Actuator with planetary reducer, and robot joint
An actuator includes a housing, a motor, and a planetary reducer. The planetary reducer includes an inner ring gear, a sun gear, a planetary carrier, and a planetary gear; the inner ring gear is provided with a projecting support rib; an inner side surface of the projecting support rib is provided with a detachably fixed pressing member; the motor includes a stator and a rotor; the rotor is synchronously connected to the sun gear through a connection carrier; the connection carrier includes an outer carrier and an inner carrier; an outer periphery of the inner carrier is fixedly connected to an inner periphery of the outer carrier; and a bearing is disposed between the projecting support rib and the inner carrier; the bearing includes an outer ring clamped between a pressing member and the projecting support rib and an inner ring clamped between the outer carrier and inner carriers.
1 . An actuator with a planetary reducer, comprising: a housing, a motor, and the planetary reducer, wherein
the planetary reducer comprises an inner ring gear fixed in a matched manner to the housing, and further comprises a sun gear, a planetary carrier, and a planetary gear; the sun gear, the planetary carrier, and the planetary gear are all located at an inner side of the inner ring gear; the planetary gear is pivotally connected to the planetary carrier and is meshed between the sun gear and the inner ring gear; a mounting chamber is formed between the inner ring gear and the housing; the inner ring gear is provided with a projecting support rib arranged annularly; and an inner side surface of the projecting support rib is provided with a pressing member detachably fixed to the projecting support rib;
the motor is disposed inside the mounting chamber, and comprises a stator fixed in a matched manner to the housing and a rotor matched with the stator; and the rotor is synchronously connected to the sun gear through a connection carrier; and
the connection carrier comprises an outer carrier and an inner carrier; an outer periphery of the outer carrier is fixedly connected to the rotor, and an inner periphery of the outer carrier spans above an end portion of the projecting support rib and extends to an inner side of the projecting support rib; an outer periphery of the inner carrier is fixedly connected to the inner periphery of the outer carrier through a bolt; the inner carrier is configured to be embedded into the projecting support rib through an opening at the end portion of the projecting support rib; a bearing is provided between the projecting support rib and the inner carrier to pivotally connect the connection carrier to the projecting support rib; and an outer ring of the bearing is clamped between the pressing member and the projecting support rib, and an inner ring of the bearing is clamped between the outer carrier and the inner carrier.
2 . The actuator with the planetary reducer according to claim 1 , wherein the housing comprises a side wall and a support wall extending inward from an inner surface of the side wall along a radial direction of the actuator; a lower end portion of the inner ring gear is connected to the support wall; and the mounting chamber is enclosed by the inner ring gear, the side wall, and the support wall.
3 . The actuator with the planetary reducer according to claim 2 , wherein the outer carrier comprises a first fixing ring located at the outer periphery of the outer carrier, a second fixing ring located at the inner periphery of the outer carrier, and a connection rib connected between the first fixing ring and the second fixing ring; the second fixing ring is disposed above an upper surface of the outer periphery of the inner carrier; a bottom of the outer periphery of the inner carrier is provided with a support rib extending outward; and a top end of the inner ring of the bearing abuts against a lower surface of the second fixing ring, and a bottom end of the inner ring of the bearing abuts against the support rib.
4 . The actuator with the planetary reducer according to claim 3 , wherein the bolt passes through the second fixing ring from top to bottom and is screwed into the outer periphery of the inner carrier; and the lower surface of the second fixing ring and the upper surface of the outer periphery of the inner carrier form a clearance fit.
5 . The actuator with the planetary reducer according to claim 3 , wherein the first fixing ring is disposed above the projecting support rib and is provided with a connection arm extending downward and fixedly connected to the rotor; in the radial direction of the actuator, at least one segment of the connection rib is gradually inclined downward from an outer side to an inner side, and the second fixing ring is disposed between a top end surface of the projecting support rib and the upper surface of the outer periphery of the inner carrier.
