CN117823574A - Integrated composite star gear reducer, driving motor and robot - Google Patents
Integrated composite star gear reducer, driving motor and robot Download PDFInfo
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- CN117823574A CN117823574A CN202211199649.1A CN202211199649A CN117823574A CN 117823574 A CN117823574 A CN 117823574A CN 202211199649 A CN202211199649 A CN 202211199649A CN 117823574 A CN117823574 A CN 117823574A
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- 239000003638 chemical reducing agent Substances 0.000 title claims abstract description 42
- 239000002131 composite material Substances 0.000 title claims description 11
- 150000001875 compounds Chemical class 0.000 claims abstract description 26
- 238000005096 rolling process Methods 0.000 claims description 53
- 238000009434 installation Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 11
- 230000002093 peripheral effect Effects 0.000 description 8
- 230000003321 amplification Effects 0.000 description 6
- 238000003199 nucleic acid amplification method Methods 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010408 sweeping Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Abstract
The invention provides an integrated compound star gear reducer, a motor and a robot applied to the integrated compound star gear reducer, comprising: a first ring gear; the second gear ring is arranged adjacent to the first gear ring; the sun gear is arranged on the inner side of the first gear ring; the rotary motion is used for receiving the input of a driving motor; the planetary gear comprises a first gear and a second gear, the first gear and the second gear are integrally formed and form a duplex structure, the first gear is respectively meshed with the sun gear and the first gear ring, and the second gear is meshed with the second gear ring; and the power output disc is fixedly connected with the second gear ring and used for outputting the decelerated power. The invention can realize large reduction ratio, obviously improve output torque, has more compact structure, can reduce transmission resistance, has higher forward and reverse transmission efficiency of the whole joint unit, and can realize direct torque control by extremely low rotational inertia and transmission clearance, thereby achieving the purposes of compact structure and small volume of the whole speed reducer.
Description
Technical Field
The invention relates to an intelligent robot, in particular to an integrated composite star gear reducer, a driving motor and a robot.
Background
The intelligent robot is an intelligent electric appliance, and can automatically finish the work of floor cleaning, desktop cleaning, sundry storage, video monitoring and the like in a room by means of certain artificial intelligence. If the intelligent sweeping robot can absorb the sundries on the ground into the garbage storage box of the intelligent sweeping robot, the function of cleaning the ground is completed.
The intelligent robot technology on the market at present has a single functional main body, for example, a sweeping robot can only clean hair, dust, small particle garbage and the like, has single function and has few other functions besides the basic functions. The function singleization of intelligent robot has restricted intelligent robot function pluralism, makes intelligent robot be difficult to be suitable for other service scenarios.
The speed reducer is generally used for low-rotation-speed and high-torque transmission equipment, and a motor, an internal combustion engine or other power running at high speed is meshed with a large gear on an output shaft through a gear with a small number of teeth on an input shaft of the speed reducer to achieve the purpose of speed reduction, and a planetary speed reducer is more commonly used on robots.
However, in the prior art, the speed reducer is usually smooth in forward output, difficult in reverse input, and inconvenient to control the output torque.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an integrated composite star gear reducer, a driving motor and a robot.
An integrated compound planetary gear reducer provided according to the present invention includes:
a first ring gear;
a second gear ring disposed adjacent to the first gear ring;
the sun gear is arranged on the inner side of the first gear ring; the rotary motion is used for receiving the input of a driving motor;
the planetary gear comprises a first gear and a second gear, the first gear and the second gear are integrally formed and form a duplex structure, the first gear is respectively meshed with the sun gear and the first gear ring, and the second gear is meshed with the second gear ring;
the power output disc is fixedly connected with the second gear ring and used for outputting the decelerated power.
Preferably, the sun gear is provided with a power input shaft, the power input shaft is provided with a first shaft hole, and a key groove is formed in the outer wall surface or the inner wall surface of the first shaft hole;
the sun gear is used for being fixedly connected to a power output shaft of a driving motor through the first shaft hole and the key groove.
