Search

CN-121993552-A - Vertical orthogonal transmission conjugate planetary reduction structure for dexterous hand joint

CN121993552ACN 121993552 ACN121993552 ACN 121993552ACN-121993552-A

Abstract

The invention discloses a vertical orthogonal transmission conjugate planetary reduction structure for a dexterous hand joint, which relates to the technical field of robot dexterous hands, and comprises a power source, a steering transmission unit, a primary reduction unit and a second reduction unit; the power source comprises a power source, a first-stage speed reduction unit, a second-stage speed reduction unit, a steering transmission unit, a transmission device and a transmission device, wherein one end of the steering transmission unit is connected with the output end of the power source and can vertically steer power output by the power source and then output, the first-stage speed reduction unit and the second-stage speed reduction unit are coaxially arranged and are positioned at one end of the steering transmission unit far away from the power source, the input end of the first-stage speed reduction unit is in transmission connection with one end of the steering transmission unit far away from the power source, the output end of the first-stage speed reduction unit is in transmission connection with the input end of the second-stage speed reduction unit, and the output end of the second-stage speed reduction unit is externally connected with transmission equipment. The vertical orthogonal transmission conjugate planetary reduction structure for the flexible hand joint can realize large torque and large reduction ratio vertical orthogonal transmission in a compact space.

Inventors

  • WANG CHANGJIN
  • Tong Fangchao

Assignees

  • 汪常进

Dates

Publication Date
20260508
Application Date
20260318

Claims (8)

  1. 1. The vertical orthogonal transmission conjugate planetary reduction structure for the dexterous hand joint is characterized by comprising the following components: a power source; a steering transmission unit, one end of which is connected with the output end of the power source and can vertically steer the power output by the power source and then output the power, and The first-stage speed reducing unit and the second speed reducing unit are coaxially arranged and are positioned at one end of the steering transmission unit, which is far away from the power source, the input end of the first-stage speed reducing unit is in transmission connection with one end of the steering transmission unit, which is far away from the power source, the output end of the first-stage speed reducing unit is in transmission connection with the input end of the second-stage speed reducing unit, and the output end of the second-stage speed reducing unit is externally connected with transmission equipment.
  2. 2. The vertical orthogonal transmission conjugate planetary reduction structure for the dexterous hand joint according to claim 1, wherein the power source comprises a motor, the motor is fixed in a reducer shell, one end of the reducer shell is connected with a conjugate inner gear ring fixing frame, and the steering transmission unit, the primary reduction unit and the secondary reduction unit are arranged in the conjugate inner gear ring fixing frame.
  3. 3. The vertical orthogonal transmission conjugate planetary reduction structure for a dexterous hand joint according to claim 2, wherein the steering transmission unit comprises an input end bevel gear and an output end bevel gear, the input end bevel gear is fixedly connected with an output shaft of the motor, the output end bevel gear is fixedly connected with an input end of the primary reduction unit, and the input end bevel gear is in meshed transmission connection with the output end bevel gear.
  4. 4. The vertical orthogonal transmission conjugate planetary reduction structure for the dexterous hand joint according to claim 2, wherein the steering transmission unit comprises a crown gear pair, the input end of the crown gear pair is fixedly connected with the output shaft of the motor, and the output end of the crown gear pair is fixedly connected with the input end of the primary reduction unit.
  5. 5. The vertical orthogonal transmission conjugate planetary reduction structure for the dexterous hand joint according to claim 2, wherein the conjugate inner gear ring fixing frame comprises a frame body and a fixed ring which are integrally formed, one end of the frame body is hollow and fixedly connected with the reducer shell, the other end of the frame body is fixedly connected with the fixed ring, the axis of the fixed ring is vertical to the output shaft of the motor, the output shaft of the motor is positioned in the frame body, and the primary reduction unit and the secondary reduction unit are respectively arranged on two sides of the fixed ring.
  6. 6. The vertical orthogonal transmission conjugate planetary reduction structure for the flexible hand joint of claim 5, wherein the primary reduction unit comprises a first sun gear, a first planet carrier and a first annular gear, the first annular gear is coaxially fixed on one side of the fixed ring, the first sun gear is arranged in the first annular gear, a plurality of first planet gears are circumferentially arranged between the first sun gear and the first annular gear, a wheel shaft of each first planet gear is connected to the first planet carrier, the first sun gear is coaxially and fixedly connected with an output end of the steering transmission unit, coaxial hollow channels are formed in the output ends of the first sun gear and the steering transmission unit, and the output end of the first planet carrier extends to the other side of the fixed ring through the hollow channels and is in transmission connection with an input end of the secondary reduction unit.
  7. 7. The vertical orthogonal transmission conjugate planetary reduction structure for the flexible hand joint, which is disclosed in claim 5, is characterized in that the secondary reduction unit comprises a second sun gear, a second planet carrier and a second annular gear, the second annular gear is coaxially fixed on one side of the fixed ring far away from the primary reduction unit, the second sun gear is arranged in the second annular gear, a plurality of second planet gears are circumferentially arranged between the second sun gear and the second annular gear, a wheel shaft of each second planet gear is connected to the second planet carrier, the second sun gear is coaxially and fixedly connected with the output end of the primary reduction unit, and the output end of the second planet carrier is externally connected with transmission equipment.
  8. 8. The vertical orthogonal transmission conjugate planetary reduction structure for the dexterous hand joint according to claim 1, wherein the oil-free bearing sleeve is hermetically arranged on one side of the primary reduction unit far away from the fixed ring and one side of the secondary reduction unit far away from the fixed ring.

