CN111890345A - High torque density robot driving joint module - Google Patents

High torque density robot driving joint module Download PDF

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Publication number
CN111890345A
CN111890345A CN202010679188.2A CN202010679188A CN111890345A CN 111890345 A CN111890345 A CN 111890345A CN 202010679188 A CN202010679188 A CN 202010679188A CN 111890345 A CN111890345 A CN 111890345A
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CN
China
Prior art keywords
gear
motor
ring
planetary
motor rotor
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
CN202010679188.2A
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Chinese (zh)
Inventor
李泽政
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 Yuanhai Chuanzhi Technology Co ltd
Original Assignee
Beijing Yuanhai Chuanzhi 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 Yuanhai Chuanzhi Technology Co ltd filed Critical Beijing Yuanhai Chuanzhi Technology Co ltd
Priority to CN202010679188.2A priority Critical patent/CN111890345A/en
Publication of CN111890345A publication Critical patent/CN111890345A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0463—Grease lubrication; Drop-feed lubrication
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0467—Elements of gearings to be lubricated, cooled or heated
    • F16H57/0479—Gears or bearings on planet carriers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/048—Type of gearings to be lubricated, cooled or heated
    • F16H57/0482—Gearings with gears having orbital motion
    • F16H57/0486—Gearings with gears having orbital motion with fixed gear ratio
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H2001/2881—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two axially spaced central gears, i.e. ring or sun gear, engaged by at least one common orbital gear wherein one of the central gears is forming the output
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H1/00—Toothed gearings for conveying rotary motion
    • F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
    • F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
    • F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear

Abstract

The invention discloses a high-torque-density robot driving joint module which comprises a shell, a motor stator, a motor rotor, a motor driver, a position encoder, a 3Z (I) type planetary gear reducer and a power output flange. Compared with the prior art, the invention adopts the planetary reduction mechanism with large reduction ratio, highly integrates the motor and the planetary reduction mechanism, improves the transmission efficiency, realizes the reverse driving capability and meets the technical requirement of the robot for driving the joint module in high dynamic state.

