A joint assembly applied to a robot, a joint assembly and a speed reduction device

Abstract

A kind of joint assembly body applied to robot, joint assembly and reduction gear, reduction gear includes: power input shaft (2100), including shaft body (2110) and eccentric column part (2120);First transmission wheel (2200), including first base body part (2210) and first gear ring part (2220), the inner peripheral wall surface of first gear ring part (2220) is integrally formed with first transmission gear (2221);Second transmission wheel (2300), including second base body part (2310) and second gear ring part (2320), the inner peripheral wall surface of second gear ring part (2320) is integrally formed with second transmission gear (2321);Double-coupling cycloidal gear (2400) is assembled in eccentric column part (2120), and with eccentric column part (2120) transmission connection, double-coupling cycloidal gear (2400) includes first gear part (2410) and second gear part (2420), at least partial of first gear part (2410) is inserted into the radial inner side of first gear ring part (2220), at least partial of second gear part (2420) is inserted into the radial inner side of second gear ring part (2320).

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a joint assembly, joint component and deceleration device for use in robots, wherein the robot may specifically refer to humanoid robots, service robots, etc. Background Technology

[0002] The joint assembly includes a joint component and two articulated arms. The two articulated arms are connected and driven by the joint component to achieve relative rotation between them. The reduction gear is a core component of the joint assembly, primarily used to achieve speed reduction. In related technologies, the reduction gear has a relatively large number of parts, a relatively complex structure, and a relatively large thickness.

[0003] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects remains a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] The purpose of this invention is to provide a joint assembly, joint component and deceleration device for use in robots. The deceleration device has a relatively small number of parts, a relatively simple structure, and a compact and lightweight design.

[0005] To solve the above-mentioned technical problems, this utility model provides a speed reduction device for robots, comprising: a power input shaft, including a shaft body and an eccentric column, the eccentric column being located radially outside the shaft body, and the central axis of the eccentric column being eccentrically positioned to the central axis of the shaft body; a first transmission wheel, including a first base portion and a first gear ring portion arranged axially, the first base portion being sleeved and fitted onto the shaft body, and the inner circumferential wall of the first gear ring portion being integrally formed with a first transmission tooth; and a second transmission wheel, including a second base portion and a second gear ring portion arranged axially, the second base portion being sleeved and fitted onto the shaft body, and the second base portion and the first base portion being located axially opposite to each other of the eccentric column portion. On one side, the inner circumferential wall of the second gear ring portion is integrally formed with a second transmission tooth. One of the first transmission wheel and the second transmission wheel is fixedly arranged, and the other of the first transmission wheel and the second transmission wheel is an output wheel. The double cycloidal wheel is fitted onto the eccentric column portion and is connected to the eccentric column portion for transmission. The double cycloidal wheel includes a first gear portion and a second gear portion arranged axially. At least a portion of the first gear portion extends into the radial inner side of the first gear ring portion. The first gear portion and the first gear ring portion perform small tooth difference meshing transmission. At least a portion of the second gear portion extends into the radial inner side of the second gear ring portion. The second gear portion and the second gear ring portion perform small tooth difference meshing transmission.

[0006] In this embodiment of the invention, the first gear ring portion of the first transmission wheel is integrally formed with the first transmission tooth, and the second gear ring portion of the second transmission wheel is integrally formed with the second transmission tooth. This avoids the process of separately installing the needle roller teeth, effectively reducing the number of parts, thereby reducing the structural complexity of the first and second transmission wheels, and simplifying the forming process of the first transmission tooth and the second transmission wheel, which is beneficial for achieving lightweight design. Furthermore, during the assembly process of the first transmission wheel, the second transmission wheel, and the double cycloidal wheel, at least a portion of the first gear portion can extend into the radially inner side of the first gear ring portion, and at least a portion of the second gear portion can extend into the radially inner side of the second gear ring portion. This allows the double cycloidal wheel and the first transmission wheel to share a portion of their axial dimensions, and the double cycloidal wheel and the second transmission wheel to also share a portion of their axial dimensions. This also effectively reduces the overall axial dimension of the reduction device, facilitating the thinning, miniaturization, and compact design of the joint components.

[0007] Optionally, the system also includes a housing, which includes a peripheral plate portion and an annular end plate portion. The peripheral plate portion is connected to the first gear ring portion, and a portion of the second base portion can pass through the inner hole of the annular end plate portion.

[0008] Optionally, it also includes a limiting bearing, which includes an outer ring portion and an inner ring portion. The outer ring portion is connected to the peripheral plate portion, the outer ring portion and the first gear ring portion abut against each other in the axial direction, and the inner ring portion and the second gear ring portion abut against each other in the axial direction.

[0009] Optionally, the inner hole of the inner ring portion is a stepped hole, including a small-diameter hole section and a large-diameter hole section. The inner ring portion forms a limiting step surface between the small-diameter hole section and the large-diameter hole section. At least a portion of the second gear ring portion is located in the large-diameter hole section, and the second gear ring portion and the limiting step surface abut against each other axially. Alternatively, the inner peripheral wall surface of the inner ring portion is provided with a groove, and the deceleration device further includes a retaining spring. The retaining spring is installed in the groove, and the inner ring portion can abut against the second gear ring portion axially through the retaining spring.

[0010] Optionally, a limiting protrusion is provided on the side of the first gear ring portion facing the outer ring portion, and the first gear ring portion and the outer ring portion abut against each other axially through the limiting protrusion.

