CN112109113A - Integrated exoskeleton robot joint assembly - Google Patents
Integrated exoskeleton robot joint assembly Download PDFInfo
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- CN112109113A CN112109113A CN202010899706.1A CN202010899706A CN112109113A CN 112109113 A CN112109113 A CN 112109113A CN 202010899706 A CN202010899706 A CN 202010899706A CN 112109113 A CN112109113 A CN 112109113A
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- bearing
- ring
- primary
- joint assembly
- robot joint
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Abstract
The invention belongs to the technical field of robots, and provides an integrated exoskeleton robot joint assembly, which comprises: the motor and the primary planetary reducer; the motor is provided with a shell and a rotor which is rotationally positioned in the shell, the shell comprises a motor shell, a rear end cover and a front end cover, the rear end cover and the front end cover are connected to two ends of the motor shell, a rotating shaft of the rotor sequentially comprises an input part and an output part along the axial direction, the outer diameter of the input part is larger than that of the output part, and the input part of the rotating shaft is connected with an iron core of the rotor; the first-stage planetary reducer is provided with a first-stage sun gear, a first-stage inner gear ring, a first-stage planet carrier and a first-stage planet gear, the first-stage sun gear is sleeved on the output part of the rotating shaft, the first-stage inner gear ring is fixedly arranged on the inner side surface of the front end cover and is located in a hollow space formed by an iron core of the rotor, and the first-stage planet carrier is connected with the first-stage planet gear and serves as the output end of the integrated. Through the scheme, the joint assembly improves the compactness and reduces the volume and the mass.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an integrated exoskeleton robot joint assembly.
Background
The traditional robot joint execution structure mainly comprises a single motor and a reducer row integrated structure, a hydraulic structure and a ball screw structure, the structures not only enable the joint structure to be large in size, mass and inertia, and accordingly the joint inertia is large, but also enable the output torque and real-time response of the joint to be reduced, the performance and precision of joint motion are directly influenced, and the performance and maturity of the exoskeleton robot are directly influenced. Therefore, the integrated exoskeleton robot joint assembly has important value and revolutionary significance in the aspects of robot intellectualization and compactness.
At present, an all-in-one machine integrating a motor and a harmonic reducer and an all-in-one machine integrating the motor, the harmonic reducer and a driver are simple integrated execution joints designed for industrial robots or cooperative robots, the integration level of the joints can be improved to a certain degree, but the all-in-one machine cannot be applied to the execution joint part for the special use of the exoskeleton robot, and the integrated joints have the following defects: firstly, a hollow structure is not considered, so that the whole integrated joint needs a traditional wiring mode, namely an external wiring mode; secondly, all the components are only assembled in sequence, the integration level is not high, and a uniform shared structure is not formed according to the structural characteristics of all the components; thirdly, do not consider the relay connection structure, the cable will be many when a plurality of joints use together, do not consider to use a communication line and power cord to establish ties and use, lead to walking the line complicacy, fourth, do not consider to carry out encoder, the flat motor of cavity, reduction gear, stopper and driver integration design, cause during the use or do not have the braking function, or drive the accuse and want the separation use, lead to whole joint performance to reduce, the degree of practicality is not high.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to provide an integrated exoskeleton robot joint assembly to solve the technical problem.
In order to achieve the above purpose, the invention provides the following technical scheme:
an integrated exoskeleton robot joint assembly, comprising: the motor and the primary planetary reducer;
the motor has the shell and is located with rotating the rotor in the shell, the shell is including being motor casing, the rear end cap of cartridge type and being annular front end housing, the rear end cap with the front end cap connect in the both ends of motor casing, the pivot of rotor includes in proper order along the axial: the outer diameter of the input part is larger than that of the output part, and the input part of the rotating shaft is connected with the iron core of the rotor;
the primary planetary reducer is provided with a primary sun wheel, a primary inner gear ring, a primary planet carrier and a primary planet wheel meshed between the primary sun wheel and the primary inner gear ring, the primary sun wheel is sleeved on the output part of the rotating shaft, the primary inner gear ring is fixedly arranged on the inner side surface of the front end cover and is positioned in a hollow space formed by an iron core of the rotor, and the primary planet carrier is connected with the primary planet wheel and serves as the output end of the integrated exoskeleton robot joint assembly.
