CN109027176B

CN109027176B - Joint differential speed reducer

Info

Publication number: CN109027176B
Application number: CN201810937397.5A
Authority: CN
Inventors: 赵晓东
Original assignee: Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
Current assignee: Dalian Bilan Energy Saving and Environmental Protection Technology Co Ltd
Priority date: 2018-08-17
Filing date: 2018-08-17
Publication date: 2020-01-14
Anticipated expiration: 2038-08-17
Also published as: CN109027176A

Abstract

The invention discloses a joint differential speed reducer, and relates to a speed reducer. In the running process of the speed reducer, the rotating speed of the planet support is related to the rotating speed difference of the two motors, the two motors can be always in a high-speed running state, and the rotating direction of the planet support of the speed reducer can be changed under the condition that the rotating directions of the two motors are not changed, so that the load device is driven to realize the functions of frequent acceleration and deceleration, frequent starting and stopping, and even frequent changing of the rotating direction of the load device. The speed reducer can ensure that the motor operates in a highly efficient operating state, and improve the response speed when the speed reducer changes the rotation direction of the load device. The speed reducer can simultaneously adjust the output power of the two motors and adjust the speed difference of the two motors at any time, so that the flexibility of the finger joint of the simulation robot is realized.

Description

Joint differential speed reducer

Technical Field

The invention relates to a joint differential speed reducer, in particular to a joint differential speed reducer which obtains low-rotation-speed output by adopting the speed difference when two motors jointly drive a set of planetary bevel gear speed reducer.

Background

The reducer of the joint robot mainly adopts an RV reducer. The RV reducer has the advantages of large transmission ratio and large output torque. The RV reducer has the defects of complex structure and high cost, and the popularization and application of the RV reducer are also restricted. In joint robot applications, RV reducers are gradually replacing harmonic reducers. The flexible gear of the harmonic reducer is low in strength, so that the output torque of the harmonic reducer is small and the service life of the harmonic reducer is short. The RV reducer is used for joint robots with large load torque, and the harmonic reducer is used for joint robots with small load torque. A common planetary gear reducer is a universal reducer. Compared with an RV reducer or a harmonic reducer, the planetary gear reducer has a small transmission ratio and cannot meet the requirement of the joint robot on the transmission ratio.

The reducer of the joint robot widely used in the industrial field can rotate one hundred eighty degrees, and the joints of the simulation robot do not need to rotate one hundred eighty degrees. Taking finger joints as an example, due to the limitation of a space structure, the existing reducer technology cannot be applied to the finger joints of the simulation robot. At present, the finger joint of the simulation robot shown in the field of film and television adopts the technical scheme that a miniature hydraulic piston, a pneumatic piston and an electromagnet are used for drawing a hinge, and the technical scheme cannot realize the flexibility of the finger joint of the simulation robot.

In the motion process of the joint robot, frequent acceleration and deceleration, frequent starting and stopping, and even frequent change of the rotation direction of the motor are needed, and the motion characteristics enable the motor to run in a low-efficiency working state. The technical problem also needs to be solved when the speed reducer is applied to the joint of the simulation robot.

The finger joints of the simulation robot have to control the gripping force in the gripping process, namely, the speed reducer applied to the finger joints of the simulation robot has to be capable of adjusting the output power in the process of changing the output rotating speed at any moment. The speed reducer applied to other joints of the simulation robot needs to solve the technical problems.

If there is a speed reducer having advantages of a large transmission ratio and a large output torque, and the speed reducer drives the speed reducer to continuously rotate and can perform functions of operating, stopping, and changing the rotational direction of the load device when the motor keeps the rotational direction of the motor constant, the speed reducer can ensure that the motor operates in an efficient operating state and can increase the response speed when the speed reducer changes the rotational direction of the load device. If the speed reducer can simultaneously adjust the output power of the two motors and adjust the difference between the speeds of the two motors driving the speed reducer at any time, the speed reducer can realize the technical requirement of controlling the output power under the state that the output rotating speed is not changed or the state that the output rotating speed is changed at any time, and realize the technical requirement of controlling the output rotating speed under the state that the output power is not changed or the state that the output power is changed at any time.

Disclosure of Invention

The invention aims to overcome the defect that the common planetary gear reducer has small transmission ratio, the defect that the prior reducer can not be applied to the finger joint of a simulation robot, and the defect that the technical scheme of a miniature hydraulic piston, a pneumatic piston and an electromagnet traction hinge can not realize the flexibility of the finger joint of the simulation robot, and provides a joint differential speed reducer which has the advantages of large transmission ratio, large output torque and high response speed and ensures high-efficiency operation when a motor drives the reducer. The embodiments of the present invention are as follows:

the speed reducer comprises a first base, a second base, a first stator component, a second stator component, a first rotor component, a second rotor component and a fixed shaft component. The rotor part I is arranged on the radial outer side of the stator part I to form a motor I. The rotor part II is arranged on the radial outer side of the stator part II to form a motor II. The first motor is arranged on the radial inner side of the first base, and the second motor is arranged on the radial inner side of the second base. The first rotor part and the second rotor part are respectively arranged at two axial ends of the fixed shaft part, and the fixed shaft part is arranged in the axial middle position between the first base and the second base. The stator component I comprises a stator core I and a winding coil I. The stator component II comprises a stator core II and a winding coil II. And the rotor part I comprises a rotor bracket I, a rotor core I and a permanent magnet, and one axial end of the rotor bracket is provided with a bevel gear I. And the rotor part II comprises a rotor bracket II, a rotor iron core II and a permanent magnet, and a bevel gear II is arranged at one axial end of the rotor bracket II. The fixed shaft part comprises a fixed shaft, a first shaft sleeve, a second shaft sleeve, a first retainer ring, a second retainer ring, a first positioning pin, a second positioning pin, a nut, a planetary bevel gear, a planetary support, a planetary shaft and a planetary shaft sleeve.

When the speed reducer operates, the first controller controls the first motor to rotate, and the first controller can adjust the rotating speed of the first motor. The second controller controls the second motor to rotate, and the second controller can adjust the rotating speed of the second motor. The first motor and the second motor rotate in opposite directions. The first motor drives the planetary bevel gears to rotate around the axis of the planet shaft along the rotation direction of the planetary bevel gears through the first bevel gears of the first rotor support, and the second motor drives the planetary bevel gears to rotate around the axis of the planet shaft along the rotation direction of the planetary bevel gears through the second bevel gears of the second rotor support. When the first motor rotating speed is the same as the second motor rotating speed, the planet bevel gear rotates around the axis of the planet shaft, and the planet support is in a static state. When the first rotating speed of the motor is different from the second rotating speed of the motor, the planet bevel gear revolves around the axis of the fixed shaft while rotating around the axis of the planet shaft, and the planet bevel gear drives the planet support to rotate at a low rotating speed.

The first engine base is a double-layer cylinder with one closed end, the axial end face of the closed end of the first engine base is an engine base end plate I, an engine base shaft hole I is formed in the middle of the engine base end plate I, an engine base flange I is arranged on the radial outer side of the engine base end plate I, a plurality of engine base positioning pin holes are uniformly distributed on the radial outer side of the engine base flange I, an inner sleeve I of the cylindrical engine base and an outer sleeve I of the cylindrical engine base are arranged on the surface of the inner side of the engine base end plate, the inner sleeve I of the engine base is located on the radial inner side of the outer sleeve I.

The first stator core is annular, a stator center hole is formed in the radial inner side of the first stator core, a plurality of stator wire grooves are uniformly distributed in the radial outer side of the first stator core, and a plurality of winding coils are respectively installed in the stator wire grooves of the first stator core. When the first stator component is assembled, a stator center hole of a first stator core of the first stator component is arranged on the radial outer surface of a first inner sleeve of the first base.

The second engine base is a double-layer cylinder with one closed end, the axial end face of the closed end of the second engine base is a second engine base end plate, a second engine base shaft hole is formed in the middle of the second engine base end plate, a second engine base flange is arranged on the second radial outer side of the second engine base end plate, a plurality of second engine base positioning pin holes are uniformly distributed in the second radial outer side of the second engine base flange, a second cylindrical engine base inner sleeve and a second cylindrical engine base outer sleeve are arranged on the surface of the second axial inner side of the second engine base end plate, the second engine base inner sleeve is located on the radial inner side of the second engine base.

The second stator core is annular, a stator center hole is formed in the radial inner side of the second stator core, a plurality of stator wire grooves are uniformly distributed in the radial outer side of the second stator core, and a plurality of winding coils are respectively installed in the stator wire grooves of the second stator core. And when the second stator component is assembled, a stator center hole of the second stator core of the second stator component is arranged on the radial outer surface of the second inner sleeve of the second base.

The rotor support I is in a double-layer cylinder shape with one closed end, the rotor end plate I is arranged on the axial end face of the closed end of the rotor support I, the bevel gear I is arranged at one end of the rotor end plate in the axial outer side, the rotor inner sleeve I in the cylinder shape and the rotor outer sleeve I in the cylinder shape are arranged at one end of the rotor end plate in the axial inner side, the rotor inner sleeve I in the radial inner side is the rotor shaft hole I, and the rotor inner sleeve I in the radial inner side is located. The first rotor iron core is annular. When the rotor component I is assembled, the radial outer surface of the rotor core I is arranged on the radial inner surface of the rotor outer sleeve I of the rotor support I, even numbers of tile-shaped permanent magnets are arranged on the radial inner surface of the rotor core I, and the radial inner surfaces of two adjacent permanent magnets are opposite in magnetic pole.

