CN215521842U - Modularized planetary reduction driving unit and robot applying same - Google Patents
Modularized planetary reduction driving unit and robot applying same Download PDFInfo
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- CN215521842U CN215521842U CN202122184753.0U CN202122184753U CN215521842U CN 215521842 U CN215521842 U CN 215521842U CN 202122184753 U CN202122184753 U CN 202122184753U CN 215521842 U CN215521842 U CN 215521842U
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Abstract
The utility model relates to a modularized planetary reduction driving unit and a robot applying the modularized planetary reduction driving unit, which comprise at least one group of planetary reduction modules, wherein each planetary reduction module comprises a shell and planetary reduction mechanisms arranged in the shell, and two adjacent planetary reduction mechanisms are meshed with a sun gear of the other group of planetary reduction mechanisms through planet gears of one group of planetary reduction mechanisms. According to the utility model, a plurality of planetary speed reducing modules can be assembled according to the speed ratio of the planetary speed reducer required by a user, the speed ratio of the planetary speed reducer is flexibly determined, and the problems of single speed ratio, large quantity of spare parts and high production cost of the planetary speed reducer in the prior art are solved.
Description
Technical Field
The utility model relates to the technical field of mechanical transmission and robots, in particular to a modular planetary reduction driving unit and a robot applying the same.
Background
Common speed reduction driving schemes mainly comprise a common multi-stage gear speed reduction scheme, a worm and gear speed reduction scheme, a planetary speed reduction scheme and the like, a harmonic speed reduction scheme and the like; the planetary reduction driving is a very common reduction driving mechanism of a modularized planetary reduction driving unit, and has the characteristics of wide application range, simple structure, large reduction ratio and the like.
The common planetary reducer is a fixed-ratio planetary reduction driving scheme, and the planetary reducer designed by the scheme has the advantages of single speed ratio, more stock parts and high production cost.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects in the prior art, the utility model provides the modularized planetary reduction driving unit and the robot applying the modularized planetary reduction driving unit.
In order to achieve the purpose, the utility model is realized by the following technical scheme: a modularized planetary reduction driving unit comprises at least one group of planetary reduction modules, each planetary reduction module comprises a shell and planetary reduction mechanisms arranged in the shells, and two adjacent planetary reduction mechanisms are meshed with a sun gear of the other group of planetary reduction mechanisms through planetary wheels of one group of planetary reduction mechanisms.
Preferably, the casing is a circular casing, one side of the inner wall of the casing is circumferentially provided with a plurality of gear ring grooves, the outer ring of the fixed gear ring of the planetary reduction mechanism is fixedly provided with a plurality of bosses matched with the gear ring grooves, and the bosses of the fixed gear ring are arranged in the gear ring grooves.
The number of the gear ring grooves and the number of the bosses are selected according to actual conditions, the gear ring grooves are matched with the bosses, and the bosses for fixing the gear ring are installed in the gear ring grooves and used for fixing the gear ring in the circumferential direction.
Preferably, the boss and the shell are respectively provided with corresponding pin holes, and pin shafts penetrate through the pin holes.
The boss and the shell are respectively provided with corresponding pin holes, pin shafts penetrate through the pin holes, and the fixed gear ring of the planetary speed reducing mechanism can be circumferentially fixed by being arranged in a gear ring groove and can be connected between the shells of the two planetary speed reducing mechanisms through the pin shafts.
Preferably, the shell comprises a first shell, a plurality of first grooves are formed in the outer side of the first shell along the circumferential direction, a protrusion between every two adjacent first grooves is a connecting convex block, a pin hole and a threaded hole penetrating along the radial direction are formed below the connecting convex block, and the pin hole is formed in the gear ring groove.
A plurality of first grooves are arranged on the outer side of the first shell at equal intervals, a connecting lug formed between every two adjacent first grooves is provided with a pin hole for connecting fixed gear rings of every two adjacent planetary speed reducing mechanisms, the connecting lug is provided with a threaded hole, and a bolt for fixedly connecting every two adjacent planetary speed reducing module shells is arranged in the threaded hole in a penetrating manner; the pin hole is formed in the gear ring groove, corresponds to the pin hole formed in the projection, and is used for penetrating through the pin shaft to connect the fixed gear ring to the shell and the shell of the adjacent planetary reduction module.