Further, the input part of the rotating shaft sequentially comprises in the radial direction: a central shaft portion, a first ring portion and a second ring portion;
the rear end face of the first ring part is provided with a first annular groove, a bearing inner ring of a first bearing is sleeved in the first annular groove, and a bearing outer ring of the first bearing is separated from the groove wall of the first annular groove and is connected with the rear end cover;
the outer side surface of the second ring part is connected with the iron core of the rotor, a second annular groove is formed in the front end face of the second ring part, a bearing inner ring of a second bearing is sleeved in the second annular groove, and a bearing outer ring of the second bearing is spaced from the groove wall of the second annular groove and is connected with the primary inner gear ring.
Further, the central shaft portion has a hollow structure.
Further, the primary planet carrier includes: the planet carrier body is connected with the primary planet wheel and is also connected with the output shaft, the output shaft is far away from the primary planet wheel relative to the planet carrier body and is coaxial with the rotating shaft, and the output shaft is used as the output end of the primary planetary reducer;
the integrated exoskeleton robot joint assembly further comprises: the secondary planet gear is provided with a secondary sun gear, a secondary inner gear ring, a secondary planet carrier and a secondary planet gear meshed between the secondary sun gear and the secondary inner gear ring, the secondary sun gear is sleeved on an output shaft of the primary planet carrier, the secondary inner gear ring is fixedly arranged on the motor shell or the front end cover, and the secondary planet carrier is connected with the secondary planet gear and serves as an output end of the integrated exoskeleton robot joint assembly.
Further, the two-stage planetary reducer further has: a third bearing and a speed reducer end cover in an annular shape;
the bearing inner ring of the third bearing is sleeved on the radial outer side surface of the secondary planet carrier;
the edge of the speed reducer end cover is connected with the motor shell or the front end cover, and the speed reducer end cover is internally connected with a bearing outer ring of the third bearing.
Further, the two-stage planetary reducer further has: a plurality of limit stops;
the limiting stops are arranged on the front end face of the speed reducer end cover along the circumferential direction of the speed reducer end cover, a distance is reserved between every two adjacent limiting stops, and the circumferential angle corresponding to the distance is the rotating angle of the output end of the integrated exoskeleton robot joint assembly.
Further, the integrated exoskeleton robot joint assembly further comprises: a fourth bearing and a fifth bearing;
the bearing inner ring of the fourth bearing is sleeved at the output end of the output part of the rotating shaft, and the bearing outer ring of the fourth bearing is sleeved in the planet carrier body of the primary planet carrier;
the bearing inner ring of the fifth bearing is sleeved at the output end of the output shaft of the first-stage planet carrier, and the bearing outer ring of the fifth bearing is sleeved in the second-stage planet carrier.
Further, the integrated exoskeleton robot joint assembly further comprises: an output end housing;
the output end shell is fixedly connected with the output end of the integrated exoskeleton robot joint assembly, is covered on the output end of the integrated exoskeleton robot joint assembly, and is spaced from the motor shell.
Further, the robot integrated structure further includes:
and the magnetic ring assembly is fixedly arranged on the output end shell and is used in cooperation with the Hall probe.
Further, the robot integrated structure further includes: an encoder;
the encoder has: an encoding ring and an encoding read head; the coding ring is arranged on the iron core of the rotor, and the coding reading head is arranged on the rear end cover.
Compared with the closest prior art, the technical scheme provided by the invention has the following excellent effects:
(1) the one-level planetary reducer is embedded in the motor, and the one-level planetary reducer and the motor share the outer shell structure of the motor, so that the compactness is improved, and the size and the quality are reduced.
(2) The two-stage planetary reducer, the motor and the encoder are integrated into a whole, and the one-stage planetary reducer and the two-stage planetary reducer share the motor shell, so that the integration of the robot joint structure is realized, the practicability of the robot joint is improved, the size and the quality of the robot joint are reduced, and the compactness of the robot joint structure is improved.
(3) The rotating shaft of the motor is designed into a hollow structure, wires can be arranged through the hollow structure in the joint, and the problem that wires and cables are arranged outside the traditional motor in a messy mode is solved.
