Composite deceleration structure, joint power mechanism and robot

Abstract

The present invention relates to the technical field of robotic devices. Disclosed are a composite deceleration structure, a joint power mechanism and a robot. In the joint power mechanism of the composite deceleration structure provided in the present invention, a multi-stage deceleration structure formed by a first set of deceleration unit, a second set of deceleration unit, etc. is used, such that a large deceleration ratio can be achieved in a small structure space. In one stage of deceleration structure, a double-sided ring gear is used for meshing transmission, and the double-sided ring gear having tooth faces on both inner and outer sides is in eccentric motion on an inner ring gear to drive an outer gear ring to output power, such that the joint power mechanism has a simple and compact structure, and can achieve a large deceleration ratio with fewer parts as compared with a decelerator solution of other structures such as a planetary decelerator; and during the mutual meshing transmission process, this stage of deceleration structure is always in tooth face contact, with a large contact area and a large number of teeth that are in contact, such that the joint power mechanism is high in overload resistance, and is not prone to damage or failure due to load impact. Therefore, the mechanism has a simple and compact structure, and is not prone to damage or failure.

Description

Composite deceleration structure, joint power mechanism and robot Technical Field

[0001] The present invention relates to the technical field of robot equipment, and in particular to a composite deceleration structure, a joint power mechanism and a robot. Background Art

[0002] At present, the reducers used in robot joint units are mostly planetary reducers, harmonic reducers, etc. The reducers are large in size and complex in structure. They are not suitable as reducers for micro joint units. They also have poor impact resistance and are limited in their use occasions.

[0003] Chinese patent application number 202111228323.2 discloses a composite reducer joint power unit and a robotic arm using the same, including a fixed seat, a motor unit and a reducer unit arranged in the fixed seat, the reducer unit including an inner ring gear, a flexible outer ring gear arranged on the inner side of the inner ring gear, and a cam arranged on the inner side of the flexible outer ring gear. The flexible outer ring gear includes a meshing part, a flexible connection part that can generate deformation, and an output part in sequence. The meshing part meshes with the inner ring gear for transmission, and the number of teeth of the meshing part is less than the number of teeth of the inner ring gear; the cam abuts against the meshing part and rotates relative to the meshing part to drive the meshing part to roll on the inside of the inner ring gear; when the inner ring gear is fixed, the meshing part rolls on the inside of the inner ring gear, driving the output part to rotate through the flexible connection part. Technical issues

[0004] In the above technical solution, the reducer unit adopts a cam, an inner gear ring and a flexible outer gear ring to realize the reduction transmission, and the structural principle is relatively complex; at the same time, the flexible outer gear ring contains a flexible connection part that can generate deformation, which is prone to fatigue damage and failure during reciprocating deformation, and has poor impact resistance; and only adopts a two-stage reduction transmission, and the reduction ratio is relatively small.

[0005] The information disclosed in this Background Art is only for understanding the background of the present inventive concept and therefore it may include information that does not constitute prior art. Technical Solutions

[0006] In response to the above problem or one of the above problems, one purpose of the present invention is to provide a joint power mechanism with a compound deceleration structure, which adopts a multi-stage deceleration transmission, and the first-stage deceleration transmission is equipped with a double-sided gear ring between the inner gear ring and the outer gear ring to form a multi-layer meshing transmission structure with a high overall deceleration ratio and strong structural impact resistance.

[0007] In response to the above problem or one of the above problems, the second object of the present invention is to provide a universal humanoid robot, which has a joint power mechanism with a composite deceleration structure equipped at its joints, adopts a multi-stage deceleration transmission, and one of the first-stage deceleration transmissions has a double-sided gear ring arranged between the inner gear ring and the outer gear ring to form a multi-layer meshing transmission structure with a high overall deceleration ratio and strong structural impact resistance.

[0008] In response to the above problem or one of the above problems, the third object of the present invention is to provide a compound deceleration structure, setting a first group of deceleration units and a second group of deceleration units to form a multi-stage deceleration structure, so that a higher deceleration ratio can be obtained using a smaller structural space; and a double-sided gear ring is used for meshing transmission, and the double-sided gear ring performs eccentric movement on the inner gear ring to drive the outer gear ring or the inner gear ring to output. The structure is simple and compact, the overall deceleration ratio is high, and the structure has strong impact resistance.