The second rotor support is a double-layer cylinder with one closed end, the axial end face of the closed end of the second rotor support is a second rotor end plate, the end of the second rotor end plate on the outer axial side is a second bevel gear, the end of the second rotor end plate on the inner axial side is a second cylindrical rotor inner sleeve and a second cylindrical rotor outer sleeve, the radial inner side of the second rotor inner sleeve is a second rotor shaft hole, and the second rotor inner sleeve is located on the radial inner side of the second rotor outer sleeve. And the second rotor iron core is annular. When the rotor component II is assembled, the radial outer surface of the rotor core II is arranged on the radial inner surface of the rotor outer sleeve II of the rotor support II, even numbers of tile-shaped permanent magnets are arranged on the radial inner surface of the rotor core II, and the radial inner surfaces of two adjacent permanent magnets are opposite in magnetic pole.

The fixing shaft is cylindrical, and the fixing shaft is provided with a second external thread, a second shaft head, a second shaft neck, a fixing shaft shoulder, a first shaft neck, a first shaft head and a first external thread in sequence from one end to the other end. And a radial positioning pin hole II is formed in the radial outer surface of one end, close to the shaft head II, of the shaft neck II, and a radial positioning pin hole I is formed in the radial outer surface of one end, close to one end of the shaft head, of the shaft neck I. The first positioning pin and the second positioning pin are cylindrical.

The planet support is annular, and the radial inboard of planet support is the support inner chamber, and the radial internal surface equipartition of planet support has a plurality of support mounting plane, and each support mounting plane center has a radial planet fixed shaft hole, and the radial inboard of planet support is the external splines, and the external spline axle has the spline shaft shoulder to the radial outside of one end.

The axial center of the planetary bevel gear is a gear shaft hole III, one end of the planetary bevel gear is a gear tooth, and the other end of the planetary bevel gear is a gear rear end face.

The planet shaft sleeve is cylindrical, the axial center of the planet shaft sleeve is a center hole of the planet shaft sleeve, and the radial outer side of one end of the planet shaft sleeve is provided with a first thrust shaft shoulder. The planet shaft is cylindrical, and a positioning shaft shoulder is arranged on the radial outer side of one end of the planet shaft.

The first shaft sleeve is cylindrical, a shaft sleeve shaft hole is formed in the axial center of the first shaft sleeve, and a second thrust shaft shoulder is arranged on the radial outer side of one end of the first shaft sleeve. The second shaft sleeve is cylindrical, a shaft sleeve shaft hole is formed in the axial center of the second shaft sleeve, and a thrust shaft shoulder is arranged on the radial outer side of one end of the second shaft sleeve.

The first retainer ring is cylindrical, a retainer ring shaft hole is formed in the axial center of the first retainer ring, and a radial retainer ring pin hole is formed in the radial outer surface of the first retainer ring. The second check ring is cylindrical, a check ring shaft hole is formed in the axial center of the second check ring, and radial check ring pin holes are formed in the radial outer surface of the second check ring.

When the fixed shaft component is assembled, one axial outer side end face of a thrust shaft shoulder of each planetary shaft sleeve is in contact with a support mounting plane of the planetary support, a planetary shaft sleeve center hole of each planetary shaft sleeve is aligned with a planetary fixed shaft hole of the planetary support, a gear shaft hole III of each planetary bevel gear is mounted on the radial outer surface of the planetary shaft sleeve, the rear end face of the gear of the planetary bevel gear is in contact with one axial inner side end face of the thrust shaft shoulder of the planetary shaft sleeve, a plurality of planetary shafts are respectively inserted into the planetary shaft sleeve center hole of the planetary shaft sleeve and the planetary fixed shaft hole inner side end of the planetary support in sequence, the axial inner side end face of the positioning shaft shoulder of each planetary shaft is in contact with the axial end face of the planetary shaft sleeve, and the planetary bevel gear can rotate around the axis.

The fixed shaft is arranged in the inner cavity of the support of the planet support. The shaft sleeve shaft hole of the first shaft sleeve is arranged on the radial outer surface of the first shaft neck of the fixed shaft, the second thrust shaft shoulder of the first shaft sleeve is close to the first positioning pin hole of the fixed shaft, the baffle ring shaft hole of the first baffle ring is arranged on the radial outer surface of the first shaft neck of the fixed shaft, the baffle ring pin hole of the first baffle ring is aligned with the first positioning pin hole of the fixed shaft, one end of the positioning pin is arranged in the first positioning pin hole of the fixed shaft, the other end of the positioning pin is arranged in the baffle ring pin hole of the first baffle ring, and the axial outer end face of the second thrust shaft shoulder of the. The nut is mounted on a radially outer side of the external thread of the fixed shaft. And a shaft sleeve shaft hole of the second shaft sleeve is arranged on the radial outer surface of the second shaft neck of the fixed shaft, a second thrust shaft shoulder of the second shaft sleeve is close to a second positioning pin hole of the fixed shaft, a baffle ring shaft hole of the second baffle ring is arranged on the radial outer surface of the second shaft neck of the fixed shaft, a baffle ring pin hole of the second baffle ring is aligned with the second positioning pin hole of the fixed shaft, one end of the second positioning pin is arranged in the second positioning pin hole of the fixed shaft, the other end of the second positioning pin is arranged in the baffle ring pin hole of the second baffle ring, and the axial outer end face of the second thrust shaft shoulder. And the nut is arranged on the radial outer side of the external thread II of the fixed shaft.

When the speed reducer is assembled, the first rotor part is arranged at one end of the right side of the axial direction of the fixed shaft part, the first bevel gear of the first rotor part is meshed with the first planetary bevel gear of the fixed shaft part, the radial outer surface of the first shaft sleeve of the fixed shaft part is arranged in the first rotor shaft hole of the first rotor support, and the right end face of the first rotor inner sleeve shaft of the first rotor support is in contact with the left end face of the second thrust shaft shoulder of the first shaft sleeve. And the second rotor part is arranged at one end of the left side of the fixed shaft part in the axial direction, the second bevel gear of the second rotor part is meshed with the planetary bevel gear of the fixed shaft part, the radial outer surface of the second shaft sleeve of the fixed shaft part is arranged in the second rotor shaft hole of the second rotor bracket, and the left end surface of the second rotor inner sleeve of the second rotor bracket is in contact with the right end surface of the second thrust shaft shoulder of the second shaft sleeve.

The first base is arranged at one end of the axial right side of the first fixed shaft part, the first shaft head of the first fixed shaft is arranged in a first base shaft hole of the first base, the first rotor outer sleeve of the first rotor support is arranged on the radial inner side of the first base outer sleeve of the first base, the first rotor inner sleeve of the first rotor support is arranged in a first sleeve inner cavity of the first base, and the first rotor core and the first permanent magnet of the first rotor part are arranged on the radial outer side of the first stator core of the first stator part. And the second motor base is arranged at one end of the axial left side of the fixed shaft part, the second shaft head of the fixed shaft is arranged in the second motor base shaft hole of the second motor base, the second rotor outer sleeve of the second rotor support is arranged on the radial inner side of the second motor base outer sleeve of the second motor base, the second rotor inner sleeve of the second rotor support is arranged in the second sleeve inner cavity of the second motor base, and the second rotor core and the permanent magnet of the second rotor component are arranged on the radial outer side of the second stator core of the second stator component. The planet support for fixing the shaft part is arranged at the axial middle position between the first engine base and the second engine base. The first engine base, the second engine base and the fixed shaft are fixedly installed together by the two nuts.

In the speed reducer, a first bevel gear, a second bevel gear, a planetary bevel gear and a planetary support form a planetary bevel gear speed reducer, a driving part of the planetary bevel gear speed reducer is the first bevel gear, a driving part of the planetary bevel gear speed reducer is the second bevel gear, and a driven part of the planetary bevel gear speed reducer is the planetary support. The planetary bevel gear reducer performs speed reduction transmission. The first bevel gear rotates in the opposite direction to the second bevel gear. When the first rotating speed of the bevel gear is the same as the second rotating speed of the bevel gear, the planet bevel gear rotates around the axis of the planet shaft, and the planet support is in a static state. When the first rotating speed of the bevel gear is different from the second rotating speed of the bevel gear, the planet bevel gear revolves around the axis of the fixed shaft while rotating around the axis of the planet shaft, and the planet bevel gear drives the planet support to rotate at a low rotating speed. When the first rotating speed of the bevel gear is larger than the second rotating speed of the bevel gear, the rotating direction of the planet support is the same as that of the first rotating direction of the bevel gear. When the second bevel gear rotating speed is larger than the first bevel gear rotating speed, the rotating direction of the planet support is the same as that of the second bevel gear.

The running process of the speed reducer is as follows:

when the speed reducer is started, the first controller controls the first motor to start at a low rotating speed, and gradually increases the rotating speed of the first motor, meanwhile, the second controller controls the second motor to start at a low rotating speed, and gradually increases the rotating speed of the second motor, and the rotating directions of the first motor and the second motor are opposite. The first motor drives the planetary bevel gears to rotate around the axis of the planet shaft along the rotation direction of the planetary bevel gears through the first bevel gears of the first rotor component, and the second motor drives the planetary bevel gears to rotate around the axis of the planet shaft along the rotation direction of the planetary bevel gears through the second bevel gears of the second rotor component. When the first motor rotating speed is the same as the second motor rotating speed, the planet bevel gear rotates around the axis of the planet shaft, and the planet support is in a static state.

If the first motor rotating speed is higher than the second motor rotating speed, the first bevel gear driving planetary bevel gear rotates around the planet shaft axis along the rotating direction of the planetary bevel gear at a higher speed than the second bevel gear driving planetary bevel gear rotates around the planet shaft axis along the rotating direction of the planetary bevel gear. The rotation direction of the planet carrier is the same as the rotation direction of the bevel gear. The rotation linear velocity of the planet support is equal to the difference between the first rotation linear velocity of the bevel gear and the second rotation linear velocity of the bevel gear.

