Modularized robot joint module with stepless speed change and reduction mechanism

Abstract

The utility model discloses a modularized robot joint module with a stepless speed changing and reducing mechanism, and belongs to the technical field of humanoid robot transmission mechanisms. The assembly comprises a machine shell, a stepless speed changing and reducing mechanism is arranged in the machine shell, a ring gear is fixed to the upper surface of the machine shell, a gear ring is fixed to the ring gear, and a driving disc is rotationally installed in the gear ring. The stepless speed changing and reducing mechanism comprises a variable-pitch first bevel gear, a variable-pitch second bevel gear, a driving motor, an H-shaped driving rod, an electric push rod, a traction ring and a planetary gear train composed of driving teeth, a planetary gear and a ring gear, wherein the variable-pitch first bevel gear and the variable-pitch second bevel gear are meshed. Stepless continuous adjustment of the total transmission ratio can be achieved, different working conditions of high-speed light load, low-speed heavy load and the like of the humanoid robot can be flexibly adapted, stability, bearing capacity and transmission precision of power transmission are effectively improved, transmission loss is reduced, and smoothness and reliability of operation of joints of the robot are guaranteed.

Description

A modular robot joint module with a continuously variable reduction mechanism Technical Field

[0001] This utility model relates to the field of humanoid robot transmission mechanism technology, specifically a modular robot joint module with a continuously variable speed reduction mechanism. Background Technology

[0002] Humanoid robots represent a core development direction in the fields of service robots and special-purpose robots. They are widely adaptable to various scenarios such as home service, industrial collaboration, emergency rescue, and warehousing and logistics. The flexibility, load capacity, battery life, and operational stability of their limb movements depend entirely on the comprehensive performance of their joint modules. Unlike the fixed workstations and single-condition operation of traditional industrial robots, humanoid robot joints need to frequently switch between high-speed, light-load and low-speed, heavy-load conditions. Actions such as limb swinging and gait adjustment require high-speed joint response and low-torque output, while actions such as heavy object grasping, body support, and obstacle crossing and climbing require low-speed joint operation and high-torque output. This places extremely high demands on the adjustable transmission ratio, dynamic response speed, load capacity, compact and lightweight design, and energy consumption control of the transmission mechanism.

[0003] Currently, humanoid robot joints generally use precision reducers with fixed transmission ratios. The mainstream solutions are harmonic reducers and small RV reducers. These reducers have the advantages of small size and high transmission accuracy, but the transmission ratio is fixed and cannot be adjusted, making it impossible to match the output speed and torque according to the real-time working conditions of the humanoid robot. When the working conditions change frequently, it can only rely on the wide-range speed regulation of the drive motor to adapt to load changes. This not only causes the motor's operating point to deviate from the high-efficiency range, significantly increasing motor heat loss and shortening the robot's overall endurance, but also leads to insufficient joint dynamic rigidity and decreased positioning accuracy under low-speed heavy-load conditions due to the limitations of the motor's field-weakening speed regulation output characteristics. It can even cause shaking and instability when the load changes abruptly, failing to balance the flexibility of high-speed humanoid robot movements with the load stability of low-speed operations, and making it difficult to meet the stable operation requirements of humanoid robots in complex scenarios. Summary of the Invention

[0004] The purpose of this invention is to provide a modular robot joint module with a continuously variable speed reduction mechanism to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] A modular robot joint module with a continuously variable speed reduction mechanism includes a housing, in which the continuously variable speed reduction mechanism is rotatably installed. The power output end of the continuously variable speed reduction mechanism rotatably extends from the upper surface of the housing and into a ring gear. The ring gear is fixedly installed on the upper surface of the housing. A gear ring is fixedly installed on the upper surface of the ring gear, and a drive disk is rotatably installed inside the gear ring.

[0007] The continuously variable speed reduction mechanism includes a motor, an H-shaped drive rod, a first bevel gear, a second bevel gear, a traction ring, an electric push rod, a shaft, drive teeth, and three sets of planetary gears.

[0008] The motor is fixedly installed inside the housing on one side, the H-shaped drive rod is fixedly installed at one end of the motor's output shaft, the first bevel gear is axially slidably installed on the outer surface of the H-shaped drive rod, and the first bevel gear and the H-shaped drive rod are circumferentially limited to rotate synchronously;

[0009] The second bevel gear is rotatably mounted on the top of the housing and meshes with the first bevel gear. The lower end of the shaft is fixedly mounted on the upper surface of the second bevel gear, and the upper end of the shaft rotatably passes through the upper surface of the housing and extends into the ring gear.

[0010] The drive gear is fixedly mounted on the outer surface of the shaft. All three sets of planetary gears mesh with the outer surface of the drive gear, and all three sets of planetary gears mesh with the inner tooth surface of the ring gear. The upper surfaces of all three sets of planetary gears are rotatably mounted in the drive disc through a fixedly mounted rotating rod.

[0011] The traction ring is rotatably mounted on one side of the outer surface of the first bevel gear. The traction ring is L-shaped, and the bent part of the traction ring passes through the lower end of the second bevel gear and is fixedly connected to the piston rod of the electric push rod. The electric push rod is fixedly mounted on the other side inside the housing. The electric push rod is used to drive the first bevel gear to slide axially along the H-shaped drive rod through the traction ring to adjust the meshing position of the two.