(4) The two-stage planetary reducer is integrally designed and shares a hollow rotating shaft, so that the whole robot joint only uses one pair of bearings as a support, the supporting condition of two or more pairs of bearings in the prior art is solved, and the size of the robot joint is reduced.
Drawings
While the accompanying drawings, which form a part of this application and are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, it is to be understood that the drawings described herein are for illustrative purposes only and are not intended to limit the invention to the precise embodiments disclosed. Wherein:
fig. 1 is an exploded view of an integrated exoskeleton robot joint assembly provided in an embodiment of the present invention;
FIG. 2 is a cross-sectional view of an integrated exoskeleton robot joint assembly provided in an embodiment of the present invention;
fig. 3 is a schematic perspective view of a primary planet carrier, a primary planet gear and a secondary sun gear in an integrated exoskeleton robot joint assembly according to an embodiment of the present invention;
fig. 4 is a perspective view of an integrated exoskeleton robot joint assembly provided in an embodiment of the present invention;
fig. 5 is a schematic top view of a motor housing and a front end cover of an integrated exoskeleton robot joint assembly provided by an embodiment of the present invention;
FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5;
fig. 7 is a schematic perspective view of a motor housing, a front end cover, a primary ring gear and a secondary ring gear in an integrated exoskeleton robot joint assembly according to an embodiment of the present invention;
FIG. 8 is a cross-sectional view of a shaft in an integrated exoskeleton robot joint assembly provided in an embodiment of the present invention;
fig. 9 is a schematic perspective view of a reducer end cover and a limit stop in an integrated exoskeleton robot joint assembly according to an embodiment of the present invention.
Description of reference numerals:
1 outer shell, 11 motor shell, 110 interface terminal, 12 front end cover, 121 end cover base body, 122 cylinder body, 123 mounting ring, 13 rear end cover, 2 stator, 3 rotating shaft, 31 input part, 311 central shaft part, 312 first ring part, 3121 first ring groove, 3122 first bearing, 313 second ring part, 3131 second ring groove, 3132 second bearing, 32 output part, 4 iron core, 51 primary ring gear, 511 mounting part, 512 primary ring gear body, 513 spigot, 52 primary sun gear, 53 primary planet carrier, 531 body, 532 output shaft, 54 primary planet gear, 55 fourth bearing, 56 fifth bearing, 61 secondary sun gear, 62 secondary ring gear, 63 secondary planet carrier, 64 secondary planet gear, 65 third bearing, 66 reducer end cover, 67 limit stop block, 671 base body, 672 abutting part, 68 bearing, 7 output end shell, 8 magnet stop ring assembly, 91 encoder ring, 92 encode read head.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.
In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
For convenience, clarity and accuracy in describing the position relationship of different components, the structural relationship and the assembly process in the technical solution of the present application are specifically described with reference to the direction of the structure shown in fig. 2 and with reference to fig. 1 to 9. The embodiment of the invention provides an integrated exoskeleton robot joint assembly, which comprises: a motor and a primary planetary reducer.
The motor is used for providing power and comprises a shell 1, a stator 2 and a rotor. The housing 1 includes: a motor housing 11, a front end cap 12 and a rear end cap 13. The motor housing 11 is cylindrical, and has a front end cap 12 and a rear end cap (or called motor end cap) 13 connected to two ends of the motor housing, respectively, wherein the front end cap 12 is closer to an output end of the motor than the rear end cap 13. In fig. 2, the front end cover 12 is located on the left side of the motor housing 11, and the rear end cover 13 is located on the right side of the motor housing 11. The front end cover 12 and the motor housing 11 may be of a separate structure or an integrated structure, as shown in fig. 2. The front end cover 12 is annular, which facilitates the arrangement of the first-stage planetary reducer in the central through hole formed by the front end cover. The front end cover 12 includes: an end cap base 121, a cylinder 122 and a mounting ring 123, each having an annular shape. The outer edge of the end cover base 121 is connected to the motor housing 11, for example, by screws, the inner edge of the end cover base 121 is connected to one end of the cylinder 122, and the other end of the cylinder 122 extends from the end cover base 121 to the rear end cover 13, and the extending direction may be axially