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CN-121973271-A - Double-stage planetary reduction and bearing integrated robot joint module structure

CN121973271ACN 121973271 ACN121973271 ACN 121973271ACN-121973271-A

Abstract

The invention discloses a robot joint module structure integrating double-stage planetary reduction and a bearing, and belongs to the technical field of robot transmission. The structure comprises an auxiliary driving mechanism and a speed reducing mechanism, wherein the input end of the speed reducing mechanism is connected with the output end of the auxiliary driving mechanism through a transmission mechanism, and hollow shafts are arranged on the two mechanisms in a penetrating manner. The auxiliary driving mechanism comprises a hollow rotor and a transmission sleeve shaft, the hollow rotor is provided with connecting jacks, transmission blocks are arranged on the inner wall at intervals, driven blocks are arranged on the outer wall of the transmission sleeve shaft, and the hollow rotor and the driven blocks are alternately inserted to realize transmission connection. The speed reducing mechanism comprises a first speed reducing assembly and a second speed reducing assembly, a two-stage planetary gear speed reducing structure is adopted, and each stage comprises a gear ring, a retainer, an output frame and a transmission gear. The technical problems of large size and low transmission efficiency of the traditional robot joint module are solved, and the robot joint module has the advantages of compact structure, high transmission precision and strong bearing capacity and is mainly used for an industrial robot joint driving system.

Inventors

  • HUANG HUALIN
  • YIN GAOMIN

Assignees

  • 深圳市盛泰奇科技有限公司

Dates

Publication Date
20260505
Application Date
20260310

Claims (9)