[0012] In the aforementioned modular robot joint module with continuously variable speed reduction mechanism, both the first bevel gear and the second bevel gear are made of alloy steel, wherein the alloy steel is at least one of 20CrMnTi, 40Cr, and 42CrMo.

[0013] In the aforementioned modular robot joint module with continuously variable speed reduction mechanism, at least one set of rolling bearings is installed between the shaft and the housing. The rolling bearings are used to support the rotation of the shaft and reduce friction.

[0014] The aforementioned modular robot joint module with continuously variable speed reduction mechanism has multiple mounting holes at the bottom of the housing, which are used to fix the housing to the base of the robot joint.

[0015] In the aforementioned modular robot joint module with continuously variable speed reduction mechanism, the tooth surfaces of the first and second bevel gears are coated with a WS2 / aC composite coating, which is a nanocomposite coating composed of tungsten disulfide embedded in an amorphous carbon matrix.

[0016] In the aforementioned modular robot joint module with continuously variable speed reduction mechanism, the tooth surfaces of the first and second bevel gears are coated with a DLC coating, wherein the DLC coating is a ta-C type diamond-like coating.

[0017] In the aforementioned modular robot joint module with a continuously variable reduction mechanism, the first bevel gear is a bevel-shaped variable pitch bevel gear, whose tooth profile gradually decreases from large to small along the axial direction, and the pitch circle diameter is... As the axial position changes continuously, the second bevel gear is an annular variable-pitch bevel gear, whose tooth pitch decreases radially from the outside to the inside, and the pitch circle diameter... Continuously changes with radial position;

[0018] When the electric push rod pushes or pulls the traction ring to pull the first bevel gear to slide axially along the H-shaped drive rod, the meshing point position of the first bevel gear and the second bevel gear changes, and the instantaneous transmission ratio changes. satisfy: ;

[0019] in, Let be the angular velocity of the first bevel gear. ω is the angular velocity of the second bevel gear; x is the axial sliding displacement of the first bevel gear. , These are the pitch circle diameters of the first and second bevel gears at the meshing point, respectively.

[0020] The aforementioned modular robot joint module with a continuously variable transmission (CVT) reduction mechanism, wherein the ring gear, the three sets of planetary gears, and the drive gear constitute a planetary gear train CVT reduction mechanism, and its transmission ratio... satisfy: ;

[0021] in, The number of teeth on the ring gear is [number]. The number of teeth on the drive gear. The angular velocity of the driving tooth and the angular velocity of the second bevel gear. equal, The revolution angular velocity of the planetary gears and the angular velocity of the drive disk are given. equal.

[0022] The aforementioned modular robot joint module with continuously variable transmission (CVT) reduction mechanism, wherein the overall transmission ratio of the modular robot joint module with CVT reduction mechanism is... bevel gear transmission ratio With planetary gear train transmission ratio The product of, i.e.: ;

[0023] The electric push rod adjusts the axial sliding displacement x of the first bevel gear, thereby achieving the overall transmission ratio. The stepless continuous adjustment.

[0024] In the aforementioned modular robot joint module with a continuously variable reduction mechanism, when the first bevel gear slides toward the large tooth end of the second bevel gear, Enlarge Decrease Reduce, overall transmission ratio As the speed decreases, the joint output speed increases and the output torque decreases; when the first bevel gear slides towards the small tooth end of the second bevel gear... Reduce Increase Increase, overall transmission ratio As the joint speed increases, the output speed decreases and the output torque increases.

[0025] Compared with the prior art, the beneficial effects of this utility model are:

[0026] By employing a variable-gear design between the first and second bevel gears, and in conjunction with the traction adjustment structure of the electric push rod and traction ring, stepless continuous adjustment of the total transmission ratio is achieved. This breaks through the limitations of traditional fixed-ratio reducers and enables real-time matching of output speed and torque according to changes in the working conditions of the humanoid robot during operation. It eliminates the need to rely solely on motor speed adjustment to adapt to the working conditions, optimizes the motor's working state, reduces motor heat loss, extends the overall battery life of the humanoid robot, and enhances the adaptability of the joint module to all scenarios of humanoid robot operation.

[0027] By employing a series design of a bevel gear transmission mechanism and a planetary gear train continuously variable transmission (CVT) reduction mechanism, the planetary gear train utilizes a structure where three sets of planetary gears simultaneously mesh with the drive gear and ring gear. This multi-tooth meshing enhances the overall load-bearing capacity of the components, reduces impact and vibration during transmission, and improves the smoothness and accuracy of power transmission. The bevel gear mechanism enables flexible adjustment of the transmission ratio, balancing the flexibility of high-speed joint operation with the stability of low-speed operation. It avoids the impact and jerking problems associated with traditional transmission mechanisms, ensuring the smoothness and reliability of the humanoid robot's walking, grasping, and obstacle-crossing movements.

