CN115972187A - Transmission module output structure, executor and robot - Google Patents
Transmission module output structure, executor and robot Download PDFInfo
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- CN115972187A CN115972187A CN202211714405.2A CN202211714405A CN115972187A CN 115972187 A CN115972187 A CN 115972187A CN 202211714405 A CN202211714405 A CN 202211714405A CN 115972187 A CN115972187 A CN 115972187A
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Abstract
The invention provides a transmission module output structure, an actuator and a robot, wherein the transmission module output structure comprises a speed reduction unit, a shell and an output unit, the output unit comprises an output inner gear ring and an output flange, the output inner gear ring is connected with the output end of the speed reduction unit in a transmission manner, the output flange is fixed on the output inner gear ring, an output bearing is arranged between the outer wall of the output inner gear ring and the shell, the output bearing is positioned in the height range of the output inner gear ring, the inner ring limit of the output bearing is positioned between the output flange and the output inner gear ring, and the outer ring of the output bearing is limited by the shell.
Description
Technical Field
The invention belongs to the technical field of actuators, and particularly relates to a transmission module output structure, an actuator and a robot.
Background
At present, the robot technology is rapidly developed, and the application of the robot has penetrated into various fields of society, such as the working fields of automatic assembly, painting, carrying, welding and the like. The actuator is an essential component of the robot, is arranged at a joint of a hand, a leg, a neck and the like of the robot, receives a signal sent by the controller, exerts a control operation effect on a controlled object, and is a component for executing actual action.
The actuator comprises a driving module and a transmission module (speed reducer), wherein the transmission module takes an output flange as a power output part, torque is transmitted to the output flange from an output inner gear ring in the actuator adopting planetary speed reduction, and the output inner gear ring and the output flange are connected and fixed through an intermediate connecting piece. The middle connecting piece and the output flange end of a common robot joint actuator are supported by a single bearing, and the design usually causes large axial movement of the output flange of the actuator. Technical personnel propose to adopt the scheme that duplex bearing supports in order to improve the axial float problem of output flange, but current bearing is stagger with at least one in output ring gear, intermediate junction spare and output flange in the axial direction, and the bearing occupies axial size, is unfavorable for the development of executor miniaturization.
Disclosure of Invention
The embodiment of the invention aims to provide a transmission module output structure, an actuator and a robot, and the transmission module output structure can solve the technical problems that an output flange generates large axial movement and a bearing and an output inner gear ring occupy axial dimensions.
In order to realize the purpose, the invention adopts the technical scheme that: the invention provides a transmission module output structure in a first aspect, which comprises a speed reducing unit, a shell and an output unit;
the output unit comprises an output inner gear ring and an output flange, the output inner gear ring is connected to the output end of the speed reducing unit in a transmission manner, and the output flange is fixed on the output inner gear ring;
an output bearing is arranged between the outer wall of the output inner gear ring and the shell, the output bearing is located within the height range of the output inner gear ring, the inner ring of the output bearing is limited between the output flange and the output inner gear ring, and the outer ring of the output bearing is limited by the shell.
In one embodiment, the housing comprises an outer shell, an inner shell and an end fixing flange, the end fixing flange is fixedly connected with the outer shell, the inner shell is fixedly connected in the outer shell, and the speed reducing unit is mounted on the outer shell; the outer ring of the output bearing is limited between the inner shell and the end fixing flange.
In an embodiment, the output bearing includes a first bearing and a second bearing, the first bearing and the second bearing are coaxially stacked up and down, the end fixing flange and the inner shell axially limit an outer ring of the first bearing and an outer ring of the second bearing, and the output flange and the output inner gear ring axially limit an inner ring of the first bearing and an inner ring of the second bearing.
In one embodiment, the end fixing flange has a first fitting portion, the inner housing has a second fitting portion, the outer race of the first bearing abuts the first fitting portion, and the outer race of the second bearing abuts the second fitting portion.
In one embodiment, the output flange has a third mounting portion located on one side of an outer wall of the output ring gear, the outer wall of the output ring gear has a fourth mounting portion protruding outward, the inner ring of the first bearing abuts against the third mounting portion, and the inner ring of the second bearing abuts against the fourth mounting portion.
