Planetary reduction structure and reduction motor

Abstract

The utility model belongs to the technical field of speed reducer, disclose a planetary reduction structure and reduction motor, planetary reduction structure includes speed reduction subassembly and a plurality of ball subassembly, speed reduction subassembly includes planet carrier, a plurality of optical axis and a plurality of planetary gears, a plurality of optical axis is fixed with planet carrier, a plurality of planetary gears are one -to -one corresponding and are set in a plurality of optical axis, a plurality of planetary gears are the input end of speed reduction subassembly, and planet carrier is the output end of speed reduction subassembly, ball subassembly includes ball fixed frame and a plurality of balls, and ball fixed frame is set in optical axis, and a plurality of balls are embedded in ball fixed frame, and ball is simultaneously and abuts the outer peripheral wall of optical axis and the inner hole wall of planetary gear, when planetary gear rotates relative to optical axis, a plurality of balls roll along with it. The planetary reduction structure provided by the utility model can reduce the friction of transmission structure, which is conducive to prolonging the service life of the planetary reduction structure and the reduction motor.

Description

Technical Field

[0001] This utility model relates to the field of speed reducer technology, and in particular to a planetary speed reducer structure and a speed reducer motor. Background Technology

[0002] As the end effector of robots, bionic dexterous hands typically employ planetary gear reducers to drive finger joint movements, enabling precise grasping and manipulation. Motors transmit power via tendon cables or linkages, causing the finger joints to bend, thus mimicking the dexterity of the human hand.

[0003] Currently, most dexterous hands utilize planetary reduction structures, which achieve high torque output through planetary gear transmission. However, the contact between the planetary gears and the optical shaft of the planet carrier is usually line contact or surface contact, resulting in high frictional resistance, which easily leads to wear and lubrication failure, affecting transmission efficiency and service life.

[0004] Therefore, there is an urgent need for a planetary gear reduction structure and a geared motor to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to provide a planetary reduction structure and a geared motor that can reduce the friction of the transmission structure and extend the service life of the planetary reduction structure and the geared motor.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] In one aspect, a planetary deceleration structure is provided, including a deceleration component and multiple ball components;

[0008] The deceleration assembly includes a planetary carrier, multiple optical shafts, and multiple planetary gears. The multiple optical shafts are fixed to the planetary carrier, and the multiple planetary gears are fitted one-to-one with the multiple optical shafts. The multiple planetary gears are the input end of the deceleration assembly, and the planetary carrier is the output end of the deceleration assembly.

[0009] The ball assembly includes a ball retainer and a plurality of balls. The ball retainer is sleeved on the optical shaft, and the plurality of balls are embedded in the ball retainer. The balls simultaneously abut against the outer peripheral wall of the optical shaft and the inner wall of the planetary gear.

[0010] When the planetary gear rotates relative to the optical axis, the plurality of balls roll accordingly.

[0011] As an optional technical solution, the ball bearing holder is provided with multiple mounting holes, and the multiple balls are fitted into the multiple mounting holes one by one.

[0012] As an optional technical solution, the ball bearing retainer is configured as a cylindrical structure, with multiple mounting areas spaced apart along the circumference of the ball bearing retainer, and the mounting areas having multiple mounting holes arranged along the length of the ball bearing retainer.

[0013] As an optional technical solution, the mounting hole is configured as a through hole structure, and the inner wall surface of the mounting hole is configured as a spherical concave surface structure adapted to the ball.

[0014] As an optional technical solution, the deceleration assembly further includes a limiting plate, which is spaced apart from the planetary carrier along the axial direction. One end of the optical axis is connected to the planetary carrier, and the other end is connected to the limiting plate. The limiting plate is used to limit the axial position of the planetary gear.

[0015] As optional technical solutions, the following also include:

[0016] The input gear simultaneously meshes with and is connected to multiple planetary gears of the reduction assembly.

[0017] The output shaft is coaxially connected to the planetary carrier of the reduction assembly.

[0018] As an optional technical solution, the planetary reduction structure includes at least two stages of the reduction assembly, wherein the sun gear of the planet carrier of the upper stage reduction assembly meshes with the planetary gear of the lower stage reduction assembly for transmission.

[0019] The input gear meshes with and is connected to the plurality of planetary gears of the uppermost reduction assembly, and the output shaft is coaxially connected to the planet carrier of the lowermost reduction assembly.

