Bearing reducer and robot
By setting bearings on both sides of the reducer's fixed component and fixing the output component on the outside, the problems of miniaturization and insufficient strength of the reducer in the prior art are solved, and the flattening and rigidity improvement of the reducer are realized.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- NANJING ENCOS INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-12-19
- Publication Date
- 2026-06-25
AI Technical Summary
Existing reducers struggle to simultaneously achieve both small axial dimensions and sufficient structural strength in miniaturized or micro-sized designs. In particular, existing solutions occupy space when the output component is fixedly connected inside the reducer, hindering further miniaturization.
Bearings are installed on both sides of the fixed component of the reducer, and the output component is rotatably connected to the bearings. The output component is fixedly connected to the outside of the fixed component, forming a flat design and reducing the internal space occupied.
It achieves miniaturization and sufficient rigidity of the reducer while maintaining its flat shape, thus solving the structural strength requirements of small or micro reducers.
Smart Images
Figure CN2025143741_25062026_PF_FP_ABST
Abstract
Description
A bearing reducer and robot Technical Field
[0001] This utility model relates to the field of robot reducers, and in particular to a bearing reducer and a robot. Background Technology
[0002] There are two schemes for connecting the output and fixed parts of existing harmonic reducers, planetary reducers, and cycloidal reducers. Scheme 1 is that the output part is constrained to one side of the reducer by one or more bearings, and the input shaft is on the other side of the reducer. Power is transmitted to the output part through a reduction gear, as shown in Figure 8. Scheme 2 is that bearings are set on both sides of the reducer, the output part consists of two components and is fixed inside the reducer by bolts, and the input shaft is on one side of the reducer. Power is transmitted to the output part through a reduction gear, as shown in Figure 9. In both schemes, the output part has one degree of freedom in the circumferential direction relative to the fixed part, but no axial degree of freedom.
[0003] When miniaturizing a speed reducer, the axial dimension must be as short as possible while maintaining sufficient structural strength. Existing solution one is difficult to maintain sufficient structural rigidity and axial freedom with a single thin bearing, requiring multiple bearings, which increases the overall axial dimension of the speed reducer. Existing solution two is difficult to fix the output component inside the speed reducer because when the speed reducer is too small, there is not enough space for bolts, and it cannot be used in two-stage or multi-stage planetary speed reducers. Therefore, these two solutions cannot simultaneously meet the requirements of small axial dimension and sufficient structural strength in small or micro speed reducer structures. In particular, existing solution two can only be used in single-stage planetary speed reducers and single-stage cycloidal speed reducers, and it occupies a lot of internal space in the speed reducer, making it impossible to achieve further miniaturization of the speed reducer. Utility Model Content
[0004] The purpose of this invention is to provide a bearing reducer that changes the existing reducer structure design to solve the problem of small or micro reducers needing to be flat and have sufficient strength; at the same time, it discloses a robot using the bearing reducer.
[0005] The technical solution adopted in this utility model is as follows:
[0006] A bearing reducer includes a reduction mechanism and an output component. Bearings are respectively provided on both sides of the fixed component of the reduction mechanism. The output component includes a first output component and a second output component, which are respectively located on both sides of the reduction mechanism and rotatably connected to the fixed component of the reduction mechanism through the bearings. The first output component and / or the second output component are also connected to the power output component of the reduction mechanism. The first output component and / or the second output component are provided with holes for the power input component of the reduction mechanism to pass through. The first output component and the second output component are fixedly connected to the outside of the fixed component of the reduction mechanism.
[0007] As a preferred embodiment of this invention, the reduction mechanism is a planetary reducer, the fixed component of the planetary reducer is a gear ring, the power output component of the planetary reducer is a planetary gear, and the power input component of the planetary reducer is an input shaft. The input shaft passes through a first output component or a second output component and meshes with the planetary gear. There are multiple planetary gears, and the planetary gears mesh with the gear ring. The first output component and the second output component respectively serve as planet carriers of the planetary reducer and are connected to the planetary gears of the planetary reducer. The first output component and the second output component are fixedly connected to the outside of the gear ring of the planetary reducer.