Preferably, the planet carrier is provided with a second shaft hole; a ball bearing is arranged in the second shaft hole;
the inner ring of the ball bearing is fixedly connected with the power input shaft of the sun gear; and the outer ring of the ball bearing is fixedly connected with the inner wall surface of the second shaft hole.
Preferably, the planetary gear set further comprises a first planetary carrier and a second planetary carrier;
the first planet carrier is fixedly connected with the second planet carrier; an accommodating cavity is formed between the first planet carrier and the second planet carrier;
the planet wheel is arranged in the accommodating cavity and is connected between the first planet support and the second planet support through a rotating shaft.
Preferably, the first rolling bearing, the second rolling bearing, the third rolling bearing and the mounting housing are further included;
the first rolling bearing is arranged between the first planetary bracket and the power output disc so that the first planetary bracket can rotate along the circumferential direction of the first rolling bearing;
the second rolling bearing is arranged between the power output disc and the mounting shell so that the power output disc can rotate along the circumferential direction of the second rolling bearing and the first rolling bearing;
the third rolling bearing is disposed between the second planetary carrier and the mounting housing so that the second planetary carrier can rotate in a circumferential direction of the third rolling bearing.
Preferably, a plurality of limit grooves distributed along the circumferential direction are formed in the inner wall surface of the installation shell;
the first gear ring is provided with a plurality of limit protrusions distributed along the circumferential direction;
the limiting groove is matched with the limiting protrusion to realize connection of the first gear ring and the inner wall surface of the installation shell.
Preferably, the first planetary support is fixedly connected with the second planetary support through a plurality of connecting columns;
each connecting column is arranged between two adjacent planetary gears.
Preferably, the second ring gear includes a first diameter portion and a second diameter portion connected;
the outer side surface of the first diameter part is fixed on the inner ring of the second rolling bearing and can rotate along the circumferential direction of the second rolling bearing;
the second diameter portion is limited between the inner end face of the second rolling bearing and the mounting housing.
Preferably, the number of teeth of the first gear ring is smaller than the number of teeth of the second gear ring;
the number of teeth of the first gear is larger than that of the second gear;
the diameter of the first gear is larger than the diameter of the second gear.
The driving motor provided by the invention comprises the integrated composite star gear reducer and also comprises a driving motor;
the driving motor is used for outputting rotary motion;
the integrated compound planetary gear reducer is used for receiving the rotary motion through the sun gear, and outputting power after the rotary motion is decelerated through the power output disc.
The robot provided by the invention comprises the driving motor, and the motion output after the speed reduction is performed by the driving motor.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, the rotary motion in the motor is input through the sun gear, the planet gear adopts integrally formed duplex gears, the sun gear and the first gear are meshed to form the amplification of the first-stage reduction ratio, and the second gear form the amplification of the second-stage reduction ratio.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art. Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is an exploded view of an integrated compound planetary gear reducer according to an embodiment of the invention;
FIG. 2 is a schematic cross-sectional view of an integrated compound planetary gear reducer in one direction according to an embodiment of the invention;
FIG. 3 is a schematic cross-sectional view of an integrated compound planetary gear reducer in another direction in accordance with an embodiment of the invention;
FIG. 4 is a schematic diagram of a side of an integrated compound planetary gear reducer according to an embodiment of the invention;
FIG. 5 is a schematic diagram of another side of an integrated compound planetary gear reducer according to an embodiment of the invention;
FIG. 6 is a schematic diagram of the internal structure of an integrated compound planetary gear reducer according to an embodiment of the invention;
FIG. 7 is a schematic diagram of the matching relationship between a planet carrier and a planet in an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a planet in an embodiment of the present invention; and
fig. 9 is a schematic diagram of the matching relationship between the integrated compound planetary gear reducer and the driving motor in the embodiment of the invention.
In the figure:
1 is a first gear ring; 2 is a second gear ring; 3 is a sun gear; 4 is a planet wheel, 401 is a first gear; 402 is a second gear; 5 is a power output disc; 6 is a first planet carrier; 7 is a second planet carrier; 8 is a first rolling bearing; 9 is a second rolling bearing; 10 is a third rolling bearing; 11 is a mounting shell; 12 is a connecting column; 13 is a driving motor; 14 is a rotating shaft; 15 is a ball bearing.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for a fixing function or for a circuit communication function.
