein, The thickness of the first planetary gear and the second planetary gear is not more than 1.2 mm, and the thickness of the carrier is not more than 1.2 mm.

6. The dual-pinion planetary-based speed reducer of claim 1, wherein, The number of the double planetary gears is within the range of 2 to 4.

7. The dual-pinion planetary-based speed reducer of claim 1, wherein, The number of teeth of the first planetary gear is more than that of the second planetary gear by 1 or 2, and the number of teeth of the first ring gear is more than that of the second ring gear by 1 or 2.

8. The dual-pinion planetary-based speed reducer of claim 1, wherein, The roller transmission structure comprises: a roller retainer installed outside the second ring gear for positioning the roller; a roller installed on the roller retainer and directly contacting the shell of the reducer.

9. A drive apparatus characterized by comprising: The reducer based on the double planetary gear according to any one of claims 1 to 8, and a driving motor; The driving motor is used for inputting rotating torque to the reducer; The reducer is used for receiving the torque input by the driving motor, and outputting torque to the outside after the input torque is reduced inside the reducer.

10. A dexterous hand characterized by, The driving device in claim 9 is included, and the joint is operated based on the torque output by the driving device.

Images