Preferably, the shell comprises a second shell, a plurality of second grooves and third grooves are formed in two sides of the outer edge of the second shell along the circumferential direction, and the adjacent second grooves and the adjacent third grooves are distributed in a staggered mode.
A plurality of second grooves and third grooves are respectively arranged on two sides of the outer edge of the second shell at equal intervals and serve as shells of the planetary reduction modules on two side ends.
Preferably, the second groove is arranged on one side close to the gear ring groove, a penetrating threaded hole is formed between two adjacent third grooves, and the adjacent shells are connected through bolts penetrating through the threaded holes.
The second groove and the third groove are provided with threaded holes, so that the shell is convenient to assemble and disassemble.
Preferably, the planetary reduction mechanism comprises a planet carrier, a sun gear fixedly arranged on one side of the planet carrier and a plurality of planet gears arranged on the planet carrier, the planet gears are internally meshed with the fixed gear ring, and the planet gears are externally meshed with the sun gear of the adjacent planetary reduction mechanism.
Preferably, the planetary reduction gear set further comprises an input end and an output end, wherein the input shaft is connected with the planetary reduction mechanism on one side, and the output shaft bracket is connected with the planet carrier of the planetary reduction mechanism on the other side.
The utility model provides an use modularization planet to slow down drive unit's robot, includes robot body and modularization planet and slows down drive unit, and modularization planet slows down drive unit and robot body's movable joint and passes through the connecting piece and be connected, and modularization planet slows down drive unit can be used for driving robot body's movable joint and rotates for improve the better control of robot movable joint department.
Compared with the prior art, the utility model has the beneficial effects that: the plurality of planetary speed reducing modules can be assembled according to the speed ratio of the planetary speed reducer required by a user, the speed ratio of the planetary speed reducer is flexibly determined, and the problems of single speed ratio, more spare parts and high production cost of the planetary speed reducer in the prior art are solved; the casing is provided with first recess or sets up second recess, third recess, and cooperation fixed connection between two kinds of casings is convenient for adjacent planetary reduction module's casing to be connected, is convenient for assemble and dismantle simultaneously.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic cross-sectional view of a three-dimensional structure of the present invention;
FIG. 3 is a schematic structural view of a planetary reduction mechanism of the present invention;
FIG. 4 is a schematic perspective view of a first housing according to the present invention;
FIG. 5 is a schematic perspective view of a fixed gear ring according to the present invention;
FIG. 6 is a schematic diagram of the planetary reduction module connection of the present invention.
Reference numerals shown in the drawings: 1. a first housing; 101. a gear ring groove; 2. a sun gear; 3. a planet carrier; 4. a planet wheel; 5. fixing the gear ring; 501. a boss; 6. a first groove; 7. a second groove; 8. a third groove; 9. a pin hole; 10. a second housing; 11. a threaded hole; 12. a bolt; 13. an input shaft; 14. an output shaft support; 15. a connection bump; 16. and (7) a pin shaft.
Detailed Description
The present invention will be further described with reference to specific embodiments, and as shown in fig. 1 to 6, a modular planetary reduction drive unit includes a plurality of sets of cascaded planetary reduction modules, and further includes an input end and an output end.
The planetary reduction module comprises a shell and planetary reduction mechanisms arranged in the shell, two adjacent planetary reduction mechanisms are meshed with a sun gear 2 of the other group of planetary reduction mechanisms through a planetary gear 4 of one group of planetary reduction mechanisms, and the planetary reduction modules with different groups of numbers are assembled according to the required speed ratio of the planetary reducer. An input shaft 13 is connected to one planetary reduction mechanism, and an output shaft carrier 14 is connected to the carrier 3 of the other planetary reduction mechanism.
