Unipolar deceleration planetary joint module

Abstract

This utility model discloses a single-stage reduction planetary joint module, aiming to solve the problems of low integration, insufficient precision, and poor wear resistance of traditional modules. The module integrates core components such as a main housing, motor, reducer, dual encoders on opposite sides, and drive control board, resulting in a compact structure. The outer cylindrical surface of the main housing features a scale structure, combining fixation and heat dissipation. The rotor bracket connects the motor rotor and the reducer sun gear, using double bearings in conjunction with snap rings and wave spring washers to prevent axial movement. The reducer adopts a single-stage reduction structure, with a crossed roller bearing as the main bearing and built-in needle roller bearings on the planetary gears with wear-resistant plates on the end faces, improving meshing stability and wear resistance. The dual encoders on opposite sides include high-speed and low-speed rotor plates, which can simultaneously monitor the motion status of the motor and reducer, ensuring accurate feedback. Cable covers secure the cables, and the middle and rear covers encapsulate key components, resulting in a high degree of overall integration. This effectively improves transmission accuracy, operational stability, and service life, making it suitable for high-precision applications such as industrial robots.

Description

Technical Field

[0001] This utility model relates to the field of industrial robots, and in particular to a single-stage deceleration planetary joint module. Background Technology

[0002] In existing technologies, planetary joint modules are core components for power transmission and motion control in industrial robots, automated equipment, and precision transmission fields. Their deceleration accuracy, structural compactness, and operational stability directly determine the operational accuracy and service life of the equipment. Single-stage deceleration planetary joint modules have become the preferred solution for light-load, high-precision scenarios due to their short transmission chain and fast response speed. However, traditional modules have many shortcomings in terms of structural design, integration, and durability.

[0003] The existing technical pain points of single-stage reduction planetary joint modules are concentrated in the following aspects: First, low integration. The motor, reducer, encoder, and drive control board are mostly assembled separately, which not only makes the overall size large, but also makes the transmission accuracy susceptible to errors in the connection between components. Second, limited encoder design. Most adopt a single-side single encoder structure, which cannot simultaneously monitor the motion status of the high-speed end (motor rotor) and the low-speed end (reducer output). The speed and position feedback accuracy is insufficient, making it difficult to meet the requirements of high-precision closed-loop control. Third, poor wear resistance of reducer components. The planetary gears lack effective wear protection during meshing with the ring gear and sun gear. Long-term operation is prone to tooth surface wear, resulting in decreased transmission efficiency and increased noise. Fourth, insufficient structural stability. The connection between the rotor support and the bearing lacks a buffer limit design. Axial movement is prone to occur during high-speed operation, affecting the smoothness of module operation. At the same time, the cable fixing method is rudimentary, which makes the cable prone to falling off or being damaged due to vibration, reducing the reliability of the module.

[0004] Furthermore, traditional modules suffer from poor heat dissipation. The main housing is often a smooth cylindrical surface, making it difficult to dissipate heat from the motor and reducer quickly in enclosed or high-frequency operating environments. This can easily lead to thermal deformation of components, further exacerbating accuracy degradation. As industrial robots evolve towards miniaturization, high precision, and long lifespan, the structural defects of traditional single-stage reduction planetary joint modules are no longer adequate for industry needs. There is an urgent need to develop a highly integrated, accurate, wear-resistant, durable, and well-heat-dissipating single-stage reduction planetary joint module. Utility Model Content

[0005] This application provides a single-stage deceleration planetary joint module, which solves the problems of low integration and poor precision in existing single-stage deceleration planetary joint modules, requiring a highly integrated, wear-resistant, and accurate detection module.

[0006] The technical solution adopted in this application is as follows.

[0007] A single-stage reduction planetary joint module includes a main housing, a motor, a reducer, a middle cover, a rear cover, a rotor support, a first bearing, an encoder, a drive control board, cables, cable covers, snap rings, wave spring washers, and wear-resistant plates. The motor includes a motor stator and a motor rotor. The reducer includes a sun gear, a ring gear, planet gears, planet gear shafts, and needle roller bearings. The encoder is a dual encoder on opposite sides, including a stator plate, a high-speed rotor plate, a low-speed rotor plate, and an encoder rotor plate fixing component. The main bearing of the reducer is a crossed roller bearing. The main housing fixes the reducer and the motor stator. The main housing has a scale structure on its outer cylindrical surface; the rotor support is fixed to the motor rotor and the sun gear of the reducer, and the rotor support is connected to the reducer through double bearings. Snap rings and wave spring washers are placed between the rotor support and the bearings; the middle cover is fitted onto the end face of the main housing, and the stator plate of the drive control board and encoder is mounted on the middle cover; the rear cover is located on the outside of the drive control board, and the cable cover cooperates with the main housing to fix the cable; the planetary gears have built-in needle roller bearings and are fitted onto the planetary gear shafts, and wear-resistant plates are arranged on the end faces of the planetary gears. The sun gear meshes with the planetary gears, and the planetary gears mesh with the gear ring.