parallel to the rotation axis of the rotor. The mounting ring 123 is sleeved in the other end of the cylinder 122, so that the mounting ring 122 is closer to the rear end cover 13 relative to the end cover base 121, a receiving space is formed between the mounting ring 123 and the end cover base 121, the receiving space can be used for receiving a mounting piece of the primary ring gear 51 of the primary planetary reducer, the mounting piece is used for being connected with the mounting ring, for example, the mounting piece can be in flange connection, correspondingly, the mounting piece is a flange plate, the mounting ring 123 is also a flange plate, and the mounting piece is prevented from protruding out of the front end face of the end cover base 121 (in fig. 2, the left end face of the end cover base), so that the volume of the assembly. The length (or axial height) of the barrel 122 itself may be the same as or slightly greater than the thickness of the mount. The stator 2 is provided on the inner surface of the motor housing 11, for example, by bonding. The rotor is rotatably disposed within the motor housing 11 and inside the stator 2. The rotating shaft 3 of the rotor sequentially includes from back to front (from right to left in fig. 2) along the axial direction of the rotating shaft 3: an input 31 and an output 32. The input portion 31 is closer to the rear end cover 13 than the output portion 32, the output portion 32 is closer to the front end cover 12 than the input portion 31, the outer diameter of the input portion 31 is larger than the outer diameter of the output portion 32, so that the longitudinal section of the rotating shaft 3 is stepped, the heights of the output portion 32 in the radial direction are different, the radial outer side surface of the input portion 31 is connected with the iron core 4 of the rotor, for example, the outer side surface (i.e., the radial outer side surface) of the output portion 32 is arranged in a bonding manner, a space is formed between the outer side surface (i.e., the radial outer side surface) of the output. That is, the iron core 4 of the rotor of the motor has a hollow cylindrical region, and the iron core 4 is connected with the rotating shaft 3 to occupy a certain region, and a part of the remaining region is the accommodating space. When the exoskeleton robot joint assembly is used, a frameless torque motor such as a hollow flat servo motor can be selected as the motor, so that the exoskeleton robot joint assembly can be ensured to be small in mass, small in size and low in inertia, and the motion performance of the robot joint is improved.
One-level planetary reducer is used for providing the reduction ratio, promotes the output torque of this subassembly, and it includes: a primary ring gear 51, a primary sun gear 52, a primary planet carrier 53, and a primary planet gear 54. The primary planet gears 54 are engaged between the primary sun gear 52 and the primary ring gear 51, and the number of the primary planet gears is usually a plurality, such as 3 or 4, and this embodiment is not limited thereto. The first-stage sun gear 52 is sleeved on the output part 32 of the rotating shaft 3 to rotate along with the rotating shaft 3 under the driving of the rotating shaft 3, and the setting mode can be as follows: the key cooperates with a keyway, such as is provided on the shaft 3, by which the primary sun gear 52 cooperates for radial fixation. The first-stage planet carrier 53 is connected with the first-stage planet gear 54 to rotate along with the rotation of the first-stage planet gear 54 under the driving of the first-stage planet gear 54, so that the first-stage planet carrier 53 can be used as the output end of the first-stage planetary reducer, namely as the output end of the integrated exoskeleton robot joint assembly. The connection mode can be as follows: a bearing is sleeved in the first-stage planet gear 54, a shaft is sleeved in the bearing, and the first-stage planet carrier 53 is connected with the shaft, and can also be: the primary planet carrier 53 is connected to the primary planet gears 54 by pins, which are not limited in this embodiment. The primary annular gear 51 is fixedly arranged on the inner side surface of the front end cover 12, namely, in a central through hole formed by the front end cover 12 and in a hollow space formed by the iron core 4 of the rotor, so that the primary planetary reducer can be integrally arranged in the motor, a rear end cover independently configured for the primary planetary reducer is omitted, the rear end cover is arranged on the rear end surface (the right end surface of the primary annular gear in fig. 2) of the primary annular gear 51, namely, the front end cover 13 of the motor can also be used as the rear end cover of the primary planetary reducer, and the two are designed in a shared mode.