If the second motor rotating speed is higher than the first motor rotating speed, the second bevel gear drives the planetary bevel gear to rotate around the planet shaft axis along the rotating direction of the planetary bevel gear, the rotating speed of the first bevel gear driving the planetary bevel gear around the planet shaft axis along the rotating direction of the planetary bevel gear is higher than that of the first bevel gear driving the planetary bevel gear, in order to offset the speed difference, the planetary bevel gear also revolves around the fixed shaft axis, and the planetary bevel gear drives the planetary support to rotate at a low rotating speed. The rotation direction of the planet carrier is the same as the rotation direction of the bevel gear II. The rotation linear velocity of the planet support is equal to the difference between the rotation linear velocity of the bevel gear II and the rotation linear velocity of the bevel gear I.

When the speed reducer needs to maintain the rotating speed of the planet carrier unchanged in the operation process and the output power of the planet carrier is increased, the first controller increases the output rotating speed of the first motor, and the second controller increases the output rotating speed of the second motor, namely, the output power of the first motor and the output power of the second motor are increased simultaneously, the difference between the rotating speeds of the first motor and the second motor is kept unchanged, and the difference between the rotating speeds acts on the speed reducer to maintain the rotating speed of the planet carrier unchanged.

When the speed reducer needs to maintain the rotating speed of the planet carrier to be constant in the operation process and the output power of the planet carrier is reduced, the first controller reduces the output rotating speed of the first motor, the second controller reduces the output rotating speed of the second motor, namely the output power of the first motor and the output power of the second motor are reduced simultaneously, the difference between the rotating speeds of the first motor and the second motor is kept constant, and the difference between the rotating speeds acts on the speed reducer to maintain the rotating speed of the planet carrier to be constant.

In the running process of the speed reducer, when the output power of the planet carrier is adjusted under the state that the rotating speed of the planet carrier changes at any time, on the premise that the rotating speed difference between the first motor and the second motor is respectively adjusted by the first controller and the second controller to meet the control requirement, the rotating speeds of the first motor and the second motor are simultaneously increased or decreased, and the output power of the planet carrier is increased or decreased.

When the speed reducer is applied to joint driving of a robot, the speed reducer is installed together with the joint support I and the joint support II. The joint support comprises a first joint support, a second joint support and a first fixing shaft ring, wherein the first joint support is provided with an annular first fixing shaft ring and an annular second fixing shaft ring, the first fixing shaft ring and the second fixing shaft ring are arranged along the axial direction, the first fixing shaft ring and the second fixing shaft ring are arranged in a joint support groove in the axial direction, a plurality of fixing shaft ring positioning pin holes are uniformly distributed in the end faces of the first fixing shaft ring and the second fixing shaft ring in the axial direction respectively, and the inner cavity of the first fixing shaft ring and the inner cavity of the second fixing shaft ring are arranged on the radial inner. And one end of the second joint support is provided with an annular connecting shaft ring, the connecting shaft ring is connected with the other end of the second joint support through a connecting plate, the radially inner surface of the connecting shaft ring is provided with an internal spline, the radially inner side of the connecting shaft ring is an inner cavity of the connecting shaft ring, and the radially outer surface of the connecting shaft ring is provided with a plurality of radial connecting shaft ring positioning pin holes.

When the speed reducer is assembled with the first joint support and the second joint support, the connecting shaft ring of the second joint support is installed in a joint support groove of the first joint support, the speed reducer is installed in the inner cavity of the fixing shaft ring of the first joint support, the planet support of the fixing shaft part of the speed reducer is installed in the inner cavity of the connecting shaft ring of the second joint support, the external spline of the planet support and the internal spline of the second joint support are installed together, the axial inner side end face of the spline shaft shoulder of the planet support and the axial end face of one end of the connecting shaft ring of the second joint support are installed together in a contact mode, four ends of a plurality of cylindrical positioning pins are installed at one end, facing outwards, of the aperture of the planet fixing shaft of the planet support, and the other ends of the four positioning pins are installed in a positioning pin hole of the connecting shaft ring of. The first base of the speed reducer is arranged on the radial inner side of the first fixed shaft ring of the first joint support, one ends of a plurality of cylindrical positioning pins are arranged in positioning pin holes of the fixed shaft ring on the right end face of the first fixed shaft ring, and the other ends of the positioning pins are arranged in positioning pin holes of the first base. And the second base of the speed reducer is arranged on the radial inner side of the second fixed shaft ring of the first joint support, one end of a plurality of cylindrical positioning pins is arranged in the positioning pin holes of the second fixed shaft ring on the left end face of the second fixed shaft ring, and the other end of the positioning pins is arranged in the positioning pin holes of the second base.

The first base and the second base of the speed reducer are fixedly installed with the first joint support, and when the speed reducer operates, the second joint support is driven to rotate by the planetary support of the speed reducer, so that the speed reducer is applied to joint driving of the robot.

In the running process of the speed reducer, the rotating speed of the planet support is related to the rotating speed difference of the two motors, the two motors can be always in a high-speed running state, and the rotating direction of the planet support of the speed reducer can be changed under the condition that the rotating directions of the two motors are not changed, so that the load device is driven to realize the functions of frequent acceleration and deceleration, frequent starting and stopping, and even frequent changing of the rotating direction of the load device. The speed reducer can ensure that the motor operates in a highly efficient operating state, and improve the response speed when the speed reducer changes the rotation direction of the load device. The speed reducer can simultaneously adjust the output power of the two motors and adjust the speed difference of the two motors at any time, so that the flexibility of the finger joint of the simulation robot is realized. The rotating speed of the planetary support of the speed reducer is related to the rotating speed difference of the two motors, so that the speed reducer has the advantages of large transmission ratio and large output torque, and the speed reducer has the advantages of reliable operation, long service life and large output torque without a flexible gear.

Drawings

Fig. 1 is an isometric view of the reducer.

Fig. 2 is an axial sectional view of the speed reducer.

FIG. 3 is an isometric cross-sectional view of the stator assembly one and the housing one mounted together.

FIG. 4 is an isometric cross-sectional view of the first housing.

FIG. 5 is an axial cross-sectional view of the stator assembly II and the frame II mounted together.

FIG. 6 is a sectional axial view of the second housing.

Fig. 7 is an isometric view of either stator component one or stator component two.

Fig. 8 is an isometric view of the stator core one or the stator core two.

Figure 9 is an axial cross-sectional view of the rotor member one.

Fig. 10 is an axial cross-sectional view of the first rotor bracket.

Fig. 11 is an axial sectional view of the second rotor member.

Fig. 12 is an axial sectional view of the second rotor holder.

Figure 13 is a sectional axial view of the first rotor part, the second rotor part and the fixed shaft part mounted together.

Fig. 14 is an axial cross-sectional view of the fixed shaft member.

Fig. 15 is an isometric view of a fixed shaft.

Fig. 16 is an isometric view of a planet carrier.

FIG. 17 is an isometric view of a planetary bevel gear.

FIG. 18 is an axial cross-sectional view of the planetary sleeve

FIG. 19 is an isometric view of a planet axle

Fig. 20 is an axial cross-sectional view of the first sleeve or the second sleeve.

FIG. 21 is an isometric view of a first retainer ring or a second retainer ring.

Fig. 22 is a schematic view of the reduction gear machine taken along the axis.

Fig. 23 is a schematic diagram of the decelerating operation process of the speed reducer. In the figure, if UI is larger than UII, then UIII and UI rotate in the same direction.

Fig. 24 is an isometric view of a first joint stent.

Fig. 25 is an isometric view of the second joint support.

Fig. 26 is an axial sectional view of the first joint support, the second joint support, and the speed reducer mounted together.

Fig. 27 is an isometric view of the first joint support, the second joint support, and the reducer mounted together.

In the figure, UI is the linear speed of the bevel gear primary pitch circle position rotation, UII is the linear speed of the bevel gear secondary pitch circle position rotation, and UIII is the linear speed of the position rotation on the planet support which is equal to the bevel gear primary pitch circle radius or equal to the bevel gear secondary pitch circle radius.