[0011] Optionally, the double cycloidal wheel has a split structure.

[0012] Optionally, the first gear portion and the second gear portion are separately disposed, one of the first gear portion and the second gear portion is provided with a connecting protrusion on its axial end face, and the other of the first gear portion and the second gear portion is provided with a connecting recess extending along the axial direction, wherein the connecting protrusion is inserted into the connecting recess.

[0013] Optionally, the first gear portion and the second gear portion are separately disposed, and the second gear portion includes at least two sub-gear portions arranged along the axial direction. The first gear portion and each of the sub-gear portions are provided with connecting holes extending along the axial direction. The double cycloidal wheel also includes a connecting post, which passes through the connecting hole.

[0014] Optionally, it also includes a first bearing and a second bearing, wherein the first bearing is provided between the first base portion and the second base portion and the shaft body, and the second bearing is provided between the double cycloidal wheel and the eccentric column portion.

[0015] Optionally, the power input shaft is a hollow shaft; and / or, the power input shaft has a power input connection section, the outer peripheral wall of which is provided with a power engagement feature.

[0016] Optionally, both the first base portion and the second base portion are provided with mounting holes and mounting protrusions.

[0017] This utility model also provides a joint assembly for a robot, including a power generation device and a deceleration device, wherein the deceleration device is the aforementioned deceleration device for a robot, and the power generation device and the power input shaft are connected in a transmission connection.

[0018] Optionally, the power generating device and the deceleration device are directly connected; or, an adapter plate is further included, to which both the power generating device and the deceleration device are connected.

[0019] This utility model also provides a joint assembly for a robot, including a joint component, a first joint arm, and a second joint arm. The joint component is the aforementioned joint component for a robot. The first transmission wheel is connected to the first joint arm, and the second transmission wheel is connected to the second joint arm. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of a joint assembly for a robot provided in an embodiment of the present invention;

[0021] Figure 2 for Figure 1 A structural diagram from another perspective;

[0022] Figure 3 for Figure 2 Exploded view;

[0023] Figure 4 This is an exploded view of the joint assembly;

[0024] Figure 5 This is a schematic diagram of the structure of a speed reduction device;

[0025] Figure 6 for Figure 5 A structural diagram from another perspective;

[0026] Figure 7 for Figure 6 Exploded view;

[0027] Figure 8 for Figure 7 Schematic diagram of the power input shaft;

[0028] Figure 9 for Figure 7 A structural diagram from another perspective;

[0029] Figure 10 for Figure 6 Axial section view;

[0030] Figure 11 for Figure 6 Cross-sectional view;

[0031] Figure 12 A schematic diagram of another type of speed reduction device;

[0032] Figure 13 This is a schematic diagram of a double cycloidal wheel structure;

[0033] Figure 14 This is a schematic diagram of another type of double cycloidal wheel;

[0034] Figure 15 An exploded view of another type of speed reduction device.

[0035] Figure label:

[0036] 100 - Joint assembly; 200 - First joint arm; 210 - Third hole; 220 - Protective sleeve; 300 - Second joint arm; 310 - Fourth hole;

[0037] 1000 - Power generation device; 1100 - Threaded hole; 1200 - Through hole; 1300 - Power transmission unit;

[0038] 2000 - Reduction gear; 2100 - Power input shaft; 2110 - Shaft body; 2111 - Power input connection section; 2111A - Power engagement feature; 2112 - Journal section; 2120 - Eccentric column; 2200 - First drive wheel; 2210 - First base portion; 2211 - First mounting hole; 2212 - First mounting protrusion; 2220 - First gear ring portion; 2221 - First drive tooth; 2222 - Limiting protrusion; 2223 - First flange; 2300 - Second drive wheel; 2310 - Second base portion; 2311 - Second mounting hole; 2312 - Second mounting protrusion; 2320 - Second gear ring portion; 2321 - Second drive tooth; 240 0-Double cycloidal wheel; 2410-First gear section; 2411-Connecting protrusion; 2412-First connecting hole; 2420-Second gear section; 2420A-Connecting recess; 2421-Split gear section; 2421A-Second connecting hole; 2430-Connecting column; 2500-Housing; 2510-Peripheral plate section; 2511-Second flange; 2520-Annular end plate section; 2521-First inner hole; 2600-Limit bearing; 2610-Outer ring section; 2620-Inner ring section; 2621-Second inner hole; 2621A-Small diameter hole section; 2621B-Large diameter hole section; 2621C-Limit step surface; 2700-First bearing; 2800-Second bearing;

[0039] 3000 - Adapter plate; 3100 - First hole section; 3200 - Second hole section; 3300 - Clearance hole section. Detailed Implementation

[0040] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] In the description of the embodiments of this utility model, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," and "fourth" may explicitly or implicitly include one or more of that feature.

[0042] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, "linking" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0043] The directional terms mentioned in the embodiments of this utility model, such as "inner" and "outer", are only for reference to the direction of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this utility model, 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 utility model.

[0044] In the description of embodiments of this utility model, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0045] In the description of this utility model embodiment, "and / or" is merely a way of describing the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0046] Example 1

[0047] Please refer to Figures 1-4 , Figure 1 This is a structural schematic diagram of a joint assembly for a robot provided in an embodiment of the present invention; Figure 2 for Figure 1 A structural diagram from another perspective; Figure 3 for Figure 2 Exploded view; Figure 4 This is an exploded view of the joint assembly.