Description

High torque density robot driving joint module
Technical Field
The invention relates to the technical field of robots, in particular to a high-torque-density robot driving joint module.
Background
In order to ensure larger load capacity, the driving joints of the robot often need high torque density, particularly a quadruped robot or a humanoid robot, and in order to ensure good motion performance, the high torque density performance of the driving joints is further needed. Generally, the industrial multi-freedom robot adopts a harmonic speed reducer or an RV speed reducer with a large reduction ratio, so that a large torque output capacity can be obtained; however, the reverse driving efficiency of these two speed reducers is very low, and even reverse self-locking occurs due to the large reduction ratio and the internal friction force. If the two speed reducers are used in high-dynamic quadruped robots or humanoid robot occasions, the reaction force generated instantly when the robot falls to the ground can damage the driving shutdown body due to poor reverse driving capability. Therefore, a reduction gear having a large reduction ratio and capable of realizing a back driving capability is a development trend of driving joints of a quadruped robot or a humanoid robot. High torque density can be realized to big reduction ratio, and high dynamic motion demand can be satisfied to the back drive ability, can also be through driving motor's current feedback estimation output torque, saves the torque sensor of output, reaches the effect of saving the cost, improvement reliability.
Disclosure of Invention
The invention aims to provide a high-torque-density robot driving joint module, which improves the transmission efficiency and realizes the reverse driving capability by adopting a planetary speed reducing mechanism with a large speed reducing ratio and highly integrating a motor and the planetary speed reducing mechanism, and meets the technical requirement of a robot for highly dynamically driving the joint module.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses a high torque density robot driving joint module, which comprises
The shell comprises a shell body and an end cover which are fixedly connected, wherein the end cover is provided with a first annular part extending into the shell body, and an annular space is formed between the inner wall of the shell body and the annular part;
a motor stator mounted on the annular portion and located within the annular space;
a motor rotor having a second annular portion between the motor stator and the housing, the motor rotor being rotationally coupled to the housing;
the motor driver is an annular driver and is positioned in the annular space;
the position encoder and the motor driver are respectively positioned on two sides of the motor stator, the position encoder is a non-contact encoder, a motor rotor part of the position encoder is arranged on the motor rotor, and a motor stator part of the position encoder is arranged on the shell;
the 3Z (I) type planetary gear reducer comprises a sun gear serving as an input end and a power output gear ring serving as an output end, and the motor rotor and the sun gear are fixed on the same sun gear shaft;
and the power output flange is fixedly connected with the power output gear ring.
Preferably, the motor rotor comprises a motor rotor body and a power input flange, the motor rotor body comprises a second annular portion and a flange portion which are perpendicular to each other, the flange portion is sleeved on the outer edge of the input flange and fixedly connected with the input flange, and the power input flange is rotatably connected with the shell through a motor rotor bearing.
Preferably, the 3z (i) -type planetary gear reducer includes the sun gear, the sun gear shaft, a carrier, first planetary gears, second planetary gears, planetary gear shafts, a fixed ring gear, and the power output ring gear, the sun gear is simultaneously engaged with the two first planetary gears, the two first planetary gears are each mounted on one of the planetary gear shafts through a planetary gear bearing, the two planetary gear shafts are mounted on the carrier, one end of the carrier is rotatably connected with the power input flange through a first planetary carrier bearing, the second end of the carrier is rotatably connected with the power output ring gear through a second carrier bearing, the fixed ring gear is fixed to an inner side surface of the first ring part, the first planetary gears are engaged with the fixed ring gear, and the two second planetary gears are respectively coaxially fixed with a corresponding first planetary gear, the two second planetary gears are meshed with the power output gear ring, the power output gear ring is rotatably connected with the shell through a crossed bearing, the sun gear shaft is rotatably connected with the planet carrier through a sun gear shaft bearing, a clamping ring is arranged on the planet carrier, and the clamping ring is used for axially limiting the sun gear shaft bearing.
Preferably, the planet wheel shaft is of a hollow structure, and the inner space of the planet wheel shaft is used for storing lubricating grease.
Compared with the prior art, the invention has the following technical effects:
1) the driving motor, the motor driver, the 3Z (I) type planetary gear reducer and the position encoder are highly integrated, the space is compact, and the weight is light;
2) the reduction ratio of the 3Z (I) type planetary gear reducer can be designed within the range of 30-150, so that the torque density of the driving joint module can be greatly improved;
3) compared with a harmonic speed reducer and an RV speed reducer, the 3Z (I) type planetary gear speed reducer has stronger reverse driving capability and can meet the application occasions of high-dynamic quadruped robots and humanoid robots;
4) the driving joint module has stronger reverse driving capability due to the adoption of the 3Z (I) type planetary gear reducer, can realize sensorless torque control through current estimation of the motor, saves cost and improves the reliability of the joint module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic drive diagram of a 3Z (I) type planetary gear reducer;
FIG. 2 is a schematic transmission diagram of the high torque density robot driving joint module according to the present embodiment;
fig. 3 is an internal structure diagram of the high torque density robot driving joint module according to the embodiment;
description of reference numerals: 1-a shell; 2-a motor rotor; 3-a motor stator; 4-a gear ring brake; 5-a position encoder; 6-power input flange, 7-motor rotor bearing; 8-a planet carrier; 9-a first planet carrier bearing; 10-sun gear shaft; 11-planet wheel bearings; 12-a first planet gear; 13-fixing the gear ring; 14-a second planet gear; 15-power output ring gear; 16-cross bearings; 17-output screw; 18-a power take-off flange; 19-a snap ring; 20-cross bearing pre-tightening screws; 21-end cap; 22-end cap screws; 23-a second planet carrier bearing; 24-sun wheel shaft bearing; 25-a motor driver; 26-planet wheel shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a high-torque-density robot driving joint module, which improves the transmission efficiency and realizes the reverse driving capability by adopting a planetary speed reducing mechanism with a large speed reducing ratio and highly integrating a motor and the planetary speed reducing mechanism, and meets the technical requirement of a robot for highly dynamically driving the joint module.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 3, the present embodiment provides a high torque density robot driving joint module, which can be used for driving the joints of the arm and leg of a robot, and can also be used for driving a quadruped robot and a humanoid robot. The joint module comprises a shell, a motor stator 3, a motor rotor 2, a motor driver 25, a position encoder 5, a 3Z (I) type planetary gear reducer and a power output flange 18.
