Planetary gear reducer for robot

Abstract

The utility model discloses a planetary gear reducer for a robot, which comprises an inner gear ring, a sun gear and a plurality of planetary gears, and further comprises an input side shell, an output side shell and a deep groove ball bearing, and the sun gear is provided with an input side sun gear shaft body and an output side sun gear shaft body. The input-side sun wheel shaft body and the output-side sun wheel shaft body are rotationally connected with the input-side shell and the output-side shell respectively; an outer ring of the deep groove ball bearing is connected with the output side shell, an inner ring of the deep groove ball bearing is connected with the input side shell, the inner gear ring is arranged on the inner circumferential face of the inner ring of the deep groove ball bearing, and the planet wheel is installed on the output side shell and meshed with the sun wheel and the inner gear ring. The output side shell is connected with an external load part; the power output stability of the non-shaft power output planetary gear reducer is guaranteed, the overall structure is compact, the flattening degree is high, and the special use requirements of some robots are met.

Description

Technical Field

[0001] This utility model relates to the field of planetary gear reducer technology, and in particular to a planetary gear reducer for robots. Background Technology

[0002] Planetary gear reducers are one of the most commonly used reducers in the field of robotics. A planetary gear reducer mainly consists of a sun gear, planet gears, a planet carrier, and an internal gear ring. There are usually multiple planet gears mounted on the planet carrier, meshing with the sun gear and the internal gear ring. The sun gear is usually connected to the power input shaft as the power input end, and the planet carrier is usually connected to the power output shaft as the power output end. The internal gear ring is usually fixedly connected to the reducer housing. When the sun gear receives high-speed input power, the sun gear starts to rotate, driving the planet gears to rotate. While rotating relative to the sun gear, the planet gears also move in a circular motion around the internal gear ring about the sun gear as an axis, driving the planet carrier to rotate. The planet carrier outputs power outward, thus obtaining low-speed, high-torque output power.

[0003] With the rapid development of robotics technology, the requirements for planetary gear reducers in robot joint modules are becoming increasingly stringent. Miniaturization, weight reduction, flattening, stability, and service life of planetary gear reducers are all directions for further research and improvement. Currently, the power output of most planetary gear reducers is output in the form of shafts, which cannot meet the special needs of some robots. When the power output of planetary gear reducers is not output in the form of shafts, how to ensure the stability of the power output of planetary gear reducers is a problem that needs to be solved. Utility Model Content

[0004] In order to solve the problems existing in the prior art, this utility model provides a planetary gear reducer for robots.

[0005] The technical solution of this utility model is as follows:

[0006] A planetary gear reducer for robots includes an internal gear ring, a sun gear, and multiple planet gears. It also includes an input-side housing, an output-side housing, and a deep groove ball bearing. The sun gear has an input-side sun gear shaft and an output-side sun gear shaft, which are rotatably connected to the input-side housing and the output-side housing, respectively. The outer ring of the deep groove ball bearing is connected to the output-side housing, and the inner ring of the deep groove ball bearing is connected to the input-side housing. The internal gear ring is disposed on the inner circumferential surface of the inner ring of the deep groove ball bearing. The planet gears are mounted on the output-side housing and mesh with the sun gear and the internal gear ring. The output-side housing is connected to an external load component.

[0007] As a preferred embodiment of this invention, the input-side sun gear shaft is rotatably connected to the input-side housing via an input-side bearing, and an input-side retaining ring is installed on the input-side sun gear shaft to limit the position of the input-side bearing; thus ensuring the stability of the rotatable connection between the input-side sun gear shaft and the input-side housing.

[0008] As a preferred embodiment of this invention, the output-side sun gear shaft is rotatably connected to the output-side housing via an output-side bearing, and an output-side retaining ring is installed on the output-side sun gear shaft to limit the position of the output-side bearing; thus ensuring the stability of the rotatable connection between the output-side sun gear shaft and the output-side housing.

[0009] As a preferred embodiment of the present invention, the edge of the output side housing forms a flange portion, and the flange portion extends towards the input side. The outer circumferential surface of the outer ring of the deep groove ball bearing is connected to the flange portion by a key, and the outer ring of the deep groove ball bearing and the flange portion are interference-fitted.

[0010] As a preferred embodiment of this invention, the inner ring of the deep groove ball bearing is connected to the input-side housing by a plurality of screws.