The casing is a circular ring casing, a plurality of gear ring grooves 101 are formed in one side of the inner wall of the casing along the circumferential direction, six gear ring grooves 101 are formed in the casing, the number of the gear ring grooves 101 is set according to the actual situation, six bosses 501 matched with the gear ring grooves 101 are fixedly arranged on the outer ring of the fixed gear ring 5, and the bosses 501 of the fixed gear ring 5 of the planetary reduction mechanism are arranged in the gear ring grooves 101. The boss 501 and the shell are respectively provided with corresponding pin holes 9, and pin shafts 10 penetrate through the pin holes 9. The boss 501 and the casing are respectively provided with corresponding pin holes 9, pin shafts 10 penetrate through the pin holes 9, and the fixed gear ring 5 of the planetary speed reducing mechanism can be circumferentially fixed by being installed in the gear ring groove 101 and can be connected between the casings of the two planetary speed reducing mechanisms through the pin shafts 10.
The planetary reduction mechanism comprises a planet carrier 3, a sun gear 2 fixedly arranged on one side of the planet carrier 3 and a plurality of planet gears 4 arranged on the planet carrier 3, the planet gears 4 are internally meshed with a fixed gear ring 5, the planet gears 4 are externally meshed with the sun gear 2 of the adjacent planetary reduction mechanism,
the shell is divided into two types, namely a first shell 1 and a second shell 10, a plurality of first grooves 6 are arranged on the outer side of the first shell 1 along the circumferential direction, a connecting lug 15 is arranged on a bulge between every two adjacent first grooves 6, a pin hole 9 and a threaded hole 11 penetrating along the radial direction are arranged below the connecting lug 15, and the pin hole 9 is formed in a gear ring groove 101. A plurality of first grooves 6 are arranged on the outer side of the first shell at equal intervals, a connecting lug 15 formed between every two adjacent first grooves 6 is provided with a pin hole 9 for connecting the fixed gear rings 5 of every two adjacent planetary speed reducing mechanisms, the connecting lug 15 is provided with a threaded hole 11, and a bolt 12 for fixedly connecting the shells of every two adjacent planetary speed reducing modules is arranged in the threaded hole 11 in a penetrating manner; the pin holes 9 are formed in the gear ring grooves 101, correspond to the pin holes 9 formed in the projections, and are used for penetrating pin shafts 10 to connect the fixed gear ring 5 to the housing and the housing of the adjacent planetary reduction module.
The outer fringe both sides of second casing 10 are provided with a plurality of second recesses 7 and third recess 8 respectively along circumference, and adjacent second recess 7 and the crisscross distribution of third recess 8, and second recess 7 sets up in the one side that is close to ring gear groove 101, is provided with the screw hole 11 that runs through between two adjacent third recesses 8, and adjacent casing is through wearing to establish the bolt 12 connection in the screw hole 11.
A plurality of second grooves 7 and third grooves 8 are respectively arranged on two sides of the outer edge of the second shell 10 at equal intervals, and threaded holes 11 are formed in the second grooves 7 and the third grooves 8, so that the shells are convenient to assemble and disassemble.
The first casing 1 serves as a casing of the inner planetary reduction module of the present invention, the second casing 10 serves as a casing of the both-side planetary reduction module, and the second casing 10 may also be assembled between the two first casings 1 for mounting the planetary reduction mechanism, and speed ratio adjustment between the planetary reduction modules is achieved by increasing and decreasing the inner planetary reduction modules.
During transmission, the input shaft 13 is connected with an external transmission system, firstly, the sun gear 2 of the planetary reduction mechanism adjacent to the input shaft 13 is transmitted into the external transmission system to drive the planet gear 4 of the planetary reduction mechanism to rotate, the planet carrier 3 of the first-stage planetary reduction mechanism sequentially drives the sun gear 2 of the next-stage planetary reduction mechanism to rotate, finally, the planet carrier 3 of the planetary reduction mechanism adjacent to the output shaft support 14 drives the output shaft support 14 to rotate, sequential transmission is carried out, and finally, the output shaft support 14 outputs the output torque of the whole planetary reduction gear, namely T multiplied by i total, and the output rotating speed is n/i total; wherein T is the torque of the input mechanism, n is the rotating speed of the input mechanism, and i is the sum of the product of the speed ratios of the planetary speed reduction modules at all levels.
The robot comprises a robot body and the modularized planetary reduction driving unit, the modularized planetary reduction driving unit is connected with a movable joint of the robot body through a connecting piece, and the modularized planetary reduction driving unit can be used for driving the movable joint of the robot body to rotate and improving control on the movable joint of the robot.