  1. 1. The robot joint module structure integrating double-stage planetary reduction and bearing is characterized by comprising an auxiliary driving mechanism (1) and a reduction mechanism (2), wherein the input end of the reduction mechanism (2) is connected with the output end of the auxiliary driving mechanism (1) through a transmission mechanism, a hollow shaft (31) is further arranged on the reduction mechanism (2) and the auxiliary driving mechanism (1) in a penetrating manner, a connecting clamping groove (33) is further fixedly arranged at the end part of the hollow shaft (31) in the driving mechanism, and the hollow shaft (31) is in rotation or fixed connection with the output end of the reduction mechanism (2).
  2. 2. The robot joint module structure integrated with two-stage planetary reduction and bearing according to claim 1, wherein the auxiliary driving mechanism comprises a hollow rotor (105) and a transmission sleeve shaft (110), the rotor and the transmission sleeve shaft (110) are sleeved on the hollow shaft (31), a connecting jack (108) is arranged at one end of the hollow rotor (105), a plurality of transmission blocks (109) are arranged on the inner wall of the connecting jack (108) at intervals, driven blocks (111) which are the same in number and opposite in position with the plurality of transmission blocks (109) are fixedly arranged on the outer wall of the transmission sleeve shaft (110), when the transmission sleeve shaft (110) is inserted into the connecting jack (108), the transmission blocks (109) and the driven blocks (111) are alternately inserted, a connecting ring plate (112) is fixedly arranged at the end part of the transmission sleeve shaft (110) which is positioned outside the connecting jack (108), a transmission tooth sleeve (211) is arranged on the connecting ring plate (112), a first gear (212) is inserted in the transmission tooth sleeve (211) in a matched manner, and the first gear (212) is positioned in the first reduction mechanism (2).
  3. 3. The robot joint module structure integrating double-stage planetary reduction and bearing according to claim 2, wherein the auxiliary driving mechanism (1) comprises a shell (101), a mounting ring plate (102) is fixedly arranged on the inner wall of the shell (101), a rear cover (106) is detachably arranged at the end part of the shell (101) on one side of the mounting ring plate (102), a control plate (103) is fixedly arranged on the side surface of the mounting ring plate (102) opposite to the rear cover (106), a supporting frame (107) is fixedly arranged at the end part of the shell (101) on the other side of the mounting ring plate (102), a stator (104) is fixedly arranged on the inner wall of the shell (101) between the mounting ring plate (102) and the supporting frame (107), and the hollow rotor (105) is positioned on the inner side of the stator (104).
  4. 4. The robot joint module structure integrating double-stage planetary reduction and bearing according to claim 3, wherein the reduction mechanism (2) comprises a first reduction assembly (21) and a second reduction assembly (22), the output end of the second reduction assembly (22) is connected with the input end of the first reduction assembly (21), the output end of the second reduction assembly (22) is fixedly provided with an output shaft (24), the second reduction assembly (22) outside the output shaft (24) is fixedly provided with a limiting ring (23), the output shaft (24) is positioned in the limiting ring (23), a sealing ring (25) is sleeved on the output shaft (24), and the sealing ring (25) is used for sealing a gap between the output shaft (24) and the limiting ring (23).
  5. 5. The two-stage planetary reduction and bearing integrated robot joint module structure according to claim 4, wherein the first reduction assembly (21) comprises a first mounting shell (215) connected with an auxiliary driving mechanism (1), a first gear ring (216) is fixedly arranged on the inner wall of the first mounting shell (215), a first retainer (213) is arranged in the first mounting shell (215) at one side of the first gear ring (216), a first output carrier (214) is arranged at the other side of the first gear ring, the opposite surfaces of the first retainer (213) and the first output carrier (214) are parallel to each other, at least three first transmission gears (217) are rotatably arranged between the first retainer (213) and the first output carrier (214), the at least three first transmission gears (217) are uniformly distributed along the circumferential direction of the first retainer (213) and are meshed with the first gear ring (216), and the first driving gears (212) are positioned between the at least three first transmission gears (217) and meshed with all first transmission gears (217).
  6. 6. The two-stage planetary reduction and bearing integrated robot joint module structure according to claim 5, wherein the second reduction assembly (22) comprises a second mounting shell (226), the second mounting shell (226) is connected with the first mounting shell (215), a second gear ring (225) is fixedly arranged on the inner wall of the second mounting shell (226), a second retainer (222) is arranged in the second mounting shell (226) on one side of the second gear ring (225), a second output carrier (223) is arranged on the other side of the second gear ring, the second retainer (222) is parallel to the opposite surface of the second output carrier (223), the output shaft (24) is fixedly connected with the second output carrier (223), at least three second transmission gears (224) are rotatably arranged between the second retainer (222) and the second output carrier (223), the at least three second transmission gears (224) are uniformly distributed along the circumferential direction of the second retainer (222), and are meshed with the second gear ring (225) and are fixedly connected with the second gear ring (221), and the second transmission gears (221) are meshed with the second transmission gears (221).
  7. 7. The robot joint module structure with integrated two-stage planetary reduction and bearing according to claim 6, wherein a first bearing (218) is arranged in a support of the auxiliary driving mechanism (1) and the first holding frame (213), an outer ring of the first bearing (218) is fixedly connected with the auxiliary driving mechanism (1), an inner ring of the first bearing (218) is fixedly connected with the first holding frame (213), a second bearing (227) is arranged between the first output frame (214) and the second holding frame (222), an outer ring of the second bearing (227) is fixedly connected with the first output frame (214), and an inner ring of the second bearing (227) is fixedly connected with the second holding frame (222).
  8. 8. The robot joint module structure integrating double-stage planetary reduction and bearing according to claim 3, wherein at least two rotor bearings (113) are fixedly sleeved on the hollow rotor (105), one rotor bearing (113) is located between a stator (104) and the mounting ring plate (102) and fixedly connected with the mounting ring plate (102), the other rotor bearing is located between the stator (104) and the supporting frame (107) and fixedly connected with the supporting frame (107), a spacer sleeve (114) is sleeved on the hollow rotor (105) between the stator (104) and the rotor bearing (113), and the spacer sleeve (114) is respectively attached to the rotor bearing (113) and the stator (104).
  9. 9. The two-stage planetary reduction and bearing integrated robot joint module structure according to claim 4, wherein the connecting clamping groove (33) is formed in the side wall of the hollow shaft (31) close to one end of the rear cover (106), a supporting bearing (32) is fixedly sleeved on the hollow shaft (31), when the hollow shaft (31) is fixedly connected with the output shaft (24), an outer ring of the supporting bearing (32) is fixedly connected with the rear cover (106), and when the hollow shaft (31) is rotatably connected with the output shaft (24), the supporting bearing (32) is positioned at the joint of the hollow shaft (31) and the output shaft (24), and the outer ring is fixedly connected with the output shaft (24).