[0048] This utility model embodiment provides a joint assembly applicable to robots, specifically humanoid robots, service robots, etc. Figures 1-3 As shown, the joint assembly includes a joint component 100, a first joint arm 200, and a second joint arm 300. The first joint arm 200 and the second joint arm 300 can be connected through the joint component 100 so that the first joint arm 200 and the second joint arm 300 can rotate relative to each other.

[0049] In a specific scenario, the first joint arm 200 can be the thigh arm of the humanoid robot, and the second joint arm 300 can be the lower leg arm of the humanoid robot. During actual movement, the first joint arm 200 can drive the second joint arm 300 to perform the movement, in which case the humanoid robot can execute a walking program; or, the second joint arm 300 can drive the first joint arm 200 to perform the movement, in which case the humanoid robot can execute a squatting program.

[0050] Combination Figure 3 and Figure 4 The joint assembly 100 includes a power generation device 1000, a reduction device 2000, and an adapter plate 3000.

[0051] The power generating device 1000 can specifically be an electric motor, such as a brushless motor. The housing of the power generating device 1000 may be provided with a threaded hole 1100 and a through hole 1200; combined with... Figure 1 The location of the threaded hole 1100 on the outer casing can be locally thickened to form a cylindrical protrusion, thereby ensuring the axial dimension of the threaded hole 1100. The power generation device 1000 can also form a power transmission part 1300 with a hole.

[0052] The reduction gear 2000 has a power input shaft (see description below).

[0053] The adapter plate 3000 has a clearance hole 3300 in its central region. The adapter plate 3000 may have a first hole 3100 in its outer edge region that is radially away from the clearance hole 3300, and a second hole 3200 in its inner edge region that is radially closer to the clearance hole 3300.

[0054] The first articulated arm 200 may be provided with a third hole 210 and a protective sleeve 220. The second articulated arm 300 may be provided with a fourth hole 310.

[0055] The threaded hole 1100 and the through hole 1200 are positioned to correspond to the first hole 3100 and the third hole 210. During assembly, external screws can pass through the first hole 3100, the third hole 210, and the threaded hole 1100 to provide an axial anti-disengagement connection for the power generation device 1000, the first articulated arm 200, and the adapter plate 3000. Simultaneously, external pins and other components can also pass through the first hole 3100, the third hole 210, and the through hole 1200 to secure the power generation device 1000, the first articulated arm 200, and the adapter plate 3000, ensuring the proper functioning of the power generation device 1000, the first articulated arm 200, and the adapter plate 3000. The articulated arm 200 and the adapter plate 3000 rotate synchronously to improve the accuracy of the movement; the deceleration device 2000 can be connected to the second hole 3200, the power input shaft of the deceleration device 2000 can pass through the clearance hole 3300 and can extend into the power transmission part 1300 to realize the power transmission between the power generation device 1000 and the deceleration device 2000, and a part of the deceleration device 2000 can be located inside the protective sleeve 220, which can effectively protect the deceleration device 2000.

[0056] By adopting the above solution, the adapter plate 3000 can effectively adapt to the radial size difference between the power generation device 1000 and the deceleration device 2000, so as to realize the installation and fixation of the power generation device 1000 and the deceleration device 2000 respectively. In addition, it is also conducive to realizing the miniaturized design of the joint assembly provided by the present invention.

[0057] It can be seen that in the implementation of the adapter plate 3000, the power generation device 1000 and the deceleration device 2000 are indirectly connected.

[0058] Please refer to Figures 5-11 , Figure 5 This is a schematic diagram of the structure of a speed reduction device; Figure 6 for Figure 5 A structural diagram from another perspective; Figure 7 for Figure 6 Exploded view; Figure 8 for Figure 7 Schematic diagram of the power input shaft; Figure 9 for Figure 7 A structural diagram from another perspective; Figure 10 for Figure 6 Axial section view; Figure 11 for Figure 6 Cross-sectional view.

[0059] like Figures 5-10As shown, this utility model embodiment also provides a speed reduction device 2000, which includes a power input shaft 2100, a first transmission wheel 2200, a second transmission wheel 2300, and a double cycloidal wheel 2400.

[0060] The power input shaft 2100 is an eccentric shaft, comprising a shaft body 2110 and an eccentric column portion 2120. The eccentric column portion 2120 is located radially outside the shaft body 2110. The central axis of the eccentric column portion 2120 is eccentrically positioned to the central axis of the shaft body 2110, and in combination... Figure 11 The eccentricity between the two can be denoted as ε. The specific value of ε is not limited here. In practical applications, those skilled in the art can set it according to specific needs.

[0061] The shaft body 2110 and the eccentric column 2120 can be a one-piece structure. Alternatively, the shaft body 2110 and the eccentric column 2120 can be manufactured separately and then assembled by means of interference fit or other connection methods, which is also feasible.

[0062] In this embodiment, the shaft body 2110 can be a solid structure to ensure structural strength.

[0063] Combination Figure 8 The shaft body 2110 may include a power input connection section 2111 and two journal sections 2112. The two journal sections 2112 may be located at the two axial ends of the eccentric column 2120, and one of the journal sections 2112 may be connected to the power input connection section 2111.

