A high-rigidity double-gear planetary reducer

Abstract

This utility model discloses a high-rigidity double-gear planetary reducer, including a sun gear, a planet carrier, and at least three double-gear planetary gears. The double-gear planetary gears include a large gear and a small gear. The sun gear meshes with the large gear, and the small gear meshes with an internal gear ring. A housing is connected to the bottom of the internal gear ring, and a crossed roller bearing is provided between the housing and the internal gear ring. A gear shaft is fixedly connected to the sun gear, and a wiring hole is provided through the gear shaft and the sun gear. A hollow structure coaxially connected to the wiring hole is provided between the planet carrier, the internal gear ring, the housing, and the crossed roller bearing. This utility model has the characteristics of achieving a suitable speed ratio in a single-stage reduction and allowing for hollow wiring.

Description

Technical Field

[0001] This utility model relates to the field of planetary reducer technology, specifically a high-rigidity double-gear planetary reducer. Background Technology

[0002] With the rapid development of modern technology, the application fields of humanoid robots are constantly expanding, and they are widely used in many aspects, from industrial production to service sectors. This places more stringent requirements on the reducer, a key component of humanoid robots.

[0003] However, existing single-stage planetary reducers have low speed ratios, which cannot meet the torque and response speed standards required by humanoid robots. Although existing two-stage planetary reducers have improved speed ratios, the addition of the two-stage structure significantly increases the size of the reducer. This undoubtedly increases the design and application difficulty for humanoid robots with extremely high space layout requirements, making it difficult to achieve a compact design. Furthermore, humanoid robots have numerous internal wirings, but neither single-stage nor two-stage planetary reducers can achieve hollow wiring, forcing the wiring to be arranged externally, making it susceptible to interference and damage from the external environment.

[0004] Therefore, it is necessary to design a high-rigidity double-gear planetary reducer that can achieve a suitable speed ratio within a single-stage reduction and has a hollow cable routing capability. Utility Model Content

[0005] The purpose of this invention is to provide a high-rigidity double-gear planetary reducer to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a high-rigidity double-gear planetary reducer, comprising a sun gear, a planet carrier, and at least three double-gear planetary gears, wherein the double-gear planetary gears include a large gear and a small gear, the sun gear meshes with the large gear, the small gear meshes with an internal gear ring, a housing is connected to the bottom of the internal gear ring, a crossed roller bearing is provided between the housing and the internal gear ring, a gear shaft is fixedly connected to the sun gear, a wiring hole is provided through the gear shaft and the sun gear, and a hollow structure coaxially communicating with the wiring hole is provided between the planet carrier, the internal gear ring, the housing, and the crossed roller bearing.

[0007] According to the above technical solution, the planetary carrier includes an output flange, a planetary carrier middle plate, and a planetary carrier rear plate. A plurality of connection holes are correspondingly provided between the output flange, the planetary carrier middle plate, and the planetary carrier rear plate. A fixing sleeve is provided in the connection hole of the output flange, a positioning sleeve is provided in the connection hole of the planetary carrier middle plate, and a screw is connected in the connection hole of the planetary carrier rear plate. The screw passes through the positioning sleeve and is connected to the fixing sleeve.

[0008] According to the above technical solution, the mating surfaces of the housing and the internal gear ring are provided with mutually cooperating grooves and bosses, and a plurality of bolts are connected between the housing and the internal gear ring. The bolts are evenly distributed along the circumference of the internal gear ring, and the outer ring of the crossed roller bearing is fixed by the mating connection between the housing and the internal gear ring.

[0009] According to the above technical solution, the planetary carrier middle plate is provided with a planetary gear groove that matches the pinion, and a planetary gear shaft is connected between the large gear and the pinion. One end of the planetary gear shaft is rotatably connected to the planetary carrier rear plate, and the other end of the planetary gear shaft is rotatably connected to the output flange. The output flange is connected to the planetary carrier middle plate to fix the inner ring of the crossed roller bearing.

[0010] According to the above technical solution, the shell is made of stainless steel.

[0011] Compared with the prior art, the beneficial effects achieved by this utility model are:

[0012] (1) By setting a meshing transmission structure with at least three double planetary gears, sun gear and internal gear ring, the large transmission ratio reduction and torque amplification functions are realized. Compared with traditional reducers, it can provide greater output torque in a smaller volume to meet the high load working requirements. At the same time, the design of double planetary gears increases the overlap of gear meshing and improves the smoothness and load-bearing capacity of transmission.