[0011] As a preferred embodiment of this invention, the internal gear ring and the inner ring of the deep groove ball bearing are an integral structure, thereby further simplifying the internal structure of the planetary gear reducer and reducing the overall size.

[0012] As a preferred embodiment of this invention, the output-side housing is provided with a plurality of threaded holes evenly distributed circumferentially for connecting with external load components, and the external load components are connected to the output-side housing by screws.

[0013] As a preferred embodiment of this invention, an annular boss structure is formed on the outer surface of the output side housing surrounding the threaded hole. The annular boss structure is used to increase the axial thread length of the threaded hole to ensure the firmness of the connection between the output side housing and the external load component.

[0014] The advantages of this utility model are:

[0015] (1) The output side housing not only has the function of housing, but also the function of planetary carrier. At the same time, the external load components are connected to the output side housing. Therefore, the output side housing also serves as a power output component to output power to the outside, realizing the multi-functionality of a single part.

[0016] (2) During the rotation of the output side housing, the output side sun gear shaft provides rotational support for the output side housing through the output side bearing, and the deep groove ball bearing also provides rotational support for the output side housing at the same time, thereby ensuring the power output stability of the output side housing, that is, ensuring the power output stability of the non-shaft power output planetary gear reducer.

[0017] (3) The overall structure is compact and highly flat, which meets the special usage requirements of some robots. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model;

[0019] Meaning of the reference numerals in the diagram:

[0020] 1-Sun gear, 2-Planet gears, 3-Internal gear ring, 4-Input side housing, 5-Output side housing;

[0021] 51-Flange portion, 52-Threaded hole, 53-Annular boss structure, 6-Deep groove ball bearing;

[0022] 7-Input side bearing, 8-Input side retaining ring, 9-Output side bearing, 10-Output side retaining ring;

[0023] 11-Input side sun gear shaft, 12-Output side sun gear shaft, 13-Screw;

[0024] 20-Pin, 21-Planetary gear, 22-Planetary bearing. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, this embodiment is a planetary gear reducer for robots, including an internal gear ring 3, a sun gear 1, and two planet gears 2. In practical applications, the number of planet gears 2 can also be three or four. It also includes an input-side housing 4, an output-side housing 5, and a deep groove ball bearing 6. The sun gear 1 has an input-side sun gear shaft 11 and an output-side sun gear shaft 12, which are rotatably connected to the input-side housing 4 and the output-side housing 5, respectively. Specifically, the input-side sun gear shaft 11 is rotatably connected to the input-side housing 4 via an input-side bearing 7. An input-side retaining ring 8 is installed on the input-side sun gear shaft 11 to limit the position of the input-side bearing 7, ensuring the input... The stability of the rotational connection between the sun gear shaft 11 and the input housing 4 is ensured; the output sun gear shaft 12 is rotatably connected to the output housing 5 via the output bearing 9, and an output retaining ring 10 is installed on the output sun gear shaft 12 to limit the position of the output bearing 9; the stability of the rotational connection between the output sun gear shaft 12 and the output housing 5 is ensured; the outer ring of the deep groove ball bearing 6 is connected to the output housing 5, the inner ring of the deep groove ball bearing 6 is connected to the input housing 4, the internal gear ring 3 is set on the inner circumferential surface of the inner ring of the deep groove ball bearing 6, the planet gear 2 is installed on the output housing 5, and the planet gear 2 meshes with the sun gear 1 and the internal gear ring 3; the output housing 5 serves as a power output component connected to the external load component.

[0027] A through hole is provided on the output side housing 5, and a pin 20 is installed in the through hole. The planetary gear 2 is composed of a planetary gear 21 and a planetary bearing 22. The planetary gear 21 is used for meshing, and the planetary bearing 22 is used for rotation and bearing radial load and a certain axial load. The planetary bearing 22 is connected to the planetary gear 21 and the pin 20 through an interference fit, thereby realizing the connection between the planetary gear 2 and the output side housing 5, ensuring the meshing between the gears inside the planetary gear reducer and the power transmission.

[0028] In this embodiment, a flange portion 51 is formed on the edge of the output side housing 5, and the flange portion 51 extends towards the input side. The outer circumferential surface of the outer ring of the deep groove ball bearing 6 is connected to the flange portion 51 by a key, and the outer ring of the deep groove ball bearing 6 is interference-fitted with the flange portion 51. The inner ring of the deep groove ball bearing 6 is connected to the input side housing 4 by multiple screws 13. The internal gear ring 3 and the inner ring of the deep groove ball bearing 6 are integral structures, thereby further simplifying the internal structure of the planetary gear reducer and reducing the overall size.

