CN-224214640-U - Joint actuator and two-stage planetary reducer thereof

CN224214640UCN 224214640 UCN224214640 UCN 224214640UCN-224214640-U

Abstract

The utility model discloses a two-stage planetary reducer of a joint actuator, which comprises a first-stage sun gear and a second-stage sun gear which are coaxially arranged, wherein long gear rings are sleeved outside the first-stage sun gear and the second-stage sun gear, the long gear rings extend from the first-stage sun gear to the second-stage sun gear along the axial direction, a first-stage planetary gear and a first-stage planetary carrier for installing the first-stage planetary gear are arranged between the long gear rings and the first-stage sun gear, a second-stage planetary gear and a second-stage planetary carrier for installing the second-stage planetary gear are arranged between the long gear rings and the second-stage sun gear, long internal teeth are arranged on the inner wall of the long gear rings, the first-stage planetary gear is meshed with the first-stage sun gear and the long internal teeth respectively, the second-stage planetary gear is meshed with the second-stage sun gear and the long internal teeth respectively, and the long gear rings are fixedly arranged, and the first-stage planetary carrier is in transmission connection with the second-stage sun gear. The utility model also discloses a joint actuator. The joint actuator and the two-stage planetary reducer thereof can not only meet the requirement of larger transmission ratio, but also not increase the size.

Inventors

YU SANCHENG
LU XIANGHONG
Chen Hengkun
NI ZHONGMING
XU YINBO

Assignees

重庆蓝黛精密部件有限公司

Dates

Publication Date: 20260508
Application Date: 20250530

Claims (10)

1. The two-stage planetary reducer of the joint actuator is characterized by comprising a first-stage sun gear and a second-stage sun gear which are coaxially arranged, wherein a long gear ring is sleeved outside the first-stage sun gear and the second-stage sun gear, the long gear ring extends from the second-stage sun gear to the first-stage sun gear along the axial direction, a first-stage planetary gear and a first-stage planetary carrier for installing the first-stage planetary gear are arranged between the long gear ring and the first-stage sun gear, and a second-stage planetary gear and a second-stage planetary carrier for installing the second-stage planetary gear are arranged between the long gear ring and the second-stage sun gear; The inner wall of the long gear ring is provided with long internal teeth, the primary planet wheel is respectively meshed with the primary sun wheel and the long internal teeth, and the secondary planet wheel is respectively meshed with the secondary sun wheel and the long internal teeth; the long tooth ring is fixedly arranged, and the primary planet carrier is in transmission connection with the secondary sun gear.
2. The two-stage planetary reducer of the joint actuator according to claim 1, wherein the first-stage planetary gear and the second-stage planetary gear have equal or unequal numbers of teeth, and the first-stage sun gear and the second-stage sun gear have equal or unequal numbers of teeth.
3. The two-stage planetary reducer of the joint actuator according to claim 1, wherein the primary planet carrier is disposed between the primary planet wheel and the secondary planet wheel, and the primary planet carrier and the secondary sun wheel rotate synchronously.
4. The two-stage planetary reducer of the joint actuator according to claim 3, wherein the primary planet carrier and the rotating shaft of the secondary sun gear are integrally formed.
5. The joint actuator is characterized by comprising a shell, wherein a motor assembly is arranged in the shell, the motor assembly comprises a stator and a rotor sleeved outside the stator, a central through hole is formed in the stator, the two-stage planetary reducer as set forth in any one of claims 1-4 is installed in the central through hole, the long gear is sleeved in the central through hole and fixedly connected with the shell, the primary sun gear is in transmission connection with the rotor, and an output flange is arranged on the secondary planet carrier.
6. The joint actuator of claim 5 wherein the housing comprises a shell and an end cap that is mounted to the shell.
7. The joint actuator of claim 6 wherein a connecting disc is connected to the rotor, the connecting disc is located between the housing and the stator, an axially extending connecting portion is provided at the center of the connecting disc, a connecting through hole is provided in the connecting portion, and a rotating shaft of the primary sun gear is installed in the connecting through hole.
8. The joint actuator of claim 7 wherein the housing is provided with a relief hole for relieving the connection portion, the long ring gear has an inner diameter larger than an outer diameter of the connection portion, and deep groove ball bearings are provided between the connection portion and the housing and between the connection portion and the long ring gear, respectively.
9. The joint actuator of claim 6 wherein the long ring gear is fixedly connected to the end cap, and wherein a cross roller bearing is disposed between the long ring gear and the end cap and the secondary planet carrier.
10. The joint actuator of claim 5 wherein the end of the central through hole facing away from the primary sun gear is provided with magnetic beads.