[0028] The H-shaped drive rod design simultaneously achieves synchronous power transmission and axial sliding guidance of the first bevel gear, eliminating the need for separate guide and transmission structures. The L-shaped traction ring design enables axial traction of the first bevel gear without interfering with the normal operation of the second bevel gear. All transmission and adjustment components are integrated within the housing, resulting in a compact overall structure with a small axial dimension, maximizing installation space and adapting to the confined installation environment of humanoid robots with multi-joint layouts. The modular layout design facilitates component disassembly and replacement, allowing for internal component inspection and maintenance without complex specialized tools, reducing subsequent maintenance costs and minimizing equipment downtime for repairs.

[0029] The radial limiting design of the gear ring on the drive disc ensures coaxiality during drive disc rotation, reduces output rotational error, and improves the motion control precision of the humanoid robot joints. The fixedly mounted ring gear provides a stable meshing reference for the planetary gear train, ensuring stability during transmission and preventing axial movement and error accumulation. The short power transmission path and fewer intermediate transmission links reduce power loss and improve energy efficiency. Furthermore, power transmission can be adjusted without interruption, enabling real-time switching of operating conditions during humanoid robot joint operation. This adapts to the continuous variable load requirements of humanoid robots, improving operational continuity and motion stability. Attached Figure Description

[0030] Figure 1 is a schematic diagram of the overall structure of this utility model;

[0031] Figure 2 is a schematic diagram of the drive disk of this utility model;

[0032] Figure 3 is a schematic diagram of the structure of the first bevel gear and the second bevel gear of this utility model;

[0033] Figure 4 is a structural schematic diagram of the electric push rod and traction ring of this utility model;

[0034] Figure 5 is a schematic diagram of the structure of the ring gear and planetary gear of this utility model.

[0035] In the diagram: 1. Housing; 101. Gear ring; 102. Drive disc; 103. Ring gear; 2. Continuously variable transmission (CVT) reduction mechanism; 201. Second bevel gear; 202. Motor; 203. H-shaped drive rod; 204. First bevel gear; 205. Traction ring; 206. Electric push rod; 207. Drive gear; 208. Shaft; 209. Planetary gear. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] Please refer to Figures 1-5. This embodiment provides a modular robot joint module with a continuously variable speed reduction mechanism, including a housing 1. A continuously variable speed reduction mechanism 2 is rotatably installed inside the housing 1. The power output end of the continuously variable speed reduction mechanism 2 rotatably passes through the upper surface of the housing 1 and extends into the ring gear 103. The ring gear 103 is fixedly installed on the upper surface of the housing 1. A gear ring 101 is fixedly installed on the upper surface of the ring gear 103. A drive disk 102 is rotatably installed inside the gear ring 101.

[0038] The continuously variable speed reduction mechanism 2 includes a motor 202, an H-shaped drive rod 203, a first bevel gear 204, a second bevel gear 201, a traction ring 205, an electric push rod 206, a shaft 208, a drive gear 207, and three sets of planetary gears 209.

[0039] Among them, the motor 202 is fixedly installed inside the housing 1 on one side, the H-shaped drive rod 203 is fixedly installed at one end of the output shaft of the motor 202, and the first bevel gear 204 is axially slidably installed on the outer surface of the H-shaped drive rod 203, and the first bevel gear 204 and the H-shaped drive rod 203 are circumferentially limited to rotate synchronously.

[0040] The second bevel gear 201 is rotatably mounted on the top of the housing 1 and meshes with the first bevel gear 204. The lower end of the shaft 208 is fixedly mounted on the upper surface of the second bevel gear 201, and the upper end of the shaft 208 rotatably passes through the upper surface of the housing 1 and extends into the ring gear 103.

[0041] Among them, the drive gear 207 is fixedly installed on the outer surface of the shaft 208, and the three sets of planetary gears 209 mesh with the outer surface of the drive gear 207. The three sets of planetary gears 209 mesh with the inner tooth surface of the ring gear 103, and the upper surfaces of the three sets of planetary gears 209 are rotatably installed in the drive disk 102 through the fixedly installed rotating rod.

[0042] The traction ring 205 is rotatably mounted on one side of the outer surface of the first bevel gear 204. The traction ring 205 is L-shaped. The bent part of the traction ring 205 passes through the lower end of the second bevel gear 201 and is fixedly connected to the piston rod of the electric push rod 206. The electric push rod 206 is fixedly mounted on the other side inside the housing 1. The electric push rod 206 is used to drive the first bevel gear 204 to slide axially along the H-shaped drive rod 203 through the traction ring 205 to adjust the meshing position of the two.

[0043] The aforementioned design provides a stable mounting reference and protection for all transmission components, preventing external impurities from affecting transmission accuracy. The H-shaped drive rod 203 not only drives the first bevel gear 204 to rotate synchronously and transmit power, but also guides the axial sliding of the first bevel gear 204, ensuring smooth sliding. The traction ring 205, in conjunction with the electric push rod 206, drives the first bevel gear 204 to move smoothly axially, changing its meshing position with the second bevel gear 201 and achieving transmission ratio adjustment. The ring gear 103, drive gear 207, and three sets of planetary gears 209 work together to smoothly transmit power to the drive disc 102. The multi-tooth meshing structure enhances the load-bearing capacity of the power transmission process and reduces impact and loss during transmission. The gear ring 101 provides radial restraint to the drive disc 102, ensuring coaxiality during rotation and improving output smoothness. The overall structure integrates power transmission and transmission ratio adjustment functions inside the housing 1. It has a compact structure that fits the installation space of the robot joints, and at the same time realizes power deceleration and torque increase and transmission ratio adjustment to adapt to different working conditions.