[0009] To achieve one of the above purposes, the first technical solution of the present invention is:

[0010] A joint power mechanism with a composite reduction structure includes a motor unit, a first reduction unit and a second reduction unit that sequentially transmit power; the first reduction unit includes a cylindrical gear set and / or a bevel gear set; the second reduction unit includes a transmission shaft, a double-sided gear ring with tooth surfaces on both the inner and outer sides, an inner gear ring, and an outer gear ring.

[0011] The transmission shaft is provided with an eccentric wheel whose geometric center deviates from its rotation center;

[0012] The number of teeth on the outer side of the double-sided gear ring differs from the number of teeth on the inner side of the inner gear ring by 1 tooth, and the number of teeth on the inner side of the double-sided gear ring differs from the number of teeth on the outer side of the outer gear ring by 1 tooth;

[0013] The eccentric wheel can drive the double-sided gear ring to rotate eccentrically. The double-sided gear ring can be partially engaged with the inner gear ring and the outer gear ring respectively and can output power through the inner gear ring or the outer gear ring.

[0014] As preferred technical measures:

[0015] The first group of reduction units includes a first cylindrical gear and a second cylindrical gear that are meshed with each other and whose centers of rotation are parallel to each other, and a first bevel gear and a second bevel gear that are meshed with each other and whose centers of rotation are perpendicular to each other; the first cylindrical gear is coaxially fixedly connected to the output shaft of the motor unit, and the first bevel gear is coaxially fixedly connected to the second cylindrical gear; the second bevel gear is coaxially fixedly connected to the transmission shaft; the reduction unit adopts bevel gear transmission to achieve 90 degrees between the input and output ends. Different input and output angles are suitable for different occasions, making the adaptability of the joint power mechanism higher.

[0016] Alternatively, the first reduction unit includes first and second cylindrical gears that mesh with each other and have parallel rotation centers, and third and fourth cylindrical gears that mesh with each other and have parallel rotation centers; the first cylindrical gear is coaxially fixedly connected to the output shaft of the motor unit, the third cylindrical gear is coaxially fixedly connected to the second cylindrical gear, and the fourth cylindrical gear is coaxially fixedly connected to the transmission shaft. The reduction unit utilizes cylindrical gear transmission, with parallel input and output ends. Different input and output angles are suitable for different applications, making the joint power mechanism more adaptable.

[0017] Alternatively, the first reduction unit comprises at least two cylindrical gear sets, each cylindrical gear set being provided with at least two mutually meshing cylindrical gears, so as to improve the reduction ratio of the first reduction unit.

[0018] As preferred technical measures:

[0019] The double-sided gear ring is fixed to the eccentric wheel through a first bearing. A portion of the inner side surface of the double-sided gear ring is provided with a tooth surface meshing with the outer gear ring in the axial direction, and the other portion is provided with an assembly surface for fixing the first bearing.

[0020] As preferred technical measures:

[0021] The motor unit, the first group of reduction units and the second group of reduction units are all arranged in the base, the inner gear ring is directly fixed in the base, and the outer gear ring extends to the outside of the base to form an output part, and the outer gear ring serves as an output shaft after deceleration to output power;

[0022] Alternatively, the outer gear ring is fixed to the base, and the inner gear ring serves as an output shaft after deceleration to output power.

[0023] As preferred technical measures:

[0024] The outer gear ring is fixed in the base through the second bearing; one end of the transmission shaft is fixed in the base through the third bearing, and the other end is fixed inside the outer gear ring through the fourth bearing;

[0025] Or / and, the motor unit includes a motor, which is a coreless motor or a brushless motor; a rotary encoder is installed at the rotor end of the motor, and a motor drive circuit board is installed at the side of the motor.

