A large hollow ultra-thin planetary reduction joint actuator

Abstract

The utility model relates to a kind of planetary reduction joint actuators, including shell, rotor fixed ring, fixed gear ring and output gear ring;Loop cavity is equipped in shell, and the inner wall of loop cavity is equipped with multiple motor stator along circumference;Rotor fixed ring is coaxially rotated and arranged in loop cavity;Multiple planetary gears are rotatably erected on rotor fixed ring, and the outer edge of rotor fixed ring is equipped with multiple motor rotors corresponding with motor stator;Fixed gear ring is fixedly arranged in loop cavity, and is equipped with the fixed inner gear ring engaged with multiple planetary gears;Output gear ring is equipped with the output inner gear ring engaged with multiple planetary gears.Compared with prior art, the utility model is compact in structure, high in transmission efficiency, and can place reducer entirely in motor rotor or stator inside while having large reduction ratio, so that the total height of actuator is greatly reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology and relates to a large hollow ultra-thin planetary deceleration joint actuator. Background Technology

[0002] Most existing planetary reducer joint actuators employ a non-hollow structure, resulting in a relatively high overall height. While some patents exist that attempt to reduce the overall actuator height by placing part of the planetary reducer inside the motor rotor or stator, these typically only accommodate one stage of the planetary reducer. Furthermore, placing the planetary reducer inside the motor rotor or stator reduces the hollow portion of the joint actuator.

[0003] Reduced hollow space directly restricts internal wiring channels, forcing cables (such as sensor signal lines and power lines) or fluid conduits (such as air tubes in pneumatic joints) to be routed externally instead of centrally. This not only increases assembly complexity but also makes exposed cables more susceptible to mechanical wear and environmental corrosion, reducing system reliability. Simultaneously, insufficient hollow space hinders the flow of heat dissipation media, exacerbating heat accumulation in the sealed cavity, accelerating grease degradation, and causing gear thermal deformation, ultimately affecting transmission accuracy and lifespan. Furthermore, in applications requiring a through-type design (such as multi-axis serial connections in robotic arm joints), insufficient hollow space forces external pipelines to detour, increasing inertia and the risk of spatial interference, thus limiting the robot's dynamic performance. Utility Model Content

[0004] The purpose of this invention is to provide a large hollow ultra-thin planetary deceleration joint actuator to solve the problem of large hollow volume in joint actuators.

[0005] The objective of this utility model can be achieved through the following technical solutions:

[0006] A planetary reduction joint actuator, comprising:

[0007] The housing has an internal annular cavity, and the inner wall of the annular cavity is provided with multiple motor stators along the circumferential direction;

[0008] A rotor fixing ring is coaxially rotatably disposed within a loop-shaped cavity; multiple planetary gears are rotatably mounted on the rotor fixing ring, and multiple motor rotors corresponding to the motor stator are disposed on the outer edge of the rotor fixing ring;

[0009] A fixed gear ring is fixedly disposed in a circular cavity and is provided with a fixed internal gear ring that meshes with multiple planetary gears;

[0010] The output gear ring is equipped with an internal output gear ring that meshes with multiple planetary gears.

[0011] In some specific embodiments, the housing includes a motor housing as the outer edge, and a fixing ring and a motor rear cover respectively fixed on both sides of the motor housing;

[0012] The motor housing, the retaining ring, and the motor rear cover together form a loop-shaped cavity;

[0013] The motor stator is located inside the motor housing;

[0014] The fixed gear ring is fixedly connected to the fixed ring;

[0015] The motor rear cover includes an annular rear cover body disposed opposite to the fixing ring, and a middle sleeve extending axially from the inner edge of the annular rear cover body toward the fixing ring.

[0016] The inner edge of the rotor fixing ring is slidably sleeved outside the middle sleeve.

[0017] In some specific embodiments, a magnetic ring is provided on the bottom side of the rotor fixing ring, and a magnetic ring drive plate is provided on the annular rear cover.

[0018] In some specific embodiments, a third bearing is provided between the inner edge of the rotor fixing ring and the middle sleeve, and the three bearings are rotatably connected.

[0019] In some specific embodiments, a recessed platform is provided at the inner wall edge of the motor housing, an external protrusion is provided at the connection between the motor rear cover and the motor housing, and a slot is formed with the recessed platform. An external protruding insert is provided on one side of the motor stator, and the external protruding insert is interference-fitted with the slot to fix the motor stator to the inner wall of the annular cavity.