[0029] In this embodiment, the output side housing 5 is provided with a plurality of threaded holes 52 evenly circumferentially for connecting with external load components. The external load components are connected to the output side housing 5 by screws. An annular boss structure 53 is formed on the outer surface of the output side housing 5 around the threaded holes 52. The annular boss structure 53 is used to increase the axial thread length of the threaded holes 52 to ensure the firmness of the connection between the output side housing 5 and the external load components.

[0030] The input-side housing 4 is fixedly connected to the external structure, and the input-side sun gear shaft 11 is connected to an external power source (e.g., a motor). The external power source (e.g., a motor) drives the sun gear 1 to rotate, and the sun gear 1 drives the planet gear 2 to rotate. While rotating relative to the sun gear 1, the planet gear 2 also moves in a circular motion around the internal gear ring 3 with the sun gear 1 as its axis, thereby driving the output-side housing 5 to rotate. Because the output-side housing 5 is not only a housing but also a planet carrier, and the external load component is connected to the output-side housing 5, the output-side housing 5 also acts as a power output component to output power to drive the external load component to rotate. During the rotation of the output-side housing 5, the output-side sun gear shaft 12 provides rotational support for the output-side housing 5 through the output-side bearing 9, and the deep groove ball bearing 6 also provides rotational support for the output-side housing 5, thereby ensuring the stability of the power output of the output-side housing 5.

[0031] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" 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 this utility model and do not 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 this utility model.

[0032] In the description of this utility model, it should be noted that unless otherwise explicitly specified and limited, the terms "installation", "connection", "setting", and "forming" should be interpreted broadly; for example, they can refer to fixed connection or setting, detachable connection or setting, or an integrated structure; they can refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components; those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0033] The above embodiments are only used to illustrate the technical solutions of this utility model. Those skilled in the art should understand that the above embodiments do not limit this utility model in any way. All technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this utility model.

Claims

1. A planetary gear reducer for a robot, comprising an inner ring, a sun gear, and a plurality of planet gears, characterized by: The input side shell, the output side shell and the deep groove ball bearing are further included, the sun gear has an input side sun gear shaft body and an output side sun gear shaft body, the input side sun gear shaft body and the output side sun gear shaft body are respectively rotatably connected with the input side shell and the output side shell, the outer ring of the deep groove ball bearing is connected with the output side shell, the inner ring of the deep groove ball bearing is connected with the input side shell, the inner tooth ring is arranged on the inner circumferential surface of the inner ring of the deep groove ball bearing, the planet wheel is mounted on the output side shell, and the planet wheel is engaged with the sun gear and the inner tooth ring, and the output side shell is connected with the external load component.

2. A planetary gear reducer for a robot according to claim 1, characterized in that, The input side sun gear shaft body is rotatably connected with the input side shell through an input side bearing, and an input side retainer for limiting the position of the input side bearing is mounted on the input side sun gear shaft body.

3. A planetary gear reducer for a robot according to claim 1, characterized in that, The output side sun gear shaft body is rotatably connected with the output side shell through an output side bearing, and an output side retainer for limiting the position of the output side bearing is mounted on the output side sun gear shaft body.

4. A planetary gear reducer for a robot according to claim 1, characterized in that, The edge of the output side shell forms a flange portion, and the flange portion extends to the input side, the outer circumferential surface of the outer ring of the deep groove ball bearing is connected with the flange portion through a key, and the outer ring of the deep groove ball bearing is in interference fit with the flange portion.

5. A planetary gear reducer for a robot according to claim 1, characterized in that, The inner ring of the deep groove ball bearing is connected with the input side shell through a plurality of screws.

6. A planetary gear reducer for a robot according to claim 1, characterized in that, The inner tooth ring and the inner ring of the deep groove ball bearing are in one-piece structure.

7. A planetary gear reducer for a robot according to claim 1, characterized in that, The output side shell is uniformly circumferentially provided with a plurality of threaded holes for connecting with the external load component.

8. A planetary gear reducer for a robot according to claim 7, characterized in that, The outer surface of the output side shell in the periphery of the threaded hole forms an annular boss structure, and the annular boss structure is used for increasing the axial thread length of the threaded hole.

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