[0026] To achieve one of the above purposes, the second technical solution of the present invention is:

[0027] A composite reduction gear structure includes a first reduction gear unit and a second reduction gear unit for connecting a motor unit; the first reduction gear unit is provided with a gear set capable of transmitting power from the motor unit; the second reduction gear unit includes a transmission shaft, a double-sided ring gear, an inner ring gear, and an outer ring gear;

[0028] One end of the transmission shaft is provided with an eccentric wheel, and the other end is connected to the gear set of the first reduction unit;

[0029] The gear set of the first reduction unit can drive the transmission shaft to rotate, so that the eccentric wheel on the transmission shaft can drive the double-sided ring gear to rotate eccentrically, so as to realize the double-sided ring gear meshing transmission with the inner ring gear and the outer ring gear respectively.

[0030] After continuous exploration and testing, the present invention sets a first group of reduction units and a second group of reduction units to form a multi-stage reduction structure, so that a higher reduction ratio can be obtained using a smaller structural space; and a double-sided gear ring is used for meshing transmission, and the double-sided gear ring performs eccentric motion on the inner gear ring to drive the outer gear ring or the inner gear ring to output, and the structure is simple and compact.

[0031] Furthermore, compared with other reducer schemes such as planetary reducers, the present invention requires fewer parts to obtain the same reduction ratio; and the multi-stage reduction structure of the present invention can perform eccentric movement, so that during the mutual meshing transmission process, it is mainly the tooth surfaces that contact, the tooth contact area is large, and the number of contacts is large, so its overload resistance is strong, and it is not easy to be damaged or fail due to load impact. Therefore, the structure of the present invention is simple and compact, and not easy to be damaged or fail.

[0032] As preferred technical measures:

[0033] The gear set is a cylindrical gear set and / or a bevel gear set;

[0034] Alternatively, the gear set includes a first cylindrical gear and a second cylindrical gear that are meshed with each other and whose rotation centers are parallel to each other, and a first bevel gear and a second bevel gear that are meshed with each other and whose rotation centers are perpendicular to each other; the first cylindrical gear is coaxially fixedly connected to the output shaft of the motor unit, the first bevel gear is coaxially fixedly connected to the second cylindrical gear; and the second bevel gear is coaxially fixedly connected to the transmission shaft;

[0035] Alternatively, the gear set includes a first cylindrical gear and a second cylindrical gear that are meshed with each other and whose rotation centers are parallel to each other, and a third cylindrical gear and a fourth cylindrical gear that are meshed with each other and whose rotation centers are parallel to each other; the first cylindrical gear is coaxially fixedly connected to the output shaft of the motor unit, the third cylindrical gear is coaxially fixedly connected to the second cylindrical gear; and the fourth cylindrical gear is coaxially fixedly connected to the transmission shaft;

[0036] Or / and, the transmission shaft is a rod-shaped structure, a strip-shaped structure, or a variable-diameter structure;

[0037] Or / and, tooth surfaces are provided on both inner and outer sides of the double-sided gear ring.

[0038] To achieve one of the above purposes, the third technical solution of the present invention is:

[0039] A joint power mechanism with a composite reduction structure includes a motor unit having a rotor end, a first reduction unit assembled with the rotor end, and a second reduction unit assembled with the first reduction unit; the first reduction unit is provided with a gear set; the second reduction unit includes a transmission shaft, a double-sided gear ring with tooth surfaces on both the inner and outer sides, an inner gear ring, and an outer gear ring;

[0040] The first reduction unit is provided with a gear set;

[0041] The second reduction unit includes a transmission shaft, a double-sided ring gear, an inner ring gear and an outer ring gear.

[0042] One end of the transmission shaft is provided with an eccentric wheel, and the other end is connected to the gear set of the first reduction unit;

[0043] The gear set of the first reduction unit can drive the transmission shaft to rotate, so that the eccentric wheel on the transmission shaft can drive the double-sided ring gear to rotate eccentrically, so as to realize the double-sided ring gear outputting power with the inner ring gear and the outer ring gear or the outer ring gear respectively.

[0044] After continuous exploration and testing, the present invention sets a first group of reduction units and a second group of reduction units to form a multi-stage reduction structure, so that a higher reduction ratio can be obtained using a smaller structural space; and a double-sided gear ring is used for meshing transmission, and the double-sided gear ring performs eccentric motion on the inner gear ring to drive the outer gear ring or the inner gear ring to output, and the structure is simple and compact.