[0064] The outer wall of the power input connection section 2111 is provided with a power engagement feature 2111A, which can be, for example, a spline feature or a non-cylindrical surface feature. In short, as long as the power engagement feature 2111A is inserted into the aforementioned power transmission section 1300, the power generating device 1000 can transmit rotational driving force to the power input shaft 2100. It is understood that when the power input connection section 2111 is inserted into the power transmission section 1300 for rotational power transmission, the power generating device 1000 and the power input shaft 2100 can share a portion of their axial dimensions. This is relatively positive for reducing the overall axial dimension of the joint assembly 100, thereby achieving a thinner, smaller, and more compact design for the joint assembly 100.

[0065] The first transmission wheel 2200 includes a first base portion 2210 and a first gear portion 2220 arranged along the axial direction.

[0066] The first base portion 2210 is fitted onto the shaft body 2110, specifically, the fitting may be fitted onto a journal section 2112. (Combined) Figure 10A first bearing 2700 can be provided between the first base portion 2210 and the journal section 2112 to support the first base portion 2210, which helps to ensure the coaxiality of the first transmission wheel 2200 and the shaft body 2110. Specifically, the first bearing 2700 can be a self-lubricating bearing, which can effectively reduce friction and improve operating efficiency. In terms of specific structural form, the first bearing 2700 can be a sliding bearing, roller bearing, needle roller bearing, ball bearing, or any other type of bearing that meets the requirements of use.

[0067] The first base portion 2210 may be provided with mounting holes and mounting protrusions. (Combined) Figure 5 and Figure 9 The mounting hole and mounting protrusion of the first base portion 2210 can be referred to as the first mounting hole 2211 and the first mounting protrusion 2212, respectively. During assembly, the first mounting protrusion 2212 can be inserted into the second hole 3200 of the adapter plate 3000. The first mounting hole 2211 and the second hole 3200 can be connected using bolts or other connecting components. The bolts or other connecting components are used to prevent axial disengagement between the adapter plate 3000 and the first drive wheel 2200, while the first mounting protrusion 2212 is used to secure the first drive wheel 2200 and the adapter plate 3000 in the circumferential direction, allowing the first drive wheel 2200 to rotate synchronously with the first articulated arm 200.

[0068] The first transmission tooth 2221 is integrally formed on the inner peripheral wall of the first gear ring 2220, which avoids the process of separately installing the needle roller teeth, effectively reducing the number of parts, thereby reducing the structural complexity of the first transmission wheel 2200, and simplifying the forming process of the first transmission tooth 2221.

[0069] In this embodiment of the invention, the first transmission wheel 2200 can be a one-piece molded structure. Combined with... Figure 10 and Figure 11 The first transmission gear 2221 is located only in a localized area along the axial direction of the first transmission wheel 2200, exhibiting obvious semi-brush characteristics. It is suitable for fine blanking processes, effectively reducing costs and improving processing efficiency and accuracy, and is applicable to mass production. In addition, this one-piece forming process can also be used for non-machining processes such as powder metallurgy and cold heading. Of course, machining is also feasible.

[0070] The second transmission wheel 2300 includes a second base portion 2310 and a second gear portion 2320 arranged along the axial direction.

[0071] The second base portion 2310 is fitted onto the shaft body 2110, specifically, it can be fitted onto another journal section 2112. (Combined) Figure 10A first bearing 2700 can be provided between the second base portion 2310 and the journal section 2112 to support the second base portion 2310, which helps to ensure the coaxiality of the first transmission wheel 2200 and the shaft body 2110. Specifically, the first bearing 2700 can be a self-lubricating bearing, which can effectively reduce friction and improve operating efficiency. In terms of specific structural form, the first bearing 2700 can be a sliding bearing, roller bearing, needle roller bearing, ball bearing, etc., as long as it meets the requirements of use.

[0072] The second base portion 2310 may be provided with mounting holes and mounting protrusions. (Combined) Figure 6 and Figure 7 The mounting hole and mounting protrusion of the second base portion 2310 can be referred to as the second mounting hole 2311 and the second mounting protrusion 2312, respectively. During assembly, the second mounting protrusion 2312 can be inserted into the fourth hole 310 of the second articulated arm 300. The second mounting hole 2311 and the fourth hole 310 can be connected using bolts or other connecting components. The bolts or other connecting components are used to prevent axial disconnection between the adapter plate 3000 and the first transmission wheel 2200, while the second mounting protrusion 2312 is used to secure the first transmission wheel 2200 and the adapter plate 3000 in the circumferential direction, allowing the first transmission wheel 2200 to rotate synchronously with the first articulated arm 200.

[0073] The inner peripheral wall of the second gear ring portion 2320 is integrally formed with the second transmission tooth 2321. The forming method of the second transmission wheel 2300 can be the same as that of the first transmission wheel 2200 mentioned above, and will not be repeated here.

[0074] One of the first transmission wheel 2200 and the second transmission wheel 2300 is fixedly installed, and the other of the first transmission wheel 2200 and the second transmission wheel 2300 is an output wheel. In this way, there is no need to set up a separate output wheel, which can further reduce the number of parts in the speed reduction device 2000 provided in this embodiment of the present invention, thereby simplifying its structure.