[0020] In some specific embodiments, a first bearing is also included, which comprises an inner ring and an outer ring that are slidably connected.

[0021] An output flange is mounted on the output gear ring. The outer edge of the output gear ring and the output flange clamps and fixes the inner ring of the first bearing. The edge of the fixed gear ring and the fixed ring clamps and fixes the outer ring of the first bearing.

[0022] In some specific embodiments, the fixing gear ring has an annular conical surface structure, the outer edge of the annular conical surface structure is connected to the fixing ring, and the inner edge is provided with a fixing internal gear ring.

[0023] In some specific embodiments, the retaining ring is fixedly connected to the motor housing, the output gear ring and the output flange, and the retaining gear ring and the retaining ring by bolts.

[0024] In some specific embodiments, a planetary pin is inserted into the rotor fixing ring, and a needle roller bearing is provided between the planetary pin and the planetary gear. The planetary gear is slidably sleeved on the planetary pin through the needle roller bearing.

[0025] In some specific embodiments, the rotor retaining ring is provided with an upper retainer, which has a ring-shaped structure and covers the planetary gear.

[0026] This novel planetary gear reducer design, featuring a single-ring planetary gear, allows for a large reduction ratio while placing the entire reducer inside the motor rotor or stator, significantly reducing the overall actuator height. The absence of a sun gear in this reducer allows for a substantial increase in the actuator's internal volume and a reduction in weight. Furthermore, the reducer's double internal gear drive minimizes meshing friction losses.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] (1) This utility model has a compact structure and high transmission efficiency. It has a large reduction ratio and can place the reducer inside the motor rotor or stator, which greatly reduces the overall height of the actuator.

[0029] (2) The reducer of this utility model does not have a sun gear transmission structure, which can greatly increase the hollow volume of the actuator and reduce the weight of the actuator.

[0030] (3) The planetary gear of this utility model cooperates with both the output gear ring and the fixed gear ring, and has a double internal meshing gear transmission, which has a small meshing friction loss. Attached Figure Description

[0031] Figure 1 This is a cross-sectional view of a large hollow ultrathin planetary deceleration joint actuator in the embodiment;

[0032] Figure 2 Exploded view of the output gear ring, fixed gear ring, and planetary gears;

[0033] Figure 3 This is an exploded view of a large hollow ultrathin planetary deceleration joint actuator in the embodiment;

[0034] Explanation of markings in the diagram:

[0035] 1. Motor housing; 2. Motor stator; 3. Retaining ring; 4. Bearing 1; 5. Output flange; 6. Upper cage; 7. Snap ring; 8. Motor rear cover; 9. Bearing 2; 10. Planetary gear; 11. Planetary pin; 12. Needle roller bearing; 13. Output gear ring; 14. Retaining gear ring; 15. Motor rotor; 16. Rotor retaining ring; 17. Magnetic ring; 18. Magnetic ring drive plate; 19. Bearing 3; 20. Motor drive plate; 21. Rear cover Detailed Implementation

[0036] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The following embodiments are based on the above-described technical solution of the present invention, providing detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0038] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0039] Example:

[0040] A large, hollow, ultra-thin planetary reduction joint actuator, specifically assembled as follows:

[0041] like Figure 1 , Figure 3 As shown, a planetary reduction joint actuator includes:

[0042] The housing has an internal annular cavity, and the inner wall of the annular cavity is provided with a plurality of motor stators 2 along the circumferential direction;

[0043] The rotor fixing ring 16 is coaxially rotatably disposed in the annular cavity; multiple planetary gears 10 are rotatably erected on the rotor fixing ring 16, and multiple motor rotors 15 corresponding to the motor stator 2 are disposed on the outer edge of the rotor fixing ring 16.

[0044] A fixed gear ring 14 is fixedly disposed in a circular cavity and is provided with a fixed internal gear ring that meshes with multiple planetary gears 10.

[0045] The output gear ring 13 is provided with an internal output gear ring that meshes with multiple planetary gears 10.