[0044] Furthermore, the drive gear 207 rotates synchronously with the shaft 208, enabling the power to be evenly transmitted to the three sets of planetary gears 209, ensuring their synchronized operation and preventing damage from excessive stress on any single gear. The planetary gears 209 mesh with both the drive gear 207 and the ring gear 103, achieving speed reduction and torque increase during power transmission, thus enhancing output torque. The even distribution of the three sets of planetary gears 209 balances the radial force during transmission, reducing the deformation of the shaft 208 and improving the stability and accuracy of the transmission process.

[0045] Furthermore, the planetary gear 209 is connected to the drive disk 102 via a rotating rod, which synchronously transmits the revolution motion of the planetary gear 209 to the drive disk 102, causing the drive disk 102 to rotate smoothly and achieve the final power output. The rotating rod mounting structure ensures that the planetary gear 209 completes its rotation while revolving around the drive gear 207, adapting to the transmission requirements of the planetary gear system and avoiding motion interference. The synchronous rotation of the drive disk 102 by the three sets of planetary gears 209 ensures that the force on the drive disk 102 is even, preventing wobble during rotation and improving the rotational accuracy of the output.

[0046] Furthermore, the motor 202 is fixed inside the housing 1, providing a stable power input to the entire assembly and preventing displacement during operation from affecting transmission accuracy. The H-shaped drive rod 203 is fixedly connected to the output shaft of the motor 202, enabling lossless transmission of power from the motor 202 to the first bevel gear 204, ensuring the synchronization of power input. The first bevel gear 204 is slidably mounted on the outer surface of the H-shaped drive rod 203, allowing for axial position adjustment without interrupting power transmission, achieving continuous adjustment of the transmission ratio, and preventing power interruption or shock during speed change.

[0047] Furthermore, the traction ring 205 is rotatably connected to the first bevel gear 204, allowing it to remain axially traction-free during the high-speed rotation of the first bevel gear 204, thus preventing damage to the piston rod of the electric push rod 206 from torsional forces. The L-shaped traction ring 205 avoids the rotation area of ​​the second bevel gear 201, achieving smooth traction of the first bevel gear 204 and preventing motion interference with the rotating second bevel gear 201. The electric push rod 206 is fixed inside the housing 1, providing stable axial driving force and precisely controlling the axial sliding displacement of the first bevel gear 204, ensuring accurate transmission ratio adjustment. Simultaneously, the overall structure is compact, making full use of the installation space inside the housing 1.

[0048] Specifically, in this embodiment, both the first bevel gear 204 and the second bevel gear 201 are made of alloy steel, and the alloy steel is at least one of 20CrMnTi, 40Cr, and 42CrMo.

[0049] In this design, 20CrMnTi, after carburizing and quenching, achieves a surface hardness of HRC58-62 while maintaining good toughness in the core. This effectively resists contact fatigue and tooth surface wear during gear meshing, making it suitable for humanoid robot joint transmissions under frequent start-stop and variable load conditions. 40Cr material, after tempering, possesses excellent comprehensive mechanical properties and dimensional stability, reducing gear deformation during long-term operation, maintaining the accuracy of the meshing point position, and ensuring the continuity and smoothness of the stepless speed regulation process of the bevel gear. 42CrMo, as a high-strength alloy steel, achieves a yield strength of over 900MPa after tempering or nitriding, enabling it to withstand instantaneous impact loads under low-speed, heavy-load conditions, preventing tooth root fracture or plastic deformation, and improving the load capacity and operational safety of the joint module. Through the optimal selection of gear materials, the bevel gear mechanism achieves stepless speed regulation while possessing excellent wear resistance, fatigue resistance, and load-bearing capacity, highly compatible with the high-precision, high-dynamic-response, and long-life operational requirements of humanoid robot joints.

[0050] Specifically, in this embodiment, at least one set of rolling bearings is installed between the shaft 208 and the housing 1. By installing at least one set of rolling bearings between the shaft 208 and the housing 1, the frictional resistance during the rotation of the shaft 208 is significantly reduced, energy loss is reduced, and transmission efficiency is improved. At the same time, the rolling bearings provide reliable support for the shaft 208, effectively suppressing the radial runout and axial movement of the shaft, ensuring the coaxiality of the shaft 208 and the drive gear 207, thereby improving the smoothness and accuracy of the planetary gear transmission and extending the service life of the entire reduction assembly.

[0051] Specifically, in this embodiment, the bottom of the housing 1 is provided with multiple mounting holes for fixing the housing 1 to the base of the robot joint. By providing multiple mounting holes at the bottom of the housing 1, the connection between the deceleration assembly and the humanoid robot joint base is simplified. Quick and precise installation and disassembly can be achieved without additional complex positioning structures, significantly reducing assembly difficulty and maintenance time. At the same time, the distribution of the mounting holes can be flexibly designed according to the interface dimensions of different joints, enhancing the versatility and adaptability of the components, which is beneficial for mass production and on-site replacement.