In one embodiment, the inner housing includes a reduction mounting portion located inside the output ring gear and a second mounting portion extending from the reduction mounting portion to outside the output ring gear, the reduction mounting portion being mounted with the reduction unit, the second mounting portion supporting an outer race of the output bearing.
In one embodiment, the device further comprises a position acquisition structure, the position acquisition structure comprises a magnetic sheet and a sensor which are oppositely arranged, the position acquisition structure is located in the axial space of the output inner gear ring, and the magnetic sheet of the position acquisition structure is in transmission connection with the output flange so as to rotate relative to the sensor.
In one embodiment, the reduction unit includes a primary planetary gear arrangement and a secondary planetary gear arrangement;
the primary planetary gear structure comprises a first sun gear, a planet gear, an inner gear ring and a planet carrier, and the secondary planetary gear structure comprises a second sun gear and a double-linkage-gear structure; the double-linkage-gear structure comprises a shaft body, one end of the shaft body is an optical axis, the other end of the shaft body is a tooth surface shaft, and one end of the optical axis is provided with a gear which is coaxially matched with the optical axis; the first sun gear of the primary planetary gear structure is used for being fixedly connected with the output end of the driving module, the second sun gear of the secondary planetary gear structure is fixedly connected with the planet carrier of the primary planetary gear structure, the sun gear of the secondary planetary gear structure is in transmission connection with the gear of the double-tooth structure, and the tooth surface shaft of the double-tooth structure is in transmission connection with the output inner gear ring.
A second aspect of the present invention provides an actuator, including a driving module and a transmission module output structure, wherein the transmission module output structure is the transmission module output structure described above.
A third aspect of the invention provides a robot comprising a transmission module output arrangement as described above.
The output structure of the transmission module improves the structure of the output end of the transmission module of the existing actuator, the output flange, the flange connecting piece and the output gear ring are optimized into a structure that the output flange and the output gear ring are directly fixed, the bearing is externally arranged at the outer side of the output gear ring, the output bearing is positioned in the height range of the output gear ring, and the axial direction size of the output structure of the transmission module is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic cross-sectional view of an output structure of a transmission module according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an actuator according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an end mounting flange provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an inner shell according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an output flange according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an output ring gear according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
In the description of the present invention, it should be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In addition, in the present application, unless otherwise expressly specified or limited, the terms "connected," "secured," "mounted," and the like are to be construed broadly, such as to encompass both mechanical and electrical connections; the terms may be directly connected or indirectly connected through an intermediate medium, and may be used for communicating between two elements or for interacting between two elements, unless otherwise specifically defined, and the specific meaning of the terms in the present application may be understood by those skilled in the art according to specific situations.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship that is indicated based on the orientation or positional relationship as shown in the figures, which is for convenience in describing the invention and to simplify the description, and that does not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and is not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. It should be understood that the term "and/or" as used herein is merely one type of association that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
The following describes the output structure of the transmission module, the actuator and the robot in detail with reference to specific embodiments.
Fig. 1 is a schematic cross-sectional structure view of an output structure of a transmission module according to an embodiment of the present invention, and please refer to fig. 1, the output structure 1 of the transmission module according to the present invention includes a speed reduction unit 11, a housing 12 and an output unit 13;
the output unit 13 comprises an output inner gear ring 131 and an output flange 132, the output inner gear ring 131 is in transmission connection with the output end of the speed reducing unit 11, and the output flange 132 is fixed on the output inner gear ring 131;
an output bearing 14 is configured between the outer wall of the output inner gear ring 131 and the housing 12, the output bearing 14 is located within the height range of the output inner gear ring 131, the inner ring of the output bearing 14 is limited between the output flange 132 and the output inner gear ring 131, and the outer ring of the output bearing 14 is limited by the housing 12.
The transmission module output structure 1 of the present embodiment is applied to an actuator, the actuator is an essential important component in a robot, the actuator receives a signal sent by a controller, and exerts a control operation effect on a controlled object, and the actuator is a component for executing an actual action, and the present embodiment does not particularly limit the specific functions of the actuator.
The speed reducing unit 11 of this embodiment is an independent component composed of a gear transmission, a worm transmission and a gear-worm transmission enclosed in a rigid casing, and is commonly used as a speed reducing transmission device between a prime mover and a working machine, and plays roles of matching rotating speed and transmitting torque between the prime mover and the working machine or an executing mechanism.