[0045] Furthermore, compared with other reducer schemes such as planetary reducers, the present invention requires fewer parts to obtain the same reduction ratio; and the multi-stage reduction structure of the present invention can perform eccentric movement, so that during the mutual meshing transmission process, it is mainly the tooth surfaces that contact, the tooth contact area is large, and the number of contacts is large, so its overload resistance is strong, and it is not easy to be damaged or fail due to load impact. Therefore, the structure of the present invention is simple and compact, and not easy to be damaged or fail.

[0046] As preferred technical measures:

[0047] The gear set is arranged vertically so that the force of the motor unit is transmitted vertically;

[0048] The transmission shaft is arranged transversely, and its extension direction is parallel to the extension direction of the rotor end, forming an n-type power transmission structure, further reducing the assembly space required for the joint power mechanism, and making the structure of the joint power mechanism more compact.

[0049] Or / and, the motor unit, the first group of reduction units and the second group of reduction units are all arranged in the base; the base is provided with a first through hole for assembling the motor unit and a second through hole for outputting power; the first through hole and the second through hole are in the same plane, so that the input and output vertical projections of the joint power mechanism coincide with each other, forming a U-shaped rebound reduction structure, further reducing the assembly space required for the joint power mechanism, and making the structure of the joint power mechanism more compact.

[0050] To achieve one of the above purposes, the fourth technical solution of the present invention is:

[0051] A robot is a general humanoid robot or a quadruped robot, which includes a joint power mechanism of the above-mentioned composite deceleration structure, or the above-mentioned composite deceleration structure. Beneficial effects

[0052] After continuous exploration and testing, the present invention sets a first group of reduction units and a second group of reduction units to form a multi-stage reduction structure, so that a higher reduction ratio can be obtained using a smaller structural space; and a double-sided gear ring is used for meshing transmission, and the double-sided gear ring performs eccentric motion on the inner gear ring to drive the outer gear ring or the inner gear ring to output, and the structure is simple and compact.

[0053] Furthermore, compared with other reducer schemes such as planetary reducers, the present invention requires fewer parts to obtain the same reduction ratio; and the multi-stage reduction structure of the present invention can perform eccentric movement, so that during the mutual meshing transmission process, it is mainly the tooth surfaces that contact, the tooth contact area is large, and the number of contacts is large, so its overload resistance is strong, and it is not easy to be damaged or fail due to load impact. Therefore, the structure of the present invention is simple and compact, and not easy to be damaged or fail.

[0054] Furthermore, the present invention provides a joint power mechanism and a robot with a composite deceleration structure, which adopts a multi-stage deceleration structure such as a first group of deceleration units and a second group of deceleration units, so that a higher deceleration ratio can be obtained using a smaller structural space; in one of the first-stage deceleration structures, a double-sided gear ring is used for meshing transmission, and the double-sided gear ring with tooth surfaces on both the inner and outer sides performs eccentric motion on the inner gear ring to drive the output of the outer gear ring. The structure is simple and compact, and compared with the reducer schemes with other structures such as planetary reducers, a large deceleration ratio can be obtained by using fewer parts; and because the tooth surfaces of this stage of deceleration structure are always in contact during the mutual meshing transmission process, the contact area of ​​the teeth is large and the number of contacts is large, so its overload resistance is strong, and it is not easy to be damaged or fail due to load impact. Therefore, the structure is simple and compact, and not easy to be damaged or fail. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] FIG1 is a schematic diagram of the overall structure of a joint power mechanism of a composite deceleration structure of the present invention;

[0056] FIG2 is a full cross-sectional schematic diagram of a joint power mechanism of the composite deceleration structure of the present invention;

[0057] FIG3 is an exploded view of the joint power mechanism of the composite deceleration structure of the present invention;

[0058] FIG4 is another overall structural diagram of the joint power mechanism of the composite deceleration structure of the present invention;

[0059] FIG5 is another full cross-sectional schematic diagram of the joint power mechanism of the composite deceleration structure of the present invention;

[0060] FIG6 is another exploded view of the joint power mechanism of the composite deceleration structure of the present invention.