The drawing is marked with a first engine base 1, a first shaft sleeve 2, a first rotor support 3, a first bevel gear 4, a second bevel gear 5, a second rotor support 6, a second shaft sleeve 7, a second engine base 8, a second retainer ring 9, a second positioning pin 10, a nut 11, a fixed shaft 12, a second stator core 13, a second winding coil 14, a permanent magnet 15, a second rotor core 16, a bevel planet gear 17, a planet support 18, a planet shaft 19, a planet shaft sleeve 20, a first rotor core 21, a first winding coil 22, a first stator core 23, a first positioning pin 24, a retainer ring 25, a first sleeve inner cavity 26, a first engine base inner sleeve 27, a first engine base outer sleeve 28, a first engine base flange 29, an engine base positioning pin hole 30, a first engine base end plate 31, a first engine base shaft hole 32, a second engine base shaft hole 33, a second engine base end plate 34, a second engine base flange 35, a second engine base outer sleeve 36, a second engine base inner sleeve 37, a, The rotor shaft hole I41, the rotor outer sleeve I42, the rotor end plate I43, the rotor inner sleeve I44, the rotor outer sleeve II 45, the rotor end plate II 46, the rotor inner sleeve II 47, the rotor shaft hole II 48, the external thread II 49, the shaft head II 50, the positioning pin hole II 51, the shaft neck II 52, the fixed shaft shoulder 53, the shaft neck I54, the positioning pin hole I55, the shaft head I56, the external thread I57, the support mounting plane 58, the support inner cavity 59, the planet fixed shaft hole 60, the external spline 61, the spline shaft shoulder 62, the gear shaft hole III 63, the gear teeth 64, the gear rear end face 65, the thrust shaft shoulder I66, the planet shaft sleeve central hole 67, the positioning shaft shoulder 68, the shaft sleeve shaft hole 69, the retainer ring shaft hole 70, the retainer ring pin hole 71, the fixed shaft axis 72, the bevel gear II rotation track 73, the bevel gear II rotation direction 74, the planet bevel gear rotation track, The connecting structure comprises a planet support rotating direction 78, a first bevel gear rotating track 79, a first bevel gear rotating direction 80, a planet shaft axis 81, a second fixed shaft ring 82, a fixed shaft ring inner cavity 83, a fixed shaft ring positioning pin hole 84, a first joint support 85, a first fixed shaft ring 86, a joint support groove 87, a second joint support 88, a connecting plate 89, an internal spline 90, a connecting shaft ring inner cavity 91, a connecting shaft ring 92, a connecting shaft ring positioning pin hole 93, a third positioning pin 94, a fourth positioning pin 95 and a second thrust shaft shoulder 96.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1, 2 and 22, the speed reducer includes a first base 1, a second base 8, a first stator component, a second stator component, a first rotor component, a second rotor component and a fixed shaft component. The rotor part I is arranged on the radial outer side of the stator part I to form a motor I. The rotor part II is arranged on the radial outer side of the stator part II to form a motor II. The first motor is arranged on the radial inner side of the first base 1, and the second motor is arranged on the radial inner side of the second base 8. The first rotor part and the second rotor part are respectively arranged at the two axial ends of the fixed shaft part, and the fixed shaft part is arranged at the axial middle position of the first base 1 and the second base 8. The stator component comprises a stator iron core I23 and a winding coil I22. The second stator component comprises a second stator core 13 and a second winding coil 14. And the rotor part I comprises a rotor bracket I3, a rotor iron core I21 and a permanent magnet 15, and a bevel gear I4 is arranged at one axial end of the rotor bracket I3. The rotor part II comprises a rotor bracket II 6, a rotor iron core II 16 and a permanent magnet 15, and a bevel gear II 5 is arranged at one axial end of the rotor bracket II 6. The fixed shaft part comprises a fixed shaft 12, a first shaft sleeve 2, a second shaft sleeve 7, a first retainer ring 25, a second retainer ring 9, a first positioning pin 24, a second positioning pin 10, a nut 11, a planetary bevel gear 17, a planetary support 18, a planetary shaft 19 and a planetary shaft sleeve 20.

When the speed reducer operates, the first controller controls the first motor to rotate, and the first controller can adjust the rotating speed of the first motor. The second controller controls the second motor to rotate, and the second controller can adjust the rotating speed of the second motor. The first motor and the second motor rotate in opposite directions. The first motor drives the bevel planet gears 17 to rotate about the planet shaft axes 81 in the bevel planet gear rotation direction 76 via bevel gears one 4 of the first rotor carrier 3, and the second motor drives the bevel planet gears 17 to rotate about the planet shaft axes 81 in the bevel planet gear rotation direction 76 via bevel gears two 5 of the second rotor carrier 6. When the first motor rotation speed is the same as the second motor rotation speed, the bevel pinion 17 rotates on the planet shaft axis 81, and the planet carrier 18 is in a stationary state. When the first motor rotation speed is different from the second motor rotation speed, the bevel planet gear 17 revolves around the fixed shaft axis 72 while the bevel planet gear 17 rotates around the planet shaft axis 81, and the bevel planet gear 17 drives the planet carrier 18 to rotate at a low rotation speed.

Referring to fig. 1 to 21, the first base 1 is a double-layer cylinder with one closed end, the first base end plate 31 is arranged on the axial end face of the closed end of the first base 1, the first base shaft hole 32 is formed in the middle of the first base end plate 31, the first base flange 29 is arranged on the radial outer side of the first base end plate 31, a plurality of first base positioning pin holes 30 are uniformly distributed on the radial outer side of the first base flange 29, a cylindrical first base inner sleeve 27 and a cylindrical first base outer sleeve 28 are arranged on the axial inner side surface of the first base end plate 31, the first base inner sleeve 27 is located on the radial inner side of the first base outer sleeve 28, and a first sleeve inner cavity 26 is formed on the radial inner side.

The first stator core 23 is annular, a stator center hole 40 is formed in the radial inner side of the first stator core 23, a plurality of stator wire slots 39 are uniformly distributed in the radial outer side of the first stator core 23, and a plurality of winding coils 22 are respectively installed in the stator wire slots 39 of the first stator core 23. When the stator component I is assembled, the stator center hole 40 of the stator core I23 of the stator component I is arranged on the radial outer surface of the inner sleeve I27 of the machine base I1.

The second engine base 8 is a double-layer cylinder with one closed end, the second engine base 8 closed end axial end face is a second engine base end plate 34, a second engine base shaft hole 33 is formed in the middle of the second engine base end plate 34, a second engine base flange 35 is arranged on the radial outer side of the second engine base end plate 34, a plurality of second engine base positioning pin holes 30 are uniformly distributed on the radial outer side of the second engine base flange 35, a second cylindrical engine base inner sleeve 37 and a second cylindrical engine base outer sleeve 36 are arranged on the surface of the second engine base end plate 34 in the axial inner side, the second engine base inner sleeve 37 is located on the radial inner side of the second engine base outer sleeve 36, and a second sleeve inner cavity.

The second stator core 13 is annular, a stator center hole 40 is formed in the radial inner side of the second stator core 13, a plurality of stator wire slots 39 are uniformly distributed in the radial outer side of the second stator core 13, and a plurality of winding coils two 14 are respectively installed in the stator wire slots 39 of the second stator core 13. When the stator component II is assembled, the stator center hole 40 of the stator core II 13 of the stator component II is arranged on the radial outer surface of the inner sleeve II 37 of the machine base II 8.

The rotor support I3 is in a double-layer cylinder shape with one closed end, the closed end axial end face of the rotor support I3 is a rotor end plate I43, the axial outer end of the rotor end plate I43 is a bevel gear I4, the axial inner end of the rotor end plate I43 is a cylindrical rotor inner sleeve I44 and a cylindrical rotor outer sleeve I42, the radial inner side of the rotor inner sleeve I44 is a rotor shaft hole I41, and the rotor inner sleeve I44 is located on the radial inner side of the rotor outer sleeve I42. The rotor core one 21 is annular. When the rotor component I is assembled, the radial outer surface of the rotor core I21 is arranged on the radial inner surface of the rotor outer sleeve I42 of the rotor support I3, an even number of tile-shaped permanent magnets 15 are arranged on the radial inner surface of the rotor core I21, and the radial inner surfaces of two adjacent permanent magnets 15 are opposite in magnetic pole.

The second rotor support 6 is in a double-layer cylindrical shape with one closed end, the second rotor end plate 46 is arranged on the axial end face of the closed end of the second rotor support 6, the second bevel gear 5 is arranged at one end of the axial outer side of the second rotor end plate 46, the second cylindrical rotor inner sleeve 47 and the second cylindrical rotor outer sleeve 45 are arranged at one end of the axial inner side of the second rotor end plate 46, the second rotor shaft hole 48 is arranged on the radial inner side of the second rotor inner sleeve 47, and the second rotor inner sleeve 47 is located on the radial inner side of the second rotor. The second rotor core 16 is annular. When the rotor component II is assembled, the radial outer surface of the rotor core II 16 is arranged on the radial inner surface of the rotor outer sleeve II 45 of the rotor support II 6, an even number of tile-shaped permanent magnets 15 are arranged on the radial inner surface of the rotor core II 16, and the radial inner surfaces of two adjacent permanent magnets 15 are opposite in magnetic pole.

The fixed shaft 12 is cylindrical, and the fixed shaft 12 is provided with a second external thread 49, a second shaft head 50, a second journal 52, a fixed shaft shoulder 53, a first journal 54, a first shaft head 56 and a first external thread 57 in sequence from one end to the other end. The second journal 52 has a second radial positioning pin hole 51 in the outer surface thereof near the second head 50, and the first journal 54 has a first radial positioning pin hole 55 in the outer surface thereof near the first head 56. The first positioning pin 24 and the second positioning pin 10 are cylindrical.

The planet carrier 18 is annular, a carrier inner cavity 59 is formed in the radial inner side of the planet carrier 18, a plurality of carrier mounting planes 58 are uniformly distributed on the radial inner surface of the planet carrier 18, a radial planet fixing shaft hole 60 is formed in the center of each carrier mounting plane 58, an external spline 61 is formed in the radial inner side of the planet carrier 18, and a spline shaft shoulder 62 is formed in the radial outer side of one axial end of the external spline 61.

The axial center of the planetary bevel gear 17 is a gear shaft hole III 63, one end of the planetary bevel gear 17 is a gear tooth 64, and the other end of the planetary bevel gear 17 is a gear rear end face 65.

The planet shaft sleeve 20 is cylindrical, the axial center of the planet shaft sleeve 20 is a planet shaft sleeve central hole 67, and the radial outer side of one end of the planet shaft sleeve 20 is a thrust shaft shoulder I66. The planet axle 19 is cylindrical and radially outward of one end of the planet axle 19 is a locating shoulder 68.

The first shaft sleeve 2 is cylindrical, the shaft sleeve shaft hole 69 is formed in the axial center of the first shaft sleeve 2, and the second thrust shaft shoulder 96 is formed on the radial outer side of one end of the first shaft sleeve 2. The second shaft sleeve 7 is cylindrical, the shaft sleeve shaft hole 69 is formed in the axial center of the second shaft sleeve 7, and the second thrust shaft shoulder 96 is arranged on the radial outer side of one end of the second shaft sleeve 7.

