Gear reducers and robots

Abstract

This application relates to the field of robot actuator technology, and discloses a speed reducer and a robot. The speed reducer includes a speed reducer body and a mounting flange. The speed reducer body includes a housing. The mounting flange includes a first connecting portion and a second connecting portion. The first connecting portion includes a first end face and a second end face disposed opposite to each other. The first end face of the first connecting portion is connected to the housing, and the second end face of the first connecting portion is connected to the second connecting portion. Multiple second connecting portions are provided, spaced circumferentially along the first connecting portions. The interval between any two adjacent second connecting portions is a weight-reduction area. This application can shorten the overall length of the speed reducer and the mounting flange assembly and reduce the overall weight.

Description

Technical Field

[0001] This application relates to the field of robot actuator technology, specifically to a speed reducer and a robot. Background Technology

[0002] As a key end effector in humanoid robots or precision operating systems, the dexterous hand has an extremely compact internal space, and places extremely stringent requirements on the size and weight of the various components that make up its drive system. As the core component that transmits motor power to the joints, the integration method, size, and weight of the reducer with the mounting structure directly affect the overall performance (such as dexterity, load capacity, and response speed) and structural layout of the dexterous hand.

[0003] In existing dexterous hand drive unit designs, a common technical solution is to use a structure where the reducer and mounting flange are separate. That is, the reducer body and the mounting flange used to fix it to the internal structure of the dexterous hand (such as the frame or adjacent joints) are two independent parts. They are connected and fixed together using fasteners such as screws.

[0004] While this split design facilitates the adaptation of the reducer to different mounting interfaces, it increases the axial (i.e., length) dimensions of the entire drive unit and introduces additional weight for the connecting parts. Utility Model Content

[0005] This application provides a speed reducer and a robot to solve the problems of excessive length and weight of the speed reducer combined with the mounting flange.

[0006] In a first aspect, this application provides a speed reducer, comprising:

[0007] The reducer body, including the outer casing;

[0008] The mounting flange includes a first connecting part and a second connecting part. The first connecting part includes a first end face and a second end face that are disposed opposite to each other. The first end face of the first connecting part is connected to the outer casing of the machine body, and the second end face of the first connecting part is connected to the second connecting part.

[0009] The second connecting part is provided in multiple ways, and the multiple second connecting parts are arranged at intervals along the circumference of the first connecting part. The interval between any two adjacent second connecting parts is the weight reduction area.

[0010] Beneficial effects: The unibody design of the casing and mounting flange eliminates the axial redundant length of the split structure, solving the bottleneck problem of insufficient internal installation space for the dexterous hand. Furthermore, the spaced weight-reduction zones directly reduce redundant material, decrease component weight, and improve the dexterous hand's movement flexibility.

[0011] In one alternative embodiment, the housing and the mounting flange are constructed as a single unit.

[0012] Beneficial effects: Integrating the outer casing and mounting flange into a single structure eliminates the need for separate connections, improves overall bending stiffness, and avoids transmission errors caused by micro-displacements. Simultaneously, it reduces assembly steps involving screws, lowering both production costs and failure rates.

[0013] In one optional embodiment, the reducer body further includes:

[0014] The output shaft has a through hole in the first connecting part, through which the output shaft passes and is located between a plurality of second connecting parts.

[0015] Beneficial effects: The through hole on the first connecting part can avoid obstructing the output shaft, ensuring an unobstructed transmission path. At the same time, the centered design of the output shaft can ensure a stable and balanced force distribution at the connection point when the reducer is connected to the robot actuator.

[0016] In one alternative implementation, a plurality of the second connecting portions are arranged symmetrically in pairs, and the plane of symmetry is parallel to the axis of the output shaft.

[0017] Beneficial effects: The symmetrical layout of the second connection can counteract centrifugal vibration and reduce noise under high-speed conditions.

[0018] In one alternative embodiment, the second connecting portion is provided with mounting holes.

[0019] Beneficial effects: The mounting holes allow for connection with the robot's dexterous hand skeleton, thereby ensuring overall transmission performance.

[0020] In one alternative embodiment, the axial direction of the mounting hole intersects the axial direction of the output shaft.

[0021] Beneficial effects: The radially arranged mounting holes can be adapted to the irregular interfaces of the dexterous hand skeleton, and the orthogonal layout forms a torque to resist joint torque, thereby improving torsional strength.

[0022] In one optional embodiment, the first connecting part is configured as a plate-like structure, and the first end face of the first connecting part is in contact with the outer shell of the machine body, and the edge of the first connecting part extends along the edge of the end face of the outer shell of the machine body.