Description

Vertical orthogonal transmission conjugate planetary reduction structure for dexterous hand joint Technical Field The invention relates to the technical field of smart hands of robots, in particular to a vertical orthogonal transmission conjugate planetary reduction structure for a smart hand joint. Background The finger joint transmission module of the smart hand serving as a core execution component of the humanoid robot, the service robot, the medical rehabilitation robot and the industrial precise operation robot is required to realize power output with large torque, high precision and high reliability under the severe constraint of high degree of freedom, extremely small installation space and light weight, and is a key component for determining the grabbing precision, the loading capacity and the service life of the smart hand. The current main flow transmission speed reduction scheme of the smart hand joint comprises a worm gear transmission scheme, a spur gear matched bevel gear/bevel gear transmission scheme, a traditional planetary speed reduction scheme, a miniature harmonic speed reducer or a cycloidal speed reducer scheme, and the scheme has the technical defects of poor structural suitability, insufficient transmission performance, low reliability and the like, and is difficult to meet the engineering application requirements of high-end humanoid smart hands, and the specific problems are as follows: The worm and gear transmission scheme can directly realize vertical orthogonal transmission of the input shaft and the output shaft, is relatively simple in structure, has inherent self-locking characteristic, cannot reversely transmit unloading force when a smart hand encounters external impact, collision or overload, causes the joint to be too rigid, directly transmits impact load to a motor and a transmission part, is extremely easy to cause motor burnout, gear tooth breakage or shafting bending failure, and meanwhile has the advantages of large worm and gear meshing friction loss, low transmission efficiency, obvious long-term operation heating and unfavorable Yu Ling chocolate long-time continuous operation. The straight gear is matched with the bevel gear/bevel gear transmission scheme, the primary speed reduction is realized through the first-stage straight gear, and the 90-degree steering transmission is finished through the bevel gear or bevel gear, so that the novel steering knuckle is a common structure of an early dexterous hand joint. The scheme has the advantages that the problem of single-tooth concentrated bearing exists, the bending strength of the tooth root of the bevel gear is weak, tooth surface abrasion, pitting corrosion and even tooth breakage easily occur under high-speed and heavy-load working conditions, the transmission shaft bears radial and axial compound load, the fatigue life is short, the single-stage reduction ratio is limited, the integral torque output capability is insufficient, and the large-load grabbing scene cannot be adapted. The miniature harmonic reducer or cycloidal reducer scheme has the advantages of high transmission precision, large single-stage reduction ratio and small return clearance, and is suitable for a precise transmission scene. The motor and the output shaft are arranged in parallel, so that vertical orthogonal transmission cannot be directly realized, the layout difficulty is extremely high in an inner space of a smart hand with long and narrow fingers, the axial dimension of a joint can be obviously increased, and the humanoid appearance and the movement flexibility of the smart hand are damaged. The traditional planetary reduction scheme has the characteristics of compact structure, high transmission efficiency and strong bearing capacity, but can only realize parallel shaft transmission, and if the planetary reduction scheme is used for vertical orthogonal transmission of the smart hand joint, a steering mechanism is additionally arranged, so that the structural complexity is improved, the axial size is greatly increased, the design requirements of miniaturization and integration of the smart hand joint are violated, meanwhile, the overall rigidity is reduced after multistage serial connection, the assembly precision is difficult to ensure, and the compactness and the transmission performance cannot be considered. In a word, the existing flexible hand joint speed reducing structure cannot meet the comprehensive performance requirements of vertical orthogonal transmission, extremely small space installation, large speed reducing ratio and large torque output, and the upgrade development of the humanoid flexible hand to the light weight, high load and high durability is severely restricted. Therefore, there is a need to design a technical solution that can realize a high torque, high reduction ratio vertical orthogonal transmission in a compact space. Disclosure of Invention The invention aims to provide a vertical orthogonal transmissio