CN111516002A - Joint unit and joint module of robot and foot type robot with joint unit and joint module - Google Patents

Joint unit and joint module of robot and foot type robot with joint unit and joint module Download PDF

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Publication number
CN111516002A
CN111516002A CN202010577178.8A CN202010577178A CN111516002A CN 111516002 A CN111516002 A CN 111516002A CN 202010577178 A CN202010577178 A CN 202010577178A CN 111516002 A CN111516002 A CN 111516002A
Authority
CN
China
Prior art keywords
bearing
joint
transmission
joint unit
housing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010577178.8A
Other languages
Chinese (zh)
Inventor
唐彬
王凤昕
甘泉
谌振宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Haqi Robot Technology Co ltd
Original Assignee
Beijing Haqi Robot Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Haqi Robot Technology Co ltd filed Critical Beijing Haqi Robot Technology Co ltd
Priority to CN202010577178.8A priority Critical patent/CN111516002A/en
Publication of CN111516002A publication Critical patent/CN111516002A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention discloses a joint unit and a joint module of a robot and a legged robot with the joint unit, wherein the joint unit comprises: the motor comprises a shell, a motor component, a transmission mechanism and a speed reducing mechanism, wherein a stator of the motor component is fixedly connected with the shell, a rotor and the stator are coaxially arranged, and the rotor is rotatably connected with the shell; the transmission mechanism comprises a driving part and a driven part, and the driving part is connected with the rotor; the speed reducing mechanism is a planetary gear train, and an output shaft is formed on the planetary carrier; wherein the rotational center of the output shaft and the rotational center of the rotor are parallel to and spaced apart from each other. Therefore, the joint unit adopts the design that the motor component and the speed reducing mechanism are not concentric, the thickness of the joint is reduced, and the structure is more compact; and a speed regulating procedure is added, so that the transmission ratio is increased. The joint module adopts a plurality of joint units that set up side by side, has a plurality of degrees of freedom, and power pencil and signal pencil between a plurality of joint units can be in arranging in the casing, avoid the security and the reliability problem that the cable exposes and introduces.

Description

Joint unit and joint module of robot and foot type robot with joint unit and joint module
Technical Field
The invention relates to the field of robots, in particular to a joint unit and a joint module of a robot and a legged robot with the joint unit and the joint module.
Background
At present, the reduction mechanisms and motors of joint units of most robots in the market are concentrically arranged, the whole thickness is thicker, joints are overstaffed, the width of the whole robot is too wide, and the transmission ratio is smaller due to space limitation.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a joint unit and a joint module of a robot, and a legged robot having the same.
A joint unit of a robot according to an embodiment of a first aspect of the present invention includes: the motor assembly comprises a stator and a rotor, the stator is fixedly connected with the shell, the rotor and the stator are coaxially arranged, and the rotor is rotatably connected with the shell; the transmission mechanism comprises a driving part and a driven part, the driving part is connected with the rotor, and the transmission mechanism is any one of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism and a connecting rod mechanism; the motor assembly, the transmission mechanism and the speed reducing mechanism are arranged in the shell, the transmission mechanism is a planetary gear train, the speed reducing mechanism comprises a sun gear, a plurality of planet gears, a planet carrier and a gear ring, the plurality of planet gears are arranged around the sun gear, the gear ring is fixed with the shell, the sun gear is connected with the driven part, each planet gear is positioned between the gear ring and the sun gear and is respectively meshed with the gear ring and the sun gear for transmission, the plurality of planet gears are all arranged on the planet carrier in a pivoted mode, and an output shaft is formed on the planet carrier; wherein a rotation center of the output shaft and a rotation center of the rotor are parallel to and spaced apart from each other.
Therefore, on one hand, the speed reducing mechanism and the motor assembly are arranged in a non-concentric mode, the overall thickness of the joint is reduced, the space required by the joint is reduced, and the structure is more compact on occasions with strict requirements on the overall thickness; on the other hand, the synchronous belt, the chain transmission, the gear transmission or the parallelogram connecting rod provides the first-stage transmission, the planetary gear system provides the second-stage transmission, the motor transmits the torsion to the speed reducing mechanism through the transmission mechanism, and compared with the traditional structure in which the motor is directly and coaxially arranged with the speed reducing mechanism, a speed regulating procedure is added, so that the transmission ratio can be increased, and the speed reducing ratio can be more flexibly configured to meet the requirements of different application scenes. In addition, the motor assembly, the transmission mechanism and the speed reducing mechanism are integrated in the same shell, so that the whole structure is more compact and the integration level is higher.