[0023] Beneficial effects: The plate-like structure can increase the contact area with the outer shell of the machine body, thereby increasing the stress area, reducing peak stress, and extending service life.

[0024] In one alternative embodiment, the second connecting portion is configured as a rectangular block structure, and the edges of the second connecting portion are chamfered.

[0025] Beneficial effects: The chamfering not only prevents injury to workers when robots are installing structures, but also eliminates peak stress at the edges.

[0026] In one alternative embodiment, the two side faces of the second connecting portion along the axial direction of the mounting hole are configured as arc-shaped surfaces.

[0027] Beneficial effects: The curved surface on the outer side of the second connection reduces wind resistance during high-speed operation. It also closely matches the contour of the outer wall of the machine casing, ensuring overall consistency and preventing sharp wire edges from causing injury to workers or the robot. The curved surface on the inner side of the second connection adapts to the outer side wall of the dexterous hand frame, ensuring a snug fit and thus operational stability. It also facilitates alignment of mounting holes, improving installation efficiency.

[0028] Secondly, this application also provides a robot, including a speed reducer.

[0029] Beneficial effects: It can ensure sufficient internal installation space for the dexterous hand, improve installation efficiency, and reduce the overall weight of the dexterous hand, thereby reducing drive energy consumption. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of a speed reducer according to an embodiment of this application;

[0032] Figure 2 for Figure 1 A magnified view of part A in the diagram;

[0033] Figure 3 This is a schematic diagram of the reducer body in an embodiment of this application.

[0034] Explanation of reference numerals in the attached figures:

[0035] 1. Gearbox body; 101. Body shell; 102. Output shaft; 2. Mounting flange; 201. First connecting part; 202. Second connecting part; 203. Weight reduction area; 204. Mounting hole; 205. Arc-shaped surface; 206. Chamfer. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The following is combined with Figures 1 to 3 This describes an embodiment of the present application.

[0038] According to an embodiment of this application, a speed reducer is provided, including a speed reducer body 1 and a mounting flange 2. The speed reducer body 1 includes a housing 101. The mounting flange 2 includes a first connecting portion 201 and a second connecting portion 202. The first connecting portion 201 includes a first end face and a second end face disposed opposite to each other. The first end face of the first connecting portion 201 is connected to the housing 101, and the second end face of the first connecting portion 201 is connected to the second connecting portion 202. Multiple second connecting portions 202 are provided, and the multiple second connecting portions 202 are spaced apart circumferentially along the first connecting portions 201. The interval between any two adjacent second connecting portions 202 is a weight reduction region 203.

[0039] It should be noted that, as Figure 1 As shown, the first connecting part 201 and the second connecting part 202 in the mounting flange 2 are constructed as a single unit, formed by integral casting, which improves the overall strength and ensures the connection strength with the robot actuator. Simultaneously, the weight-reduction area 203 is integrally formed on the mounting flange 2 during casting and can also be formed through subsequent machining. Based on this, the mounting flange 2 and the outer shell 101 of the reducer body 1 can also be cast, forming a single unit. This eliminates the need for additional limiting and mounting structures between the mounting flange 2 and the outer shell 101, reducing the overall length and weight of the mounting flange 2 and the outer shell 101. Specifically, the integrated structure of the mounting flange 2 and the outer shell 101 of the reducer body 1 effectively solves the installation problem caused by the limited internal space of the dexterous hand, freeing up space previously occupied by separate structures and making the internal layout of the dexterous hand more compact and rational. It also reduces the connection links between the mounting flange 2 and the outer shell 101 of the reducer body 1, reducing assembly errors and improving structural stability and transmission accuracy. At the same time, the integrated design also reduces the number of parts, lowering production, assembly, and subsequent maintenance costs.

[0040] Understandable, such as Figure 1As shown, multiple second connecting parts 202 are provided for connecting with the robot's execution structure. The first connecting part 201 serves to connect the second connecting parts 202 and the outer shell 101 of the reducer body 1. At least two second connecting parts 202 are provided, and they are provided in pairs. This can reduce the overall weight while connecting to the robot's execution structure and ensuring the stability and strength of the connection with the robot's execution mechanism.

[0041] The first end face and the second end face of the first connecting part 201 are two opposite sides of the first connecting part 201, which are respectively connected to the second connecting part 202 and the housing 101 of the reducer.

[0042] Optionally, multiple second connecting portions 202 can be arranged at equal intervals along the circumference of the first connecting portion 201 to ensure force balance and further enhance the stability of the connection with the robot actuator.