[0075] The double cycloidal wheel 2400 is fitted onto the eccentric column 2120 and is connected to it for transmission. Specifically, a second bearing 2800 can be provided between the double cycloidal wheel 2400 and the eccentric column 2120 to support the double cycloidal wheel 2400 and transmit eccentric rotation to it. Simultaneously, the second bearing 2800 also serves a lubricating function to reduce friction and improve operating efficiency. The structure of the second bearing 2800 can be the same as that of the aforementioned first bearing 2700, and will not be repeated here.

[0076] The double cycloidal wheel 2400 includes a first gear section 2410 and a second gear section 2420 arranged axially. In actual installation, at least a portion of the first gear section 2410 extends radially inside the first gear ring section 2220, and the first gear section 2410 and the first gear ring section 2220 engage in a small tooth difference meshing transmission; at least a portion of the second gear section 2420 extends radially inside the second gear ring section 2320, and the second gear section 2420 and the second gear ring section 2320 engage in a small tooth difference meshing transmission; in this way, the rotational motion input by the power input shaft 2100 can be transmitted to the output wheel (one of the first transmission wheel 2200 and the second transmission wheel 2300) for output via the double cycloidal wheel 2400.

[0077] As can be seen, in the above solution, the first gear ring portion 2220 of the first transmission wheel 2200 is integrally formed with the first transmission tooth 2221, and the second gear ring portion 2320 of the second transmission wheel 2300 is integrally formed with the second transmission tooth 2321. This avoids the process of separately installing the needle roller teeth, effectively reducing the number of parts, thereby reducing the structural complexity of the first transmission wheel 2200 and the second transmission wheel 2300, and simplifying the forming process of the first transmission tooth 2221 and the second transmission wheel 2300, which is conducive to achieving lightweighting. Furthermore, during the assembly of the first transmission wheel 2200, the second transmission wheel 2300, and the double cycloidal wheel 2400, at least a portion of the first gear portion 2410 can extend into the radially inner side of the first gear ring portion 2220, and at least a portion of the second gear portion 2420 can extend into the radially inner side of the second gear ring portion 2320. This allows the double cycloidal wheel 2400 and the first transmission wheel 2200 to share a portion of their axial dimensions, and the double cycloidal wheel 2400 and the second transmission wheel 2300 to also share a portion of their axial dimensions. In this way, the overall axial dimension of the reduction gear 2000 can be effectively reduced, which is beneficial for achieving a lightweight, miniaturized, and compact design of the joint assembly 100.

[0078] The following embodiment of the present invention will first describe the low-tooth-difference meshing transmission process between the first transmission wheel 2200, the second transmission wheel 2300, and the double cycloidal wheel 2400.

[0079] For ease of description, the number of teeth of the first transmission tooth 2221 of the first transmission wheel 2200 can be defined as Z1, the number of teeth of the second transmission tooth 2321 of the second transmission wheel 2300 can be defined as Z4, the number of teeth of the first gear section 2410 in the double cycloidal wheel 2400 can be defined as Z2, and the number of teeth of the second gear section 2420 in the double cycloidal wheel 2400 can be defined as Z3. Where Z1>Z2, Z4>Z3, and Z2>Z3. Generally, Z1-Z2=Z4-Z3=1, and the difference in the number of teeth between the first gear section 2410 and the second gear section 2420 in the double cycloidal wheel 2400 can be defined as Z2-Z3=n, where n>0.

[0080] In the first working condition, the first transmission wheel 2200 can be fixedly set, and the second transmission wheel 2300 can be used as the output wheel. At this time, the transmission ratio i = (Z4*Z2) / (Z2*Z4-Z1*Z3). In this working condition, in the joint assembly, the first joint arm 200 can drive the second joint arm 300 to rotate, and the humanoid robot can execute a walking program.

[0081] Table 1. Transmission ratio values ​​under different tooth number design conditions in the first operating condition.

[0082]

[0083] Referring to Table 1 above, which shows the transmission ratio values ​​under different tooth count design conditions in the first operating condition. As shown in Table 1, by designing the specific values ​​of Z1, Z2, Z3, and Z4, the transmission ratio i can be easily adjusted within the range of 50 to 300. It can be seen that for power generation devices 1000 in the form of brushless motors, their preferred speed range is high speed and low load, and the reduction device 2000 provided in this embodiment of the present invention can be well matched with it.

[0084] It should be noted that in the current field of humanoid robots, the reduction ratio of a typical planetary gear reducer can only be set within 10. When used with a brushless motor, it is necessary to achieve low speed and high load, which is not the optimal operating range for brushless motors. Therefore, the reduction device 2000 provided in this embodiment of the invention, which includes a first transmission wheel 2200, a second transmission wheel 2300, and a double cycloidal wheel 2400, can easily match the optimal operating range of a brushless motor, and has a significant comparative advantage.

[0085] In the second working condition, the second transmission wheel 2300 can be fixedly set, and the first transmission wheel 2200 can be used as the output wheel. At this time, the transmission ratio i = -(Z3*Z1) / (Z2*Z4-Z1*Z3). In this working condition, in the joint assembly, the second joint arm 300 can drive the first joint arm 200 to rotate, and the robot can execute a squatting and standing program.

[0086] In this embodiment of the invention, the reduction gear 2000 mainly includes a first transmission wheel 2200, a second transmission wheel 2300, and a double cycloidal wheel 2400. It has relatively few parts and a relatively short dimensional chain, unlike planetary gear drives which require sufficient backlash for multiple planetary gears and have a long dimensional chain. Therefore, the reduction gear 2000 provided in this embodiment of the invention can theoretically achieve higher precision.

