Speed-increasing or speed-reducing transmission mechanism and joint module using same

Abstract

This case discloses a joint module, including a housing, a motor, a first-stage reducer, a drive shaft, and a second-stage reducer. The motor is connected to the rear end of the housing via a first bearing. The first-stage reducer is disposed within an accommodating space and includes a first transmission component that meshes with a first linkage component on the motor shaft, the first transmission component being driven to rotate by the motor shaft. The first-stage reducer is connected to the motor shaft via a second bearing and to the front end of the housing via a third bearing. The drive shaft connects to the first-stage reducer, passes through the front end of the housing, and forms a second linkage component, rotating the second linkage component through the meshing action of the motor shaft and the first transmission component. The second-stage reducer is sleeved outside the drive shaft, and the output disc rotates through the meshing action of the second transmission component and an outer ring via the second linkage component, providing output.

Claims

1. A joint module, comprising: a housing including a front end, a rear end, and an accommodating space, wherein the front end and the rear end are disposed along an axial direction, and the accommodating space is located between the front end and the rear end; a motor connected to the rear end of the housing via a first bearing, and including a motor shaft disposed along the axial direction within the accommodating space; a first-stage reducer disposed within the accommodating space, and including a first transmission component coupled to a first linkage component of the motor shaft, the first transmission component being driven to rotate by the motor shaft, wherein the first-stage reducer is connected to the motor shaft via a second bearing and connected to the front end of the housing via a third bearing; A drive shaft is connected to the first-stage reducer, passes through the front end of the housing and forms a second linkage component, and drives the second linkage component through the interaction of the motor shaft and the first drive component; and a second-stage reducer is sleeved outside the drive shaft and includes an outer ring, an output disc and a second drive component, wherein the second drive component and the output disc are housed within the outer ring, and the output disc provides output by driving the second drive component and the outer ring through the interaction of the second linkage component.

2. The joint module as claimed in claim 1, wherein the housing includes a rear end cover located at the rear end, the rear end cover including a rear end opening, a rear end of the motor shaft passing through the rear end opening, and the rear end of the motor shaft, the first bearing, and the rear end opening being sequentially fitted from the inside to the outside along a radial direction.

3. The joint module as claimed in claim 2, wherein the rear end cover includes a receiving groove that communicates with the receiving space through the rear end opening, and the joint module further includes an encoder assembly housed in the receiving groove, which is spatially relative to the rear end of the motor shaft to measure the rotational speed of the motor shaft.

4. The joint module as claimed in claim 3, wherein the encoder assembly includes an encoder, an encoder read head and an encoder mount, wherein the encoder is connected to the rear end of the motor shaft, the encoder read head is fixed to the encoder mount, and together they are spatially relative to the encoder to measure the rotational speed of the motor shaft.

5. The joint module as claimed in claim 1, wherein the first-stage reducer includes an internal gear portion sleeved radially around the first transmission component, and the first transmission component meshes with the internal gear portion, wherein the internal gear portion is accommodated in the accommodating space and fixed to the front end of the housing.

6. The joint module as claimed in claim 1, wherein the housing includes a front opening located at the front end, the drive shaft passing through the front opening, and a rear end of the drive shaft, the third bearing, and the front opening are sequentially sleeved from the inside to the outside along a radial direction.

7. The joint module as claimed in claim 1, wherein a rear end of the drive shaft is axially connected to the first drive component and rotates by the meshing action of the motor shaft and the first drive component.

8. The joint module as claimed in claim 1, wherein the second-stage reducer includes a crossed roller bearing disposed between the outer ring and the output disc.

9. The joint module as claimed in claim 1, wherein the output disk includes a port disposed along the axial direction and spatially opposite a front end of the drive shaft, wherein the second-stage reducer includes a fourth bearing, and the front end of the drive shaft, the fourth bearing, and the port are sequentially fitted from the inside to the outside along a radial direction.

10. The joint module as claimed in claim 1, wherein the output disk includes an output planetary carrier housed within the outer ring, the second transmission member is pivotally disposed on the output planetary carrier, and the second transmission member engages with an inner ring tooth portion of the outer ring.

11. The joint module as claimed in claim 1, wherein the outer ring of the second-stage reducer is locked to the front end of the housing along the axial direction, and the second linkage component, the second transmission component, and the outer ring are sequentially sleeved from the inside to the outside along a radial direction.

12. A speed-increasing or speed-reducing transmission mechanism, comprising: a housing, including a front end, a rear end, and a receiving space, wherein the front end and the rear end are disposed along an axial direction, and the receiving space is located between the front end and the rear end; a motor connected to the rear end of the housing via a first bearing, and including a motor shaft disposed along the axial direction within the receiving space; a first-stage speed-increasing or speed-reducing mechanism disposed within the receiving space, and including a first transmission component coupled to the motor shaft, the first transmission component being driven to rotate by the motor shaft, wherein the first-stage speed-increasing or speed-reducing mechanism is connected to the motor shaft via a second bearing and connected to the front end of the housing via a third bearing; and a transmission shaft connected to the first-stage speed-increasing or speed-reducing mechanism.

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