In some embodiments, the number of the motor assembly, the transmission mechanism and the reduction mechanism is one, the transmission mechanism is a synchronous belt transmission mechanism, the driving part is a driving pulley, the driven part is a driven pulley, and the driving pulley and the driven pulley are in synchronous belt transmission.
In some embodiments, the housing comprises: the motor assembly comprises a main shell and a first cover body, wherein the main shell is provided with a first accommodating groove and a second accommodating groove which are arranged in parallel, the motor assembly is positioned in the first accommodating groove, and the speed reducing mechanism is positioned in the second accommodating groove; the first cover body covers the open side of the first accommodating groove and the second accommodating groove and is fixed on the main shell body, a third accommodating groove is formed in the inner side of the first cover body, and the transmission mechanism is located in the third accommodating groove.
In some embodiments, a bearing seat, a first bearing and a second bearing are arranged in the housing, the bearing seat is connected with the main housing at a notch of the second accommodating groove, the planet carrier is connected with the bearing seat through the first bearing, one of the sun gear and the driven member is connected with the bearing seat through the second bearing, the first bearing and the second bearing are coaxially arranged, and the planetary gear train is located in a space defined by the bearing seat and the main housing.
In some embodiments, the bearing seat has a first mounting hole and an annular groove surrounding the first mounting hole, the first bearing is embedded in an outer side wall of the annular groove, the second bearing is embedded in the first mounting hole, the driven member has a shaft portion, the shaft portion penetrates through an inner ring of the second bearing and extends to be connected with the sun gear, the shaft portion is further provided with a first limiting member, and the first limiting member and a wheel portion of the driven member jointly axially position the second bearing.
In some embodiments, a side of the main housing opposite to the first cover is open and is formed with a first mounting flange, the planet carrier is connected with the first mounting flange through a third bearing, the third bearing is separated from the first bearing by the planet wheel, and an end of the planet carrier, where the output shaft is arranged, is flush with the main housing.
In some embodiments, the rotor comprises: the rotor support comprises an outer sleeve body, an intermediate shaft and an end surface structure for connecting the outer sleeve body and the intermediate shaft, the outer sleeve body is matched with the first accommodating groove, and the driving part and the stator are separated by the end surface structure; the magnetic steel sheet is arranged on the inner wall of the outer sleeve body, and the intermediate shaft is connected with the main shell body through a fourth bearing.
In some embodiments, the main housing has a second mounting flange and a third mounting flange that are concentrically arranged in sequence from inside to outside in the first receiving groove, the fourth bearing is embedded in the second mounting flange and axially positioned with a shaft shoulder of the intermediate shaft through a second retaining member, the stator is sleeved outside the third mounting flange, and the stator is opposite to the magnetic steel sheet in a radial direction.
In some embodiments, the electronic device further includes a circuit board electrically connected to the motor assembly, the housing further includes a second cover disposed opposite to the motor assembly on a side opposite to the open side, the second cover is connected to the main housing, and a third receiving groove for receiving the circuit board is formed between the second cover and the main housing.
In some embodiments, the output shaft, the planet carrier, the sun gear and the driven member all have coaxially arranged and sequentially communicated central through holes, and the central through holes are at least used for a wire harness to pass through.
According to the joint module of the embodiment of the second aspect of the invention, the joint module comprises a plurality of joint units, the joint units are coaxially arranged in parallel, the power transmission of the joint units is independent, and the output shafts of the joint units are coaxially arranged and extend out from the same side.
Therefore, the joint module adopts a plurality of joint units arranged in parallel, has a plurality of degrees of freedom, and power wire harnesses and signal wire harnesses among the joint units can be arranged in the shell 10, so that the problems of safety and reliability caused by the fact that cables are exposed outside the shell 10 are solved.
In some embodiments, the number of the joint units is two, the two joint units are oppositely arranged along the axial direction of the output shaft, and the output shaft of one joint unit sequentially passes through the driven member, the sun gear and the planet carrier of the other joint unit and extends out of the output shaft of the planet carrier of the other joint unit.
In some embodiments, the housings of each of the plurality of joint units are fixedly connected to each other; or a plurality of joint units share the same housing.
A legged robot according to an embodiment of the third aspect of the present invention includes the joint unit according to the first aspect or the joint module according to the second aspect.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a perspective exploded schematic view of a joint unit according to an embodiment of the present invention.
Fig. 2 is a cross-sectional schematic view of a joint unit according to an embodiment of the invention.
Fig. 3 is a schematic perspective split view of a planet wheel and a planet carrier according to an embodiment of the invention.