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 merely for convenience in describing embodiments of the invention and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
The invention provides an integrated compound planetary gear reducer, comprising:
a first ring gear;
a second gear ring disposed adjacent to the first gear ring;
the sun gear is arranged on the inner side of the first gear ring; the rotary motion is used for receiving the input of a driving motor;
the planetary gear comprises a first gear and a second gear, the first gear and the second gear are integrally formed and form a duplex structure, the first gear is respectively meshed with the sun gear and the first gear ring, and the second gear is meshed with the second gear ring;
the power output disc is fixedly connected with the second gear ring and used for outputting the decelerated power.
In the invention, the rotary motion in the motor is input through the sun gear, the planet gear adopts a coaxial duplex gear, the sun gear and the first gear are meshed to form the amplification of the first-stage reduction ratio, and the second gear ring form the amplification of the second-stage reduction ratio.
The foregoing is a core idea of the present invention, and in order that the above-mentioned objects, features and advantages of the present invention can be more clearly understood, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is an exploded schematic view of an integrated compound planetary gear reducer according to an embodiment of the present invention, as shown in fig. 1, the integrated compound planetary gear reducer provided by the present invention includes:
a first ring gear 1;
a second ring gear 2, the second ring gear 2 being disposed adjacent to the first ring gear 1;
the sun gear 3 is arranged on the inner side of the first gear ring 1 and is used for receiving rotary motion input by a driving motor 13;
the planet wheel 4 comprises a first gear 401 and a second gear 402, the first gear 401 and the second gear 402 are integrally formed, a duplex structure is formed, the first gear 401 is meshed with the sun gear 3 and the first gear ring 1 respectively, and the second gear 402 is meshed with the second gear ring 2;
and the power output disc 5 is fixedly connected with the second gear ring 2 and is used for outputting the decelerated power.
In the embodiment of the invention, the first ring gear 1, the second ring gear 2, the sun gear 3, and the power output disc 5 are disposed on the same axis. The second ring gear 2 is arranged in parallel with the first ring gear 1.
The sun gear 3 and the first gear 401 are arranged in the same plane. The sun gear 3 is disposed at a central position of the plurality of first gears 401, and the planetary gears 4 are disposed inside the first ring gear 1 and the second ring gear 2.
When the sun gear 3 rotates under the drive of the motor, the planetary gear 4 is driven to rotate, the first gear 401 rotates along the first gear ring 1, and the second gear 402 drives the second gear ring 2 to rotate, so that the power output disc 5 outputs the decelerated power.
Fig. 2 is a schematic cross-sectional view of an integrated composite planetary gear reducer along a direction in an embodiment of the present invention, as shown in fig. 2, the integrated composite planetary gear reducer provided by the present invention further includes a first planet carrier 6, a second planet carrier 7, a first rolling bearing 8, a second rolling bearing 9, a third rolling bearing 10, and a mounting housing 11;
the first rolling bearing 8 is provided between the first planetary carrier 6 and the power output disc 5 so that the first planetary carrier 6 can rotate in the circumferential direction of the first rolling bearing 8;
in the embodiment of the present invention, the inner ring of the first rolling bearing 8 is fixedly connected to the outer peripheral surface of the first planetary carrier 6 and the outer peripheral surface of the second ring gear 2, and the outer ring is fixedly connected to the inner peripheral surface of the mounting housing 11.
The second rolling bearing 9 is provided between the power output disc 5 and the mounting housing 11 so that the power output disc 5 can rotate in the circumferential direction of the second rolling bearing 9 and the first rolling bearing 8;
in the embodiment of the present invention, the inner ring of the first rolling bearing 9 is fixedly connected to the outer peripheral surface of the inner peripheral surface of the power output disc 5 and the outer ring is fixedly connected to the inner peripheral surface of the power output disc 5.