By arranging the rotor shaft 3 axially to include in sequence: input unit 31 and output unit 32, the external diameter of input unit 31 is greater than the external diameter of output unit 32, the input unit 31 of pivot 3 is connected with the iron core 4 of rotor, one-level planetary reducer's one-level sun gear 52 cup joints in the output unit 32 of pivot 3, one-level planetary reducer's one-level ring gear 51 is fixed to be set up in the medial surface of front end housing 12, even one-level ring gear 51 is located the hollow space of the iron core 4 formation of rotor, so make one-level planetary reducer can wholly settle inside the motor, need not additionally occupy other pivot axial dimensions, the integration level has been improved, the volume of this subassembly has been reduced, the compactness has been improved.
Referring to fig. 8, the input portion 31 of the rotating shaft 3 comprises, in order from inside to outside in the radial direction: a central shaft portion 311, a first ring portion 312, and a second ring portion 313. A rear end surface (in fig. 2, a right end surface of the first ring portion) of the first ring portion 312 is provided with a first annular groove 3121, a bearing inner ring of the first bearing 3122 is fitted in the first annular groove 3121, and a gap is provided between the bearing outer ring of the first bearing 3122 and a groove wall of the first annular groove 3121, and the rear end cover 13 is connected thereto. The connection mode can be as follows: a protruding ring is formed on the front end surface of the rear cover 13 (the left end surface of the rear cover in fig. 2), the outer ring of the first bearing 3122 is mounted in a through hole (or a fitting hole) formed by the protruding ring, and a motor rigid spring, which can be used to provide a pre-pressing force for axially fixing the rotating shaft, preferably a motor rigid wave spring, is placed between the front end surface of the rear cover 13 and the first bearing 3122 in order to prevent the shaft jump phenomenon. The length of the first ring portion 312 in the axial direction may be smaller than the length of the central shaft portion 311 in the axial direction, that is, the rear end face (the right end in fig. 2) of the central shaft portion 311 protrudes out of the rear end face of the first ring portion 312, and at this time, the inner race of the first bearing 3122 may be sleeved on the input end (the right end in fig. 2) of the central shaft portion 311 and extend into the first annular groove 3121, so as to facilitate the connection between the first bearing 3122 and the rear end cover 13. An outer side surface (i.e., a radial outer side surface) of the second ring part 313 is connected to the core 4 of the rotor, a front end surface (a left end surface of the second ring part in fig. 2) of the second ring part 413 is provided with a second annular groove 3131, a bearing inner ring of the second bearing 3132 is fitted into the second annular groove 3131, and a bearing outer ring of the second bearing 3132 is spaced apart from a groove wall of the second annular groove 3131 and connected to the primary ring gear 51. The connection mode can be as follows: primary ring gear 51 includes: mounting piece 511, primary ring gear body 512 and tang 513. The mounting part 511 is connected to one end of the primary ring gear body 512 and is also connected to the front end cap 12, the other end of the primary ring gear body 512 is connected to the stop 513, and the stop 513 catches the outer ring of the second bearing 3132, at this time, the second bearing 3132 does not move forward any more, and does not move leftward in fig. 2. The formation of the seam allowance 513 may be: the radial stop ring is sleeved in the other end of the primary annular gear body 512, and the radial stop ring is spaced from the other end in the axial direction of the rotating shaft, so that the radial stop ring and the other end are connected to form an included angle, and the structure is a spigot. In other embodiments, the formation of the seam allowance may also be: the other end of the first-stage inner gear ring body is connected with one end of a radial retaining ring, the other end of the radial retaining ring is connected with an axial retaining ring, the radial retaining ring extends along the radial direction, the axial retaining ring extends along the axial direction, so that the radial retaining ring and the axial retaining ring are connected to form an included angle, and the structure is a spigot. The rear end face of the radial retaining ring is connected with the end face of the bearing outer ring of the second bearing 3132, and the inner side face of the axial retaining ring is connected with the outer side face of the bearing outer ring of the second bearing 3132. The height of the second bearing 3132 is higher than the height (position in the radial direction) of the first bearing 3122, so that the deployment heights of the second bearing 3132 and the first bearing 3122 are different, which is favorable for reducing the extension length of the primary ring gear 51 in the radial direction for connecting with the bearing outer ring of the second bearing 3132, and further makes the assembly compact and light in weight.