[0046] The motor stator 2 is a winding stator that generates an alternating magnetic field and interacts with the motor rotor 15 to drive the rotor fixing ring 16 to rotate. The fixing gear ring 14 restricts the rotation trajectory of the rotor fixing ring 16 by meshing with multiple planetary gears 10. At the same time, the rotating planetary gears 10 mesh with the output gear ring 13 to drive the output gear ring 13 to rotate, thereby outputting a rotational action.

[0047] In some specific embodiments, the housing includes a motor housing 1 as the outer edge, and a fixing ring 3 and a motor rear cover 8 respectively fixed on both sides of the motor housing 1;

[0048] The motor housing 1, the fixing ring 3, and the motor rear cover 8 together form a loop-shaped cavity;

[0049] The motor stator 2 is located inside the motor housing 1;

[0050] The fixed toothed ring 14 is fixedly connected to the fixed ring 3;

[0051] The motor rear cover 8 includes an annular rear cover body disposed opposite to the fixing ring 3, and a middle sleeve extending axially from the inner edge of the annular rear cover body toward the fixing ring 3.

[0052] The inner edge of the rotor fixing ring 16 is slidably sleeved outside the middle sleeve.

[0053] In some specific embodiments, a magnetic ring 17 is provided on the bottom side of the rotor fixing ring 16, and a magnetic ring drive plate 18 is provided on the annular rear cover. The magnetic ring 17 is a motor end magnetic ring, and the magnetic ring drive plate 18 is an output end magnetic ring. The two types of magnetic rings are fixed to the motor and drive plate under the motor by means of screws, adhesive bonding, or other connection methods.

[0054] In some specific embodiments, a third bearing 19 is provided between the inner edge of the rotor fixing ring 16 and the middle sleeve, and is rotatably connected through the third bearing 19.

[0055] In some specific embodiments, a recessed platform is provided at the inner wall edge of the motor housing 1, and an external protrusion is provided at the connection between the motor rear cover 8 and the motor housing 1, forming a slot with the recessed platform. An external protruding insert is provided on one side of the motor stator 15, and the external protruding insert is interference-fitted with the slot to fix the motor stator 15 to the inner wall of the annular cavity.

[0056] In some specific embodiments, the motor rotor 15 is fixedly mounted to the outer edge of the rotor fixing ring 16 using conventional motor rotor mounting methods. The lower edge of the motor housing 1 is provided with a stepped groove, the inner edge of the annular rear cover is provided with a protrusion, and the outer side of the motor stator 2 is engaged between the stepped groove and the protrusion.

[0057] In some specific embodiments, a first bearing 4 is also included, which comprises an inner ring and an outer ring that are slidably connected to each other.

[0058] An output flange 5 is installed on the output gear ring 13. The outer edge of the output gear ring 13 and the output flange 5 clamps and fixes the inner ring of the first bearing 4. The fixed gear ring 14 and the edge of the fixed ring 3 clamp and fix the outer ring of the first bearing 4.

[0059] In some specific embodiments, the fixed toothed ring 14 has an annular conical structure, the outer edge of the annular conical structure is connected to the fixed ring 3, and the inner edge is provided with a fixed internal toothed ring.

[0060] In some specific embodiments, the fixing ring 3 is fixedly connected to the motor housing 1, the output gear ring 13 to the output flange 5, and the fixing gear ring 14 to the fixing ring 3 by bolts.

[0061] In some specific embodiments, a planetary pin 11 is inserted into the rotor fixing ring 16, and a needle roller bearing 12 is provided between the planetary pin 11 and the planetary gear 10. The planetary gear 10 is slidably sleeved on the planetary pin 11 through the needle roller bearing 12.

[0062] In some specific embodiments, the rotor retaining ring 16 is provided with an upper retainer 6, which has a ring structure and covers the planetary gear 10.

[0063] In some specific embodiments, the rotor fixing ring 16 is provided with a bolt assembly table, and the upper retainer 6 is bolted to the bolt assembly table.

[0064] In some specific embodiments, the upper retainer 6 has a limiting hole, and the top end of the planetary pin 11 is embedded in the limiting hole.

[0065] In some specific embodiments, a second bearing 9 is provided between the upper retainer 6 and the middle sleeve.

[0066] In some specific embodiments, a second bearing 9 is also included, which comprises an inner ring and an outer ring that are slidably connected to each other.

[0067] The upper retainer 6 has a recessed platform on its inner edge, and a retaining spring 7 is embedded on the outer wall of the middle sleeve. A second bearing 9 is embedded between the recessed platform and the retaining spring 7.