The third rolling bearing 10 is provided between the second planetary carrier 7 and the mounting housing 11 so that the second planetary carrier 7 can rotate in the circumferential direction of the third rolling bearing 10.
In the embodiment of the present invention, the inner ring of the third rolling bearing 10 is fixedly connected to the outer peripheral surface of the second planetary carrier 7, and the outer ring is fixedly connected to the inner peripheral surface of the mounting housing 11.
The first planet carrier 6 and the second planet carrier 7 are fixedly connected; an accommodating cavity is formed between the first planet carrier 6 and the second planet carrier 7;
as shown in fig. 6, the planetary gears 4 are disposed in the accommodation chamber and connected between the first planetary carrier 6 and the second planetary carrier 7 via a rotation shaft 14.
The planet wheels 4 can rotate along the rotating shaft 14.
In the embodiment of the present invention, the first planetary carrier 6, the second planetary carrier 7 and the power output disc 5 are all capable of rotating in the circumferential direction under the drive of the sun gear 3.
FIG. 3 is a schematic cross-sectional view of an integrated compound planetary gear reducer in another direction, as shown in FIG. 3, of an embodiment of the invention, the second ring gear 2 including a first diameter portion and a second diameter portion connected;
the outer side surface of the first diameter portion is fixed on the inner ring of the second rolling bearing 9 and can rotate along the circumferential direction of the second rolling bearing 9;
the second diameter portion is limited between the inner end surface of the second rolling bearing 9 and the mounting housing 11.
It can also be seen from figure 3 that a first gear 401 in the planet wheel 4 meshes with the sun wheel 3 and the first ring gear 1, respectively, and a second gear 402 in the planet wheel 4 meshes with the second ring gear 2.
In the embodiment of the present invention, the inner side surface of the second rolling bearing 9 is a side surface of the second rolling bearing 9 facing the second gear 402, and the inner side surface of the second rolling bearing 9 is a side surface of the second rolling bearing 9 facing the first gear ring 1. The front end surface of the second rolling bearing 9 is a side surface of the second rolling bearing 9 facing the power output disc 5. The outer side of the second rolling bearing 9 is a side of the second rolling bearing 9 facing the mounting housing 11.
Fig. 4 is a schematic structural view of one side of an integrated composite planetary gear reducer according to an embodiment of the present invention, as shown in fig. 4, the sun gear 3 is provided with a power input shaft, the power input shaft is provided with a first shaft hole, and a key slot is formed on an outer wall surface or an inner wall surface of the first shaft hole;
the sun gear 3 is fixedly connected to a power output shaft of a driving motor 13 through the first shaft hole and the key groove.
In an embodiment of the invention, the sun gear 3 may also be connected to the drive motor 13 by other means, such as an interference fit, a threaded connection, etc.
Fig. 5 is a schematic structural diagram of another side of the integrated composite planetary gear reducer according to an embodiment of the present invention, and fig. 7 is a schematic structural diagram of a matching relationship between a planet carrier and a planet gear according to an embodiment of the present invention, where, as shown in fig. 5 and fig. 7, a second shaft hole is provided on the planet carrier; a ball bearing 15 is arranged in the second shaft hole;
the inner ring of the ball bearing 15 is fixedly connected with a power input shaft of the sun gear 3; the outer ring of the ball bearing 15 is fixedly connected with the inner wall surface of the second shaft hole.
In the embodiment of the present invention, the inner ring of the ball bearing 15 is fixed on the power input shaft through a snap spring. The outer ring of the ball bearing 15 is fixed in the second shaft hole by interference fit.
Fig. 6 is a schematic diagram of an internal structure of an integrated composite planetary gear reducer according to an embodiment of the present invention, as shown in fig. 6, a plurality of limit grooves distributed along a circumferential direction are provided on an inner wall surface of the installation housing 11;
the first gear ring 1 is provided with a plurality of limit protrusions distributed along the circumferential direction;
the limit groove is matched with the limit protrusion to connect the first gear ring 1 with the inner wall surface of the installation housing 11.