[0008] As a further improvement to the above technical solution: The reducer is a single-stage reduction structure with a speed ratio of 8, a sun gear with 15 teeth, and a ring gear with 105 teeth.

[0009] It also includes a bearing pressure plate, a front end cover, and a flat key. The bearing pressure plate cooperates with the main housing to fix the bearing, the front end cover is fitted onto the end of the reducer, and the flat key is set at the connection between the rotor support and the sun gear.

[0010] It also includes a reducer output flange, which is fixedly connected to the output end of the reducer.

[0011] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By adopting an integrated packaging structure of "main shell + middle cover + rear cover" for the module, core components such as the motor, reducer, dual encoders on opposite sides, and drive control board are integrated into the same housing, completely solving the problems of large size and connection errors affecting accuracy in traditional split assembly. The main shell directly fixes the reducer and motor stator, and the rotor bracket synchronously connects the motor rotor and the reducer sun gear. The connection stability is enhanced by a flat key, reducing assembly gaps and transmission errors between components. The overall structure is compact, significantly reducing the space occupied by the module and adapting to the miniaturization requirements of industrial robots. At the same time, the integrated design makes the power transmission path shorter and the response speed faster. Combined with the transmission advantages of the single-stage reduction structure, it further improves power transmission efficiency and control accuracy.

[0012] 2. Utilizing an innovative dual-encoder structure with the stator plate mounted on the middle cover, the high-speed and low-speed rotor plates are respectively connected to the motor rotor and reducer output via encoder rotor plate fixing components. This allows for simultaneous real-time monitoring of the motion status at both high and low speeds. Compared to traditional single-encoder systems, the dual encoders accurately acquire speed and position data, achieving dual feedback and correction for both speed and position. This effectively compensates for the accuracy deficiencies of single-detection systems, providing reliable data support for high-precision closed-loop control. This design results in smaller positioning errors and more precise motion control in light-load, high-precision scenarios, fully meeting the stringent accuracy requirements of industrial robots and precision transmission equipment. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the single-stage deceleration planetary joint module in this utility model.

[0014] Figure 2 This is a cross-sectional view of the single-stage deceleration planetary joint module in this utility model.

[0015] In the diagram: 1. Reducer output flange; 2. Crossed roller bearing; 3. Main housing; 4. Gear ring; 5. Bearing pressure plate; 6. Motor stator; 7. Rotor support; 8. Middle cover; 10. Encoder; 11. Encoder rotor plate fixing component; 13. Cable cover; 14. Drive control board; 15. Planetary gear; 16. Needle roller bearing; 17. Planetary gear shaft; 19. Front cover; 20. Sun gear; 21. Snap ring; 22. Wear-resistant plate; 23. Flat key; 24. Wave spring washer; 25. Rear cover; 26. Motor rotor. Detailed Implementation

[0016] This application provides a single-stage deceleration planetary joint module, which solves the problems of low integration and poor precision in existing single-stage deceleration planetary joint modules, requiring a highly integrated, wear-resistant, and accurate detection module.

[0017] The technical solution in this application embodiment is to solve the above problems, and the overall idea is as follows: To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0018] Highly integrated transmission principle: The module adopts an integrated packaging structure of "main shell 3 + middle cover 8 + rear cover 25". The main shell 3 directly fixes the reducer and motor stator 6. The rotor bracket 7 synchronously connects the motor rotor 26 and the sun gear 20 of the reducer. The connection stability is enhanced by the flat key 23, reducing the assembly gap between components. After the motor starts, the power is directly transmitted to the sun gear 20 through the rotor bracket 7. The sun gear 20 meshes with the planet gears 15. The planet gears 15 rotate around the sun gear 20 and drive the gear ring 4 for transmission. The power reduction and torque amplification are achieved through the single-stage reduction structure, and finally transmitted to the robot actuator through the reducer output flange 1. The integrated design makes the transmission chain shorter, the response speed faster, avoids the connection errors of split assembly, and ensures positioning accuracy.

[0019] The precise detection principle of the dual encoder 10 on opposite sides: The stator plate of the encoder 10 and the drive control board 14 are installed on the middle cover 8. The high-speed rotor plate of the dual encoder 10 on opposite sides corresponds to the motor rotor 26, and the low-speed rotor plate is connected to the output end of the reducer through the encoder 10 rotor plate fixing component. It can simultaneously monitor the motion status of the high-speed end and the low-speed end in real time. During operation, the high-speed rotor plate collects the motor speed and position data, and the low-speed rotor plate synchronously collects the actual motion data of the reducer output end. The two sets of data are transmitted to the drive control board 14 for comparison and correction, accurately compensating for the small errors in the transmission process, realizing closed-loop control, ensuring the accurate positioning of the actuator, and meeting the high-precision requirements of electronic component assembly.