[0043] Optionally, such as Figure 2 As shown, multiple second connecting parts 202 can be connected sequentially to form a whole. The weight-reducing region 203 can be set as a groove or channel between the connected second connecting parts 202. The cross-section of the weight-reducing region 203 can be set as circular, near-circular, or polygonal. Simultaneously, the weight-reducing region 203 can completely penetrate the second connecting part 202, or it can be set as a partially penetrating groove structure. A reasonable design of the weight-reducing region 203 will not affect the strength and rigidity of the mounting flange 2, and can also optimize stress distribution, reduce stress concentration, enhance the fatigue resistance of the component, and extend its service life.

[0044] In this embodiment, the integrated design of the outer shell 101 and mounting flange 2 eliminates the axial redundant length of the split structure, solving the bottleneck problem of insufficient internal installation space for the dexterous hand. Furthermore, the spaced weight-reduction zones 203 directly reduce redundant materials, decrease component weight, and improve the dexterous hand's movement flexibility.

[0045] In one embodiment, such as Figure 1 As shown, the outer casing 101 and the mounting flange 2 are constructed as a single unit.

[0046] It should be noted that the housing 101 and the mounting flange 2 can be configured as a single casting or a welded component. Essentially, the housing 101 and the mounting flange 2 are connected only through two contact surfaces, eliminating the need for related limiting structures and connecting parts. This significantly shortens the overall length of the reducer housing 101 and the mounting flange 2. It also enhances the overall structural strength, improves vibration resistance and durability, and extends the equipment's service life. The integrated design also eliminates the risk of interface fretting wear associated with traditional split structures and avoids a decrease in transmission accuracy due to bolt preload attenuation.

[0047] It is understandable that the reducer's housing 101 and mounting flange 2 are made of metal.

[0048] Optionally, the integrated structural housing 101 and mounting flange 2 can be made of high-strength aluminum alloy die casting or powder metallurgy sintering, which can achieve lightweight while ensuring strength.

[0049] In this embodiment, the outer casing 101 and the mounting flange 2 are constructed as a single unit, eliminating the separate connection interface, improving overall bending stiffness, and avoiding transmission errors caused by micro-displacement. Simultaneously, the assembly process involving screws is reduced, which not only lowers production costs but also reduces the failure rate.

[0050] In one embodiment, such as Figure 1 As shown, the reducer body 1 also includes an output shaft 102. The first connecting part 201 is provided with a through hole, through which the output shaft 102 passes, and the output shaft 102 is located between a plurality of second connecting parts 202.

[0051] Understandable, such as Figure 3 As shown, the output shaft 102 is a conventional structural component in the reducer. As the drive end connected to the robot actuator, it is necessary to ensure that the output shaft 102 can extend out of the housing 101 of the reducer body 1 to achieve connection with the robot actuator. Therefore, a through hole is provided on the first connection part 201 to allow the output shaft 102 to pass through, thereby ensuring that the output shaft 102 can extend and connect with the robot actuator.

[0052] Optionally, the output shaft 102 is located at the center of the area enclosed by the plurality of second connecting parts 202.

[0053] In this embodiment, the through hole on the first connecting part 201 can avoid the output shaft 102, ensuring that the transmission path is unobstructed. At the same time, the centered design of the output shaft 102 can achieve the effect of stabilizing the connection and evenly distributing the force when the reducer is connected to the robot actuator.

[0054] In one embodiment, such as Figure 1 As shown, multiple second connecting parts 202 are arranged symmetrically in pairs, and the plane of symmetry is parallel to the axis of the output shaft 102.

[0055] Optionally, multiple second connecting parts 202 are arranged symmetrically in pairs, and the plane of symmetry can coincide with the axis of the output shaft 102.

[0056] In this embodiment, the symmetrical layout of the second connecting portion 202 can counteract centrifugal vibration and reduce noise under high-speed operating conditions.

[0057] In one embodiment, such as Figure 2As shown, the second connecting part 202 is provided with a mounting hole 204.

[0058] In this embodiment, the mounting hole 204 enables connection with the robot's dexterous hand skeleton, thereby ensuring the overall transmission performance.

[0059] In one embodiment, such as Figure 2 As shown, the axial direction of the mounting hole 204 intersects the axial direction of the output shaft 102.

[0060] In this embodiment, the radially arranged mounting holes 204 can be adapted to the irregular interface of the dexterous hand skeleton, and the orthogonal layout forms a torque to resist the joint torque, thereby improving the torsional strength.