[0087] Furthermore, the embodiments of this utility model employ a low-tooth-difference meshing transmission scheme, combined with... Figure 11The double cycloidal wheel 2400 and the first gear ring 2220 / second gear ring 2320 can have a large number (nearly half) of the teeth meshing at the same time. Compared with planetary gear reducers or harmonic reducers, there are more meshing teeth, which can withstand greater impact and extreme loads without damage. The fatigue durability is more reliable, and it is especially suitable for use in humanoid robots or service robots with certain performance requirements.

[0088] In other words, the deceleration device 2000 provided in this embodiment of the present invention also has technical advantages such as high precision and high strength.

[0089] In some implementations, such as Figure 7 , Figure 9 and Figure 10 As shown, the deceleration device 2000 provided in this embodiment of the present invention may further include a housing 2500.

[0090] The housing 2500 may include a peripheral plate portion 2510 and an annular end plate portion 2520. The peripheral plate portion 2510 and the annular end plate portion 2520 may be an integrally formed structure. The annular end plate portion 2520 may be located at one axial end of the peripheral plate portion 2510, and the annular end plate portion 2520 has an inner hole, which is a first inner hole 2521.

[0091] The peripheral plate portion 2510 can be connected to the first gear ring portion 2220. The specific connection method can be, for example, welding; in short, anything that ensures the reliability of the connection between the two can be achieved. At this time, the first transmission wheel 2200 can be equivalent to the housing 2500 on the side opposite to the annular end plate portion 2520 (e.g.,...). Figure 10 The cover plate (left side) in the middle can also serve as the cover plate for the housing 2500. Accordingly, in practical applications, the reduction gear 2000 does not need to be equipped with a dedicated cover plate, which can reduce the number of parts in the reduction gear 2000 provided in this embodiment of the invention, thereby simplifying the structure of the reduction gear 2000 and facilitating the realization of a thinner and lighter design for the reduction gear 2000.

[0092] A portion of the second base portion 2310 can pass through the first inner hole 2521 of the annular end plate portion 2520 to connect with the second articulated arm 300.

[0093] In some implementations, such as Figure 7 , Figure 9 and Figure 10 As shown, the deceleration device 2000 provided in this embodiment of the present invention may further include a limit bearing 2600.

[0094] The limiting bearing 2600 may include an outer ring portion 2610 and an inner ring portion 2620. The outer ring portion 2610 may be connected to the peripheral plate portion 2510, and the outer ring portion 2610 and the first gear ring portion 2220 abut against each other axially. The inner ring portion 2620 and the second gear ring portion 2320 abut against each other axially.

[0095] With this configuration, the limiting bearing 2600 can achieve axial positioning of the first transmission wheel 2200 and the second transmission wheel 2300. Simultaneously, the limiting bearing 2600 can also achieve radial positioning of the second transmission wheel 2300, which helps ensure the concentricity of the second transmission wheel 2300 and the housing 2500. Furthermore, since the reduction device 2000 provided in this embodiment uses the limiting bearing 2600 for axial positioning, there is no need to set up a separate limiting component. This also reduces the number of parts in the reduction device 2000 provided in this embodiment, simplifying its structure and facilitating a thinner and lighter design.

[0096] In a specific example, such as Figure 10 As shown, the inner bore of the inner ring portion 2620 is a second inner bore 2621, which can be a stepped bore, including a small-diameter bore section 2621A and a large-diameter bore section 2621B. A limiting step surface 2621C is formed between the small-diameter bore section 2621A and the large-diameter bore section 2621B in the inner ring portion 2620. At least a portion of the second gear ring portion 2320 is located in the large-diameter bore section 2621B, and the second gear ring portion 2320 and the limiting step surface 2621C abut against each other axially to axially limit the second drive wheel 2300.

[0097] Furthermore, in the above example, at least a portion of the second gear ring portion 2320 may extend into the large-diameter bore section 2621B, so that the second gear ring portion 2320 and the limit bearing 2600 may share a portion of the axial dimension. This is of relatively positive significance for reducing the overall axial dimension of the joint assembly 100 in order to achieve a thinner, smaller, and more compact design of the speed reduction device 2000.

[0098] In another specific example, a groove can be provided on the inner wall surface of the inner ring portion 2620, and a retaining spring can be provided in the groove to axially limit the second drive wheel 2300. Furthermore, in the above example, at least a portion of the second gear ring portion 2320 can extend into the second inner hole 2621, which also reduces the axial dimension of the reduction gear 2000.

[0099] The aforementioned limit bearing 2600 can specifically be an angular contact bearing, which can effectively resist lateral forces.

[0100] In some implementations, such as Figure 10As shown, a limiting protrusion 2222 may be provided on the side of the first gear ring portion 2220 facing the outer ring portion 2610, and the outer ring portion 2610 may specifically abut against the limiting protrusion 2222 along the axial direction.

[0101] The aforementioned limiting protrusion 2222 can provide axial support to the outer ring portion 2610, so that there can be a certain axial clearance between the first gear ring portion 2220 and the outer ring portion 2610, thereby largely avoiding interference between the first gear ring portion 2220 and the inner ring portion 2620, and at the same time, largely avoiding interference between the inner ring portion 2620 and the first gear portion 2410, which is beneficial to ensuring the smooth operation of the speed reduction device 2000 provided in this embodiment of the present invention.