When the first gear ring 1 is in fit connection with the installation shell 11, the first gear ring 1 and the installation shell 11 can be in fit connection only by moving the limiting protrusion into the limiting groove after aligning the limiting protrusion of the first gear ring 1 with the limiting groove.
The cross sections of the limiting grooves and the limiting protrusions are arc-shaped, and the cross section outlines of the limiting grooves and the cross section outlines of the limiting protrusions are matched. The limiting grooves and the limiting protrusions are parallel to each other.
In the embodiment of the invention, the planet wheels 4 and the connecting columns 12 between the two planet carriers are alternately arranged. The planetary gears 4 are uniformly distributed along the circumferential direction of the first gear ring 1, the number of the planetary gears 4 is three, and the radian between every two planetary gears 4 is 2 pi/3;
the connecting columns 12 are uniformly distributed along the circumferential direction of the first gear ring 1, the number of the connecting columns 12 is three, and the radian between every two connecting columns 12 is 2 pi/3.
Fig. 7 is a schematic diagram of the matching relationship between the planet carrier and the planet wheel in the embodiment of the present invention, as shown in fig. 7, the first planet carrier 6 is fixedly connected with the second planet carrier 7 through a plurality of connecting columns 12;
each of the connecting posts 12 is disposed between two adjacent planetary gears 4.
In the embodiment of the present invention, the first planetary carrier 6 is disposed parallel to the second planetary carrier 7; a plurality of the connection posts 12 are arranged in parallel between the first planetary carrier 6 and the second planetary carrier 7.
The number of the connecting posts 12 is three.
Fig. 8 is a schematic structural diagram of a planet in the embodiment of the present invention, as shown in fig. 8, the number of teeth of the first gear ring 1 is smaller than the number of teeth of the second gear ring 2;
the number of teeth of the first gear 401 is greater than the number of teeth of the second gear 402;
the diameter of the first gear 401 is larger than the diameter of the second gear 402.
In the embodiment of the present invention, the first gear 401 and the second gear 402 are coaxially disposed and integrally formed.
Each tooth of the first gear 401 and the nearest neighboring corresponding tooth of the second gear 402 have a deflection angle along the circumferential direction, and in an embodiment of the present invention, the deflection angle may be set to be between 5 ° and 15 °.
Because the gear hobbing manufacturing process in the prior art needs to adopt a method that two gears are separately processed and assembled, the angles between the gears cannot be aligned or the assembly difficulty is high, and the transmission efficiency, the transmission noise and the like are affected. In the embodiment of the invention, the first gear 401 and the second gear 402 are integrally formed to form the planet wheel 4 with an integral structure, so that the problem that alignment or assembly difficulty is high when the two gears are installed is avoided, and the manufacturing cost and assembly difficulty can be greatly reduced.
In the embodiment of the present invention, the driving motor provided by the present invention includes the integrated compound planetary gear reducer, and further includes a driving motor 13, as shown in fig. 9,
the driving motor 13 is used for outputting rotary motion; the drive motor 13 is mounted inside the mounting housing 11.
The integrated compound planetary gear reducer is used for receiving the rotary motion through the sun gear 3, and outputting power after the rotary motion is decelerated through the power output disc 5.
In an embodiment of the present invention, the present invention further provides a robot, including the driving motor 13, and the motion output after the deceleration is performed by the driving motor 13
The drive motor 13 constitutes a rotary joint of a robot arm or robot so that the robot performs a turning motion such as a vertical turning motion of picking up an article, a horizontal turning motion of placing the article from one place to another.
In the embodiment of the invention, the rotary motion in the driving motor is input through the sun gear, the planet gear adopts a coaxial duplex gear, the sun gear and the first gear are meshed to form the amplification of the first-stage reduction ratio, and the second gear ring form the amplification of the second-stage reduction ratio.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (10)
1. An integrated compound planetary gear reducer, comprising:
a first ring gear;
a second gear ring disposed adjacent to the first gear ring;
the sun gear is arranged on the inner side of the first gear ring and is used for receiving rotary motion input by a driving motor;
the planetary gear comprises a first gear and a second gear, the first gear and the second gear are integrally formed and form a duplex structure, the first gear is respectively meshed with the sun gear and the first gear ring, and the second gear is meshed with the second gear ring;
the power output disc is fixedly connected with the second gear ring and used for outputting the decelerated power.