The output unit of this embodiment includes an output ring gear 131 and an output flange 132, and the power of the drive module of this embodiment is output and connected through the output flange 132, which is fast and convenient. The embodiment does not particularly limit the specific structural forms of the output ring gear 131 and the output flange 132.
The output bearing 14 of this embodiment is disposed between the outer wall of the output inner gear ring 131 and the housing 12, the inner ring of the output bearing 14 is limited between the output flange 132 and the output inner gear ring 131, the outer ring of the output bearing 14 is limited by the housing 12, the output bearing 14 is located within the height range of the output inner gear ring 131, the output structure of the transmission module improves the structure of the output end of the existing actuator transmission module, the three elements of the existing output flange, flange connector and output inner gear ring are optimized into a structure in which the output flange 132 and the output inner gear ring 131 are directly fixed, and the manufacturing cost is saved.
In this embodiment, the output bearing may be a ball bearing or a roller bearing. The embodiment does not particularly limit the specific form of the bearing.
The output structure of the transmission module of the embodiment comprises a speed reduction unit, a shell and an output unit, wherein the output unit comprises an output inner gear ring and an output flange, the output inner gear ring is in transmission connection with the output end of the speed reduction unit, the output flange is fixed on the output inner gear ring, an output bearing is arranged between the outer wall of the output inner gear ring and the shell, the output bearing is located in the height range of the output inner gear ring, the inner ring limit of the output bearing is located between the output flange and the output inner gear ring, and the outer ring of the output bearing is limited by the shell.
Fig. 2 is a schematic structural diagram of an actuator according to an embodiment of the present invention, please refer to fig. 1 and fig. 2, further, the housing 12 of the present embodiment includes an outer housing 121, an inner housing 122, and an end fixing flange 123, the end fixing flange 123 is fixedly connected to the outer housing 121, the inner housing 122 is fixed in the outer housing 121, the speed reduction unit 11 of the present embodiment is mounted on the outer housing 121, and an outer ring of the output bearing 14 of the present embodiment is limited between the inner housing 122 and the end fixing flange 123. The inner shell 122, the outer shell 121 and the output bearing 14 of the embodiment have no matching features, have low processing and mounting requirements, effectively reduce the manufacturing cost and the mounting requirements, avoid the accumulation of mounting errors caused by the mounting of a plurality of parts, and improve the mounting precision.
Further, referring to fig. 1 and 2, the bearing 14 of the present embodiment includes a first bearing 141 and a second bearing 142, the first bearing 141 and the second bearing 142 are disposed between an outer wall of the output ring gear 131 and an inner wall of the end fixing flange 123, the first bearing 141 and the second bearing 142 are coaxially disposed in an up-down stacked manner, the end fixing flange 123 and the inner shell 122 axially limit an outer ring of the first bearing 141 and an outer ring of the second bearing 142, and the output flange 132 and the output ring gear 131 axially limit an inner ring of the first bearing 141 and an inner ring of the second bearing 142. This embodiment can strengthen rigidity through setting up two bearings of overlapping from top to bottom, improves the axial guide precision, can also reduce the running noise to a certain extent.
In the embodiment, the first bearing 141 and the second bearing 142 are arranged in an overlapping manner, and the output ring gear 131 can be better restrained by the double bearings, so that the axial movement of the output flange 132 is greatly reduced. The first and second bearings 141 and 142 of the present embodiment do not add an additional axial dimension in the axial direction of the output ring gear 131, and reduce the axial dimension of the actuator while increasing structural strength.
Fig. 3 is a schematic structural diagram of an end fixing flange according to an embodiment of the present invention, and fig. 4 is a schematic structural diagram of an inner housing according to an embodiment of the present invention, referring to fig. 3 and fig. 4, in an embodiment, the end fixing flange 123 has a first assembling portion, the inner housing 122 has a second assembling portion, an outer ring of the first bearing 141 abuts against the second assembling portion, and an outer ring of the second bearing 142 abuts against the second assembling portion. In the embodiment, the first assembly part of the end fixing flange 123 and the second assembly part of the inner shell 122 are used for limiting the first bearing 141 and the second bearing 142 up and down, so that the structure is simple.