[0102] Here, this embodiment of the present invention does not limit the specific structural form of the aforementioned limiting protrusion 2222. In practical applications, those skilled in the art can configure it according to specific needs, as long as it meets the requirements of use. For example, the limiting protrusion 2222 can be an integral annular structure. Alternatively, the limiting protrusion 2222 can include multiple limiting components, each of which can be arranged at intervals along the circumference of the first toothed ring portion 2220.

[0103] Example 2

[0104] Please refer to Figure 12 , Figure 12 This is a schematic diagram of another type of speed reduction device.

[0105] In this embodiment, as Figure 12 As shown, the power input shaft 2100 can be a hollow shaft. This allows for a relatively low weight of the power input shaft 2100, which is more conducive to the lightweight design of the reduction gear 2000. Furthermore, the inner side of the power input shaft 2100 can also be used for wiring, thereby improving the compactness of the structure.

[0106] Example 3

[0107] Please refer to Figure 13 and Figure 14 , Figure 13 This is a schematic diagram of a double cycloidal wheel structure; Figure 14 This is a schematic diagram of another type of double cycloidal wheel.

[0108] In this embodiment, the double cycloidal wheel 2400 can be a split structure to facilitate the processing and manufacturing of the double cycloidal wheel 2400.

[0109] In some implementations, such as Figure 13As shown, in the double cycloidal wheel 2400, the first gear portion 2410 and the second gear portion 2420 can be separately configured, meaning that the first gear portion 2410 and the second gear portion 2420 can be manufactured independently. In this case, the axial dimensions of the first gear portion 2410 and the second gear portion 2420 can be relatively small, facilitating machining. One of the first gear portion 2410 and the second gear portion 2420 may have a connecting protrusion 2411 on its axial end face. The other of the first gear portion 2410 and the second gear portion 2420 may have a connecting recess 2420A extending axially. The connecting recess 2420A can be a through-hole structure or a blind-hole structure.

[0110] During assembly, the first gear section 2410 and the second gear section 2420 can be axially aligned, and the connecting protrusion 2411 can be inserted into the connecting recess 2420A. In this way, synchronous rotation of the first gear section 2410 and the second gear section 2420 can be achieved.

[0111] In some implementations, such as Figure 14 As shown, in the double cycloidal wheel 2400, the first gear section 2410 and the second gear section 2420 can be separately configured. Furthermore, the second gear section 2420 can include at least two axially arranged sub-gear sections 2421. Both the first gear section 2410 and each sub-gear section 2421 can be provided with axially extending connecting holes. Specifically, the connecting hole provided in the first gear section 2410 is a first connecting hole 2412, while the connecting hole provided in the sub-gear sections 2421 is a second connecting hole 2421A.

[0112] The aforementioned double cycloidal wheel 2400 may also include a connecting post 2430. During assembly, the first gear section 2410 and each of the individual gear sections 2421 can be axially aligned, and the connecting post 2430 can pass through the first connecting hole 2412 and each of the second connecting holes 2421A to connect the first gear section 2410 and each of the individual gear sections 2421, thereby enabling synchronous rotation of the first gear section 2410 and each of the individual gear sections 2421.

[0113] It should be understood that in some other implementations of this utility model, the first gear part 2410 may be configured as including multiple split gears, which is also feasible.

[0114] Example 4

[0115] Please refer to Figure 15 , Figure 15 An exploded view of another type of speed reduction device.

[0116] In this embodiment, the speed reduction device 2000 may also exclude the adapter plate 3000. In this case, the speed reduction device 2000 can be directly connected to the power generation device 1000.

[0117] Specifically, such as Figure 15 As shown, the first transmission wheel 2200 can be provided with a first flange 2223 to increase the radial dimension of the first transmission wheel 2200, and the peripheral plate portion 2510 of the housing 2500 can be provided with a second flange 2511 to increase the radial dimension of the housing 2500, so that the first flange 2223 and the second flange 2511 can be connected to the threaded hole 1100 and the through hole 1200 on the aforementioned power generation device 1000. At this time, it is no longer necessary to provide the aforementioned adapter plate 3000, which can further simplify the specific structure of the deceleration device 2000 provided in this utility model embodiment and realize the thin and light design of the joint assembly in the axial direction.

[0118] In this embodiment, the housing 2500 can also be a split structure, including a split peripheral plate portion 2510 and an annular end plate portion 2520. The peripheral plate portion 2510 and the annular end plate portion 2520 can be prepared separately and then assembled.

[0119] The above are merely preferred embodiments of this utility model. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications should also be considered within the scope of protection of this utility model.