Fig. 4 is a schematic view of a joint unit according to an embodiment of the present invention.
Fig. 5 is a mechanism schematic diagram (single motor) of the joint unit according to the first embodiment of the present invention.
Fig. 6 is a schematic mechanism diagram (dual motor) of a joint module according to a second embodiment of the present invention.
Reference numerals:
the joint unit 100 is provided with a joint unit,
a housing 10, a main housing 11, a first receiving groove 111, a second receiving groove 112, a first mounting flange 113, a second mounting flange 114, a third mounting flange 115, a first cover 12, a third receiving groove 121, a bearing housing 13, a first mounting hole 131, an annular groove 132, a second cover 14, a third receiving groove 141,
the motor assembly 20, the stator 21, the rotor 22, the rotor bracket 221, the outer sleeve 2211, the intermediate shaft 2212, the end face structure 2213, the magnetic steel sheet 222, the fourth bearing 23, the second limiting member 24,
a transmission mechanism 30, a driving pulley 31, a driven pulley 32, a shaft portion 321, a timing belt 33,
the reduction mechanism 40, the sun gear 41, the planetary gear 42, the carrier 43, the output shaft 431, the ring gear 44, the first bearing 45, the second bearing 46, the third bearing 47, the first stopper 48, the fifth bearing 491, the rotary shaft 492,
circuit board 50, central via a.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
A joint unit 100 of a robot and a legged robot having the same according to an embodiment of the present invention will be described with reference to fig. 1 to 6.
As shown in fig. 1 and 2, a joint unit 100 of a robot according to an embodiment of a first aspect of the present invention includes: the motor assembly comprises a shell 10, a motor assembly 20, a transmission mechanism 30 and a speed reducing mechanism 40.
The motor assembly 20, the transmission mechanism 30 and the speed reducing mechanism 40 are all arranged in the shell 10, the motor assembly 20 comprises a stator 21 and a rotor 22, the stator 21 is fixedly connected with the shell 10, the rotor 22 and the stator 21 are coaxially arranged, and the rotor 22 is rotatably connected with the shell 10. In other words, the motor assembly 20 may be a motor, which is a power source of the joint unit 100.
The transmission mechanism 30 includes a driving member and a driven member, and the driving member is connected to the rotor 22; the transmission mechanism 30 is any one of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism, and a link mechanism (including but not limited to a four-bar link). When the transmission ratio of the transmission mechanism 30 is not equal to 1, the transmission mechanism 30 can perform the function of realizing the first-stage speed reduction.
The transmission mechanism 30 is a planetary gear train, the speed reduction mechanism 40 includes a sun gear 41, a plurality of planet gears 42 arranged around the sun gear 41, a planet carrier 43, and a ring gear 44, the ring gear 44 is fixed with the housing 10, the sun gear 41 is connected with a driven member, each planet gear 42 is located between the ring gear 44 and the sun gear 41 and is in mesh transmission with the planet gear 42 and the ring gear 44, the planet gears 42 and the sun gear 41, the plurality of planet gears 42 are all pivotably arranged on the planet carrier 43, and an output shaft 431 is formed on the planet carrier 43.
Wherein the rotation center of the output shaft 431 and the rotation center of the rotor 22 are parallel to and spaced apart from each other. That is, the driving member and the driven member of the transmission mechanism 30 are disposed non-coaxially, and the speed reduction mechanism 40 and the motor assembly 20 are disposed non-concentrically.
The transmission path of the power is as follows: the rotor 22 rotates to drive the driving member to move together, the driving member transmits power to the driven member, the driven member drives the sun gear 41 coaxially arranged with the driven member to rotate, the sun gear 41 is meshed with the planet gears 42 and pushes each planet gear 42 to rotate around the own rotating shaft 492 and roll relative to the ring gear 44, and therefore the planet carrier 43 is driven to rotate, and the output shaft 431 outputs torque.
Therefore, on one hand, the speed reducing mechanism 40 and the motor assembly 20 are arranged in a non-concentric mode, the overall thickness of the joint is reduced, the space required by the joint is reduced, and the structure is more compact in the occasion with strict requirements on the overall thickness; on the other hand, the transmission mechanism 30 provides first-stage transmission, the planetary gear system provides second-stage transmission, the motor transmits the torsion to the speed reducing mechanism 40 through the transmission mechanism 30, a speed regulating procedure is added compared with a traditional structure that the motor is directly and coaxially arranged with the speed reducing mechanism 40, the transmission ratio can be increased, and therefore the speed reducing ratio can be configured more flexibly to meet requirements of different application scenes. In addition, the motor assembly 20, the transmission mechanism 30 and the speed reducing mechanism 40 are integrated in the same shell 10, so that the whole structure is more compact and the integration level is higher.