[0061] In the figure: 1. Motor unit; 21. First cylindrical gear; 22. Second cylindrical gear; 31. Transmission shaft; 32. Double-sided ring gear; 321. Tooth surface; 322. Assembly surface; 33. Inner ring gear; 34. Outer ring gear; 35. Eccentric wheel; 41. First bevel gear; 42. Second bevel gear; 51. Third cylindrical gear; 52. Fourth cylindrical gear; 61. First bearing; 62. Second bearing; 63. Third bearing; 64. Fourth bearing; 7. Base; 8. Output unit. Modes for Carrying Out the Invention

[0062] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0063] On the contrary, the present invention covers any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention as defined by the claims. Furthermore, to facilitate a better understanding of the present invention, certain specific details are described in detail below in the detailed description of the present invention. Those skilled in the art will be able to fully understand the present invention without these details.

[0064] It should be noted that when two elements are referred to as being "fixedly coupled" or "rotatably coupled," the two elements may be directly coupled or may have an intervening element. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements. The terms "inner," "outer," "lateral," "vertical," "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used herein, the term "or / and" includes any and all combinations of one or more of the associated listed items.

[0066] A specific embodiment of the composite deceleration structure of the present invention:

[0067] A composite reduction structure includes a first reduction unit and a second reduction unit for connecting a motor unit; the first reduction unit is provided with a gear set capable of transmitting power to the motor unit;

[0068] The second reduction unit includes a transmission shaft, a double-sided ring gear, an inner ring gear and an outer ring gear.

[0069] One end of the transmission shaft is provided with an eccentric wheel, and the other end is connected to the gear set of the first reduction unit;

[0070] The gear set of the first reduction unit can drive the transmission shaft to rotate, so that the eccentric wheel on the transmission shaft can drive the double-sided gear ring to rotate eccentrically, so as to realize the double-sided gear ring meshing with the inner gear ring and the outer gear ring respectively.

[0071] The gear set of the first reduction unit can drive the transmission shaft to rotate, so that the eccentric wheel on the transmission shaft can drive the double-sided ring gear to rotate eccentrically, so as to realize the double-sided ring gear meshing transmission with the inner ring gear and the outer ring gear respectively.

[0072] As shown in Figures 1, 2, 3, 4, 5 and 6, the first specific embodiment of the joint power mechanism of the composite deceleration structure of the present invention is:

[0073] A joint power mechanism with a composite deceleration structure includes a motor unit 1 having a rotor end, a first group of deceleration units assembled with the rotor end, and a second group of deceleration units assembled with the first group of deceleration units;

[0074] The first reduction unit is provided with a gear set;

[0075] The second reduction unit includes a transmission shaft 31, a double-sided gear ring 32 with tooth surfaces 321 on both the inner and outer sides, an inner gear ring 33 and an outer gear ring 34.

[0076] The first reduction unit is provided with a gear set;

[0077] The second reduction unit includes a transmission shaft 31, a double-sided ring gear 32, an inner ring gear 33 and an outer ring gear 34.

[0078] One end of the transmission shaft 31 is provided with an eccentric wheel 35, and the other end is connected to the gear set of the first reduction unit;

[0079] The gear set of the first reduction unit can drive the transmission shaft 31 to rotate, so that the eccentric wheel 35 on the transmission shaft 31 can drive the double-sided ring gear 32 to rotate eccentrically, so as to realize the double-sided ring gear 32 outputting power to the inner ring gear 33 and the outer ring gear 34 or the outer ring gear 34 respectively.

[0080] The second specific embodiment of the joint power mechanism of the composite deceleration structure of the present invention:

[0081] A joint power mechanism with a composite reduction structure comprises a motor unit 1, a first reduction unit and a second reduction unit for sequentially transmitting power; the first reduction unit comprises a cylindrical gear set and / or a bevel gear set;

[0082] The second reduction unit includes a transmission shaft 31, a double-sided ring gear 32 with tooth surfaces 321 on both the inner and outer sides, an inner ring gear 33 and an outer ring gear 34. The transmission shaft 31 is provided with an eccentric wheel 35 whose geometric center deviates from its rotation center; the number of teeth on the outer side of the double-sided ring gear 32 differs from the number of teeth on the inner side of the inner ring gear 33 by 1 tooth, and the number of teeth on the inner side of the double-sided ring gear 32 differs from the number of teeth on the outer side of the outer ring gear 34 by 1 tooth; the eccentric wheel 35 drives the double-sided ring gear 32 to rotate eccentrically, and the double-sided ring gear 32 is always partially engaged with the inner ring gear 33 and the outer ring gear 34 respectively, and outputs power through the outer ring gear 34.