[0052] Specifically, in this embodiment, the tooth surfaces of the first bevel gear 204 and the second bevel gear 201 are coated with a WS2 / aC composite coating, which is a nanocomposite coating composed of tungsten disulfide embedded in an amorphous carbon matrix. By forming the WS2 / aC composite coating on the tooth surfaces of the first bevel gear 204 and the second bevel gear 201, this coating, composed of tungsten disulfide embedded in an amorphous carbon matrix, combines the advantages of solid lubrication and high hardness. WS2 can form a transfer lubrication film under extreme pressure conditions, with a friction coefficient as low as 0.02-0.10, and has a wide temperature range adaptability (-270℃ to 650℃); the aC amorphous carbon matrix provides excellent wear resistance. This composite coating is particularly suitable for the operation of humanoid robot joints in low-speed, heavy-load, boundary lubrication, or vacuum environments, effectively preventing tooth surface scuffing and fretting wear, and significantly improving the impact resistance and long-term reliability of the bevel gears during stepless speed regulation.

[0053] Specifically, in this embodiment, the tooth surfaces of the first bevel gear 204 and the second bevel gear 201 are coated with a DLC coating, which is a ta-C type diamond-like carbon coating. By forming a ta-C type DLC coating on the tooth surfaces of the first bevel gear 204 and the second bevel gear 201, this coating has a tetrahedral amorphous carbon structure, a hardness of HV3000 or higher, and a friction coefficient reduced to below 0.05. The ta-C coating has extremely high density and chemical inertness, which can significantly reduce frictional loss and temperature rise during gear meshing, while effectively resisting pitting, spalling, and abrasive wear on the tooth surface. Under conditions of frequent start-stop and variable load operation of robot joints, this coating can extend gear life by more than three times, maintain meshing accuracy over a long period, and ensure the smoothness and stability of the continuously variable transmission process.

[0054] Specifically, in this embodiment, the first bevel gear 204 is a bevel-shaped variable pitch bevel gear, whose tooth profile gradually decreases from large to small along the axial direction, and the pitch circle diameter is... As the axial position changes continuously, the second bevel gear 201 is an annular variable pitch bevel gear, whose tooth pitch decreases radially from the outside to the inside, and the pitch circle diameter... Continuously changes with radial position;

[0055] When the electric push rod 206 pushes or pulls the traction ring 205 to pull the first bevel gear 204 to slide axially along the H-shaped drive rod 203, the meshing point position of the first bevel gear 204 and the second bevel gear 201 changes, and the instantaneous transmission ratio changes. satisfy: ;

[0056] in, The angular velocity of the first bevel gear 204 is... ω is the angular velocity of the second bevel gear 201; x is the axial sliding displacement of the first bevel gear 204. , These are the pitch circle diameters of the first bevel gear 204 and the second bevel gear 201 at the meshing point, respectively.

[0057] In this design, the tooth profile of the first bevel gear 204 gradually changes axially, while the tooth pitch of the second bevel gear 201 gradually changes radially. This ensures that the two gears maintain a stable meshing state at different axial meshing positions, guaranteeing the continuity of power transmission. By changing the position of the meshing point through axial sliding, the pitch circle diameters of the two gears can be continuously varied, thereby achieving continuous stepless adjustment of the instantaneous transmission ratio. Transmission ratio switching can be completed without interrupting power, adapting to different loads and speed conditions. The calculation relationship of the transmission ratio is clear, and the corresponding transmission ratio can be precisely matched by controlling the axial displacement of the first bevel gear 204, improving the controllability and consistency of transmission ratio adjustment.

[0058] Specifically, in this embodiment, the ring gear 103, three sets of planetary gears 209, and drive gear 207 constitute a planetary gear train continuously variable reduction mechanism, with a transmission ratio of... satisfy: ;

[0059] in, This refers to the number of teeth on ring gear 103. The number of teeth for drive gear 207. The angular velocity of the drive gear 207 is compared with the angular velocity of the second bevel gear 201. equal, The revolution angular velocity of planetary gear 209 is compared with the angular velocity of drive disk 102. equal.

[0060] In this design, the planetary gear train, consisting of ring gear 103, planetary gear 209, and drive gear 207, provides a stable fixed reduction ratio. Building upon the speed adjustment achieved by the bevel gears, it further reduces speed and increases torque, thereby enhancing output torque. The transmission ratio calculation relationship of the planetary gear train is clearly defined, allowing for precise setting of the fixed reduction ratio by matching the number of teeth on the ring gear 103 and drive gear 207, adapting to different output requirements. The fixed transmission ratio of the planetary gear train reduces the adjustment range requirements of the bevel gear transmission mechanism, improving the overall component's adaptability to various operating conditions. Simultaneously, the multi-tooth meshing of the planetary gear train enhances the load-bearing capacity during transmission and reduces transmission losses.