[0013] (2) By setting a hollow structure with the planetary carrier, internal gear ring, housing and cross roller bearing coaxially connected with the gear shaft and sun gear wiring hole, wiring is facilitated and the utilization of internal space is optimized. Traditional external wiring occupies extra space, making the internal layout of the robot messy and not conducive to the installation and maintenance of other components. The hollow structure allows the wiring to be arranged in an orderly manner inside, saving the space required for external wiring, making the installation of the planetary reducer and other components more compact and reasonable, reducing the complexity of wiring and the probability of error, and providing space support for humanoid robots to achieve more complex functions and more flexible movements. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0015] Figure 1 This is a schematic diagram of the structural composition of this utility model;

[0016] Figure 2 This is an exploded structural diagram of this utility model;

[0017] Figure 3 This is a structural diagram of the double planetary gear of this utility model;

[0018] Figure 4 This is an exploded view of the planetary carrier structure of this utility model;

[0019] In the diagram: 10. Sun gear; 11. Gear shaft; 12. Wiring hole; 20. Planetary carrier; 21. Output flange; 22. Planetary carrier middle plate; 23. Planetary carrier rear plate; 24. Fixing sleeve; 25. Positioning sleeve; 26. Screw; 27. Planetary gear slot; 30. Double planetary gear; 31. Large gear; 32. Small gear; 33. Internal gear ring; 34. Crossed roller bearing; 35. Bolt; 36. Planetary gear shaft; 40. Housing. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0021] This utility model provides a technical solution: a high-rigidity double-gear planetary reducer, including a sun gear 10, a planet carrier 20, and at least three double-gear planetary gears 30. Each double-gear planetary gear 30 includes a large gear 31 and a small gear 32. The sun gear 10 is meshed with the large gear 31, and the small gear 32 is meshed with an internal gear ring 33. The bottom of the internal gear ring 33 is connected to a housing 40. A crossed roller bearing 34 is provided between the housing 40 and the internal gear ring 33. The sun gear 10 is fixedly connected to a gear shaft 11. A wiring hole 12 is provided through the gear shaft 11 and the sun gear 10. A hollow structure coaxially connected to the wiring hole 12 is provided between the planet carrier 20, the internal gear ring 33, the housing 40, and the crossed roller bearing 34.

[0022] Through this technical solution, power is input from the motor through the gear shaft 11, thereby driving the sun gear 10 to rotate. Since the sun gear 10 meshes with the large gear 31 of the double planetary gear 30, it drives the large gear 31 to rotate. Because the large gear 31 and the small gear 32 are an integrated double structure, the rotation of the large gear 31 will drive the small gear 32 to rotate synchronously. The small gear 32 meshes with the internal gear ring 33, thereby driving the planetary carrier 20 to rotate. Finally, the reduced and increased torque power is transmitted to the subsequent working parts through the output flange 21, thus realizing the functions of large transmission ratio reduction and torque amplification. Compared with traditional reducers, it can provide greater output torque in a smaller volume. At the same time, the hollow structure coaxially connected between the planetary carrier 20, the internal gear ring 33, the housing 40 and the crossed roller bearing 34 and the wiring hole 12 allows the cable to be arranged through the wiring hole 12 and the hollow structure, thereby saving the space required for external wiring. This makes the installation of the planetary reducer and other components more compact and reasonable, reduces the complexity of wiring and the probability of error, and provides space support for humanoid robots to achieve more complex functions and more flexible movements.

[0023] Furthermore, the planetary carrier 20 includes an output flange 21, a planetary carrier middle plate 22, and a planetary carrier rear plate 23. A number of connection holes are correspondingly provided between the output flange 21, the planetary carrier middle plate 22, and the planetary carrier rear plate 23. A fixing sleeve 24 is provided in the connection hole of the output flange 21, a positioning sleeve 25 is provided in the connection hole of the planetary carrier middle plate 22, and a screw 26 is connected in the connection hole of the planetary carrier rear plate 23. The screw 26 passes through the positioning sleeve 25 and is connected to the fixing sleeve 24.

[0024] This technical solution, through the coordinated use of the fixing sleeve 24, the positioning sleeve 25 and the screw 26, ensures accurate connection and positioning between the output flange 21, the planetary carrier middle plate 22 and the planetary carrier rear plate 23, reduces transmission errors caused by relative displacement of components, and ensures the accuracy of planetary gear movement.

[0025] Furthermore, the mating surfaces of the housing 40 and the internal gear ring 33 are provided with mutually matching grooves and bosses, and a number of bolts 35 are connected between the housing 40 and the internal gear ring 33. The bolts 35 are evenly distributed around the circumference of the internal gear ring 33, and the outer ring of the crossed roller bearing 34 is fixed by the mating of the housing 40 and the internal gear ring 33.

[0026] Through this technical solution, the cooperation between the slot and the boss plays a role in positioning and preventing errors, enabling the housing 40 and the internal gear ring 33 to accurately align. The bolts 35, which are evenly distributed around the circumference of the internal gear ring 33, provide a uniform and reliable connection force, preventing the outer ring of the crossed roller bearing 34 from loosening or shifting during operation.