[0083] As shown in FIG1, FIG2, and FIG3, a third specific embodiment of the joint power mechanism of the composite deceleration structure of the present invention is:

[0084] A joint power mechanism with a composite deceleration structure comprises a motor unit 1, a first group of deceleration units and a second group of deceleration units that sequentially transmit power.

[0085] The first reduction unit includes a first cylindrical gear 21 and a second cylindrical gear 22 that mesh with each other and have parallel rotation centers, and a first bevel gear 41 and a second bevel gear 42 that mesh with each other and have perpendicular rotation centers. The first cylindrical gear 21 is coaxially fixedly connected to the output shaft of the motor unit 1, and the first bevel gear 41 is coaxially fixedly connected to the second cylindrical gear 22. The second bevel gear 42 is coaxially fixedly connected to the transmission shaft 31. The reduction unit uses bevel gear transmission to achieve a 90-degree angle between the input and output ends. Different input and output angles are suitable for different occasions, making the joint power mechanism more adaptable.

[0086] As shown in FIG4, FIG5, and FIG6, a fourth specific embodiment of the joint power mechanism of the composite deceleration structure of the present invention is as follows:

[0087] A joint power mechanism with a composite deceleration structure comprises a motor unit 1, a first group of deceleration units and a second group of deceleration units that sequentially transmit power.

[0088] The first reduction unit includes a first cylindrical gear 21 and a second cylindrical gear 22 that mesh with each other and have parallel rotation centers, and a third cylindrical gear 51 and a fourth cylindrical gear 52 that mesh with each other and have parallel rotation centers. The first cylindrical gear 21 is coaxially fixedly connected to the output shaft of the motor unit 1, the third cylindrical gear 51 is coaxially fixedly connected to the second cylindrical gear 22, and the fourth cylindrical gear 52 is coaxially fixedly connected to the transmission shaft 31. The reduction unit uses cylindrical gear transmission, with parallel input and output ends. Different input and output angles are suitable for different occasions, making the joint power mechanism more adaptable.

[0089] A specific embodiment of the double-sided ring gear 32 of the present invention:

[0090] The double-sided gear ring 32 is fixed to the eccentric wheel 35 via a first bearing 61 . A portion of the inner side surface of the double-sided gear ring 32 is provided with a tooth surface 321 meshing with the outer gear ring 34 axially, and another portion is provided with an assembly surface 322 for fixing the first bearing 61 .

[0091] A specific embodiment of the present invention in which a base 7 is added:

[0092] The motor unit 1, the first group of reduction units and the second group of reduction units are all arranged in the base 7, the inner ring gear 33 is directly fixed in the base 7, and the outer ring gear 34 extends to the outside of the base 7 to form the output part 8; the outer ring gear 34 serves as the output shaft after deceleration to output power.

[0093] Alternatively, the outer ring gear 34 is fixed to the base 7, and the inner ring gear 33 serves as an output shaft to output power after deceleration.

[0094] The outer gear ring 34 is fixed in the base 7 via a second bearing 62 ; one end of the transmission shaft 31 is fixed in the base 7 via a third bearing 63 , and the other end is fixed inside the outer gear ring 34 via a fourth bearing 64 .

[0095] A specific embodiment of the motor unit 1 of the present invention:

[0096] The motor unit 1 includes a motor, which is a coreless motor or a brushless motor; a rotary encoder is installed at the rotor end of the motor, and a motor drive circuit board is installed at the side of the motor.

[0097] A specific embodiment of a universal humanoid robot using the present invention:

[0098] A universal humanoid robot comprises a joint power mechanism with the above-mentioned composite deceleration structure.

[0099] A specific embodiment of the quadruped robot using the present invention:

[0100] A quadruped robot comprises a joint power mechanism with the above-mentioned composite deceleration structure.