[0061] Specifically, in this embodiment, the total transmission ratio of the modular robot joint module with a continuously variable reduction mechanism is... bevel gear transmission ratio With planetary gear train transmission ratio The product of, i.e.: ;

[0062] The electric push rod 206 adjusts the axial sliding displacement x of the first bevel gear 204, thereby achieving the overall transmission ratio. The stepless continuous adjustment.

[0063] In this scheme, the overall transmission ratio is calculated by multiplying the ratios of the two stages, which clearly reflects the power transmission relationship of the entire component and facilitates a wide range of transmission ratio adjustment through the matching of the two stages of transmission. By adjusting the axial displacement of the first bevel gear 204 via the electric push rod 206, the overall transmission ratio of the entire component can be continuously and steplessly adjusted. The adjustment method is simple and convenient, and can be completed in real time according to changes in operating conditions, optimizing the working state of power input and reducing unnecessary energy loss. The series design of the two-stage transmission allows for flexible adjustment of the transmission ratio through the bevel gear mechanism, while ensuring output stability and load-bearing capacity through the planetary gear system, balancing speed change flexibility and transmission reliability.

[0064] Specifically, in this embodiment, when the first bevel gear 204 slides toward the large tooth end of the second bevel gear 201, Enlarge Decrease Reduce, overall transmission ratio As the speed decreases, the joint output speed increases and the output torque decreases; when the first bevel gear 204 slides towards the small tooth end of the second bevel gear 201... Reduce Increase Increase, overall transmission ratio As the joint speed increases, the output speed decreases and the output torque increases.

[0065] This scheme clearly defines the output speed and torque variation patterns corresponding to different sliding directions of the first bevel gear 204. It enables precise control of the sliding direction and displacement of the first bevel gear 204 according to working conditions, matching the corresponding output state. When sliding towards the large tooth end of the second bevel gear 201, the output speed increases, adapting to the high-speed, light-load movement conditions of the robot joint and improving work efficiency. When sliding towards the small tooth end of the second bevel gear 201, the output torque increases, adapting to the low-speed, heavy-load working conditions of the robot joint and improving the stability of the operation process. The reverse adjustment of output speed and torque can be achieved through a single axial sliding action; the adjustment logic is simple and clear, facilitating automated working condition matching control.

[0066] Working principle:

[0067] The working principle of the entire reduction assembly is divided into two parts: power transmission and transmission ratio adjustment. The two parts operate synchronously, and the transmission ratio can be adjusted in real time without interrupting power transmission.

[0068] The power transmission path is as follows: After the motor 202 starts, the output shaft drives the H-shaped drive rod 203 to rotate synchronously. The first bevel gear 204 is slidably mounted on the outer surface of the H-shaped drive rod 203 and rotates synchronously with the H-shaped drive rod 203. The first bevel gear 204 maintains a meshing state with the second bevel gear 201, transmitting rotational power to the second bevel gear 201, causing the second bevel gear 201 to rotate smoothly at the top inside the housing 1. A shaft 208 is fixed on the upper surface of the second bevel gear 201, and the shaft 208 rotates synchronously with the second bevel gear 201. The drive teeth 207 fixed on the outer surface of the shaft 208 rotate synchronously. The drive teeth 207 maintain a meshing state with three sets of planetary gears 209, driving the three sets of planetary gears 209 to rotate. The three sets of planetary gears 209 simultaneously mesh with the ring gear 103 fixed on the housing 1, rotating on their own axis while revolving around the drive teeth 207. The upper surfaces of the three sets of planetary gears 209 are connected to the drive disk 102 via rotating rods. The revolution of the planetary gears 209 drives the drive disk 102 to rotate smoothly within the gear ring 101. The drive disk 102 is connected to the movable end of the humanoid robot joint, and finally outputs power to the robot joint, driving the joint to complete various limb movements.

[0069] The transmission ratio adjustment principle is as follows: The first bevel gear 204 is a bevel-shaped variable-pitch bevel gear, with its tooth profile gradually decreasing from large to small along the axial direction, and its pitch circle diameter continuously changing with the axial position; the second bevel gear 201 is an annular variable-pitch bevel gear, with its tooth pitch decreasing from the outside to the inside along the radial direction, and its pitch circle diameter continuously changing with the radial position. When it is necessary to adjust the output speed and torque of the joint, the electric push rod 206 actuates, driving the fixedly connected traction ring 205 to complete axial movement. The traction ring 205 drives the first bevel gear 204 to slide axially along the H-shaped drive rod 203, changing the meshing point position between the first bevel gear 204 and the second bevel gear 201. After the meshing point position changes, the pitch circle diameters of the two gears at the meshing point change synchronously, thereby adjusting the instantaneous transmission ratio of the bevel gear transmission. The planetary gear train, consisting of ring gear 103, planetary gear 209 and drive gear 207, maintains a fixed transmission ratio. The total transmission ratio of the entire reduction assembly is the product of the bevel gear transmission ratio and the planetary gear train transmission ratio. By adjusting the axial sliding displacement of the first bevel gear 204, the total transmission ratio can be continuously adjusted steplessly.