[0008] As a preferred embodiment of this invention, the reduction mechanism is a harmonic reducer, the fixed component of the harmonic reducer is a rigid wheel, the power output component of the harmonic reducer is a flexible wheel, and the power input component of the harmonic reducer is a wave generator. The shaft of the wave generator passes through a first output component or a second output component. The wave generator is used to drive the radial deformation of the open end of the flexible wheel. Some teeth on the flexible wheel mesh with the rigid wheel. The first output component or the second output component is connected to the flexible wheel of the harmonic reducer. The first output component and the second output component are fixedly connected to the outside of the rigid wheel of the harmonic reducer.
[0009] As a preferred embodiment of this invention, the reduction mechanism is a cycloidal reducer, the fixed component of the cycloidal reducer is a cycloidal pinwheel, the power output component of the cycloidal reducer is an output pin, and the power input component of the cycloidal reducer is an eccentric shaft. The eccentric shaft passes through a first output component or a second output component, and the eccentric shaft drives the output pin to move through a needle roller bearing and a cycloidal wheel. The first output component and the second output component are respectively connected to the output pin of the cycloidal reducer. The first output component and the second output component are fixedly connected to the outside of the cycloidal pinwheel of the cycloidal reducer.
[0010] As a preferred embodiment of this invention, the inner or outer ring of the bearing is an integral structure with the output component or the fixed component of the reduction mechanism.
[0011] As a preferred embodiment of this utility model, the first output component and the second output component are fixedly connected by any one of bolt connection, welding connection, or adhesive bonding.
[0012] A robot comprising the bearing reducer described above.
[0013] The advantages of this utility model are:
[0014] This invention changes the structure of existing reducers. When the two output components are connected, they do not occupy the internal space of the reducer, which enables the reducer to be further miniaturized. While maintaining sufficient rigidity, the reducer has the characteristics of flatness and short axial distance, thus solving the problem of the need for flatness and sufficient strength in small or micro reducers. Attached Figure Description
[0015] Figure 1 is an exploded structural diagram of Embodiment 1 of this utility model;
[0016] Figure 2 is a top view of the assembled embodiment of the present invention;
[0017] Figure 3 is a schematic cross-sectional view of the assembled embodiment of the present invention;
[0018] Figure 4 is a schematic diagram of the exploded structure of Embodiment 2 of this utility model;
[0019] Figure 5 is a schematic cross-sectional view of the assembled embodiment 2 of this utility model;
[0020] Figure 6 is an exploded structural diagram of Embodiment 3 of this utility model;
[0021] Figure 7 is a schematic cross-sectional view of the assembled embodiment of the present invention.
[0022] Figure 8 is a cross-sectional schematic diagram of the prior art solution 1;
[0023] Figure 9 is a cross-sectional schematic diagram of the prior art solution 2.
[0024] Meaning of the reference numerals in the diagram:
[0025] 1-First output component, 2-Second output component, 3-Bearing;
[0026] 11-Ring gear, 12-Planet gear, 13-Input shaft;
[0027] 21- Rigid wheel, 22- Flexible wheel, 23- Wave generator;
[0028] 31-Cycloidal pinwheel, 32-Output pin, 33-Eccentric shaft, 34-Needle roller bearing, 35-Cycloidal wheel. Detailed Implementation
[0029] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Example 1
[0030] As shown in Figures 1-3, this embodiment is a bearing reducer, including a reduction mechanism and an output component. Bearings 3 are respectively arranged on both sides of the fixed component of the reduction mechanism. The output component includes a first output component 1 and a second output component 2. The first output component 1 and the second output component 2 are respectively located on both sides of the reduction mechanism and are rotatably connected to the fixed component of the reduction mechanism through the bearings 3. The first output component 1 and the second output component 2 are also respectively connected to the power output component of the reduction mechanism. Both the first output component 1 and the second output component 2 are provided with holes for the power input component of the reduction mechanism to pass through. Of course, in actual applications, holes for the power input component of the reduction mechanism to pass through can be provided only in the first output component 1 or only in the second output component 2. The first output component 1 and the second output component 2 are fixedly connected to the outside of the fixed component of the reduction mechanism by welding. In actual applications, bolt connection or glue bonding can also be used; or the first output component 1 and the second output component 2 can be fixed to an external part at the same time.