[0020] Buffering and cable fixing principle: The retaining ring 21 and the wave spring pad 24 between the rotor bracket 7 and the bearing form a buffering and limiting structure. When the motor runs at high speed, the wave spring pad 24 absorbs the axial impact force, and the retaining ring 21 restricts the displacement of the components, preventing the rotor bracket 7 from moving axially and ensuring smooth module operation. The cable is fixed to the main shell 3 through the cable cover 13, preventing the cable from falling off or being damaged due to vibration during robot operation, and ensuring stable signal and power transmission.

[0021] Multiple wear-resistant protection principles: During reducer operation, the needle roller bearing 16 built into the planetary gear 15 improves operational flexibility and reduces frictional loss between the planetary gear 15 shaft and the planetary gear 15; the wear-resistant plates 22 on the end face of the planetary gear 15 reduce contact friction with other components, and in conjunction with the meshing transmission of the sun gear 20 and the ring gear 4, significantly improve the wear resistance of the components. At the same time, the reducer uses a crossed roller bearing 2 as the main bearing, which is fixed to the main housing 3 by the bearing pressure plate 5, resulting in stronger load-bearing capacity and less wear under long-term high-frequency operation, thus avoiding a decrease in transmission efficiency and an increase in noise.

[0022] Scale-structure heat dissipation principle: The scale structure on the outer cylindrical surface of the module's main shell 3 increases the heat dissipation surface area. During high-frequency operation, the heat generated by the motor and reducer is quickly conducted to the external environment through the scales, preventing heat accumulation and thermal deformation of components. This excellent heat dissipation performance ensures that the module maintains stable transmission accuracy during long-term continuous operation, preventing increased positioning errors due to thermal deformation, thus adapting to continuous production needs.

[0023] Modular maintenance principle: When maintenance is required, the rear cover 25 and the middle cover 8 can be removed to directly contact core components such as the drive control board 14 and encoder 10 without disassembling the entire module. If the detection accuracy of encoder 10 decreases, encoder 10 can be replaced individually; if planetary gear 15 is worn, planetary gear 15 and wear-resistant plate 22 can be replaced by removing the front cover 19. Maintenance is convenient and does not affect the overall structural stability of the module.

[0024] Multi-scenario adaptation principle: The module can quickly interface with different types of robot actuators through the reducer output flange 1 without the need for additional adapter components. The drive control board 14 supports parameter adjustment and can optimize parameters such as motor speed and reduction ratio according to the operation requirements, adapting to different operation tasks in light-load and high-precision scenarios without the need to replace core components, thus providing high flexibility.

[0025] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0026] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A single-stage deceleration planetary joint module, characterized in that, The components include a main housing (3), a motor, a reducer, a middle cover (8), a rear cover (25), a rotor support (7), a first bearing (9), an encoder (10), a drive control board (14), cables, a cable cover (13), a snap ring (21), a wave spring pad (24), and a wear-resistant sheet (22). The motor includes a motor stator (6) and a motor rotor (26). The reducer includes a sun gear (20), a gear ring (4), planetary gears (15), a planetary gear shaft (17), and a needle roller bearing (16). The encoder (10) is a dual encoder on opposite sides, including a stator plate, a high-speed rotor plate, a low-speed rotor plate, and an encoder rotor plate fixing component (11). The main bearing of the reducer is a crossed roller bearing (2). The main housing (3) fixes the reducer and the motor stator (6). The outer cylindrical surface of the main housing (3) is provided with... It has a scale structure; the rotor support (7) is fixed to the motor rotor (26) and the sun gear (20) of the reducer. The rotor support (7) is connected to the reducer through double bearings. The snap ring (21) and the wave spring pad (24) are set between the rotor support (7) and the bearing; the middle cover (8) covers the end face of the main shell (3). The stator plate of the drive control board (14) and the encoder (10) is installed on the middle cover (8); the rear cover (25) covers the outside of the drive control board (14). The cable cover (13) cooperates with the main shell (3) to fix the cable; the planetary gear (15) has a built-in needle roller bearing (16) and is fitted on the planetary gear shaft (17). Wear-resistant plates (22) are arranged on the end face of the planetary gear (15). The sun gear (20) meshes with the planetary gear (15). The planetary gear (15) meshes with the gear ring (4).

2. The single-stage deceleration planetary joint module as described in claim 1, characterized in that, The reducer is a single-stage reduction structure with a speed ratio of 8, a sun gear (20) with 15 teeth, and a gear ring (4) with 105 teeth.

3. The single-stage deceleration planetary joint module as described in claim 1, characterized in that, It also includes a bearing pressure plate (5), a front cover (19) and a flat key (23). The bearing pressure plate (5) cooperates with the main housing (3) to fix the bearing. The front cover (19) covers the end of the reducer. The flat key (23) is set at the connection between the rotor support (7) and the sun gear (20).

4. The single-stage deceleration planetary joint module as described in claim 1, characterized in that, It also includes a reducer output flange (1), which is fixedly connected to the output end of the reducer.

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