First embodiment
The joint unit 100 of the embodiment of the first aspect is described below with reference to fig. 1 to 5, the joint unit 100 being a single-motor structure.
As shown in fig. 1 and 2, the number of the motor assemblies 20, the transmission mechanism 30 and the reduction mechanism 40 is one, the transmission mechanism 30 is a synchronous belt 33 transmission mechanism 30, the driving part is a driving pulley 31, the driven part is a driven pulley 32, and the driving pulley 31 and the driven pulley 32 are driven by the synchronous belt 33. The transmission ratio of the planetary gear train can be 4-9, the transmission ratio of the synchronous belt 33 transmission mechanism 30 can be 1-3, and a reduction ratio of 4-27 (only for reference) can be provided according to requirements.
Therefore, the motor assembly 20 and the speed reducing mechanism 40 are arranged non-concentrically and connected through the transmission mechanism 30 of the synchronous belt 33 to serve as a first-stage speed reduction, the planetary gear train serves as a second-stage speed reduction, and the thickness of the joint is reduced.
In the particular embodiment shown in fig. 2, the housing 10 comprises: a main housing 11 and a first cover 12. A first receiving groove 111 and a second receiving groove 112 are formed in the main housing 11, the motor assembly 20 is located in the first receiving groove 111, and the speed reducing mechanism 40 is located in the second receiving groove 112; the first cover 12 covers the open sides of the first receiving groove 111 and the second receiving groove 112 and is fixed to the main housing 11, a third receiving groove 141121 is formed inside the first cover 12, and the transmission mechanism 30 is located in the third receiving groove 141121. From this, in first holding tank 111, the second holding tank 112 were independently located respectively to motor element 20, reduction gears 40, drive mechanism 30 outside first holding tank 111, second holding tank 112, for motor element 20, reduction gears 40, drive mechanism 30 all provide independent installation space, workspace, the convenient arrangement.
Optionally, a bearing seat 13, a first bearing 45 and a second bearing 46 are arranged in the housing 10, the bearing seat 13 is connected with the main housing 11 at a notch of the second accommodating groove 112, the planet carrier 43 is connected with the bearing seat 13 through the first bearing 45, one of the sun gear 41 and the driven pulley 32 is connected with the bearing seat 13 through the second bearing 46, the first bearing 45 and the second bearing 46 are coaxially arranged, and the planetary gear train is located in a space defined by the bearing seat 13 and the main housing 11. As shown in fig. 3, each planetary gear 42 is connected to the planetary carrier 43 via a fifth bearing 491 and a rotating shaft 492, so that each planetary gear 42 can rotate around the rotating shaft 492, and the rotating shaft 492 of each planetary gear 42 is parallel to and equidistant from the output shaft 431 of the planetary carrier 43.
Since the sun gear 41 and the driven pulley 32 may be fixedly connected/detachably connected by a key joint or other means, the sun gear 41 and the driven pulley 32 may be connected by a connecting shaft provided in the second bearing 46, which may be integrally formed with the sun gear 41 or the driven pulley 32.
Like this, bearing frame 13 and main casing 11 jointly limit the space that is used for holding the planetary gear train, and the embedded mounting means of this kind of bearing frame 13 stretched into in second holding tank 112 can further the thickness of less casing 10, and bearing frame 13 can also play the axial positioning effect to the planetary gear train moreover, and bearing frame 13 also can form inside reinforcement to the intensity of casing 10, improves the stability of planetary gear train motion.
The bearing seat 13 has a first mounting hole 131 and an annular groove 132 surrounding the first mounting hole 131, the first bearing 45 is fitted on an outer side wall of the annular groove 132, the second bearing 46 is fitted in the first mounting hole 131, the driven pulley 32 has a shaft portion 321, the shaft portion 321 passes through an inner ring of the second bearing 46 and extends to be connected with the sun gear 41, a first limiting member 48 is further provided on the shaft portion 321, and the first limiting member 48 and the wheel portion of the driven pulley 32 jointly axially position the second bearing 46.
Therefore, the assembly, disassembly and assembly and maintenance are more convenient, and when the synchronous belt 33 transmission mechanism 30 needs to be replaced or maintained due to abrasion after long-term use, the bearing seat 13 and the planetary gear train do not need to be disassembled, and the driven pulley 32 is directly pulled out to separate the driven pulley 32 from the sun gear 41.