It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.
Claims (9)
1. A modular planetary reduction drive unit characterized by: the planetary reduction gear comprises at least one group of planetary reduction modules, each planetary reduction module comprises a shell and planetary reduction mechanisms arranged in the shell, and the two adjacent planetary reduction mechanisms are meshed with a sun gear (2) of the other group of planetary reduction mechanisms through planet gears (4) of one group of planetary reduction mechanisms.
2. A modular planetary reduction drive unit as in claim 1, wherein: the casing is the ring shape casing, a plurality of ring gear grooves (101) have been seted up along circumference to shells inner wall one side, the outer lane of fixed ring gear (5) of planetary reduction mechanism sets firmly a plurality of bosss (501) with ring gear groove (101) looks adaptation, boss (501) of fixed ring gear (5) set up in ring gear groove (101).
3. A modular planetary reduction drive unit as in claim 2, wherein: the boss (501) and the shell are respectively provided with corresponding pin holes (9), and pin shafts (10) penetrate through the pin holes (9).
4. A modular planetary reduction drive unit as in claim 3, wherein: the casing includes first casing (1), first casing (1) outside is provided with a plurality of first recesses (6) along circumference, adjacent two protruding for connecting lug (15) between first recess (6), connecting lug (15) below is provided with pinhole (9) and along screw hole (11) that radial direction runs through, pinhole (9) are seted up in ring gear groove (101).
5. A modular planetary reduction drive unit as in claim 3, wherein: the shell comprises a second shell, a plurality of second grooves (7) and third grooves (8) are respectively formed in the two sides of the outer edge of the second shell along the circumferential direction, and the second grooves (7) and the third grooves (8) are distributed adjacently in a staggered mode.
6. A modular planetary reduction drive unit as claimed in claim 5, characterized in that: the second groove (7) is arranged on one side close to the gear ring groove (101), a penetrating threaded hole (11) is formed between the two adjacent third grooves (8), and the adjacent shells are connected through bolts (12) penetrating through the threaded holes (11).
7. A modular planetary reduction drive unit as in claim 1, wherein: the planetary reduction mechanism comprises a planet carrier (3), a sun gear (2) fixedly arranged on one side of the planet carrier (3) and a plurality of planetary gears (4) arranged on the planet carrier (3), wherein the planetary gears (4) are internally meshed with a fixed gear ring (5), and the planetary gears (4) are externally meshed with the sun gear (2) of the adjacent planetary reduction mechanism.
8. A modular planetary reduction drive unit as in claim 1, wherein: the planetary reduction mechanism is characterized by further comprising an input end and an output end, wherein the planetary reduction mechanism on one side is connected with an input shaft (13), and a planet carrier (3) of the planetary reduction mechanism on the other side is connected with an output shaft support (14).
9. A robot using a modular planetary reduction drive unit, characterized in that: the modularized planetary reduction driving unit comprises a robot body and the modularized planetary reduction driving unit as claimed in any one of claims 1-8, wherein the modularized planetary reduction driving unit is connected with a movable joint of the robot body through a connecting piece, and the modularized planetary reduction driving unit can be used for driving the movable joint of the robot body to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122184753.0U CN215521842U (en) | 2021-09-09 | 2021-09-09 | Modularized planetary reduction driving unit and robot applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122184753.0U CN215521842U (en) | 2021-09-09 | 2021-09-09 | Modularized planetary reduction driving unit and robot applying same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215521842U true CN215521842U (en) | 2022-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122184753.0U Active CN215521842U (en) | 2021-09-09 | 2021-09-09 | Modularized planetary reduction driving unit and robot applying same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215521842U (en) |
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2021
- 2021-09-09 CN CN202122184753.0U patent/CN215521842U/en active Active
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Address after: 213000 No. 259, Hehai West Road, Xinbei District, Changzhou City, Jiangsu Province Patentee after: Changzhou Aogu Intelligent Control Technology Co.,Ltd. Address before: 250000 1119, block a, Phoenix Plaza, No. 3, Fenghuangshan Road, Tianqiao District, Jinan City, Shandong Province Patentee before: Jinan Aogu Intelligent Control Technology Co.,Ltd. |
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