Description

Double-stage planetary reduction and bearing integrated robot joint module structure Technical Field The invention relates to the field of robot joint transmission devices, in particular to a robot joint module structure integrating double-stage planetary reduction and a bearing. Background With the rapid development of robot technology, the robot joint module is used as a core component of a robot motion system, and the performance of the robot joint module directly influences the motion precision, the load capacity and the service life of the robot. The traditional robot joint module generally adopts a scheme that a driving mechanism, a speed reducing mechanism and a bearing component are separately designed, and realizes power transmission and motion control in an independent connection mode. In the prior art, various technical schemes of robot joint modules have been proposed. For example, chinese patent application CN120755911a discloses a dual-motor coupling driving robot joint module based on a planetary reduction mechanism, and the solution realizes compact design of the joint module by driving the corresponding planetary reduction mechanism by the first motor and the second motor respectively. International patent application WO2025077941A1 discloses an actuator, a joint module and a robot, wherein the reducer housing has a connecting flange and a connecting section, the planetary reducer is fitted with the connecting section by a ring gear flange, and the output end support bearing is connected by a fastener. Chinese patent application CN113357315A proposes a body driver, in which an inner gear ring is formed on the inner wall of the installation round hole, and a high concentricity is maintained between the sun gear and the inner gear ring, so as to ensure mechanical transmission precision. The Chinese patent No. 222415863U discloses a robot joint module planetary reducer, which solves the problems of gear latch and axial movement by arranging a cross bearing between adjacent reduction units. Chinese patent CN110185748B describes an integrated robot joint structure combining an integrated motor and RV reducer pin gear housing into an integrated unit. However, the prior art scheme still has the following defects that firstly, the input end and the output end of the traditional planetary reduction mechanism are mostly matched with the driving mechanism by adopting rigid shaft sleeves or are connected by adopting a shaft coupling, the connecting mode not only increases the axial length and the whole volume of the joint module, but also leads to the reduction of transmission precision easily due to a connecting gap, and the return stroke error is generated to influence the positioning precision of the robot. Secondly, the bearing of traditional joint module is mostly independent assembly part, lacks integrated design between bearing and actuating mechanism, the reduction gears, leads to assembly process loaded down with trivial details, and axiality deviation easily appears in the assembly process, not only influences operating stability, increases noise and wearing and tearing, reduction in service life, independent bearing assembly occupies joint inner space moreover, is unfavorable for the miniaturized design of module. And thirdly, the hollow shaft design of the existing joint module is mainly used for wiring or pipe penetrating, the matching relation between the hollow shaft and the driving mechanism as well as the reducing mechanism is single, or the fixed connection cannot adapt to the transmission requirement of multiple postures, or the rotary connection lacks reliable supporting and positioning, so that the bearing capacity of the hollow shaft is limited, and the hollow shaft is easy to shake under the working condition of high-speed operation or heavy load. In addition, the sealing structure design of partial joint module is imperfect, and under complicated working conditions such as dust, moisture, dust and steam are easy to appear and invade the internal components, aggravate key parts wearing and tearing such as gear, bearing, influence the reliability and the life of joint module. Content of the application The double-stage planetary reduction and bearing integrated robot joint module structure aims at solving the technical problems of large volume, low transmission precision, complex assembly, limited bearing capacity, poor sealing performance and the like caused by the adoption of discrete design of the existing robot joint module, and achieving the technical effects of compact structure, high transmission precision, convenience in assembly, strong suitability and good protection. The invention aims at solving the technical problems that the existing robot joint module adopts a separate design of a driving mechanism, a speed reducing mechanism and a bearing component, wherein the input end and the output end of the traditional planetary speed reducing mechanism are mostly matched wit