The first retainer ring 25 is cylindrical, the axial center of the first retainer ring 25 is a retainer ring shaft hole 70, and the radial outer surface of the first retainer ring 25 is provided with a radial retainer ring pin hole 71. The second retainer ring 9 is cylindrical, a retainer ring shaft hole 70 is formed in the axial center of the second retainer ring 9, and a radial retainer ring pin hole 71 is formed in the radial outer surface of the second retainer ring 9.

When the fixed shaft component is assembled, the axial outer end face of a thrust shaft shoulder one 66 of a plurality of planet shaft sleeves 20 is contacted and installed with the support installation plane 58 of the planet support 18, the planet shaft sleeve central hole 67 of each planet shaft sleeve 20 is aligned with the planet fixed shaft hole 60 of the planet support 18, the gear shaft hole three 63 of a plurality of planet bevel gears 17 is installed on the radial outer surface of the planet shaft sleeve 20, the gear rear end face 65 of the planet bevel gear 17 is contacted and installed with the axial inner end face of the thrust shaft shoulder one 66 of the planet shaft sleeve 20, a plurality of planet shafts 19 are respectively and sequentially inserted into the planet shaft sleeve central hole 67 of the planet shaft sleeve 20 and the radial inner end of the planet fixed shaft hole 60 of the planet support 18, the axial inner end face of a positioning shaft shoulder 68 of the planet shaft 19 is contacted and installed with the axial end face of the planet shaft sleeve 20, and the planet bevel gears 17 can rotate around.

The stationary shaft 12 is mounted in a carrier inner cavity 59 of the planet carrier 18. The sleeve shaft hole 69 of the first sleeve 2 is mounted on the radial outer surface of the first journal 54 of the stationary shaft 12, the second anti-thrust shoulder 96 of the first sleeve 2 is made to approach the first positioning pin hole 55 of the stationary shaft 12, the retainer shaft hole 70 of the first retainer 25 is mounted on the radial outer surface of the first journal 54 of the stationary shaft 12, the retainer pin hole 71 of the first retainer 25 is made to align with the first positioning pin hole 55 of the stationary shaft 12, one end of the first positioning pin 24 is mounted in the first positioning pin hole 55 of the stationary shaft 12, the other end of the first positioning pin 24 is mounted in the retainer pin hole 71 of the first retainer 25, and the axial outer end face of the second anti-thrust shoulder 96 of the first sleeve 2 is made to. The nut 11 is mounted radially outward of the external thread one 57 of the stationary shaft 12. The sleeve shaft hole 69 of the second sleeve 7 is arranged on the radial outer surface of the second journal 52 of the fixed shaft 12, the second anti-thrust shaft shoulder 96 of the second sleeve 7 is close to the second positioning pin hole 51 of the fixed shaft 12, the retainer shaft hole 70 of the second retainer 9 is arranged on the radial outer surface of the second journal 52 of the fixed shaft 12, the retainer pin hole 71 of the second retainer 9 is aligned with the second positioning pin hole 51 of the fixed shaft 12, one end of the second positioning pin 10 is arranged in the second positioning pin hole 51 of the fixed shaft 12, the other end of the second positioning pin 10 is arranged in the retainer pin hole 71 of the second retainer 9, and the end face of the second anti-thrust shaft shoulder 96 of the second sleeve 7, which is in axial outward direction. The nut 11 is installed radially outside the second external thread 49 of the fixed shaft 12.

When the speed reducer is assembled, the first rotor part is arranged at one end of the axial right side of the fixed shaft part, the bevel gear I4 of the first rotor part is meshed with the planetary bevel gear 17 of the fixed shaft part, the radial outer surface of the first shaft sleeve 2 of the fixed shaft part is arranged in the first rotor shaft hole 41 of the first rotor support 3, and the right end face of the first rotor inner sleeve 44 shaft of the first rotor support 3 is in contact installation with the axial left end face of the second thrust shaft shoulder 96 of the first shaft sleeve 2. And the second rotor component is arranged at one axial left end of the fixed shaft component, the bevel gear II 5 of the second rotor component is meshed with the planetary bevel gear 17 of the fixed shaft component, the radial outer surface of the second shaft sleeve 7 of the fixed shaft component is arranged in the second rotor shaft hole 48 of the second rotor support 6, and the axial left end face of the second rotor inner sleeve 47 of the second rotor support 6 is in contact with the axial right end face of the second thrust shaft shoulder 96 of the second shaft sleeve 7.

The first base 1 is arranged at one end of the axial right side of the first fixed shaft part, the first shaft head 56 of the fixed shaft 12 is arranged in the first base shaft hole 32 of the first base 1, the first rotor outer sleeve 42 of the first rotor support 3 is arranged on the radial inner side of the first base outer sleeve 28 of the first base 1, the first rotor inner sleeve 44 of the first rotor support 3 is arranged in the first sleeve inner cavity 26 of the first base 1, and the first rotor core 21 and the permanent magnet 15 of the first rotor part are arranged on the radial outer side of the first stator core 23 of the first stator part. The second base 8 is arranged at one end of the left side of the axial direction of the fixed shaft part, the second shaft head 50 of the fixed shaft 12 is arranged in the second base shaft hole 33 of the second base 8, the second rotor outer sleeve 45 of the second rotor support 6 is arranged on the radial inner side of the second base outer sleeve 36 of the second base 8, the second rotor inner sleeve 47 of the second rotor support 6 is arranged in the second sleeve inner cavity 38 of the second base 8, and the second rotor iron core 16 and the permanent magnet 15 of the second rotor part are arranged on the radial outer side of the second stator iron core 13 of the second stator part. The planet carrier 18 of the fixed shaft part is arranged at the axial middle position of the first engine base 1 and the second engine base 8. The first base 1, the second base 8 and the fixed shaft 12 are fixedly arranged together by two nuts 11.

In the speed reducer, a bevel gear I4, a bevel gear II 5, a planetary bevel gear 17 and a planetary support 18 form a planetary bevel gear speed reducer, the driving part of the planetary bevel gear speed reducer is the bevel gear I4, the driving part is the bevel gear II 5, and the driven part is the planetary support 18. The planetary bevel gear reducer performs speed reduction transmission. The rotation direction of the bevel gear I4 is opposite to the rotation direction of the bevel gear II 5. When the rotational speed of the bevel gear one 4 is the same as the rotational speed of the bevel gear two 5, the planetary bevel gears 17 rotate on the planetary shaft axes 81, and the planetary carrier 18 is in a stationary state. When the rotation speed of the first bevel gear 4 is different from that of the second bevel gear 5, the planet bevel gear 17 revolves around the fixed shaft axis 72 while the planet bevel gear 17 rotates around the planet shaft axis 81, and the planet bevel gear 17 drives the planet carrier 18 to rotate at a low rotation speed. When the rotational speed of bevel gear one 4 is greater than the rotational speed of bevel gear two 5, the planet carrier rotational direction 78 is the same as the bevel gear one rotational direction 80. When the rotational speed of bevel gear two 5 is greater than the rotational speed of bevel gear one 4, the planet carrier rotational direction 78 is the same as the bevel gear two rotational direction 74.

Referring to fig. 22 and 23, the speed reducer operation process includes:

when the speed reducer is started, the first controller controls the first motor to start at a low rotating speed, and gradually increases the rotating speed of the first motor, meanwhile, the second controller controls the second motor to start at a low rotating speed, and gradually increases the rotating speed of the second motor, and the rotating directions of the first motor and the second motor are opposite. The first motor drives the bevel planet gears 17 to rotate about the planet shaft axes 81 in the bevel planet gear rotating direction 76 via the first bevel gear 4 of the first rotor part, and the second motor drives the bevel planet gears 17 to rotate about the planet shaft axes 81 in the bevel planet gear rotating direction 76 via the second bevel gear 5 of the second rotor part. When the first motor rotation speed is the same as the second motor rotation speed, the bevel pinion 17 rotates on the planet shaft axis 81, and the planet carrier 18 is in a stationary state.

If the first motor rotation speed is greater than the second motor rotation speed, the first bevel gear 4 drives the planetary bevel gear 17 to rotate around the planetary shaft axis 81 in the planetary bevel gear rotation direction 76 at a rotation speed greater than the second bevel gear 5 drives the planetary bevel gear 17 to rotate around the planetary shaft axis 81 in the planetary bevel gear rotation direction 76, and to offset this speed difference, the planetary bevel gear 17 also revolves around the fixed shaft axis 72, and the planetary bevel gear 17 drives the planet carrier 18 to rotate at a low rotation speed. The planet carrier rotation direction 78 is the same as the bevel gear rotation direction 80. The rotational linear speed of the planet carrier 18 is equal to the difference between the rotational linear speed of the first bevel gear 4 and the rotational linear speed of the second bevel gear 5.

If the rotational speed of the second motor is greater than the rotational speed of the first motor, the rotational speed of the second bevel gear 5 driving the planetary bevel gear 17 around the planet shaft axis 81 in the planetary bevel gear rotational direction 76 is greater than the rotational speed of the first bevel gear 4 driving the planetary bevel gear 17 around the planet shaft axis 81 in the planetary bevel gear rotational direction 76, and to offset this speed difference, the planetary bevel gear 17 will also revolve around the fixed shaft axis 72, and the planetary bevel gear 17 will drive the planet carrier 18 to rotate at a lower speed. The planet carrier rotational direction 78 is the same as the bevel gear secondary rotational direction 74. The rotational linear speed of the planet carrier 18 is equal to the difference between the rotational linear speed of the bevel gear two 5 and the rotational linear speed of the bevel gear one 4.