[0020] As an optional technical solution, it also includes a housing and a base, the housing and the base enclosing an internal cavity for accommodating the deceleration assembly;

[0021] One end of the outer casing is provided with an output hole, and the output shaft is rotatably connected to the output hole and passes through the output hole to exit the inner cavity;

[0022] The base is installed at the other end of the housing, and the base is provided with an input hole for the input shaft to pass through the inner cavity and connect to the input gear.

[0023] In a second aspect, a geared motor is provided, including a rotary drive component and a planetary reduction structure as described above, wherein the drive shaft of the rotary drive component is connected to a plurality of planetary gears of the uppermost reduction assembly via input teeth.

[0024] As an optional technical solution, the planetary reduction structure also includes a housing and a base. The housing and the base enclose an inner cavity for accommodating the reduction assembly. The base is fixedly connected to one end of the rotary drive member where the drive shaft is located. The base is provided with an input hole for the drive shaft to pass through.

[0025] The beneficial effects of this utility model are:

[0026] The planetary reduction structure provided by this utility model realizes the rotational connection between the optical shaft and the planetary gear through a ball bearing assembly. The multiple balls of the ball bearing assembly are installed by a ball bearing retainer. After the ball bearing retainer is fitted onto the optical shaft, the balls simultaneously abut against the outer peripheral wall of the optical shaft and the inner wall of the planetary gear. When the planetary gear rotates relative to the optical shaft, the multiple balls roll accordingly. The friction between the optical shaft and the planetary gear is rolling friction, which has less friction force than sliding friction, thus helping to extend the service life of the planetary reduction structure. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of the geared motor provided by this utility model;

[0028] Figure 2 This is a schematic diagram of the internal structure of the geared motor provided by this utility model. Figure 1 ;

[0029] Figure 3 This is a schematic diagram of the internal structure of the geared motor provided by this utility model. Figure 2 ;

[0030] Figure 4 This is an exploded structural diagram of the planetary deceleration structure provided by this utility model;

[0031] Figure 5 This is a schematic diagram of the structure of the ball bearing assembly provided by this utility model;

[0032] Figure 6 This is a schematic diagram of the limiting plate provided by this utility model.

[0033] In the picture:

[0034] 100. Rotary drive component; 101. Drive shaft;

[0035] 1. Planetary carrier; 2. Optical axis; 3. Planetary gear; 4. Ball assembly; 41. Ball holder; 411. Mounting hole; 42. Ball; 5. Limiting plate; 51. Central through hole; 52. Connecting hole; 6. Partition plate; 7. Input gear; 8. Output shaft; 9. Radial bearing; 10. Locking washer; 11. Locking ring; 12. Housing; 121. Output hole; 13. Base; 131. Input hole. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0037] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0039] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0040] Please refer to Figures 1-6This embodiment provides a geared motor, which includes a rotary drive component 100 and a planetary reduction structure. The drive shaft 101 of the rotary drive component 100 serves as the input shaft and is connected to the input end of the planetary reduction structure. The planetary reduction structure includes reduction components, wherein at least two stages of reduction components are sequentially arranged along the same axial direction. Each reduction component includes a planet carrier 1, multiple optical shafts 2, and multiple planetary gears 3. The multiple optical shafts 2 are fixed to the planet carrier 1, and the multiple planetary gears 3 are correspondingly fitted onto the multiple optical shafts 2. The multiple planetary gears 3 are the input end of the reduction component, and the planet carrier 1 is the output end of the reduction component. It can be understood that the number of reduction components can be set to one, two, or more to achieve one or more levels of reduction. When the reduction component has at least two stages, the sun gear of the planet carrier 1 of the upper-stage reduction component meshes with the planetary gear 3 of the lower-stage reduction component to achieve step-by-step transmission and reduction. It can be understood that the relative relationship between the upper and lower stages is determined by the power transmission path. The one located relatively upstream in the transmission path is the upper stage, and the one located relatively downstream in the transmission path is the lower stage.

[0041] Please refer to Figures 1-4 The planetary reduction structure also includes an input gear 7 and an output shaft 8. The input gear 7 is mounted on the drive shaft 101 and simultaneously meshes with multiple planetary gears 3 of the reduction assembly to transmit the rotary drive component 100 to the reduction assembly. The output shaft 8 is coaxially connected to the planet carrier 1 of the reduction assembly, thus serving as the output end of the geared motor to output power. When the reduction assembly has at least two stages, the input gear 7 simultaneously meshes with multiple planetary gears 3 of the uppermost reduction assembly to transmit the rotary drive component 100 to the uppermost reduction assembly, and the output shaft 8 is coaxially connected to the planet carrier 1 of the lowermost reduction assembly.