2. The integrated compound planetary gear reducer of claim 1, wherein the sun gear is provided with a power input shaft, the power input shaft is provided with a first shaft hole, and a key groove is arranged on the outer wall surface or the inner wall surface of the first shaft hole;
the sun gear is used for being fixedly connected to a power output shaft of a driving motor through the first shaft hole and the key groove.
3. The integrated compound planetary gear reducer of claim 1, wherein the planet carrier is provided with a second shaft bore; a ball bearing is arranged in the second shaft hole;
the inner ring of the ball bearing is fixedly connected with the power input shaft of the sun gear; and the outer ring of the ball bearing is fixedly connected with the inner wall surface of the second shaft hole.
4. The integrated compound planetary gear reducer of claim 1, further comprising a first planet carrier and a second planet carrier;
the first planet carrier is fixedly connected with the second planet carrier; an accommodating cavity is formed between the first planet carrier and the second planet carrier;
the planet wheel is arranged in the accommodating cavity and is connected between the first planet support and the second planet support through a rotating shaft.
5. The integrated compound planetary gear reducer of claim 4, further comprising a first rolling bearing, a second rolling bearing, a third rolling bearing, and a mounting housing;
the first rolling bearing is arranged between the first planetary bracket and the power output disc so that the first planetary bracket can rotate along the circumferential direction of the first rolling bearing;
the second rolling bearing is arranged between the power output disc and the mounting shell so that the power output disc can rotate along the circumferential direction of the second rolling bearing and the first rolling bearing;
the third rolling bearing is disposed between the second planetary carrier and the mounting housing so that the second planetary carrier can rotate in a circumferential direction of the third rolling bearing.
6. The integrated composite planetary gear reducer according to claim 5, wherein a plurality of limit grooves distributed along the circumferential direction are formed on the inner wall surface of the mounting housing;
the first gear ring is provided with a plurality of limit protrusions distributed along the circumferential direction;
the limiting groove is matched with the limiting protrusion to realize connection of the first gear ring and the inner wall surface of the installation shell.
7. The integrated compound planetary gear reducer of claim 5, wherein the second ring gear includes first and second diameter portions connected;
the outer side surface of the first diameter part is fixed on the inner ring of the second rolling bearing and can rotate along the circumferential direction of the second rolling bearing;
the second diameter portion is limited between the inner end face of the second rolling bearing and the mounting housing.
8. The integrated compound planetary gear reducer of claim 1, wherein the number of teeth of the first ring gear is less than the number of teeth of the second ring gear;
the number of teeth of the first gear is larger than that of the second gear;
the diameter of the first gear is larger than the diameter of the second gear.
9. A drive motor comprising an integrated compound planetary gear reducer according to any one of claims 1 to 8, further comprising a motor unit;
the motor unit is used for outputting rotary motion;
the integrated compound planetary gear reducer is used for receiving the rotary motion through the sun gear, and outputting power after the rotary motion is decelerated through the power output disc.
10. A robot comprising the drive motor according to claim 9, wherein the operation output after deceleration is performed by the drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211199649.1A CN117823574A (en) | 2022-09-29 | 2022-09-29 | Integrated composite star gear reducer, driving motor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211199649.1A CN117823574A (en) | 2022-09-29 | 2022-09-29 | Integrated composite star gear reducer, driving motor and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117823574A true CN117823574A (en) | 2024-04-05 |
Family
ID=90523246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211199649.1A Pending CN117823574A (en) | 2022-09-29 | 2022-09-29 | Integrated composite star gear reducer, driving motor and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117823574A (en) |
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2022
- 2022-09-29 CN CN202211199649.1A patent/CN117823574A/en active Pending
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