When the speed reducer needs to maintain the rotating speed of the planet carrier 18 unchanged in the operation process and the output power of the planet carrier 18 is increased, the first controller increases the output rotating speed of the first motor, the second controller increases the output rotating speed of the second motor, namely, the output power of the first motor and the output power of the second motor are increased simultaneously, the difference between the rotating speeds of the first motor and the second motor is kept unchanged, and the difference between the rotating speeds acts on the speed reducer to maintain the rotating speed of the planet carrier 18 unchanged.

When the speed reducer needs to maintain the rotating speed of the planet carrier 18 unchanged in the operation process and the output power of the planet carrier 18 is reduced, the first controller reduces the output rotating speed of the first motor, the second controller reduces the output rotating speed of the second motor, namely, the output power of the first motor and the output power of the second motor are reduced simultaneously, the difference between the rotating speeds of the first motor and the second motor is kept unchanged, and the difference between the rotating speeds acts on the speed reducer to maintain the rotating speed of the planet carrier 18 unchanged.

In the running process of the speed reducer, when the output power of the planet carrier 18 is adjusted under the state that the rotating speed of the planet carrier 18 changes at any time, on the premise that the rotating speed difference between the first motor and the second motor is respectively adjusted by the first controller and the second controller to meet the control requirement, the rotating speeds of the first motor and the second motor are simultaneously increased or decreased, and the output power of the planet carrier 18 is increased or decreased.

Referring to fig. 24 to 27, when the speed reducer is applied to joint driving of a robot, the speed reducer is mounted together with a first joint support 85 and a second joint support 88. One end of the first joint support 85 is provided with a first annular fixed shaft ring 86 and a second annular fixed shaft ring 82, the first annular fixed shaft ring 86 and the second annular fixed shaft ring 82 are arranged along the axial direction, the inner sides of the first annular fixed shaft ring 86 and the second annular fixed shaft ring 82 in the axial direction are provided with joint support grooves 87, the outer end faces of the first annular fixed shaft ring 86 and the second annular fixed shaft ring 82 in the axial direction are respectively and uniformly provided with a plurality of fixed shaft ring positioning pin holes 84, and the inner sides of the first annular fixed shaft ring 86 and the second annular fixed shaft ring 82 in the radial direction are provided with fixed shaft ring inner cavities 83. One end of the second joint support 88 is provided with an annular connecting shaft ring 92, the connecting shaft ring 92 is connected with the other end of the second joint support 88 through a connecting plate 89, an inner spline 90 is arranged on the radial inner surface of the connecting shaft ring 92, a connecting shaft ring inner cavity 91 is arranged on the radial inner side of the connecting shaft ring 92, and a plurality of radial connecting shaft ring positioning pin holes 93 are formed in the radial outer surface of the connecting shaft ring 92.

When the speed reducer is assembled with the first joint support 85 and the second joint support 88, the connecting shaft ring 92 of the second joint support 88 is arranged in the joint support groove 87 of the first joint support 85, the speed reducer is installed in a fixed shaft ring inner cavity 83 of a first joint support 85, a planet support 18 of a fixed shaft part of the speed reducer is installed in a connecting shaft ring inner cavity 91 of a second joint support 88, an external spline 61 of the planet support 18 is installed with an internal spline 90 of the second joint support 88, an axial inner end face of a spline shaft shoulder 62 of the planet support 18 is installed with an axial end face of one end of a connecting shaft ring 92 of the second joint support 88 in a contact mode, one end of a plurality of cylindrical positioning pins four 95 is installed at one end of the radial outer side of a planet fixing shaft hole 60 of the planet support 18, and the other end of the positioning pins four 95 is installed in a connecting shaft ring positioning pin hole 93 of the second joint support 88. The base I1 of the speed reducer is arranged on the radial inner side of a fixed shaft ring I86 of a joint support I85, one end of a plurality of cylindrical positioning pins III 94 is arranged in a fixed shaft ring positioning pin hole 84 on the right end face of the fixed shaft ring I86, and the other end of the positioning pins III 94 is arranged in a base positioning pin hole 30 of the base I1. The second base 8 of the speed reducer is arranged on the radial inner side of the second fixed shaft ring 82 of the first joint support 85, one end of a plurality of cylindrical positioning pins three 94 is arranged in the positioning pin holes 84 of the fixed shaft ring on the left end face of the second fixed shaft ring 82, and the other end of the positioning pins three 94 is arranged in the positioning pin holes 30 of the second base 8.

The first base 1 and the second base 8 of the speed reducer are fixedly installed with the first joint support 85, and when the speed reducer operates, the second joint support 88 is driven to rotate by the planet support 18 of the speed reducer, so that the speed reducer is applied to joint driving of the robot.

In the running process of the speed reducer, the rotating speed of the planet support 18 is related to the rotating speed difference of the two motors, the two motors can be always in a high-speed running state, and the rotating direction of the planet support 18 of the speed reducer can be changed under the condition that the rotating directions of the two motors are not changed, so that the load device is driven to realize the functions of frequent acceleration and deceleration, frequent starting and stopping, and even frequent changing of the rotating direction of the load device. The speed reducer can ensure that the motor operates in a highly efficient operating state, and improve the response speed when the speed reducer changes the rotation direction of the load device. The speed reducer can simultaneously adjust the output power of the two motors and adjust the speed difference of the two motors at any time, so that the flexibility of the finger joint of the simulation robot is realized. The rotating speed of the planetary support 18 of the speed reducer is related to the rotating speed difference of the two motors, so that the speed reducer has the advantages of large transmission ratio and large output torque, and the speed reducer has the advantages of reliable operation, long service life and large output torque without a flexible gear.

Claims

1. A joint differential speed reducer is characterized in that: the speed reducer comprises a first base (1), a second base (8), a first stator part, a second stator part, a first rotor part, a second rotor part and a fixed shaft part; the rotor part I is arranged on the radial outer side of the stator part I to form a motor I; the rotor part II is arranged on the radial outer side of the stator part II to form a motor II; the first motor is arranged on the radial inner side of the first base (1), and the second motor is arranged on the radial inner side of the second base (8); the first rotor part and the second rotor part are respectively arranged at the two axial ends of the fixed shaft part, and the fixed shaft part is arranged at the axial middle position of the first base (1) and the second base (8); the stator component I comprises a stator core I (23) and a winding coil I (22); the stator component II comprises a stator core II (13) and a winding coil II (14); the rotor part I comprises a rotor support I (3), a rotor iron core I (21) and a permanent magnet (15), and a bevel gear I (4) is arranged at one axial end of the rotor support I (3); the rotor part II comprises a rotor bracket II (6), a rotor iron core II (16) and a permanent magnet (15), and a bevel gear II (5) is arranged at one axial end of the rotor bracket II (6); the fixed shaft part comprises a fixed shaft (12), a first shaft sleeve (2), a second shaft sleeve (7), a first retainer ring (25), a second retainer ring (9), a first positioning pin (24), a second positioning pin (10), a nut (11), a planetary bevel gear (17), a planetary support (18), a planetary shaft (19) and a planetary shaft sleeve (20);

when the speed reducer operates, the first controller controls the first motor to rotate, and the first controller can adjust the rotating speed of the first motor; the second controller controls the second motor to rotate, and can adjust the rotation speed of the second motor; the first motor and the second motor rotate in opposite directions; the motor I drives the planet bevel gear (17) to rotate around the planet shaft axis (81) along the rotation direction (76) of the planet bevel gear through the bevel gear I (4) of the rotor bracket I (3), and the motor II drives the planet bevel gear (17) to rotate around the planet shaft axis (81) along the rotation direction (76) of the planet bevel gear through the bevel gear II (5) of the rotor bracket II (6); when the first motor rotating speed is the same as the second motor rotating speed, the planet bevel gear (17) rotates around the axis (81) of the planet shaft, and the planet support (18) is in a static state; when the first rotating speed of the motor is different from the second rotating speed of the motor, the planet bevel gear (17) revolves around the fixed shaft axis (72) while rotating around the planet shaft axis (81), and the planet bevel gear (17) drives the planet support (18) to rotate at a low rotating speed;

the engine base I (1) is in a double-layer cylindrical shape with one closed end, the axial end face of the closed end of the engine base I (1) is provided with an engine base end plate I (31), the middle of the engine base end plate I (31) is provided with an engine base shaft hole I (32), the radial outer side of the engine base end plate I (31) is provided with an engine base flange I (29), the radial outer side of the engine base flange I (29) is uniformly provided with a plurality of engine base positioning pin holes (30), the axial inner side surface of the engine base end plate I (31) is provided with a cylindrical engine base inner sleeve I (27) and a cylindrical engine base outer sleeve I (28), the engine base inner sleeve I (27) is located on the radial inner side of the engine base outer sleeve I (28), and the radial inner side;

the first stator core (23) is annular, a stator center hole (40) is formed in the radial inner side of the first stator core (23), a plurality of stator wire slots (39) are uniformly distributed in the radial outer side of the first stator core (23), and a plurality of winding coils (22) are respectively installed in the stator wire slots (39) of the first stator core (23); when the stator component I is assembled, a stator center hole (40) of a stator core I (23) of the stator component I is arranged on the radial outer surface of a base inner sleeve I (27) of the base I (1);