Referring to fig. 2, in some embodiments, a side of the main housing 11 opposite to the first cover 12 is open and is formed with a first mounting flange 113, the planet carrier 43 is connected with the first mounting flange 113 through a third bearing 47, the third bearing 47 is separated from the first bearing 45 by the planet wheel 42, and an end of the planet carrier 43 provided with the output shaft 431 is flush with the main housing 11.
In this way, a part of the carrier 43 is embedded in the main casing 11 and the end surface is flush with the main casing 11, and the overall thickness of the joint unit 100 can be further reduced, making the structure of the joint unit 100 more compact.
In some embodiments, as shown in fig. 1 and 2, the rotor 22 includes: the rotor support 221 and the magnetic steel sheet 222, the rotor support 221 includes an outer sleeve 2211, an intermediate shaft 2212, and an end face structure 2213 connecting the two, the outer sleeve 2211 is adapted to the first accommodating groove 111, and the driving pulley 31 and the stator 21 are separated by the end face structure 2213; the magnetic steel sheet 222 is disposed on the inner wall of the outer housing 2211, and the intermediate shaft 2212 is connected to the main housing 11 through the fourth bearing 23.
Therefore, after the stator 21 generates electromagnetic induction, the intermediate shaft 2212 of the rotor 22 rotates relative to the main housing 11 through the fourth bearing 23, and both the stator 21 and the fourth bearing 23 are located in a space enclosed by the rotor 22 and the housing 10, so that the interference of the synchronous belt 33 transmission mechanism 30 on the operation of the motor assembly 20 is reduced.
Further, the main housing 11 has a second mounting flange 114 and a third mounting flange 115 which are concentrically arranged from inside to outside in the first receiving groove 111, the fourth bearing 23 is embedded in the second mounting flange 114 and is axially positioned with the shaft shoulder of the intermediate shaft 2212 by the second retaining member 24, the stator 21 is externally sleeved on the third mounting flange 115, and the stator 21 is opposite to the magnetic steel sheet 222 in the radial direction. In this way, the third and fourth mounting flanges 115 and 115 formed on the main housing 11 can function as the bearing seat 13 by using the outer and inner rotors 22 and 21, so that the stator 21 and the rotor 22 can be more conveniently mounted in the main housing 11, and the arrangement of the second and third mounting flanges 114 and 115 makes the whole joint unit 100 more compact.
The first limiting member 48 and the second limiting member 24 are structures capable of axially positioning the bearing and limiting, such as a snap spring, a thin nut, and the like.
In some embodiments, as shown in fig. 2 and 4, the joint unit 100 further includes a circuit board 50, the circuit board 50 is electrically connected to the motor assembly 20, the housing 10 further includes a second cover 14, the second cover 14 is disposed opposite to the motor assembly 20 on a side opposite to the open side, the second cover 14 is connected to the main housing 11, and a third receiving groove 141121 for receiving the circuit board 50 is formed between the second cover 14 and the main housing 11. Therefore, the circuit board 50 and the motor assembly 20 are arranged in a separated mode, the second cover 14 can be detached when the circuit board 50 needs to be detached, the first cover 12 does not need to be opened, the transmission mechanism 30, the speed reducing mechanism 40 and the motor assembly 20 cannot be interfered, the circuit board 50 and the mechanism for power transmission are separated, the circuit board 50 can better dissipate heat, the vibration of transmission is blocked, and the service life is longer.
In some alternative embodiments, the output shaft 431, the planet carrier 43, the sun gear 41 and the driven member all have coaxially arranged and sequentially communicated central through holes a, and the central through holes a are at least used for the wiring harness to pass through, as shown in fig. 2. Therefore, the output shaft 431, the planet carrier 43, the sun gear 41 and the driven piece are all of hollow structures, hidden arrangement of wiring harnesses can be achieved, signal wires of some sensors can penetrate through the central through hole a, reliability of the signal wires is protected, and the problem that the wiring harnesses are exposed and leaked outside possibly is solved.