[0027] Furthermore, the planetary carrier middle plate 22 is provided with a planetary gear groove 27 that matches the pinion 32. A planetary gear shaft 36 is connected between the large gear 31 and the pinion 32. One end of the planetary gear shaft 36 is rotatably connected to the planetary carrier rear plate 23, and the other end of the planetary gear shaft 36 is rotatably connected to the output flange 21. The output flange 21 is connected to the planetary carrier middle plate 22 to fix the inner ring of the crossed roller bearing 34.

[0028] Through this technical solution, the planetary gear slot 27 provides space for the meshing connection between the pinion 32 and the internal gear ring 33. The two ends of the planetary gear shaft 36 are rotatably connected to the planetary carrier rear plate 23 and the output flange 21, respectively, providing stable support for the double planetary gear 30. The output flange 21 cooperates with the planetary carrier middle plate 22 to fix the inner ring of the crossed roller bearing 34, further enhancing the stability of the entire transmission system.

[0029] Furthermore, the casing 40 is made of stainless steel;

[0030] This technical solution utilizes the excellent strength, corrosion resistance, and oxidation resistance of stainless steel to prevent the erosion of the housing 40 and internal parts by external environmental factors, thereby extending the service life of the reducer.

[0031] Working principle: First, the power is input from the motor through the gear shaft 11, which drives the sun gear 10 to rotate. Since the sun gear 10 meshes with the large gear 31 of the double planetary gear 30, it drives the large gear 31 to rotate. Because the large gear 31 and the small gear 32 are a double structure, the rotation of the large gear 31 will drive the small gear 32 to rotate synchronously. The small gear 32 meshes with the internal gear ring 33, which drives the planet carrier 20 to rotate. Finally, the reduced speed and increased torque power is transmitted to the subsequent working parts through the output flange 21.

[0032] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or specific orientation structure and operation, and therefore should not be construed as a limitation of this utility model; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In addition, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0033] In the description of this utility model, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this utility model. In this utility model, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, those skilled in the art can combine different embodiments or examples and features of different embodiments or examples described in this utility model without contradiction.

[0034] Although embodiments of the present invention 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 the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-rigidity double-gear planetary reducer, comprising a sun gear (10), a planet carrier (20), and at least three double-gear planetary gears (30), characterized in that: The double planetary gear (30) includes a large gear (31) and a small gear (32). The sun gear (10) is meshed with the large gear (31). The small gear (32) is meshed with an internal gear ring (33). The bottom of the internal gear ring (33) is connected to a housing (40). A cross roller bearing (34) is provided between the housing (40) and the internal gear ring (33). The sun gear (10) is fixedly connected to a gear shaft (11). A wiring hole (12) is provided between the gear shaft (11) and the sun gear (10). A hollow structure coaxially connected to the wiring hole (12) is provided between the planet carrier (20), the internal gear ring (33), the housing (40), and the cross roller bearing (34).

2. The high-rigidity double-gear planetary reducer according to claim 1, characterized in that: The planetary carrier (20) includes an output flange (21), a planetary carrier middle plate (22), and a planetary carrier rear plate (23). A plurality of connection holes are provided between the output flange (21), the planetary carrier middle plate (22), and the planetary carrier rear plate (23). A fixing sleeve (24) is provided in the connection hole of the output flange (21). A positioning sleeve (25) is provided in the connection hole of the planetary carrier middle plate (22). A screw (26) is connected in the connection hole of the planetary carrier rear plate (23). The screw (26) passes through the positioning sleeve (25) and is connected to the fixing sleeve (24).

3. The high-rigidity double-gear planetary reducer according to claim 1, characterized in that: The housing (40) and the inner gear ring (33) are provided with mutually cooperating grooves and bosses on their mating surfaces, and a plurality of bolts (35) are connected between the housing (40) and the inner gear ring (33). The bolts (35) are evenly distributed along the circumference of the inner gear ring (33), and the outer ring of the crossed roller bearing (34) is fixed by the mating connection between the housing (40) and the inner gear ring (33).

4. A high-rigidity double-gear planetary reducer according to claim 2, characterized in that: The planetary carrier middle plate (22) is provided with a planetary gear slot (27) that matches the pinion (32). A planetary gear shaft (36) is connected between the large gear (31) and the pinion (32). One end of the planetary gear shaft (36) is rotatably connected to the planetary carrier rear plate (23), and the other end of the planetary gear shaft (36) is rotatably connected to the output flange (21). The output flange (21) is engaged with the planetary carrier middle plate (22) to fix the inner ring of the crossed roller bearing (34).

5. A high-rigidity double-gear planetary reducer according to claim 1, characterized in that: The shell (40) is made of stainless steel.

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