[0101] In the present application, the fixed connection method can be screw connection, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0102] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A joint power mechanism with a composite deceleration structure, characterized in that: The invention comprises a motor unit (1), a first group of reduction units and a second group of reduction units for sequentially transmitting power; the first group of reduction units comprises a cylindrical gear set and / or a bevel gear set; the second group of reduction units comprises a transmission shaft (31), a double-sided gear ring (32) with tooth surfaces on both inner and outer sides, an inner gear ring (33) and an outer gear ring (34), The transmission shaft (31) is provided with an eccentric wheel (35) whose geometric center deviates from its rotation center; The number of teeth on the outer side of the double-sided gear ring (32) differs from the number of teeth on the inner side of the inner gear ring (33) by one tooth, and the number of teeth on the inner side of the double-sided gear ring (32) differs from the number of teeth on the outer side of the outer gear ring (34) by one tooth; The eccentric wheel (35) can drive the double-sided gear ring (32) to rotate eccentrically, and the double-sided gear ring (32) can always be partially meshed with the inner gear ring (33) and the outer gear ring (34) for transmission, and can output power through the inner gear ring (33) or the outer gear ring (34).

2. A joint power mechanism of a composite deceleration structure as claimed in claim 1, characterized in that: The first reduction unit group comprises a first cylindrical gear (21) and a second cylindrical gear (22) which are meshed with each other and whose rotation centers are parallel to each other, and a first bevel gear (41) and a second bevel gear (42) which are meshed with each other and whose rotation centers are perpendicular to each other; the first cylindrical gear (21) is coaxially fixedly connected to the output shaft of the motor unit (1), and the first bevel gear (41) is coaxially fixedly connected to the second cylindrical gear (22); and the second bevel gear (42) is coaxially fixedly connected to the transmission shaft (31); Alternatively, the first group of reduction units comprises a first cylindrical gear (21) and a second cylindrical gear (22) which are meshed with each other and whose rotation centers are parallel to each other, and a third cylindrical gear (51) and a fourth cylindrical gear (52) which are meshed with each other and whose rotation centers are parallel to each other; the first cylindrical gear (21) is coaxially fixedly connected to the output shaft of the motor unit (1), the third cylindrical gear (51) is coaxially fixedly connected to the second cylindrical gear (22); and the fourth cylindrical gear (52) is coaxially fixedly connected to the transmission shaft (31); Alternatively, the first reduction unit comprises at least two cylindrical gear sets, and each cylindrical gear set is provided with at least two cylindrical gears meshing with each other.

3. A joint power mechanism of a composite deceleration structure as claimed in claim 2, characterized in that: The double-sided gear ring (32) is fixed to the eccentric wheel (35) via a first bearing (61); a portion of the inner side surface of the double-sided gear ring (32) is provided with a tooth surface (321) meshing with the outer gear ring (34) in an axial direction, and another portion is provided with an assembly surface (322) for fixing the first bearing (61).

4. A joint power mechanism of a composite deceleration structure as claimed in claim 3, characterized in that: The motor unit (1), the first group of reduction units and the second group of reduction units are all arranged in a base (7); the inner gear ring (33) is directly fixed in the base (7); the outer gear ring (34) extends outside the base (7) to form an output portion (8); and the outer gear ring (34) serves as an output shaft after reduction to output power; Alternatively, the outer gear ring (34) is fixed to the base (7), and the inner gear ring (33) serves as an output shaft to output power after deceleration.

5. A joint power mechanism of a composite deceleration structure as claimed in claim 4, characterized in that: The outer gear ring (34) is fixed in the base (7) via a second bearing (62); one end of the transmission shaft (31) is fixed in the base (7) via a third bearing (63), and the other end is fixed in the outer gear ring (34) via a fourth bearing (64); Or / and, the motor unit (1) comprises a motor, the motor is a coreless motor or a brushless motor; a rotary encoder is mounted on the rotor end of the motor, and a motor drive circuit board is mounted on the side of the motor.