The assembly sequence of the joint unit 100 is briefly described below with reference to fig. 1 and 5:
1) the magnetic steel sheet 222 is assembled with the rotor 22, and the stator 21 is installed in the first accommodation groove 111 of the main housing 11; the driving pulley 31 is assembled and connected with the main shell 11 through a bearing, and the driving pulley 31 and the rotor 22 are assembled in the main shell 11 and a limiting piece is assembled;
2) fixing the circuit board 50 on the other side of the main housing 11, and fixing the second cover 14 on the main housing 11;
3) two planet carrier bearings (a first bearing 45 and a third bearing 47) are assembled and connected with the main shell 11 and the bearing fixing seat;
4) the planetary gear, the planetary gear bearing (fifth bearing 491), the rotating shaft 492 of the planetary gear, and the planet carrier 43 are assembled to constitute the planetary gear train speed reduction mechanism 40;
5) assembling and connecting a bearing (a second bearing 46) of the sun gear 41 with a bearing fixing seat;
6) the ring gear 44 is fitted into the second receiving groove 112 of the main casing 11, and the planetary gear reduction mechanism 40 is fitted into the second receiving groove 112 of the main casing 11 in which the second bearing 46 and the ring gear 44 are fitted;
7) a synchronous belt 33 is arranged;
8) the combination body of the sun wheel 41 and the driven belt wheel 32 passes through a bearing fixing seat provided with a bearing and is provided with a sun wheel 41 limiting piece;
9) the assembly body of the previous step is put into the main casing 11, and the second cover 14 is covered on the main casing 11 and fixed with screws.
It should be noted that the driving pulley 31 and the rotor 22 may be fixedly connected or may be formed as a whole; the assembly sequence of all the bearings and the connecting pieces of the two bearings is not limited; the fixed connection is not limited by the connection mode and can be screws, buckles, riveting, welding and the like; the limiting piece is not the only limiting mode and can be replaced by a scheme with the same limiting effect such as a nut.
The belt transmission between the motor assembly 20 and the speed reducing mechanism 40 can also be replaced by chain transmission, link transmission and gear transmission, and when the link transmission is adopted, the transmission ratio of the part is degraded to 1: 1. the motor assembly 20 includes a motor controller and an encoder, wherein the motor assembly may be an inner rotor motor or an outer rotor motor. The planetary gear train may also employ an involute planetary gear train with a small tooth difference or a cycloid planetary gear train with a small tooth difference.
Second embodiment
A joint module 200 according to a second aspect of the embodiment will be described with reference to fig. 1 and 6, and the joint module 200 has a two-motor structure. The above description of the motor assembly 20, the transmission mechanism 30, the reduction mechanism 40, the housing 10, the circuit board 50, and the like in the first embodiment is applicable to the present embodiment.
The joint module 200 includes a plurality of joint units 100 coaxially arranged in parallel, power transmission of the plurality of joint units is independent of each other, and output shafts 431 of the plurality of joint units 100 are coaxially arranged and extend from the same side.
Therefore, the joint module adopts a plurality of joint units arranged in parallel, has a plurality of degrees of freedom, and power wire harnesses and signal wire harnesses among the joint units can be arranged in the shell 10, so that the problems of safety and reliability caused by the fact that cables are exposed outside the shell 10 are solved.
In some embodiments, the number of the joint units is two, wherein the output shaft 431 of one joint unit sequentially passes through the driven member of the other joint unit, the sun gear 41 and the planet carrier 43, and extends out of the output shaft 431 of the planet carrier 43 of the other joint unit.
Thus, the two motors are arranged concentrically, and the whole system is a joint with two degrees of freedom. Because the motor component is integrated with the motor controller and the encoder, the power line and the control signal line of the motor controller can be arranged in the whole module. The carrier 43 adopts a structure of a central shaft hole through which a signal wire harness of a sensor or the like can pass when the entire module is used for a robot or a robot arm. When the cable is connected with other joints with hollow shafts, all cables can be prevented from being exposed outside, and the overall safety and reliability are improved.
In some embodiments, the shells of the joint units are fixedly connected with each other, so that the joint units can be freely assembled according to needs and the universality is higher. In other embodiments a plurality of joint units share the same housing 10. Thereby, the arrangement is more compact and the thickness of the joint unit 100 is thinner.
The power transmission path of each group of motors is as follows:
the first motor 20a rotates the first driving pulley 31 a. The first driving pulley 31a rotates the first driven pulley 32a via the first timing belt 33 a. The first driven pulley 32a is fixedly connected to the first sun gear 41a so that when the first driven pulley 32a rotates, the first sun gear 41a rotates in synchronization. The first ring gear 44a is fixed inside the main chassis. The first ring gear 44a, the first planetary gear 41a, the first carrier 43a, and the first sun gear 41a constitute a first-stage planetary gear train. Wherein the first output shaft of the first planet carrier 43a is the power take-off.
The second motor 20b rotates the second driving pulley 31 b. The second driving pulley 31b rotates the second driven pulley 32b via the second timing belt 33 b. The second driven pulley 32b is fixedly connected to the second sun gear 41b so that when the second driven pulley 32b rotates, the second sun gear 41b rotates in synchronization. The second ring gear 44b is fixed inside the main chassis. The second ring gear 44b, the second planetary gear 41b, the second carrier 43b, and the second sun gear 41b constitute a first-stage planetary gear train. Wherein the output shaft of the second planet carrier 43b is the power output end.