The depth (i.e., axial height) of the first and second annular grooves 3121 and 3131 is greater than the respective height of the bearings, i.e., the axial spacing between the groove bottom of each annular groove and the respective bearing, which may further reduce the mass of the assembly. The central shaft portion 311 is a hollow structure, which may further reduce the mass of the present assembly, while also allowing the hollow structure to be used for routing, i.e., having cables, such as power cables and communication cables, disposed therein.
To further boost the output torque of the present assembly, the primary planet carrier 53 comprises: a planet carrier body 531 and an output shaft 532. One end of the planet carrier body 531 is connected to the first-stage planet gear 54, and the other end of the planet carrier body 531 is connected to the output shaft 532, that is, the first-stage planet gear 54 and the output shaft 532 are connected to two ends of the planet carrier body 531. The output shaft 532 is coaxial with the rotating shaft 3, and the output shaft 532 serves as the output end of the primary planetary reducer. The integrated exoskeleton robot joint assembly further comprises: and a secondary planetary reducer having a secondary sun gear 61, a secondary ring gear 62, a secondary planet carrier 63, and a secondary planet gear 64. The number of the secondary planet gears 64 engaged between the secondary sun gear 61 and the secondary ring gear 62 is usually plural, such as 3, 4, and this embodiment is not limited thereto. The secondary sun gear 61 is sleeved on the output shaft 532 of the primary planet carrier 53 to rotate together with the output shaft 532 under the driving of the output shaft 532, the secondary ring gear 62 is fixedly arranged on the motor housing 11 or the front end cover 12, and the secondary planet carrier 63 is connected with the secondary planet gear 64 in a connection manner that can be seen in a connection manner of the primary planet carrier 53 and the primary planet gear 54. The secondary planet carrier 63 serves as the output of the secondary planetary reducer, i.e. also as the output of the integrated exoskeleton robot joint assembly. When the motor is used, the iron core 4 of the rotor of the motor drives the rotating shaft 3 to rotate at a high speed, the rotating shaft 3 drives the primary planet gear 54 to rotate in the primary inner gear ring 51 through the rotation of the primary sun gear 52 fixed on the rotating shaft 3, and then drives the primary planet carrier 53 to rotate, and the secondary sun gear 61 fixed on the primary planet carrier 53 drives the secondary planet gear 64 to rotate in the secondary inner gear ring 62, so that the secondary planet carrier 63 is driven to rotate. Because the first-stage planetary reducer and the second-stage planetary reducer are arranged, the first-stage planetary reducer and the second-stage planetary reducer can be jointly called as the two-stage planetary reducer, and if the rotating speed of the output end of the assembly after being reduced by the two-stage planetary reducer reaches about one twenty-sixth of the rotating speed of the motor, the torque output capacity can reach about twenty-six times of the output capacity of the motor at the same time.
Referring to fig. 1, 2 and 9, the two-stage planetary reducer further includes: a third bearing 65 and a reducer end cover 66. The bearing inner ring of the third bearing 65 is sleeved on the radial outer side surface of the second-stage planet carrier 63 to provide support for the rotation of the second-stage planet carrier 63. The reducer end cover 66 is annular, and a through hole is formed to connect the bearing outer ring of the third bearing 65, and the outer edge of the reducer end cover 66 is connected to the motor housing 11 or the front end cover 12, for example, by screws. Cross ball bearings may be used for the third bearing 65 and the second bearing 3132, which may be capable of withstanding large radial and moment loads. The third bearing 65 and the second bearing 3132 are used for radial positioning.
The secondary planetary reducer further has: a plurality of limit stops 67, such as 2, 3. The plurality of limit stops 67 are arranged on the front end face (the left end face of the speed reducer end cover in fig. 2) of the speed reducer end cover 66 along the circumferential direction of the speed reducer end cover 66, a distance is reserved between every two adjacent limit stops 67, and the circumferential angle corresponding to the distance is the rotating angle of the output end of the integrated exoskeleton robot joint assembly so as to achieve the purpose of limiting the rotation of the integrated exoskeleton robot joint assembly in a limited angle range. During the application, the external member can be connected in order to drive the external member and rotate to the output of this subassembly, install on the external member with limit stop 67 complex rotation stop, when the external member rotates, drive rotation stop 67 and take place to rotate, and then can bump with limit stop 67, realize spacingly. In order to improve the coupling strength, the limit stopper 67 includes: a base 671 and an abutment 672. The base 671 is connected to the bottom ring of the reducer end cap 66, and the abutting portion 672 is disposed on the sidewall of the base 671 and abuts against the sidewall of the cone ring of the reducer end cap 66.