[0070] How to use:

[0071] 1. Installation and assembly: Fix the housing 1 on the fixed base of the humanoid robot's limb, fix the drive plate 102 to the movable arm of the humanoid robot's joint, connect the motor 202 to the humanoid robot's power supply system, and connect the electric push rod 206 to the humanoid robot's overall control system to complete the overall installation of the components and wiring connection. It can adapt to the installation requirements of multiple joints of the humanoid robot, such as the shoulder, elbow, hip, and knee.

[0072] 2. Normal operation: Start the humanoid robot's control system and power system. The motor 202 starts running according to the preset parameters. The power is transmitted to the drive disk 102 through the internal transmission path, which drives the humanoid robot's joints to complete the operation according to the preset gait and movement trajectory. During operation, the components maintain stable power transmission and deceleration and torque increase effect.

[0073] 3. Working Condition Switching and Adjustment: When the humanoid robot joint needs to perform high-speed, light-load working conditions such as limb swinging and gait adjustment idle distance, the control system sends a command to the electric push rod 206. The electric push rod 206 drives the traction ring 205 to pull the first bevel gear 204 to slide towards the large tooth end of the second bevel gear 201, reducing the overall transmission ratio and increasing the joint output speed to meet the response requirements of high-speed movements. When the humanoid robot joint needs to perform low-speed, heavy-load working conditions such as heavy object grasping, body support, obstacle crossing, and slope climbing, the control system controls the electric push rod 206 to reverse its movement, pulling the first bevel gear 204 to slide towards the small tooth end of the second bevel gear 201, increasing the overall transmission ratio and increasing the joint output torque to meet the stability requirements of heavy-load operations. The adjustment process can be completed synchronously during joint operation without interrupting the execution of the movement.

[0074] 4. Maintenance and repair: After long-term use, the end cover of the housing 1 can be directly disassembled to inspect, lubricate and replace the internal transmission components and vulnerable parts. There is no need to disassemble the overall limb structure of the humanoid robot joints. After the inspection is completed, it can be reassembled to restore normal use.

[0075] In summary, this application has the following technical effects:

[0076] By using the variable-pitch design of the first bevel gear 204 and the second bevel gear 201, and in conjunction with the traction adjustment structure of the electric push rod 206 and the traction ring 205, the stepless continuous adjustment of the total transmission ratio is achieved. This breaks the limitations of traditional fixed transmission ratio reducers and can match the output speed and torque in real time according to the changes in working conditions during the operation of the humanoid robot. It does not need to rely solely on motor speed adjustment to adapt to the working conditions, thus optimizing the working state of the motor 202, reducing the heat loss of the motor 202, extending the overall battery life of the humanoid robot, and improving the adaptability of the joint module to the humanoid robot's operation in all scenarios.

[0077] Through the series design of the bevel gear transmission mechanism and the planetary gear train continuously variable reduction mechanism, the planetary gear train adopts a structure in which three sets of planetary gears 209 simultaneously mesh with the drive gear 207 and the ring gear 103. This multi-tooth meshing enhances the overall load-bearing capacity of the component, reduces impact and vibration during transmission, and improves the smoothness and accuracy of power transmission. The bevel gear mechanism enables flexible adjustment of the transmission ratio, balancing the flexibility of high-speed joint operation and the stability of low-speed operation in the humanoid robot. It avoids the impact and jerking problems of traditional transmission mechanisms, ensuring the smoothness and reliability of the humanoid robot's walking, grasping, and obstacle-crossing actions.

[0078] The H-shaped drive rod 203 achieves simultaneous power transmission and axial sliding guidance of the first bevel gear 204, eliminating the need for separate guide and transmission structures. The L-shaped traction ring 205 allows for axial traction of the first bevel gear 204 without interfering with the normal operation of the second bevel gear 201. All transmission and adjustment components are integrated within the housing 1, resulting in a compact overall structure with a small axial dimension, maximizing installation space and adapting to the confined installation environment of humanoid robots with multi-joint layouts. The modular layout facilitates component disassembly and replacement, allowing for internal component inspection and maintenance without complex specialized tools, reducing subsequent maintenance costs and minimizing downtime for equipment repair.

[0079] The radial limiting design of the gear ring 101 on the drive disk 102 ensures the coaxiality of the drive disk 102 during rotation, reduces the rotational error at the output end, and improves the motion control accuracy of the humanoid robot joints. The fixedly installed ring gear 103 provides a stable meshing reference for the planetary gear train, ensuring the stability of the planetary gear train transmission process and avoiding axial movement and error accumulation during transmission. The entire power transmission path is short, with fewer intermediate transmission links, reducing power loss during transmission and improving energy utilization efficiency. At the same time, the transmission ratio adjustment does not require interruption of power transmission, enabling real-time switching of working conditions during the operation of the humanoid robot joints. This adapts to the continuous variable load operation requirements of the humanoid robot, improving the continuity of operation and the stability of motion.