Wherein, the shell includes casing 1 and end cover 21 through end cover screw 22 fixed connection, and end cover 21 has the first annular portion that stretches into casing 1, forms annular space between the inner wall of casing 1 and the annular portion. The motor stator 3 is installed on the annular portion and located in the annular space, and specifically, the motor stator is sleeved on the gear ring braking member 4 in an interference fit mode, and the gear ring braking member 4 is sleeved on the annular portion in an interference fit mode. The motor rotor 2 is provided with a second annular part located between the motor stator 3 and the shell 1, the position of the second annular part is just opposite to the motor stator 3, and the motor rotor 2 is rotationally connected with the shell 1. The motor driver 25 is an annular driver, and the motor driver 25 is positioned in the annular space and is as close to the motor stator 3 as possible, so that the length of the electric wire is shortened. The position encoder 5 and the motor driver 25 are respectively positioned at two sides of the motor stator 3 to fully utilize the space in the shell. The position encoder 5 is a non-contact encoder, a motor rotor 2 part of the position encoder 5 is arranged on the motor rotor 2, and a motor stator 3 part of the position encoder 5 is arranged on the shell 1. The position encoder 5 may alternatively take the form of absolute values to obtain the exact position of the motor rotor 2. The 3Z (I) type planetary gear reducer comprises a sun gear serving as an input end and a power output gear ring 15 serving as an output end, a motor rotor 2 and the sun gear are fixed on the same sun gear shaft 10, the sun gear is driven to rotate when the rotor rotates, a power output flange 18 is fixedly connected with the power output gear ring 15, and power is output through the power output gear ring 15 and the power output flange 18 after speed reduction. Through reasonable gear matching conditions, the 3Z (I) type planetary gear reducer can easily realize the reduction ratio of 30-200.
When the joint module is used, after the motor is electrified, power is reduced through the 3Z (I) type planetary gear reducer and then is output outwards. Because the torque of the motor is related to the square of the diameter of the air gap, the driving motor and the 3Z (I) type planetary gear reducer are coaxially arranged in the embodiment, and the driving motor is arranged outside, so that the torque of the motor can be sufficiently improved. The 3Z (I) type planetary gear reducer is arranged in the motor, so that the space in the joint module can be fully driven on one hand, and the torque capacity borne by a mechanical system is stronger than that of the motor on the other hand, and the torque density of the whole driving joint module can be improved. Because motor stator 3, electric motor rotor 2, motor driver 25 and position encoder 5 are integrated in the shell of joint module, position encoder 5 is located motor stator 3's both sides respectively with motor driver 25, and motor driver 25 sets up in the annular space with the stator is adjacent, make full use of shell inner space.
In this embodiment, electric motor rotor 2 is integrated configuration, including electric motor rotor 2 body and power input flange 6, and electric motor rotor 2 body includes mutually perpendicular's second annular portion and flange portion, and the outer fringe of input flange is located with interference fit's mode cover to the flange portion, and power input flange 6 rotates with casing 1 through electric motor rotor bearing 7 to be connected.
The 3Z (I) type planetary gear reducer is an existing reducer structure and has the characteristic of high reduction ratio. In the present embodiment, the 3z (i) -type planetary gear reducer includes a sun gear, a sun gear shaft 10, a carrier 8, first pinion gears 12, second pinion gears 14, a pinion shaft 26, a fixed ring gear 13, and a power output ring gear 15. The sun gear meshes simultaneously with two first planet gears 12, each of the two first planet gears 12 is mounted on a planet gear shaft 26 via a planet bearing 11, and the two planet gear shafts 26 are mounted on the planet carrier 8. One end of the planet carrier 8 is rotationally connected with the power input flange 6 through a first planet carrier bearing 9, and the second end of the planet carrier 8 is rotationally connected with the power output gear ring 15 through a second planet carrier bearing 23. The fixed ring gear 13 is fixed to the inner side surface of the first ring portion, and the first planetary gears 12 mesh with the fixed ring gear 13. The two second planet gears 14 are coaxially fixed with a corresponding first planet gear 12 respectively, the two second planet gears 14 are meshed with a power output gear ring 15, the power output gear ring 15 is rotatably connected with the shell 1 through a cross bearing 16, and the sun gear shaft 10 is rotatably connected with the planet carrier 8 through a sun gear shaft bearing 24. The planet carrier 8 is provided with a snap ring 19, and the snap ring 19 axially limits the sun wheel shaft bearing 24. In this embodiment, the power output gear ring 15 and the power output flange 18 are fixedly connected by using the output screw 17, the inner ring of the cross bearing 16 is limited by the power output flange 18, a limit ring is fixed on the end cover 21 by using the cross bearing pre-tightening screw 20, and the outer ring of the cross bearing 16 is limited by the limit ring.
Further, in this embodiment, the planet wheel shaft 26 is a hollow structure, so that on one hand, the weight can be reduced, and on the other hand, lubricating grease can be stored to provide lubrication for the planet wheel bearing 11.
The number of teeth of the sun gear, the fixed ring gear 13, the first planet gear, the second planet gear and the power output ring gear 15 is za、zb、zc、zd、zeReduction ratio i of 3Z (I) type planetary gear reducerpIs calculated by the formula：
ip＝(1+zb/za)/(1-zb*zd/zc/ze)
The particular number of teeth can be selected by one skilled in the art as desired. When z isa＝9，zb＝75，zc＝33，zd＝24，zeWhen the gear ratio is 66, the joint driving module speed reduction ratio of the invention is 53.78, the theoretical forward transmission efficiency is 0.91, and the reverse transmission efficiency is 0.89. The maximum output torque can reach 227Nm when the peak torque of the drive motor is 5 Nm. When the gear module is 1, the maximum diameter of the joint module is about 125mm, the weight of the joint module is about 2.5kg, the torque density can reach 90.8Nm/kg, and high torque density is realized.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (4)