[0031] In this embodiment, the inner rings of the two bearings 3 are integrally integrated with the first output component 1 and the second output component 2, respectively, and the outer ring of the bearing 3 is integrally integrated with the deceleration mechanism fixing component. Of course, depending on the actual situation, the inner ring of the bearing 3 and the deceleration mechanism fixing component, and the outer ring of the bearing 3 and the output component can also be designed as integrally integrated.
[0032] The reduction mechanism in this embodiment is a planetary reducer, as shown in Figures 1 and 3. The fixed component of the planetary reducer is the gear ring 11, the power output component of the planetary reducer is the planetary gears 12, and the power input component of the planetary reducer is the input shaft 13. The input shaft 13 passes through the first output component 1 and meshes with the planetary gears 12. At this time, the end of the input shaft 13 meshing with the planetary gears 12 is equivalent to the sun gear of the planetary reducer. In practical applications, the input shaft 13 can also pass through the second output component 2 and mesh with the planetary gears 12. There are multiple planetary gears 12. The planetary gears 12 mesh with the gear ring 11. The first output component 1 and the second output component 2 are respectively connected to the planetary carriers of the planetary reducer and the planetary gears 12 of the planetary reducer. The first output component 1 and the second output component 2 are fixedly connected to the outside of the gear ring 11 of the planetary reducer. Therefore, the planetary gears 12 can drive the first output component 1 and the second output component 2 to move synchronously.
[0033] In this embodiment, the planetary reducer is a single-stage planetary reducer. In practical applications, this embodiment can also be used in multi-stage planetary reducers. Example 2
[0034] As shown in Figures 4 and 5, this embodiment is a bearing reducer. This embodiment is structurally similar to Embodiment 1, with the only difference being:
[0035] In this embodiment, the deceleration mechanism is a harmonic reducer. The fixed component of the harmonic reducer is a rigid wheel 21, the power output component of the harmonic reducer is a flexible wheel 22, and the power input component of the harmonic reducer is a wave generator 23. The shaft of the wave generator 23 passes through the first output component 1. The wave generator 23 is used to drive the radial deformation of the open end of the flexible wheel 22. Some teeth on the flexible wheel 22 mesh with the rigid wheel 21. The second output component 2 is connected to the flexible wheel 22 of the harmonic reducer. The first output component 1 and the second output component 2 are fixedly connected to the outside of the rigid wheel 21 of the harmonic reducer. Therefore, the flexible wheel 22 can drive the first output component 1 and the second output component 2 to move synchronously. The fixed connection between the first output component 1 and the second output component 2 is achieved by adhesive bonding.
[0036] In practical applications, the shaft of wave generator 23 can also pass through the second output component 2, and the first output component 1 is connected to the flexible wheel 22 of the harmonic reducer. Example 3
[0037] As shown in Figures 6 and 7, this embodiment is a bearing reducer. This embodiment is structurally similar to Embodiment 1, with the only difference being:
[0038] In this embodiment, the deceleration mechanism is a cycloidal reducer. The fixed component of the cycloidal reducer is a cycloidal pinwheel 31, and the power output component of the cycloidal reducer is an output pin 32. Multiple output pins 32 are evenly arranged circumferentially. The power input component of the cycloidal reducer is an eccentric shaft 33, which passes through the first output component 1. In practical applications, the eccentric shaft 33 can also pass through the second output component 2. The eccentric shaft 33 drives the output pins 32 to move through the needle roller bearing 34 and the cycloidal wheel 35. The first output component 1 and the second output component 2 are respectively connected to the output pins 32 of the cycloidal reducer. The first output component 1 and the second output component 2 are fixedly connected to the outside of the cycloidal pinwheel 31 of the cycloidal reducer. Therefore, the output pins 32 can drive the first output component 1 and the second output component 2 to move synchronously. The fixed connection of the first output component 1 and the second output component 2 is a welding connection.