Claims

1. A speed reduction device for robots, characterized in that, include: The power input shaft (2100) includes a shaft body (2110) and an eccentric column (2120), the eccentric column (2120) being located radially outside the shaft body (2110), and the central axis of the eccentric column (2120) being eccentrically disposed from the central axis of the shaft body (2110); The first transmission wheel (2200) includes a first base portion (2210) and a first gear ring portion (2220) arranged along the axial direction. The first base portion (2210) is fitted onto the shaft body (2110). The inner peripheral wall of the first gear ring portion (2220) is integrally formed with a first transmission tooth (2221). The second transmission wheel (2300) includes a second base portion (2310) and a second gear ring portion (2320) arranged axially. The second base portion (2310) is sleeved and fitted onto the shaft body (2110). The second base portion (2310) and the first base portion (2210) are respectively located on both sides of the axial direction of the eccentric column portion (2120). The inner peripheral wall of the second gear ring portion (2320) is integrally formed with a second transmission tooth (2321). One of the first transmission wheel (2200) and the second transmission wheel (2300) is fixedly arranged. The other of the first transmission wheel (2200) and the second transmission wheel (2300) is an output wheel. A double cycloidal wheel (2400) is fitted onto the eccentric column portion (2120) and is connected to the eccentric column portion (2120) for transmission. The double cycloidal wheel (2400) includes a first gear portion (2410) and a second gear portion (2420) arranged axially. At least a portion of the first gear portion (2410) extends into the radial inner side of the first gear ring portion (2220). The first gear portion (2410) and the first gear ring portion (2220) perform low-tooth difference meshing transmission. At least a portion of the second gear portion (2420) extends into the radial inner side of the second gear ring portion (2320). The second gear portion (2420) and the second gear ring portion (2320) perform low-tooth difference meshing transmission.

2. The speed reduction device for robots according to claim 1, characterized in that, It also includes a housing (2500), which includes a peripheral plate portion (2510) and an annular end plate portion (2520). The peripheral plate portion (2510) is connected to the first gear ring portion (2220), and a portion of the second base portion (2310) can pass through the inner hole of the annular end plate portion (2520).

3. The speed reduction device for robots according to claim 2, characterized in that, It also includes a limiting bearing (2600), which includes an outer ring portion (2610) and an inner ring portion (2620). The outer ring portion (2610) is connected to the peripheral plate portion (2510). The outer ring portion (2610) and the first gear ring portion (2220) abut against each other in the axial direction. The inner ring portion (2620) and the second gear ring portion (2320) abut against each other in the axial direction.

4. The speed reduction device for robots according to claim 3, characterized in that, The inner ring portion (2620) has a stepped hole, including a small-diameter hole section (2621A) and a large-diameter hole section (2621B). The inner ring portion (2620) forms a limiting step surface (2621C) between the small-diameter hole section (2621A) and the large-diameter hole section (2621B). At least a portion of the second gear ring portion (2320) is located in the large-diameter hole section (2621B), and the second gear ring portion (2320) and the limiting step surface (2621C) abut against each other axially; or, The inner circumferential wall of the inner ring portion (2620) is provided with a slot, and the deceleration device (2000) also includes a retaining spring, which is installed in the slot. The inner ring portion (2620) can abut against the second gear ring portion (2320) axially through the retaining spring.

5. The speed reduction device for robots according to claim 3, characterized in that, The first gear ring portion (2220) has a limiting protrusion (2222) on the side facing the outer ring portion (2610), and the first gear ring portion (2220) and the outer ring portion (2610) abut against each other axially through the limiting protrusion (2222).

6. The speed reduction device for a robot according to any one of claims 1-5, characterized in that, The double cycloidal wheel (2400) has a split structure.

7. The speed reduction device for a robot according to claim 6, characterized in that, The first gear portion (2410) and the second gear portion (2420) are separately provided. One of the first gear portion (2410) and the second gear portion (2420) has a connecting protrusion (2411) on its axial end face, and the other of the first gear portion (2410) and the second gear portion (2420) has a connecting recess (2420A) extending axially. The connecting protrusion (2411) is inserted into the connecting recess (2420A).

8. The speed reduction device for a robot according to claim 6, characterized in that, The first gear part (2410) and the second gear part (2420) are separately provided, and the second gear part (2420) includes at least two sub-gear parts (2421) arranged along the axial direction. The first gear part (2410) and each of the sub-gear parts (2421) are provided with connecting holes extending along the axial direction. The double cycloidal wheel (2400) also includes a connecting post (2430) which is inserted into the connecting hole.

9. The speed reduction device for a robot according to any one of claims 1-5, characterized in that, It also includes a first bearing (2700) and a second bearing (2800), with the first bearing (2700) provided between the first base portion (2210), the second base portion (2310) and the shaft body (2110), and the second bearing (2800) provided between the double cycloidal wheel (2400) and the eccentric column portion (2120).

10. The speed reduction device for a robot according to any one of claims 1-5, characterized in that, The power input shaft (2100) is a hollow shaft; and / or, The power input shaft (2100) has a power input connection section (2111), and the outer peripheral wall of the power input connection section (2111) is provided with a power engagement feature (2111A).

11. The speed reduction device for a robot according to any one of claims 1-5, characterized in that, Both the first base portion (2210) and the second base portion (2310) are provided with mounting holes and mounting protrusions.

12. A joint assembly for use in a robot, characterized in that, It includes a power generation device (1000) and a reduction device (2000), wherein the reduction device (2000) is the reduction device applied to a robot as described in any one of claims 1-11, and the power generation device (1000) and the power input shaft (2100) are connected in a transmission.

13. The joint assembly for a robot according to claim 12, characterized in that, The power generation device (1000) and the reduction device (2000) are directly connected; or, It also includes an adapter plate (3000), to which the power generation device (1000) and the deceleration device (2000) are connected.

14. A joint assembly for use in a robot, characterized in that, It includes a joint assembly (100), a first joint arm (200), and a second joint arm (300), wherein the joint assembly (100) is the joint assembly for a robot as described in claim 12 or 13, the first drive wheel (2200) is connected to the first joint arm (200), and the second drive wheel (2300) is connected to the second joint arm (300).

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