[0068] like Figure 2 As shown, when the rotor fixed ring 16 drives the planetary gear 10 to rotate, the teeth of the planetary gear 10 simultaneously engage with the fixed gear ring 14 and the output gear ring 13. The planetary gear 10 rotates around the fixed gear ring 14, and the output gear ring 13 rotates under the drive of the planetary gear 10.

[0069] The above description of the embodiments is provided to enable those skilled in the art to understand and use the utility model. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present utility model is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present utility model without departing from its scope should be within the protection scope of the present utility model.

Claims

1. A planetary reduction joint actuator, characterized in that, include: The housing has an internal annular cavity, and the inner wall of the annular cavity is provided with a plurality of motor stators (2) along the circumferential direction. The rotor fixing ring (16) is coaxially rotatably disposed in the annular cavity; multiple planetary gears (10) are rotatably erected on the rotor fixing ring (16), and multiple motor rotors (15) corresponding to the motor stator (2) are disposed on the outer edge of the rotor fixing ring (16). A fixed gear ring (14) is fixedly disposed in a circular cavity and is provided with a fixed internal gear ring that meshes with multiple planetary gears (10); The output gear ring (13) is provided with an internal output gear ring that meshes with multiple planetary gears (10).

2. The planetary reduction joint actuator according to claim 1, characterized in that, The housing includes a motor housing (1) as the outer edge, and a fixing ring (3) and a motor rear cover (8) respectively fixed on both sides of the motor housing (1). The motor housing (1), the fixing ring (3), and the motor rear cover (8) together form a loop-shaped cavity; The motor stator (2) is located inside the motor housing (1); The fixed toothed ring (14) is fixedly connected to the fixed ring (3); The motor rear cover (8) includes an annular rear cover body disposed opposite to the fixing ring (3), and a middle sleeve extending axially from the inner edge of the annular rear cover body toward the fixing ring (3); The inner edge of the rotor fixing ring (16) is slidably sleeved outside the middle sleeve.

3. The planetary reduction joint actuator according to claim 2, characterized in that, A magnetic ring (17) is provided on the bottom side of the rotor fixing ring (16), and a magnetic ring drive plate (18) is provided on the annular rear cover.

4. The planetary reduction joint actuator according to claim 2, characterized in that, A third bearing (19) is provided between the inner edge of the rotor fixing ring (16) and the middle sleeve, and is rotatably connected through the third bearing (19).

5. The planetary reduction joint actuator according to claim 2, characterized in that, The inner wall edge of the motor housing (1) is provided with a recessed platform. The connection between the motor rear cover (8) and the motor housing (1) is provided with an external protrusion, which forms a slot with the recessed platform. The side of the motor stator (2) is provided with an external protruding insert. The external protruding insert is interference-fitted with the slot to fix the motor stator (2) to the inner wall of the annular cavity.

6. The planetary reduction joint actuator according to claim 1, characterized in that, It also includes a first bearing (4), which comprises an inner ring and an outer ring that are slidably connected. An output flange (5) is installed on the output gear ring (13). The outer edge of the output gear ring (13) and the output flange (5) clamps and fixes the inner ring of the first bearing (4). The edge of the fixed gear ring (14) and the fixed ring (3) clamps and fixes the outer ring of the first bearing (4).

7. The planetary reduction joint actuator according to claim 1, characterized in that, The fixed toothed ring (14) has an annular conical structure. The outer edge of the annular conical structure is connected to the fixed ring (3), and the inner edge is provided with a fixed inner toothed ring.

8. The planetary reduction joint actuator according to claim 1, characterized in that, The fixed ring (3) is fixedly connected to the motor housing (1), the output gear ring (13) is fixedly connected to the output flange (5), and the fixed gear ring (14) is fixedly connected to the fixed ring (3) by bolts.

9. The planetary reduction joint actuator according to claim 1, characterized in that, A planetary pin (11) is inserted into the rotor fixing ring (16). A needle roller bearing (12) is provided between the planetary pin (11) and the planetary gear (10). The planetary gear (10) is slidably sleeved on the planetary pin (11) through the needle roller bearing (12).

10. The planetary reduction joint actuator according to claim 1, characterized in that, The rotor fixing ring (16) is provided with an upper retainer (6), which is a ring structure and covers the planetary gear (10).

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