1. A high torque density robot driving joint module is characterized by comprising
The shell comprises a shell body and an end cover which are fixedly connected, wherein the end cover is provided with a first annular part extending into the shell body, and an annular space is formed between the inner wall of the shell body and the annular part;
a motor stator mounted on the annular portion and located within the annular space;
a motor rotor having a second annular portion between the motor stator and the housing, the motor rotor being rotationally coupled to the housing;
the motor driver is an annular driver and is positioned in the annular space;
the position encoder and the motor driver are respectively positioned on two sides of the motor stator, the position encoder is a non-contact encoder, a motor rotor part of the position encoder is arranged on the motor rotor, and a motor stator part of the position encoder is arranged on the shell;
the 3Z (I) type planetary gear reducer comprises a sun gear serving as an input end and a power output gear ring serving as an output end, and the motor rotor and the sun gear are fixed on the same sun gear shaft;
and the power output flange is fixedly connected with the power output gear ring.
2. The high torque density robot drive joint module of claim 1, wherein the motor rotor includes a motor rotor body and a power input flange, the motor rotor body includes the second annular portion and the flange portion perpendicular to each other, the flange portion is sleeved on an outer edge of the input flange and is fixedly connected with the input flange, and the power input flange is rotatably connected with the housing through a motor rotor bearing.
3. The high torque density robot driving joint module according to claim 1, wherein the 3Z (I) -type planetary gear reducer includes the sun gear, the sun gear shaft, a carrier, first planetary gears, second planetary gears, a planetary gear shaft, a fixed ring gear, and the power take-off ring gear, the sun gear being simultaneously engaged with the two first planetary gears, the two first planetary gears each being mounted on one of the planetary gear shafts by a planetary gear bearing, the two planetary gear shafts being mounted on the carrier, one end of the carrier being rotationally connected with the power input flange by a first carrier bearing, the second end of the carrier being rotationally connected with the power take-off ring gear by a second carrier bearing, the fixed ring gear being fixed to an inner side surface of the first ring portion, the first planetary gears being engaged with the fixed ring gear, two the second planetary gear respectively with one correspond first planetary gear is coaxial fixed, two the second planetary gear all with the meshing of power take off ring gear, power take off ring gear through the cross bearing with the casing rotates and connects, the sun gear axle pass through the sun wheel shaft bearing with the planet carrier rotates and connects, be equipped with the snap ring on the planet carrier, the snap ring is right the sun wheel shaft bearing carries out axial spacing.
4. The high torque density robot driving joint module according to claim 3, wherein the planetary wheel shaft is of a hollow structure, and an inner space of the planetary wheel shaft is used for storing lubricating grease.
CN202010679188.2A 2020-07-15 2020-07-15 High torque density robot driving joint module Pending CN111890345A (en)

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Application Number Priority Date Filing Date Title
CN202010679188.2A CN111890345A (en) 2020-07-15 2020-07-15 High torque density robot driving joint module

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Application Number Priority Date Filing Date Title
CN202010679188.2A CN111890345A (en) 2020-07-15 2020-07-15 High torque density robot driving joint module

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114012776A (en) * 2021-11-19 2022-02-08 中国科学技术大学 Multifunctional integrated joint module with high load ratio and flexible power output

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114012776A (en) * 2021-11-19 2022-02-08 中国科学技术大学 Multifunctional integrated joint module with high load ratio and flexible power output

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RJ01 Rejection of invention patent application after publication

Application publication date: 20201106

RJ01 Rejection of invention patent application after publication