Description

Joint actuator and two-stage planetary reducer thereof Technical Field The invention belongs to the technical field of robots, and particularly relates to a joint actuator and a two-stage planetary reducer thereof. Background The robot joint actuator is used as a core power component of a robot system and bears the key function of converting electric energy into mechanical motion, and the performance of the robot joint actuator directly influences the motion precision, the load capacity, the response speed and the overall reliability of the robot. From the technical standpoint, a typical joint actuator is generally composed of modules such as a driving motor, a speed reducing mechanism, a sensor system, a control unit, and the like, which are precisely integrated to realize functions such as torque amplification, motion conversion, closed-loop control, and the like. With the continuous expansion of the application scene of the robot, the performance requirements on the joint actuator are increasingly diversified and severe from industrial manufacturing to medical service, space exploration to home service. The mechanical deceleration type joint actuator has a dominant role in the field of industrial robots for a long time, and is technically characterized in that the reduction of the output rotating speed of a motor and the amplification of torque are realized through a gear meshing principle. The actuator generally adopts a three-stage structure, wherein a high-speed end provides original power for a servo motor, a middle stage realizes variable speed and torque conversion for a precision speed reducer, and an output end integrates a position/torque sensor to form closed-loop control. According to different types of the speed reducing mechanism, the main flow scheme can be divided into three categories of a harmonic speed reducer, a planetary speed reducer and an RV speed reducer, and the three categories have distinct performance characteristics and application scenes. The planetary reducer adopts a multistage gear parallel split structure, has the advantages of high rigidity and large bearing capacity, and is commonly used in large-load industrial robots. However, if the existing planetary reducer is required to realize a larger transmission ratio, the radial dimension is increased, and the application of the planetary reducer in a space-limited scene is limited. Disclosure of Invention In view of the above, an object of the present invention is to provide a joint actuator and a two-stage planetary reducer thereof, which can meet the requirement of a large gear ratio without increasing the size. In order to achieve the above purpose, the present invention provides the following technical solutions: The utility model firstly provides a two-stage planetary reducer of a joint actuator, which comprises a first-stage sun gear and a second-stage sun gear which are coaxially arranged, wherein a long gear ring is sleeved outside the first-stage sun gear and the second-stage sun gear, the long gear ring extends from the second-stage sun gear to the first-stage sun gear along the axial direction, a first-stage planet wheel and a first-stage planet carrier for installing the first-stage planet wheel are arranged between the long gear ring and the first-stage sun gear, and a second-stage planet wheel and a second-stage planet carrier for installing the second-stage planet wheel are arranged between the long gear ring and the second-stage sun gear; The inner wall of the long gear ring is provided with long internal teeth, the primary planet wheel is respectively meshed with the primary sun wheel and the long internal teeth, and the secondary planet wheel is respectively meshed with the secondary sun wheel and the long internal teeth; the long tooth ring is fixedly arranged, and the primary planet carrier is in transmission connection with the secondary sun gear. Further, the number of teeth of the primary planet gear and the secondary planet gear are equal or unequal. Further, the number of teeth of the primary sun gear and the secondary sun gear are equal or unequal. Further, the primary planet carrier is arranged between the primary planet wheel and the secondary planet wheel, and the primary planet carrier and the secondary sun wheel synchronously rotate. Further, the primary planet carrier and the rotating shaft of the secondary sun gear are integrated. The utility model further provides a joint actuator, which comprises a shell, wherein a motor assembly is arranged in the shell, the motor assembly comprises a stator and a rotor sleeved outside the stator, a central through hole is formed in the stator, the two-stage planetary reducer is installed in the central through hole, the long tooth ring is sleeved in the central through hole and fixedly connected with the shell, the first-stage sun gear is in transmission connection with the rotor, and an output flange is arranged on the second-stage planetary carrier. F