[0042] In this embodiment, please refer to Figures 2-4 The planetary reduction structure is configured as a two-stage reduction structure, including two-stage reduction components. In other embodiments of this invention, the planetary reduction structure may also be configured as a three-stage or higher reduction structure.

[0043] Please refer to Figure 4 and Figure 5 Furthermore, the planetary reduction structure also includes multiple ball bearing assemblies 4. Each ball bearing assembly 4 includes a ball bearing retainer 41 and multiple balls 42. The ball bearing retainer 41 is sleeved on the optical shaft 2, and the multiple balls 42 are embedded in the ball bearing retainer 41. The balls 42 simultaneously abut against the outer peripheral wall of the optical shaft 2 and the inner wall of the planetary gear 3. When the planetary gear 3 rotates relative to the optical shaft 2, the multiple balls 42 roll accordingly.

[0044] Specifically, the planetary reduction structure achieves the rotational connection between the optical shaft 2 and the planetary gear 3 through the ball assembly 4. The multiple balls 42 of the ball assembly 4 are mounted by the ball retainer 41. After the ball retainer 41 is fitted onto the optical shaft 2, the balls 42 simultaneously abut against the outer peripheral wall of the optical shaft 2 and the inner wall of the planetary gear 3. When the planetary gear 3 rotates relative to the optical shaft 2, the multiple balls 42 roll accordingly. The friction between the optical shaft 2 and the planetary gear 3 is rolling friction, which has less friction than sliding friction and helps to extend the service life of the planetary reduction structure.

[0045] For example, please refer to Figure 5 The ball bearing holder 41 has multiple mounting holes 411, and multiple balls 42 are fitted into the multiple mounting holes 411 one by one.

[0046] For example, please refer to Figure 5 The ball bearing holder 41 is configured as a cylindrical structure, with multiple mounting areas spaced apart along its circumference. Each mounting area has multiple mounting holes 411 arranged along the length of the ball bearing holder 41, allowing multiple balls 42 arranged in a matrix on its circumference to be mounted on one ball bearing holder 41. This achieves multi-point support and rolling, improves rolling stability, and further reduces friction.

[0047] For example, please refer to Figure 5 The mounting hole 411 is configured as a through hole structure, and the inner wall surface of the mounting hole 411 is configured as a spherical concave surface structure adapted to the ball 42.

[0048] In this embodiment, the rotary drive 100 is a conventional three-phase asynchronous motor. In some embodiments, the rotary drive 100 may also be a piezoelectric ceramic motor, a hydraulic motor, a pneumatic motor, etc.

[0049] For example, please refer to Figures 2-4 The deceleration assembly also includes a limiting plate 5, which is spaced apart from the planetary carrier 1 along the axial direction. One end of the optical shaft 2 is connected to the planetary carrier 1, and the other end is connected to the limiting plate 5. The limiting plate 5 is used to limit the axial position of the planetary gear 3.

[0050] For example, please refer to Figure 6 The limiting plate 5 has a central through hole 51 and multiple connecting holes 52. The central through hole 51 is used to avoid the drive shaft 101 or the planetary carrier 1 of the upper-level reduction assembly. The multiple connecting holes 52 are circumferentially spaced around the central through hole 51 and are used to insert and connect the optical shaft 2. In this embodiment, the reduction assembly includes three optical shafts 2, and correspondingly, the limiting plate 5 has three connecting holes 52.

[0051] For example, please refer to Figures 1-3The planetary reduction structure also includes a housing 12 and a base 13, which enclose an inner cavity for accommodating at least two stages of reduction components. The housing 12 has an output hole 121 at one end away from the rotary drive 100, and the output shaft 8 is rotatably connected to the output hole 121 and passes through the output hole 121 to exit the inner cavity. The base 13 is installed at the other end of the housing 12, and the base 13 is fixedly connected to the end of the rotary drive 100 with a drive shaft 101 by bolts. The base 13 has an input hole 131 for the drive shaft 101 to pass into the inner cavity to connect to the input gear 7.

[0052] For example, the housing 12 and the base 13 are fastened together by a plurality of bolts.

[0053] For example, please refer to Figure 4 An annular partition 6 is provided between the base 13 and the limiting plate 5. The partition 6 is used to isolate the optical axis 2 and the base 13, which can protect the internal transmission structure and improve the sealing performance.