6 . The actuator with the planetary reducer according to claim 2 , wherein the inner side surface of the projecting support rib is provided with a support step and a snap groove located above the support step; the pressing member is a snap ring snapped into the snap groove; and a top end of the outer ring of the bearing abuts against the snap ring, and a bottom end of the outer ring of the bearing abuts against the support step.
7 . The actuator with the planetary reducer according to claim 2 , wherein the housing further comprises an upper cover; and the upper cover is detachably fixed to an upper end portion of the side wall.
8 . The actuator with the planetary reducer according to claim 1 , wherein the inner carrier is provided with a shaft sleeve extending downward; a shaft of the sun gear is inserted into the shaft sleeve; an upper end surface of the sun gear abuts against a lower end surface of the shaft sleeve; and the shaft sleeve is connected to the shaft of the sun gear through a key.
9 . The actuator with the planetary reducer according to claim 1 , wherein a bottom surface of the inner carrier is offset upward from an upper end surface of an inner tooth of the inner ring gear by a distance of 0-8 mm; the bottom surface of the inner carrier is provided with an avoidance groove recessed upward; and at least a portion of the planetary carrier is embedded in the avoidance groove.
10 . A robot joint, comprising the actuator according to claim 1 .
11 . The robot joint according to claim 10 , wherein, in the actuator, the housing comprises a side wall and a support wall extending inward from an inner surface of the side wall along a radial direction of the actuator; a lower end portion of the inner ring gear is connected to the support wall; and the mounting chamber is enclosed by the inner ring gear, the side wall, and the support wall.
12 . The robot joint according to claim 11 , wherein, in the actuator, the outer carrier comprises a first fixing ring located at the outer periphery of the outer carrier, a second fixing ring located at the inner periphery of the outer carrier, and a connection rib connected between the first fixing ring and the second fixing ring; the second fixing ring is disposed above an upper surface of the outer periphery of the inner carrier; a bottom of the outer periphery of the inner carrier is provided with a support rib extending outward; and a top end of the inner ring of the bearing abuts against a lower surface of the second fixing ring, and a bottom end of the inner ring of the bearing abuts against the support rib.
13 . The robot joint according to claim 12 , wherein, in the actuator, the bolt passes through the second fixing ring from top to bottom and is screwed into the outer periphery of the inner carrier; and the lower surface of the second fixing ring and the upper surface of the outer periphery of the inner carrier form a clearance fit.
14 . The robot joint according to claim 12 , wherein, in the actuator, the first fixing ring is disposed above the projecting support rib and is provided with a connection arm extending downward and fixedly connected to the rotor; in the radial direction of the actuator, at least one segment of the connection rib is gradually inclined downward from an outer side to an inner side, and the second fixing ring is disposed between a top end surface of the projecting support rib and the upper surface of the outer periphery of the inner carrier.
15 . The robot joint according to claim 11 , wherein, in the actuator, the inner side surface of the projecting support rib is provided with a support step and a snap groove located above the support step; the pressing member is a snap ring snapped into the snap groove; and a top end of the outer ring of the bearing abuts against the snap ring, and a bottom end of the outer ring of the bearing abuts against the support step.
16 . The robot joint according to claim 11 , wherein, in the actuator, the housing further comprises an upper cover; and the upper cover is detachably fixed to an upper end portion of the side wall.
17 . The robot joint according to claim 10 , wherein, in the actuator, the inner carrier is provided with a shaft sleeve extending downward; a shaft of the sun gear is inserted into the shaft sleeve; an upper end surface of the sun gear abuts against a lower end surface of the shaft sleeve; and the shaft sleeve is connected to the shaft of the sun gear through a key.
18 . The robot joint according to claim 10 , wherein, in the actuator, a bottom surface of the inner carrier is offset upward from an upper end surface of an inner tooth of the inner ring gear by a distance of 0-8 mm; the bottom surface of the inner carrier is provided with an avoidance groove recessed upward; and at least a portion of the planetary carrier is embedded in the avoidance groove.