the second engine base (8) is in a double-layer cylindrical shape with one closed end, the second engine base end plate (34) is arranged on the axial end face of the closed end of the second engine base (8), the second engine base shaft hole (33) is formed in the middle of the second engine base end plate (34), the second engine base flange (35) is arranged on the radial outer side of the second engine base end plate (34), a plurality of engine base positioning pin holes (30) are uniformly distributed on the radial outer side of the second engine base flange (35), a cylindrical second engine base inner sleeve (37) and a cylindrical second engine base outer sleeve (36) are arranged on the axial inner side surface of the second engine base end plate (34), the second engine base inner sleeve (37) is located on the radial inner side of the second engine base outer sleeve (36), and a second sleeve inner;

the second stator core (13) is annular, a stator center hole (40) is formed in the radial inner side of the second stator core (13), a plurality of stator wire slots (39) are uniformly distributed in the radial outer side of the second stator core (13), and a plurality of winding coils II (14) are respectively installed in the stator wire slots (39) of the second stator core (13); when the stator component II is assembled, a stator center hole (40) of a stator core II (13) of the stator component II is arranged on the radial outer surface of a machine base inner sleeve II (37) of the machine base II (8);

the rotor support I (3) is in a double-layer cylindrical shape with one closed end, the axial end face of the closed end of the rotor support I (3) is a rotor end plate I (43), the axial outer end of the rotor end plate I (43) is provided with a bevel gear I (4), one end of the axial inner side of the rotor end plate I (43) is provided with a cylindrical rotor inner sleeve I (44) and a cylindrical rotor outer sleeve I (42), the radial inner side of the rotor inner sleeve I (44) is provided with a rotor shaft hole I (41), and the rotor inner sleeve I (44) is located on the radial inner side of the rotor outer sleeve I (42); the first rotor iron core (21) is annular; when the rotor component I is assembled, the radial outer surface of a rotor core I (21) is arranged on the radial inner surface of a rotor outer sleeve I (42) of the rotor support I (3), an even number of tile-shaped permanent magnets (15) are arranged on the radial inner surface of the rotor core I (21), and the radial inner surfaces of two adjacent permanent magnets (15) are opposite magnetic poles;

the second rotor support (6) is in a double-layer cylindrical shape with one closed end, the second rotor end plate (46) is arranged on the axial end face of the closed end of the second rotor support (6), a bevel gear II (5) is arranged at one end of the axial outer side of the second rotor end plate (46), a second cylindrical rotor inner sleeve (47) and a second cylindrical rotor outer sleeve (45) are arranged at one end of the axial inner side of the second rotor end plate (46), a second rotor shaft hole (48) is arranged on the radial inner side of the second rotor inner sleeve (47), and the second rotor inner sleeve (47) is located on the radial inner side of the second rotor outer sleeve; the second rotor iron core (16) is annular; when the rotor part II is assembled, the radial outer surface of a rotor iron core II (16) is arranged on the radial inner surface of a rotor outer sleeve II (45) of the rotor bracket II (6), an even number of tile-shaped permanent magnets (15) are arranged on the radial inner surface of the rotor iron core II (16), and the radial inner surfaces of two adjacent permanent magnets (15) are opposite magnetic poles;

the fixing shaft (12) is cylindrical, and the fixing shaft (12) is sequentially provided with a second external thread (49), a second shaft head (50), a second journal (52), a fixing shaft shoulder (53), a first journal (54), a first shaft head (56) and a first external thread (57) from one end to the other end; a second radial positioning pin hole (51) is formed in the outer surface of one end, close to the second shaft head (50), of the second journal (52), and a first radial positioning pin hole (55) is formed in the outer surface of one end, close to the first shaft head (56), of the first journal (54); the first positioning pin (24) and the second positioning pin (10) are cylindrical;

the planet carrier (18) is annular, a carrier inner cavity (59) is arranged on the radial inner side of the planet carrier (18), a plurality of carrier mounting planes (58) are uniformly distributed on the radial inner surface of the planet carrier (18), a radial planet fixing shaft hole (60) is formed in the center of each carrier mounting plane (58), an external spline (61) is arranged on the radial inner side of the planet carrier (18), and a spline shaft shoulder (62) is arranged on the radial outer side of one axial end of the external spline (61);

the axial center of the planetary bevel gear (17) is a gear shaft hole III (63), one end of the planetary bevel gear (17) is provided with gear teeth (64), and the other end of the planetary bevel gear (17) is provided with a gear rear end surface (65);

the planet shaft sleeve (20) is cylindrical, the axial center of the planet shaft sleeve (20) is a planet shaft sleeve central hole (67), and the radial outer side of one end of the planet shaft sleeve (20) is provided with a thrust shaft shoulder I (66); the planet shaft (19) is cylindrical, and a positioning shaft shoulder (68) is arranged on the radial outer side of one end of the planet shaft (19);

the first shaft sleeve (2) is cylindrical, a shaft sleeve shaft hole (69) is formed in the axial center of the first shaft sleeve (2), and a thrust shaft shoulder II (96) is arranged on the radial outer side of one end of the first shaft sleeve (2); the second shaft sleeve (7) is cylindrical, the shaft sleeve shaft hole (69) is formed in the axial center of the second shaft sleeve (7), and the thrust shaft shoulder (96) is arranged on the radial outer side of one end of the second shaft sleeve (7);

the first retainer ring (25) is cylindrical, a retainer ring shaft hole (70) is formed in the axial center of the first retainer ring (25), and a radial retainer ring pin hole (71) is formed in the radial outer surface of the first retainer ring (25); the second retainer ring (9) is cylindrical, a retainer ring shaft hole (70) is formed in the axial center of the second retainer ring (9), and a radial retainer ring pin hole (71) is formed in the radial outer surface of the second retainer ring (9);

when the fixed shaft component is assembled, the axial outer end face of a thrust shaft shoulder I (66) of a plurality of planet shaft sleeves (20) is contacted and installed with a support installation plane (58) of a planet support (18), the planet shaft sleeve central hole (67) of each planet shaft sleeve (20) is aligned with a planet fixed shaft hole (60) of the planet support (18), gear shaft holes III (63) of a plurality of planet bevel gears (17) are installed on the radial outer surface of the planet shaft sleeves (20), the gear rear end face (65) of the planet bevel gear (17) is contacted and installed with the axial inner end face of the thrust shaft shoulder I (66) of the planet shaft sleeve (20), a plurality of planet shafts (19) are respectively and sequentially inserted into the planet shaft sleeve central hole (67) of the planet shaft sleeve (20) and the radial inner end face of a planet fixed shaft hole (60) of the planet support (18), and the axial inner end face of a positioning shaft shoulder (68) of the planet shaft (19) is contacted and installed on the axial end face of the planet shaft sleeve (20 -enabling the rotation of the planet bevel gear (17) around the planet shaft axis (81);

mounting the stationary shaft (12) in a carrier inner cavity (59) of the planet carrier (18); installing a shaft sleeve shaft hole (69) of a first shaft sleeve (2) on the radial outer surface of a first journal (54) of a fixed shaft (12), enabling a second thrust shaft shoulder (96) of the first shaft sleeve (2) to be close to a first positioning pin hole (55) of the fixed shaft (12), installing a baffle ring shaft hole (70) of a first baffle ring (25) on the radial outer surface of the first journal (54) of the fixed shaft (12), enabling a baffle ring pin hole (71) of the first baffle ring (25) to be aligned with the first positioning pin hole (55) of the fixed shaft (12), installing one end of a first positioning pin (24) in the first positioning pin hole (55) of the fixed shaft (12), installing the other end of the first positioning pin (24) in the baffle ring pin hole (71) of the first baffle ring (25), and enabling the axial outer end face of the second thrust shaft shoulder (96) of the first shaft sleeve (2) to be in contact; mounting the nut (11) on the radial outer side of the first external thread (57) of the fixed shaft (12); installing a shaft sleeve shaft hole (69) of a second shaft sleeve (7) on the radial outer surface of a second journal (52) of the fixed shaft (12), enabling a second thrust shaft shoulder (96) of the second shaft sleeve (7) to be close to a second positioning pin hole (51) of the fixed shaft (12), installing a baffle ring shaft hole (70) of a second baffle ring (9) on the radial outer surface of the second journal (52) of the fixed shaft (12), enabling a baffle ring pin hole (71) of the second baffle ring (9) to be aligned with the second positioning pin hole (51) of the fixed shaft (12), installing one end of a second positioning pin (10) in the second positioning pin hole (51) of the fixed shaft (12), installing the other end of the second positioning pin (10) in a baffle ring pin hole (71) of the second baffle ring (9), and enabling the axial outer end face of the second thrust shaft shoulder (96) of the second shaft sleeve (7) to be in contact with; the nut (11) is arranged on the radial outer side of the second external thread (49) of the fixed shaft (12);

when the speed reducer is assembled, the first rotor part is arranged at one end of the right side of the fixed shaft part in the axial direction, the first bevel gear (4) of the first rotor part is meshed with the first planetary bevel gear (17) of the fixed shaft part, the radial outer surface of the first shaft sleeve (2) of the fixed shaft part is arranged in the first rotor shaft hole (41) of the first rotor support (3), and the end face of the right side of the first rotor inner sleeve (44) of the first rotor support (3) is in contact with the end face of the left side of the second thrust shaft shoulder (96) of the first shaft sleeve (2) in the axial direction; mounting the rotor component II at one axial left end of the fixed shaft component, enabling the bevel gear II (5) of the rotor component II to be meshed with the planetary bevel gear (17) of the fixed shaft component, enabling the radial outer surface of the shaft sleeve II (7) of the fixed shaft component to be mounted in a rotor shaft hole II (48) of the rotor support II (6), and enabling the axial left end face of the rotor inner sleeve II (47) of the rotor support II (6) to be in contact with the axial right end face of the thrust shaft shoulder II (96) of the shaft sleeve II (7) to be mounted together;