[0061] In one embodiment, such as Figure 1 As shown, the first connecting part 201 is configured as a plate-shaped structure, and the first end face of the first connecting part 201 is in contact with the outer shell 101, and the edge of the first connecting part 201 extends along the edge of the end face of the outer shell 101.

[0062] Understandably, setting the first connecting part 201 as a plate-like structure can shorten the overall length to the greatest extent, and the edge contour of the first connecting part 201 is similar to the contour of the outer shell 101 of the reducer body 1, which can increase the integrity.

[0063] Optionally, the edge contour of the first connecting part 201 can be set as a circular structure.

[0064] In this embodiment, the plate-like structure can increase the contact area with the outer shell 101, thereby increasing the stress-bearing area, reducing peak stress, and extending service life.

[0065] In one embodiment, such as Figure 2 As shown, the second connecting part 202 is configured as a rectangular block structure, and the edges of the second connecting part 202 are provided with chamfers 206.

[0066] In this embodiment, the chamfer 206 not only avoids injury to workers when the robot performs structural installation, but also eliminates peak stress at the corners.

[0067] In one embodiment, such as Figure 2 As shown, the two side faces of the second connecting part 202 along the axial direction of the mounting hole 204 are configured as arc-shaped surfaces 205.

[0068] Understandably, the two arc-shaped surfaces 205 of the second connecting part 202 are set concentrically.

[0069] In this embodiment, the arc-shaped surface 205 located on the outer side of the second connecting portion 202 can reduce wind resistance during high-speed operation. Simultaneously, it closely approximates the contour of the outer wall of the outer casing 101, ensuring overall consistency and preventing damage to workers or the robot from sharp wire edges. The arc-shaped surface 205 located on the inner side of the second connecting portion 202 can adapt to the outer side wall of the dexterous hand frame, ensuring a good fit and thus guaranteeing operational stability. It also facilitates alignment of the mounting holes 204, improving installation efficiency.

[0070] According to an embodiment of this application, another aspect provides a robot including a speed reducer.

[0071] Understandably, from a weight perspective, directly reducing the weight of the components makes the dexterous hand lighter overall. For weight-sensitive devices like robotic dexterous hands, this helps improve their movement flexibility and response speed. During operation, lighter components mean lower drive energy consumption, thereby reducing the device's operating costs.

[0072] In this embodiment, sufficient internal installation space can be ensured for the dexterous hand, improving installation efficiency, and the overall weight of the dexterous hand can be reduced, thereby reducing drive energy consumption.

[0073] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A speed reducer characterized by, include: The reducer body (1) includes the outer casing (101); The mounting flange (2) includes a first connecting part (201) and a second connecting part (202). The first connecting part (201) includes a first end face and a second end face that are disposed opposite to each other. The first end face of the first connecting part (201) is connected to the outer shell (101) of the machine body, and the second end face of the first connecting part (201) is connected to the second connecting part (202). The second connecting part (202) is provided in multiple ways, and the multiple second connecting parts (202) are arranged at intervals along the circumference of the first connecting part (201). The interval between any two adjacent second connecting parts (202) is the weight reduction area (203).

2. The speed reducer according to claim 1, characterized by The outer casing (101) and the mounting flange (2) are constructed as an integral structure.

3. The speed reducer according to claim 1, characterized by The reducer body (1) also includes: The output shaft (102) has a through hole in the first connecting part (201), through which the output shaft (102) passes, and the output shaft (102) is located between a plurality of second connecting parts (202).

4. The speed reducer according to claim 3, characterized by The plurality of second connecting parts (202) are arranged symmetrically in pairs, and the plane of symmetry is parallel to the axis of the output shaft (102).

5. The speed reducer according to claim 3, characterized by The second connecting part (202) is provided with a mounting hole (204).

6. The speed reducer according to claim 5, characterized by The axial direction of the mounting hole (204) intersects the axial direction of the output shaft (102).

7. The speed reducer according to claim 1, characterized in that, The first connecting part (201) is configured as a plate structure, and the first end face of the first connecting part (201) is in contact with the outer shell (101) of the body, and the edge of the first connecting part (201) extends along the edge of the end face of the outer shell (101).

8. The speed reducer of claim 5, wherein The second connecting part (202) is configured as a rectangular block structure, and the edges of the second connecting part (202) are provided with chamfers (206).

9. The speed reducer according to claim 8, characterized by The second connecting part (202) has arc-shaped surfaces (205) on both sides along the axial direction of the mounting hole (204).

10. A robot, characterized in that include: The speed reducer according to any one of claims 1 to 9.

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