Illustratively, the first fitting part has a first upper limit surface 1231, the second fitting part has a first lower limit surface 1221, and the outer race of the first bearing 141 and the outer race of the second bearing 142 are axially positioned by the first upper limit surface 1231 and the first lower limit surface 2221. The first bearing 141 and the second bearing 142 of the embodiment are stacked up and down, the first assembly portion of the fixing flange 123 has a first upper limit surface 1231, the outer ring of the first bearing 141 abuts against the first upper limit surface 1231, the second assembly portion of the inner shell 122 has a first lower limit surface 1221, the outer ring of the second bearing 142 abuts against the first lower limit surface 1221, and the stacked first bearing 141 and second bearing 142 are axially limited by the first upper limit surface 1231 of the end fixing flange 123 and the first lower limit surface 1221 of the inner shell 122, so that the implementation manner is simple.
Fig. 5 is a schematic structural view of an output flange according to an embodiment of the present invention, fig. 6 is a schematic structural view of an output ring gear according to an embodiment of the present invention, please refer to fig. 5 and fig. 6, further, in an embodiment, the output flange 132 has a third assembling portion located on one side of an outer ring of the output ring gear 131, the outer ring of the output ring gear 131 has a fourth assembling portion, an inner ring of the first bearing 141 abuts against the third assembling portion, and an inner ring of the second bearing 142 abuts against the fourth assembling portion.
Illustratively, the third fitting part has a second upper limiting surface 1321, the fourth fitting part has a second lower limiting surface 1311, and the outer ring of the first bearing 141 and the outer ring of the second bearing are axially positioned by the second upper limiting surface 1321 and the second lower limiting surface 1311. The second upper limit surface 1321 of the output flange 132 of the present embodiment abuts against the outer ring of the first bearing 141, and the second lower limit surface 2311 of the output ring gear 131 abuts against the inner ring of the second bearing 142, so that the first bearing 141 and the second bearing 142 are compactly fitted to the output flange 132 and the output ring gear 131.
In this embodiment, the inner wall of the end fixing flange 123 has a first arc-shaped surface, the outer ring of the output ring gear 131 has a second arc-shaped surface, the outer ring of the first bearing 141 and at least part of the outer ring of the second bearing 142 are attached to the first arc-shaped surface, and the inner ring of the first bearing 141 and the inner ring of the second bearing 142 are attached to the second arc-shaped surface. The outer ring of the first bearing 141 and at least part of the outer ring of the second bearing 142 of the embodiment are attached to the arc-shaped surface of the inner wall of the end fixing flange 123, the inner ring of the first bearing 141 and the inner ring of the second bearing 142 are attached to the outer ring of the output ring gear 131, the first bearing 141 and the second bearing 142 of the embodiment have the same size, and are convenient to machine and install.
Further, referring to fig. 1 and 2, the output structure of the transmission module further includes a position collecting structure, the position collecting structure includes a magnetic sheet 15 and a sensor 16, the magnetic sheet 15 and the sensor 16 are oppositely disposed, the position collecting structure is located in an axial space of the output ring gear 131, the magnetic sheet 15 of the position collecting structure of this embodiment is in transmission connection with the output flange 132, and the sensor 16 is fixed on the inner casing 122. The position acquisition structure of the embodiment is positioned in the axial space of the output inner gear ring 131, the axial space of the output inner gear ring 131 is fully utilized, the structure is compact, and the overall volume is reduced.
Referring to fig. 2, preferably, the speed reduction unit 11 includes a primary planetary gear structure and a secondary planetary gear structure; the primary planetary gear structure comprises a first sun gear 111, a planet gear 112, an annular gear 113 and a planet carrier 114, and the secondary planetary gear structure comprises a second sun gear 115 and a double-linkage-gear structure 116; the dual-linkage-gear structure 116 includes a shaft body, one end of the shaft body is an optical axis, the other end of the shaft body is a tooth surface shaft 1161, and one end of the optical axis is provided with a gear 1162 which is coaxially matched with the optical axis; the first sun gear 111 of the primary planetary gear structure is used for being fixedly connected with an output end of a motor, the second sun gear 115 of the secondary planetary gear structure is fixedly connected with the planet carrier 114 of the primary planetary gear structure, the second sun gear 115 of the secondary planetary gear structure is in transmission connection with the gear 1162 of the double-linkage-tooth structure, and the tooth surface shaft 1161 of the double-linkage-tooth structure is in transmission connection with the output ring gear 131.