the first base (1) is arranged at one end of the axial right side of the fixed shaft part, the first shaft head (56) of the fixed shaft (12) is arranged in a first base shaft hole (32) of the first base (1), the first rotor outer sleeve (42) of the first rotor support (3) is arranged on the radial inner side of the first base outer sleeve (28) of the first base (1), the first rotor inner sleeve (44) of the first rotor support (3) is arranged in a first sleeve inner cavity (26) of the first base (1), and the first rotor core (21) and the permanent magnet (15) of the first rotor part are arranged on the radial outer side of the first stator core (23) of the first stator part; a second base (8) is arranged at one end of the left side of the axial direction of the fixed shaft part, a second shaft head (50) of the fixed shaft (12) is arranged in a second base shaft hole (33) of the second base (8), a second rotor outer sleeve (45) of the second rotor support (6) is arranged on the radial inner side of a second base outer sleeve (36) of the second base (8), a second rotor inner sleeve (47) of the second rotor support (6) is arranged in a second sleeve inner cavity (38) of the second base (8), and a second rotor iron core (16) and a permanent magnet (15) of the second rotor part are arranged on the radial outer side of a second stator iron core (13) of the second stator part; a planet support (18) for fixing the shaft part is arranged at the axial middle position of the first engine base (1) and the second engine base (8); the two nuts (11) are used for installing and fixing the first base (1), the second base (8) and the fixed shaft (12) together;

in the speed reducer, a first bevel gear (4), a second bevel gear (5), a planetary bevel gear (17) and a planetary support (18) form a planetary bevel gear speed reducer, wherein a driving part of the planetary bevel gear speed reducer is the first bevel gear (4), a driving part of the planetary bevel gear speed reducer is the second bevel gear (5), and a driven part of the planetary bevel gear speed reducer is the planetary support (18); the planetary bevel gear reducer performs speed reduction transmission; the rotating direction of the bevel gear I (4) is opposite to that of the bevel gear II (5); when the rotating speed of the first bevel gear (4) is the same as that of the second bevel gear (5), the planetary bevel gear (17) rotates around the axis (81) of the planetary shaft, and the planetary support (18) is in a static state; when the rotating speed of the first bevel gear (4) is different from that of the second bevel gear (5), the planetary bevel gear (17) revolves around the fixed shaft axis (72) while rotating around the planetary shaft axis (81), and the planetary bevel gear (17) drives the planetary support (18) to rotate at a low rotating speed; when the rotating speed of the first bevel gear (4) is greater than that of the second bevel gear (5), the rotating direction (78) of the planet support is the same as the rotating direction (80) of the first bevel gear; when the rotating speed of the second bevel gear (5) is greater than that of the first bevel gear (4), the rotating direction (78) of the planet carrier is the same as the rotating direction (74) of the second bevel gear.

2. The use method of the joint differential speed reducer according to claim 1, characterized in that: the running process of the speed reducer is as follows:

when the speed reducer is started, the first controller controls the first motor to start at a low rotating speed, and gradually increases the rotating speed of the first motor; the first motor drives the bevel planet gears (17) to rotate around the planet shaft axes (81) along the rotation direction (76) of the bevel planet gears through the first bevel gear (4) of the first rotor component, and the second motor drives the bevel planet gears (17) to rotate around the planet shaft axes (81) along the rotation direction (76) of the bevel planet gears through the second bevel gear (5) of the second rotor component; when the first motor rotating speed is the same as the second motor rotating speed, the planet bevel gear (17) rotates around the axis (81) of the planet shaft, and the planet support (18) is in a static state;

if the first motor rotating speed is higher than the second motor rotating speed, the first bevel gear (4) drives the planetary bevel gear (17) to rotate around the planetary shaft axis (81) along the planetary bevel gear rotating direction (76) at a higher rotating speed than the second bevel gear (5) drives the planetary bevel gear (17) to rotate around the planetary shaft axis (81) along the planetary bevel gear rotating direction (76), in order to offset the speed difference, the planetary bevel gear (17) also revolves around the fixed shaft axis (72), and the planetary bevel gear (17) drives the planet support (18) to rotate at a lower rotating speed; the rotation direction (78) of the planet carrier is the same as the rotation direction (80) of the bevel gear; the rotating linear speed of the planet support (18) is equal to the difference between the rotating linear speed of the bevel gear I (4) and the rotating linear speed of the bevel gear II (5);

if the second motor rotating speed is higher than the first motor rotating speed, the second bevel gear (5) drives the planetary bevel gear (17) to rotate around the planetary shaft axis (81) along the planetary bevel gear rotating direction (76) at a higher rotating speed than the first bevel gear (4) drives the planetary bevel gear (17) to rotate around the planetary shaft axis (81) along the planetary bevel gear rotating direction (76), in order to offset the speed difference, the planetary bevel gear (17) also revolves around the fixed shaft axis (72), and the planetary bevel gear (17) drives the planet support (18) to rotate at a lower rotating speed; the rotation direction (78) of the planet carrier is the same as the rotation direction (74) of the bevel gear II; the rotating linear speed of the planet support (18) is equal to the difference between the rotating linear speed of the bevel gear II (5) and the rotating linear speed of the bevel gear I (4);

when the speed reducer needs to maintain the rotating speed of the planet carrier (18) unchanged in the operation process and the output power of the planet carrier (18) is increased, the first controller increases the output rotating speed of the first motor, the second controller increases the output rotating speed of the second motor, namely, the output powers of the first motor and the second motor are increased simultaneously, the difference between the rotating speeds of the first motor and the second motor is kept unchanged, and the difference between the rotating speeds acts on the speed reducer to maintain the rotating speed of the planet carrier (18) unchanged;

when the speed reducer needs to maintain the rotating speed of the planet carrier (18) unchanged in the operation process and the output power of the planet carrier (18) is reduced, the first controller reduces the output rotating speed of the first motor, the second controller reduces the output rotating speed of the second motor, namely the output powers of the first motor and the second motor are reduced simultaneously, the difference between the rotating speeds of the first motor and the second motor is kept unchanged, and the difference between the rotating speeds acts on the speed reducer to maintain the rotating speed of the planet carrier (18) unchanged;

in the running process of the speed reducer, when the output power of the planet support (18) is adjusted under the state that the rotating speed of the planet support (18) changes at any time, on the premise that the rotating speed difference between the first motor and the second motor is adjusted by the first controller and the second controller respectively to meet the control requirement, the rotating speeds of the first motor and the second motor are increased or decreased simultaneously, and the output power of the planet support (18) is increased or decreased.

3. The use method of the joint differential speed reducer applied to the robot joint driving according to claim 1 is characterized in that: when the speed reducer is applied to joint driving of a robot, the speed reducer is installed together with a first joint support (85) and a second joint support (88); one end of the first joint support (85) is provided with a first annular fixed shaft ring (86) and a second annular fixed shaft ring (82), the first annular fixed shaft ring (86) and the second annular fixed shaft ring (82) are arranged along the axial direction, joint support grooves (87) are formed in the inner sides of the first fixed shaft ring (86) and the second fixed shaft ring (82) in the axial direction, a plurality of fixed shaft ring positioning pin holes (84) are uniformly distributed in the end faces of the first fixed shaft ring (86) and the second fixed shaft ring (82) in the axial direction respectively, and a fixed shaft ring inner cavity (83) is formed in the inner sides of the first fixed shaft ring (86) and the second fixed shaft ring (82) in the radial direction; one end of the second joint support (88) is provided with an annular connecting shaft ring (92), the connecting shaft ring (92) is connected with the other end of the second joint support (88) through a connecting plate (89), an internal spline (90) is arranged on the radial inner surface of the connecting shaft ring (92), a connecting shaft ring inner cavity (91) is arranged on the radial inner side of the connecting shaft ring (92), and a plurality of radial connecting shaft ring positioning pin holes (93) are formed in the radial outer surface of the connecting shaft ring (92);

when the speed reducer is assembled with the first joint support (85) and the second joint support (88), the connecting shaft ring (92) of the second joint support (88) is installed in the joint support groove (87) of the first joint support (85), the speed reducer is installed in the fixed shaft ring inner cavity (83) of the first joint support (85), the planet support (18) of the fixed shaft part of the speed reducer is installed in the connecting shaft ring inner cavity (91) of the second joint support (88), the external spline (61) of the planet support (18) is installed with the internal spline (90) of the second joint support (88), the axial inner side end face of the spline shaft shoulder (62) of the planet support (18) is installed with the axial end face of one end of the connecting shaft ring (92) of the second joint support (88) in a contact mode, one end of a plurality of cylindrical positioning pins (95) is installed at one end of the radial outer side of the planet fixing shaft hole (60) of the planet support (18), the other end of the positioning pin IV (95) is arranged in a positioning pin hole (93) of a connecting shaft ring of the joint support II (88); installing a base I (1) of the speed reducer on the radial inner side of a fixed shaft ring I (86) of a joint support I (85), installing one ends of a plurality of cylindrical positioning pins III (94) in a fixed shaft ring positioning pin hole (84) on the right end face of the fixed shaft ring I (86), and installing the other ends of the positioning pins III (94) in a base positioning pin hole (30) of the base I (1); mounting a second base (8) of the speed reducer on the radial inner side of a second fixed shaft ring (82) of a first joint support (85), mounting one ends of a plurality of cylindrical positioning pins III (94) in positioning pin holes (84) of the second fixed shaft ring (82) on the left end face, and mounting the other ends of the positioning pins III (94) in positioning pin holes (30) of the second base (8);

the first base (1) and the second base (8) of the speed reducer are fixedly installed with the first joint support (85), when the speed reducer runs, the second joint support (88) is driven by the planet support (18) of the speed reducer to rotate, and the speed reducer is applied to joint driving of a robot.