[0039] In the above three embodiments, when the fixed component is fixed, the output component serves as the deceleration output; or when the output component is fixed, the fixed component serves as the deceleration output. This utility model changes the structure of the existing reducer. When the two output components are connected, they do not occupy the internal space of the reducer, which enables the reducer to be further miniaturized. While maintaining sufficient rigidity, the reducer has the characteristics of flatness and short axial distance, solving the problem that small or micro reducers need to be flat and have sufficient strength. Example 4
[0040] This embodiment describes a robot, specifically a humanoid robot. The joints of the humanoid robot utilize the bearing reducer from any of the above embodiments. The joints of the humanoid robot include knee joints, elbow joints, wrist joints, finger joints, etc. Of course, in practical applications, the robot can also be other types of robots.
[0041] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0042] In the description of this utility model, it should be noted that unless otherwise explicitly specified and limited, the terms "installation", "connection", "setting", and "forming" should be interpreted broadly; for example, they can refer to fixed connection or setting, detachable connection or setting, or an integrated structure; they can refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components; those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0043] In the description of this utility model, the terms "embodiment", "specific example" or "practical application" refer to specific features, structures, materials or characteristics described in connection with the embodiment, which are included in at least one embodiment or example of this utility model; the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example, and the specific features, structures, materials or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0044] The above embodiments are only used to illustrate the technical solutions of this utility model. Those skilled in the art should understand that the above embodiments do not limit this utility model in any way. All technical solutions obtained by equivalent substitution or equivalent transformation fall within the protection scope of this utility model.
Claims
1. A bearing reducer, characterized in that: The device includes a reduction mechanism and an output component. Bearings are respectively installed on both sides of the fixed component of the reduction mechanism. The output component includes a first output component and a second output component. The inner rings of the two bearings are integrally formed with the first and second output components, respectively. The first and second output components are located on both sides of the reduction mechanism and are rotatably connected to the fixed component of the reduction mechanism via the bearings. The outer rings of the bearings are integrally formed with the fixed component of the reduction mechanism. The first and / or second output components are also connected to the power output component of the reduction mechanism. The first and / or second output components are provided with holes for the power input component of the reduction mechanism to pass through. The first and second output components are fixedly connected to the outside of the fixed component of the reduction mechanism.
2. The bearing reducer according to claim 1, characterized in that, The reduction mechanism is a planetary reducer. The fixed component of the planetary reducer is a gear ring, the power output component of the planetary reducer is a planetary gear, and the power input component of the planetary reducer is an input shaft. The input shaft passes through a first output component or a second output component and meshes with the planetary gear. There are multiple planetary gears, and the planetary gears mesh with the gear ring. The first output component and the second output component respectively serve as planet carriers of the planetary reducer and are connected to the planetary gears of the planetary reducer. The first output component and the second output component are fixedly connected to the outside of the gear ring of the planetary reducer.
3. A bearing reducer according to claim 1, characterized in that, The reduction mechanism is a harmonic reducer. The fixed component of the harmonic reducer is a rigid wheel, the power output component of the harmonic reducer is a flexible wheel, and the power input component of the harmonic reducer is a wave generator. The shaft of the wave generator passes through a first output component or a second output component. The wave generator is used to drive the radial deformation of the open end of the flexible wheel. Some teeth on the flexible wheel mesh with the rigid wheel. The first output component or the second output component is connected to the flexible wheel of the harmonic reducer. The first output component and the second output component are fixedly connected to the outside of the rigid wheel of the harmonic reducer.
4. A bearing reducer according to claim 1, characterized in that, The reduction mechanism is a cycloidal reducer. The fixed component of the cycloidal reducer is a cycloidal pinwheel. The power output component of the cycloidal reducer is an output pin. The power input component of the cycloidal reducer is an eccentric shaft. The eccentric shaft passes through a first output component or a second output component. The eccentric shaft drives the output pin to move through a needle roller bearing and a cycloidal wheel. The first output component and the second output component are respectively connected to the output pin of the cycloidal reducer. The first output component and the second output component are fixedly connected to the outside of the cycloidal pinwheel of the cycloidal reducer.
5. A bearing reducer according to any one of claims 1-4, characterized in that, The first output component and the second output component are fixedly connected by any one of bolt connection, welding connection, or adhesive bonding.
6. A robot, characterized in that: Includes the bearing reducer as described in any one of claims 1-4.