6. A composite deceleration structure, characterized in that: It comprises a first group of reduction units and a second group of reduction units for connecting the motor unit (1); The first reduction unit is provided with a gear set capable of transmitting power from the motor unit (1); The second reduction unit comprises a transmission shaft (31), a double-sided ring gear (32), an inner ring gear (33) and an outer ring gear (34); An eccentric wheel (35) is provided at one end of the transmission shaft (31), and the other end is connected to the gear set of the first reduction unit; The gear set of the first reduction unit can drive the transmission shaft (31) to rotate, so that the eccentric wheel (35) on the transmission shaft (31) can drive the double-sided gear ring (32) to rotate eccentrically, so as to achieve meshing transmission between the double-sided gear ring (32) and the inner gear ring (33) and the outer gear ring (34), respectively.

7. A composite deceleration structure according to claim 6, characterized in that: The gear set is a cylindrical gear set and / or a bevel gear set; Alternatively, the gear set comprises a first cylindrical gear (21) and a second cylindrical gear (22) which are meshed with each other and whose rotation centers are parallel to each other, and a first bevel gear (41) and a second bevel gear (42) which are meshed with each other and whose rotation centers are perpendicular to each other; the first cylindrical gear (21) is coaxially fixedly connected to the output shaft of the motor unit (1), the first bevel gear (41) is coaxially fixedly connected to the second cylindrical gear (22); and the second bevel gear (42) is coaxially fixedly connected to the transmission shaft (31); Alternatively, the gear set comprises a first cylindrical gear (21) and a second cylindrical gear (22) which mesh with each other and whose rotation centers are parallel to each other, and a third cylindrical gear (51) and a fourth cylindrical gear (52) which mesh with each other and whose rotation centers are parallel to each other; the first cylindrical gear (21) is coaxially fixedly connected to the output shaft of the motor unit (1), the third cylindrical gear (51) is coaxially fixedly connected to the second cylindrical gear (22); and the fourth cylindrical gear (52) is coaxially fixedly connected to the transmission shaft (31); Or / and, the transmission shaft (31) is a rod-shaped structure, a strip-shaped structure, or a variable diameter structure; Or / and, tooth surfaces (321) are provided on both inner and outer sides of the double-sided gear ring (32).

8. A joint power mechanism with a composite deceleration structure, characterized in that: The invention comprises a motor unit (1) having a rotor end, a first group of reduction units assembled with the rotor end, and a second group of reduction units assembled with the first group of reduction units; The first reduction unit is provided with a gear set; The second reduction unit comprises a transmission shaft (31), a double-sided gear ring (32) having tooth surfaces (321) on both inner and outer sides, an inner gear ring (33) and an outer gear ring (34). The first reduction unit is provided with a gear set; The second reduction unit comprises a transmission shaft (31), a double-sided ring gear (32), an inner ring gear (33) and an outer ring gear (34); An eccentric wheel (35) is provided at one end of the transmission shaft (31), and the other end is connected to the gear set of the first reduction unit; The gear set of the first reduction unit can drive the transmission shaft (31) to rotate, so that the eccentric wheel (35) on the transmission shaft (31) can drive the double-sided gear ring (32) to rotate eccentrically, so that the double-sided gear ring (32) can output power to the inner gear ring (33) and the outer gear ring (34) or the outer gear ring (34) respectively.

9. A joint power mechanism of a composite deceleration structure as claimed in claim 8, characterized in that: The gear set is arranged vertically so that the force of the motor unit (1) is transmitted vertically; The transmission shaft (31) is arranged transversely, and its extension direction is parallel to the extension direction of the rotor end, forming an n-type power transmission structure; Or / and, the motor unit (1), the first group of reduction units and the second group of reduction units are all arranged in a base (7); the base (7) is provided with a first through hole for assembling the motor unit (1) and a second through hole for outputting power; the first through hole and the second through hole are located in the same plane, so that the input and output vertical projections of the joint power mechanism overlap, forming a U-shaped recoil reduction structure.

10. A robot, characterized in that: The robot is a general humanoid robot or a quadruped robot, which includes a joint power mechanism of a composite deceleration structure as described in any one of claims 1-5, or a composite deceleration structure as described in any one of claims 6-7, or a joint power mechanism of a composite deceleration structure as described in any one of claims 8-9.

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