[0080] All parts not described in this utility model are the same as or can be implemented using existing technology. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this utility model, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A modular robot joint module with a continuously variable speed reduction mechanism, characterized in that, The system includes a housing (1), within which a continuously variable transmission (CVT) mechanism (2) is rotatably mounted. The power output end of the CVT mechanism (2) rotatably extends from the upper surface of the housing (1) into a ring gear (103). The ring gear (103) is fixedly mounted on the upper surface of the housing (1), and a gear ring (101) is fixedly mounted on the upper surface of the ring gear (103). A drive disc (102) is rotatably mounted inside the gear ring (101). The CVT mechanism (2) includes a motor (202), an H-shaped drive rod (203), a first bevel gear (204), and a second bevel gear (205). The system includes two bevel gears (201), a traction ring (205), an electric push rod (206), a shaft (208), a drive gear (207), and three sets of planetary gears (209). The motor (202) is fixedly installed inside the housing (1) on one side. The H-shaped drive rod (203) is fixedly installed at one end of the output shaft of the motor (202). The first bevel gear (204) is axially slidably installed on the outer surface of the H-shaped drive rod (203), and the first bevel gear (204) and the H-shaped drive rod (203) are circumferentially limited to rotate synchronously. The second bevel gear (201) is rotatably installed inside the housing (1) on the top. The second bevel gear (201) meshes with the first bevel gear (204). The lower end of the shaft (208) is fixedly mounted on the upper surface of the second bevel gear (201). The upper end of the shaft (208) rotates through the upper surface of the housing (1) and extends into the ring gear (103). The drive gear (207) is fixedly mounted on the outer surface of the shaft (208). All three sets of planetary gears (209) mesh with the outer surface of the drive gear (207), and all three sets of planetary gears (209) mesh with the inner tooth surface of the ring gear (103). The upper surfaces of the three sets of planetary gears (209) are... All are rotatably mounted inside the drive disc (102) via a fixed rotating rod; the traction ring (205) is rotatably mounted on one side of the outer surface of the first bevel gear (204). The traction ring (205) is L-shaped, and the bent part of the traction ring (205) passes through the lower end of the second bevel gear (201) and is fixedly connected to the piston rod of the electric push rod (206). The electric push rod (206) is fixedly mounted on the other side inside the housing (1). The electric push rod (206) is used to drive the first bevel gear (204) to slide axially along the H-shaped drive rod (203) through the traction ring (205) to adjust the meshing position of the two.

2. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 1, characterized in that, Both the first bevel gear (204) and the second bevel gear (201) are made of alloy steel.

3. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 1, characterized in that, At least one set of rolling bearings is installed between the shaft (208) and the housing (1), the rolling bearings being used to support the rotation of the shaft (208) and reduce friction.

4. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 1, characterized in that, The bottom of the housing (1) is provided with a plurality of mounting holes, which are used to fix the housing (1) to the base of the robot joint.

5. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 2, characterized in that, The tooth surfaces of the first bevel gear (204) and the second bevel gear (201) are coated with a WS2 / aC composite coating.

6. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 2, characterized in that, The tooth surfaces of the first bevel gear (204) and the second bevel gear (201) are coated with a DLC coating, which is a ta-C type diamond-like coating.

7. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 1, characterized in that, The first bevel gear (204) is a bevel-shaped variable pitch bevel gear, whose tooth profile gradually decreases from large to small along the axial direction, and the pitch circle diameter is... As the axial position changes continuously, the second bevel gear (201) is an annular variable pitch bevel gear, whose tooth pitch decreases radially from the outside to the inside, and the pitch circle diameter... The radial position changes continuously; when the electric push rod (206) pushes or pulls the traction ring (205) to pull the first bevel gear (204) to slide axially along the H-shaped drive rod (203), the meshing point position of the first bevel gear (204) and the second bevel gear (201) changes, and the instantaneous transmission ratio changes. satisfy: ;in, Let ω be the angular velocity of the first bevel gear (204). Let x be the angular velocity of the second bevel gear (201); let x be the axial sliding displacement of the first bevel gear (204). 、 These are the pitch circle diameters of the first bevel gear (204) and the second bevel gear (201) at the meshing point, respectively.

8. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 1, characterized in that, The ring gear (103), the three sets of planetary gears (209), and the drive gear (207) constitute a planetary gear train continuously variable reduction mechanism with a transmission ratio of satisfy: ;in, The number of teeth of the ring gear (103) is... The number of teeth of the drive tooth (207) The angular velocity of the drive tooth (207) and the angular velocity of the second bevel gear (201) are... equal, The revolution angular velocity of the planetary gear (209) and the angular velocity of the drive disk (102) are given. equal.

9. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 8, characterized in that, The overall transmission ratio of a modular robot joint module with a continuously variable reduction mechanism bevel gear transmission ratio With planetary gear train transmission ratio The product of, i.e.: The electric push rod (206) adjusts the axial sliding displacement x of the first bevel gear (204) to achieve the total transmission ratio. The stepless continuous adjustment.

10. A modular robot joint module with a continuously variable speed reduction mechanism according to claim 9, characterized in that, When the first bevel gear (204) slides toward the large tooth end of the second bevel gear (201), Enlarge Decrease Reduce, overall transmission ratio As the speed decreases, the joint output speed increases and the output torque decreases; when the first bevel gear (204) slides towards the small tooth end of the second bevel gear (201), Reduce Increase Increase, overall transmission ratio As the joint speed increases, the output speed decreases and the output torque increases.

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