The double-linkage-gear structure 116 of the embodiment comprises an axis body, one end of the axis body is an optical axis, the other end of the axis body is a tooth surface shaft 1161, one end of the optical axis is provided with a gear 1162 of coaxial matching, one end of the axis body of the double-linkage-gear structure is the optical axis, the gear 1162 of coaxial matching is installed, the other end of the other end is the tooth surface shaft 1161, the diameter of one end of the tooth surface shaft 1161 of the double-linkage-gear structure is equivalent to the diameter of the optical axis, the problem that the double-linkage-gear structure 116 is not detachable is solved, the other end of the axis body is the tooth surface shaft 1161 and does not need to weld the gear again, and the influence of thermal stress and thermal deformation on a bearing inner ring and a roller installed on the axis body is avoided.
The driving source of the driving structure of this embodiment is a motor, the primary sun gear 112 of this embodiment is fixedly connected with a rotor of the motor, the primary transmission member of this embodiment is the primary sun gear 112, the motor of this embodiment is an outer rotor motor with a hollow structure, a transmission rotating shaft penetrating through the interior of the motor is fixed on the rotor of the motor, the primary sun gear 112 is fixed on the transmission rotating shaft, the motor of this embodiment transmits power to the planetary reduction unit 11, the planetary reduction unit 11 transmits power to the output unit 13, the output unit 13 includes an output inner gear ring 131 and an output flange 132, and the output inner gear ring 131 outputs power to the output flange 132. In this embodiment, the output flange 132 is a disk flange that is embedded inside the hollow end fixing flange 123.
The output structure of the transmission module improves the structure of the output end of the existing actuator transmission module, the output flange, the flange connecting piece and the output gear ring are optimized into a structure that the output flange and the output inner gear ring are directly fixed, the bearing of the embodiment is externally arranged on the outer side of the output inner gear ring, the output bearing is positioned in the height range of the output inner gear ring, and the axial direction size of the output structure of the transmission module is reduced.
Referring to fig. 1 and fig. 2, a second aspect of the present embodiment provides an actuator, including a driving unit 2 and a transmission module output structure 1, where the transmission module output structure 1 is the transmission module output structure 1 according to the above embodiments.
For example: the transmission module output structure 1 comprises a speed reducing unit 11, a shell 12 and an output unit 13;
the output unit 13 comprises an output inner gear ring 131 and an output flange 132, the output inner gear ring 131 is in transmission connection with the output end of the speed reducing unit 11, and the output flange 132 is fixed on the output inner gear ring 131;
an output bearing 14 is configured between the outer wall of the output ring gear 131 and the housing 12, the output bearing 14 is located within the height range of the output ring gear 131, an inner ring 21 of the output bearing 14 is limited between the output flange 132 and the output ring gear 131, and an outer ring 22 of the output bearing 14 is limited by the housing 12.
The output structure of the transmission module of the actuator improves the structure of the output end of the transmission module of the existing actuator, the output flange, the flange connecting piece and the output gear ring are optimized into a structure that the output flange and the output inner gear ring are directly fixed, the output bearing of the embodiment is externally arranged on the outer side of the output inner gear ring, the output bearing is positioned in the height range of the output inner gear ring, and the axial direction size of the output structure of the transmission module is reduced.
A third aspect of the present embodiment provides a robot including a transmission module output structure as described in the above embodiments.
For example: the transmission module output structure comprises a speed reduction unit, a shell and an output unit;
the output unit comprises an output inner gear ring and an output flange, the output inner gear ring is connected to the output end of the speed reducing unit in a transmission manner, and the output flange is fixed on the output inner gear ring;
an output bearing is arranged between the outer wall of the output inner gear ring and the shell, the output bearing is located within the height range of the output inner gear ring, the inner ring of the output bearing is limited between the output flange and the output inner gear ring, and the outer ring of the output bearing is limited by the shell.