[0054] For example, please refer to Figures 2-4 Two radial bearings 9 are provided between the output shaft 8 and the output hole 121. The inner ring of the radial bearing 9 is fitted tightly against the output shaft 8, and the outer ring of the radial bearing 9 is pressed against the hole wall of the output hole 121. A locking washer 10 and a locking ring 11 are provided sequentially on the outer end of the radial bearing 9 on the outer side. Both the locking washer 10 and the locking ring 11 are fitted onto the output shaft 8. The locking ring 11 presses the locking washer 10 against the radial bearing 9, thereby limiting the position of the radial bearing 9 in the axial direction. The radial bearing 9 can be a deep groove ball bearing, roller bearing, etc.

[0055] For example, the optical axis 2 in the deceleration assembly is connected to the planetary carrier 1 by plug-in or welding, or is integrally formed.

[0056] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A planetary deceleration structure, characterized in that, Includes a speed reduction assembly and multiple ball bearing assemblies (4); The deceleration assembly includes a planetary carrier (1), multiple optical shafts (2) and multiple planetary gears (3). The multiple optical shafts (2) are fixed to the planetary carrier (1), and the multiple planetary gears (3) are fitted one-to-one on the multiple optical shafts (2). The multiple planetary gears (3) are the input end of the deceleration assembly, and the planetary carrier (1) is the output end of the deceleration assembly. The ball assembly (4) includes a ball retainer (41) and a plurality of balls (42). The ball retainer (41) is sleeved on the optical shaft (2), and the plurality of balls (42) are embedded in the ball retainer (41). The balls (42) simultaneously abut against the outer peripheral wall of the optical shaft (2) and the inner wall of the planetary gear (3). When the planetary gear (3) rotates relative to the optical axis (2), the plurality of balls (42) roll accordingly.

2. The planetary deceleration structure according to claim 1, characterized in that, The ball bearing holder (41) is provided with a plurality of mounting holes (411), and the plurality of balls (42) are fitted into the plurality of mounting holes (411) one by one.

3. The planetary deceleration structure according to claim 2, characterized in that, The ball bearing holder (41) is configured as a cylindrical structure, and multiple mounting areas are provided at intervals along the circumference of the ball bearing holder (41). Each mounting area is provided with multiple mounting holes (411) arranged along the length of the ball bearing holder (41).

4. The planetary deceleration structure according to claim 2, characterized in that, The mounting hole (411) is configured as a through hole structure, and the inner wall surface of the mounting hole (411) is configured as a spherical concave surface structure adapted to the ball (42).

5. The planetary deceleration structure according to claim 1, characterized in that, The deceleration assembly also includes a limiting plate (5), which is spaced apart from the planetary carrier (1) along the axial direction. One end of the optical axis (2) is connected to the planetary carrier (1), and the other end is connected to the limiting plate (5). The limiting plate (5) is used to limit the axial position of the planetary gear (3).

6. The planetary deceleration structure according to any one of claims 1-5, characterized in that, Also includes: Input teeth (7) are simultaneously engaged and connected to multiple planetary gears (3) of the reduction assembly. Output shaft (8), which is coaxially connected to the planetary carrier (1) of the reduction assembly.

7. The planetary deceleration structure according to claim 6, characterized in that, The planetary reduction structure includes at least two stages of the reduction assembly, wherein the sun gear of the planet carrier (1) of the upper stage reduction assembly meshes with the planetary gear (3) of the lower stage reduction assembly for transmission. The input gear (7) meshes with and is connected to the multiple planetary gears (3) of the uppermost reduction assembly, and the output shaft (8) is coaxially connected to the planet carrier (1) of the lowermost reduction assembly.

8. The planetary deceleration structure according to claim 6, characterized in that, It also includes a housing (12) and a base (13), the housing (12) and the base (13) enclosing an inner cavity for accommodating the deceleration assembly; One end of the outer shell (12) is provided with an output hole (121), and the output shaft (8) is rotatably connected to the output hole (121) and passes through the output hole (121) to exit the inner cavity; The base (13) is installed at the other end of the housing (12), and the base (13) is provided with an input hole (131) for the input shaft to pass through the inner cavity and connect to the input tooth (7).

9. A geared motor, characterized in that, The device includes a rotary drive (100) and a planetary reduction structure as described in any one of claims 1-8, wherein the drive shaft (101) of the rotary drive (100) is connected to the plurality of planetary gears (3) of the uppermost reduction assembly via input teeth (7).

10. The geared motor according to claim 9, characterized in that, The planetary deceleration structure also includes a housing (12) and a base (13). The housing (12) and the base (13) enclose an inner cavity for accommodating the deceleration assembly. The base (13) is fixedly connected to one end of the rotary drive (100) where the drive shaft (101) is located. The base (13) is provided with an input hole (131) through which the drive shaft (101) passes.

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