The structure formed by the second sun gear 41b and the second driving pulley 31b of the second joint unit, the second planet carrier 43b, the second sun gear 42b and the second driven pulley 32b are all provided with a central through hole, and the first output shaft of the first planet carrier 43a of the first joint unit passes through the central through hole of the second joint unit and then drives the load to rotate. The second planet carrier 43b of the second joint unit directly drives the load to rotate. The output shafts of the two planetary carriers are mutually independent.
The legged robot according to the embodiment of the third aspect of the present invention includes the joint unit 100 of the first embodiment or includes the joint module 200 of the second embodiment.
Therefore, especially for the foot type robot, the rotational inertia of the leg and foot unit of the robot is smaller by adopting the structure, so that the robot can walk more stably and reliably.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered as limiting.
In the description of the present invention, "the first feature" and "the second feature" may include one or more of the features.
In the description of the present invention, "a plurality" means two or more. In the description of the present invention, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, and may also include the first and second features being in contact with each other not directly but through another feature therebetween. In the description of the invention, "above", "over" and "above" a first feature in a second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (14)

1. A joint unit of a robot, comprising:
a housing;
the motor assembly comprises a stator and a rotor, the stator is fixedly connected with the shell, the rotor and the stator are coaxially arranged, and the rotor is rotatably connected with the shell;
the transmission mechanism comprises a driving part and a driven part, the driving part is connected with the rotor, and the transmission mechanism is any one of a belt transmission mechanism, a chain transmission mechanism, a gear transmission mechanism and a connecting rod mechanism; and
the motor assembly, the transmission mechanism and the speed reducing mechanism are arranged in the shell, the transmission mechanism is a planetary gear train, the speed reducing mechanism comprises a sun gear, a plurality of planet gears, a planet carrier and a gear ring, the planet gears are arranged around the sun gear, the gear ring is fixed with the shell, the sun gear is connected with the driven part, each planet gear is positioned between the gear ring and the sun gear and is respectively meshed with the gear ring and the sun gear for transmission, the planet gears are all arranged on the planet carrier in a pivoting manner, and an output shaft is formed on the planet carrier;
wherein a rotation center of the output shaft and a rotation center of the rotor are parallel to and spaced apart from each other.
2. The joint unit according to claim 1, wherein the number of the motor assembly, the transmission mechanism and the reduction mechanism is one, the transmission mechanism is a synchronous belt transmission mechanism, the driving member is a driving pulley, the driven member is a driven pulley, and the driving pulley and the driven pulley are driven by a synchronous belt.
3. The joint unit of claim 1, wherein the housing comprises:
the motor assembly comprises a main shell, a motor assembly and a speed reducing mechanism, wherein the main shell is provided with a first accommodating groove and a second accommodating groove which are arranged in parallel; and
the first cover body covers the open side of the first accommodating groove and the second accommodating groove and is fixed on the main shell body, a third accommodating groove is formed in the inner side of the first cover body, and the transmission mechanism is located in the third accommodating groove.
4. A joint unit according to claim 3, wherein a bearing housing, a first bearing and a second bearing are provided in the housing, the bearing housing is connected to the main housing at a notch of the second receiving groove, the planet carrier is connected to the bearing housing via the first bearing, one of the sun gear and the driven member is connected to the bearing housing via the second bearing, the first bearing is arranged coaxially with the second bearing, and the planetary gear train is located in a space defined by the bearing housing and the main housing.
5. The joint unit according to claim 4, wherein the bearing housing has a first mounting hole and an annular groove surrounding the first mounting hole, the first bearing is embedded in an outer side wall of the annular groove, the second bearing is embedded in the first mounting hole, the driven member has a shaft portion, the shaft portion passes through an inner ring of the second bearing and extends to be connected with the sun gear, the shaft portion is further provided with a first stopper, and the first stopper and the wheel portion of the driven member jointly axially position the second bearing.
6. The joint unit according to claim 4, wherein a side of the main housing opposite to the first cover is open and is formed with a first mounting flange, the planet carrier is connected with the first mounting flange through a third bearing, the third bearing is separated from the first bearing by the planet wheel, and an end of the planet carrier where the output shaft is provided is flush with the main housing.