The robot provided by the embodiment comprises the transmission module output structure, the transmission module output structure comprises a speed reduction unit, a shell and an output unit, the output unit comprises an output inner gear ring and an output flange, the output inner gear ring is connected to the output end of the speed reduction unit in a transmission mode, the output flange is fixed on the output inner gear ring, an output bearing is arranged between the outer wall of the output inner gear ring and the shell and is located within the height range of the output inner gear ring, the inner ring limit of the output bearing is located between the output flange and the output inner gear ring, and the outer ring of the output bearing is limited by the shell.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A kind of drive module output structure, characterized by:
comprises a speed reduction unit, a shell and an output unit;
the output unit comprises an output inner gear ring and an output flange, the output inner gear ring is connected to the output end of the speed reducing unit in a transmission manner, and the output flange is fixed on the output inner gear ring;
an output bearing is arranged between the outer wall of the output inner gear ring and the shell, the output bearing is located within the height range of the output inner gear ring, the inner ring of the output bearing is limited between the output flange and the output inner gear ring, and the outer ring of the output bearing is limited by the shell.
2. The transmission module output structure according to claim 1, wherein: the shell comprises an outer shell, an inner shell and an end fixing flange, the end fixing flange is fixedly connected with the outer shell, the inner shell is fixedly connected in the outer shell, and the speed reducing unit is installed on the outer shell; the outer ring of the output bearing is limited between the inner shell and the end fixing flange.
3. The transmission module output structure according to claim 2, characterized in that: the output bearing comprises a first bearing and a second bearing, the first bearing and the second bearing are coaxially arranged up and down in an overlapped mode, the end fixing flange and the inner shell axially limit the outer ring of the first bearing and the outer ring of the second bearing, and the output flange and the output inner gear ring axially limit the inner ring of the first bearing and the inner ring of the second bearing.
4. The transmission module output structure according to claim 3, characterized in that: the end fixing flange is provided with a first assembling portion, the inner shell is provided with a second assembling portion, the outer ring of the first bearing is abutted to the first assembling portion, and the outer ring of the second bearing is abutted to the second assembling portion.
5. The transmission module output structure according to claim 3, wherein: the output flange is provided with a third assembling portion located on one side of the outer wall of the output inner gear ring, the outer wall of the output inner gear ring is provided with a fourth assembling portion protruding outwards, the inner ring of the first bearing is abutted against the third assembling portion, and the inner ring of the second bearing is abutted against the fourth assembling portion.
6. The transmission module output structure according to claim 3, wherein: the inner shell comprises a speed reduction mounting part and a second assembling part, the speed reduction mounting part is located in the output inner gear ring, the second assembling part extends out of the output inner gear ring, the speed reduction mounting part is used for mounting the speed reduction unit, and the second assembling part supports the outer ring of the output bearing.
7. The transmission module output structure according to claim 1, characterized in that: still include position collection structure, position collection structure is including relative magnetic sheet and the sensor that sets up, position collection structure is located in the axial space of output ring gear, the magnetic sheet of position collection structure with output flange transmission is connected with relatively the sensor rotates.
8. The transmission module output structure according to any one of claims 1 to 7, characterized in that: the speed reduction unit comprises a primary planetary gear structure and a secondary planetary gear structure;
the primary planetary gear structure comprises a first sun gear, a planet gear, an inner gear ring and a planet carrier, and the secondary planetary gear structure comprises a second sun gear and a double-linkage-tooth structure; the double-linkage-gear structure comprises a shaft body, one end of the shaft body is an optical shaft, the other end of the shaft body is a tooth surface shaft, and one end of the optical shaft is provided with a gear which is coaxially matched with the optical shaft; the first sun gear of the primary planetary gear structure is used for being fixedly connected with the output end of the driving module, the second sun gear of the secondary planetary gear structure is fixedly connected with the planet carrier of the primary planetary gear structure, the sun gear of the secondary planetary gear structure is in transmission connection with the gear of the double-tooth structure, and the tooth surface shaft of the double-tooth structure is in transmission connection with the output inner gear ring.
9. An actuator, characterized by: comprising a drive module and a transmission module output arrangement, wherein the transmission module output arrangement is as claimed in any one of claims 1-8.
10. A robot, characterized by: the robot comprising a transmission module output structure according to any of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211714405.2A CN115972187A (en) | 2022-12-27 | 2022-12-27 | Transmission module output structure, executor and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211714405.2A CN115972187A (en) | 2022-12-27 | 2022-12-27 | Transmission module output structure, executor and robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205638816U (en) * | 2016-05-23 | 2016-10-12 | 湘电风能有限公司 | Aerogenerator unit is with driftage bearing and aerogenerator |
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