7. Joint unit according to any of claims 3-6, wherein the rotor comprises:
the rotor support comprises an outer sleeve body, an intermediate shaft and an end surface structure for connecting the outer sleeve body and the intermediate shaft, the outer sleeve body is matched with the first accommodating groove, and the driving part and the stator are separated by the end surface structure; and
the magnetic steel sheet is arranged on the inner wall of the outer sleeve body, and the intermediate shaft is connected with the main shell body through a fourth bearing.
8. The joint unit according to claim 7, wherein the main housing has a second mounting flange and a third mounting flange which are concentrically arranged from inside to outside in the first receiving groove, the fourth bearing is embedded in the second mounting flange and axially positioned with a shoulder of the intermediate shaft by a second retaining member, the stator is sleeved on the third mounting flange, and the stator is opposite to the magnetic steel sheet in a radial direction.
9. The joint unit according to any one of claims 3 to 6, further comprising a circuit board electrically connected to the motor assembly, wherein the housing further comprises a second cover disposed opposite to the motor assembly on a side opposite to the open side, and wherein the second cover is connected to the main housing with a third receiving groove formed therebetween for receiving the circuit board.
10. The joint unit according to any one of claims 1-6, wherein the output shaft, the planet carrier, the sun gear, the driven member all have coaxially arranged and in communication with each other a central through hole at least for passing a wire harness.
11. A joint module comprising a plurality of joint units according to any one of claims 1 to 10, the plurality of joint units being arranged coaxially side by side, the power transmission of the plurality of joint units being independent of each other, the output shafts of the plurality of joint units being arranged coaxially and extending from the same side.
12. The joint module of claim 11, wherein the number of the joint units is two, the two joint units are oppositely arranged along the axial direction of the output shaft, and the output shaft of one joint unit sequentially passes through the driven member, the sun gear and the planet carrier of the other joint unit and extends out of the output shaft of the planet carrier of the other joint unit.
13. The joint module of claim 11, wherein the housings of the joint units are fixedly connected to each other; or a plurality of joint units share the same housing.
14. A legged robot comprising a joint unit according to any of claims 1-10 or a joint module according to any of claims 11-13.
CN202010577178.8A 2020-06-23 2020-06-23 Joint unit and joint module of robot and foot type robot with joint unit and joint module Pending CN111516002A (en)

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CN202010577178.8A CN111516002A (en) 2020-06-23 2020-06-23 Joint unit and joint module of robot and foot type robot with joint unit and joint module

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CN202010577178.8A CN111516002A (en) 2020-06-23 2020-06-23 Joint unit and joint module of robot and foot type robot with joint unit and joint module

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Publication number Priority date Publication date Assignee Title
CN112077875A (en) * 2020-08-21 2020-12-15 上海大学 High dynamic swing joint of robot based on high-efficient one-way internal power
CN112431913A (en) * 2020-10-28 2021-03-02 无锡同方聚能控制科技有限公司 Large-transmission-ratio silent gear box and sweeper applying same
CN112431913B (en) * 2020-10-28 2021-11-19 无锡同方聚能控制科技有限公司 Large-transmission-ratio silent transmission case and sweeper applying same

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CN109139813A (en) * 2018-10-23 2019-01-04 浙江贝托传动科技有限公司 A kind of planet-gear speed reducer and its assembly method
CN109617313A (en) * 2018-02-27 2019-04-12 前沿驱动(北京)技术有限公司 A kind of actuator, mechanical arm and robot
CN110611399A (en) * 2019-07-26 2019-12-24 湖南高精特电装备有限公司 Integrated variable-speed driving device and equipment driven by motor

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EP1563966A1 (en) * 2004-02-13 2005-08-17 Fanuc Ltd Joint structure with splined motor shaft for industrial robot
CN103659833A (en) * 2012-09-14 2014-03-26 鸿富锦精密工业(深圳)有限公司 Robot arm assembly
CN102848402A (en) * 2012-09-27 2013-01-02 济南时代试金试验机有限公司 Joint structure of industrial robot
CN105570410A (en) * 2016-03-04 2016-05-11 重庆大学 Multi-line planetary traction and transmission type speed reducing bearing
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112077875A (en) * 2020-08-21 2020-12-15 上海大学 High dynamic swing joint of robot based on high-efficient one-way internal power
CN112077875B (en) * 2020-08-21 2021-08-20 上海大学 High dynamic swing joint of robot based on high-efficient one-way internal power
CN112431913A (en) * 2020-10-28 2021-03-02 无锡同方聚能控制科技有限公司 Large-transmission-ratio silent gear box and sweeper applying same
CN112431913B (en) * 2020-10-28 2021-11-19 无锡同方聚能控制科技有限公司 Large-transmission-ratio silent transmission case and sweeper applying same

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Application publication date: 20200811