The integrated exoskeleton robot joint assembly further comprises: and the output end shell 7 is fixedly connected with the output end of the integrated exoskeleton robot joint assembly, so that the first-stage planet carrier 53 of the first-stage planetary reducer or the second-stage planet carrier 63 of the second-stage planetary reducer provides torque outwards through the output end shell 7, namely, the output end shell 7 is driven by the corresponding planet carrier to rotate. To facilitate rotation of the output housing 7, the output housing 7 is spaced from the motor housing 11 such that the presence of the motor housing 11 does not interfere with rotation of the output housing 7, which may be, for example: an interval is arranged between the output end shell 7 and the motor shell 11 in the direction parallel to the axial direction of the rotating shaft, so that the output end shell 7 can cover the primary planet carrier 53 or the secondary planet carrier 63, and the influence of the outside on the primary planet speed reducer or the secondary planet speed reducer, such as dust and the like, is avoided; the method can also be as follows: the output-side housing 7 is spaced from the motor housing 11 in a direction parallel to the radial direction of the rotation shaft. By arranging the output end shell 7 and leaving mounting hole sites on the output end shell and leaving mounting hole sites on the motor shell 11, one of the output end shell 7 and the motor shell 11 can be fixed, and the other of the output end shell 7 and the motor shell 11 can be used as an external output end of the assembly, namely a torque output component for application, for example, the torque output component can be respectively used for connecting a large leg rod and a small leg rod to form the active rotation freedom degree of the knee joint.
The integrated exoskeleton robot joint assembly further comprises: a fourth bearing 55 and a fifth bearing 56. The inner ring of the fourth bearing 55 is sleeved on the output end of the output part 32 of the rotating shaft 3, that is, a space is left between the front end surface (the left end surface of the rotating shaft in fig. 2) of the rotating shaft 3 and the first-stage sun gear 52, the space is used for assembling the fourth bearing 55, a shaft shoulder is arranged on the corresponding output part 32 of the rotating shaft 3 and is used for blocking the rear end (the right end of the inner ring in fig. 2) of the inner ring of the bearing, the outer ring of the fourth bearing 55 is sleeved in the annular inner side surface formed by the planet carrier body 531 of the first-stage planet carrier 53, the axial direction of the annular inner side surface is coaxial with the axial direction of the rotating shaft 3, at this time, the other end of the planet carrier body 531 is annular, the outer ring of the bearing is assembled in the through hole formed by the other end, the annular inner side surface and the rear end surface of the output shaft 532 form a spigot, the spigot is used for, thereby achieving the axial rightward locking of the fourth bearing 55. The inner bearing ring of the fifth bearing 56 is sleeved at the front end of the output shaft 532 of the first-stage planet carrier 53, that is, a gap is left between the front end surface of the output shaft 532 and the second-stage sun gear 52, the gap is used for assembling the fifth bearing 56, a shaft shoulder is arranged on the corresponding output shaft and used for blocking the rear end of the inner bearing ring (the right end of the inner bearing ring in fig. 2), and the inner radial surface of the second-stage planet carrier 63 is assembled with the outer bearing ring of the fifth bearing 56. The fourth bearing 55 and the fifth bearing 56 may be deep groove ball bearings. The fourth bearing 55 and the fifth bearing 56 together with the third bearing 65 and the second bearing 3132 realize the axial positioning of the rotation shaft.
One-level planetary reducer and iron core 4 are fixed simultaneously in pivot 3, and second grade planetary reducer and one-level planetary reducer are coaxial, design as a whole, have improved the compact of this subassembly overall structure, and the while reduces the three pairs of location bearings that the tradition needs into a pair of location bearing, first bearing and third bearing promptly, very big reduction the quality and the volume of this subassembly, improved the compactness.
In this embodiment, the first-stage planetary reducer and the second-stage planetary reducer can both adopt a thin high-precision planetary reducer with a small transmission ratio, so that the quality of the planetary reducer can be reduced, the motion working performance of the planetary reducer can be improved, and the output torque of the whole robot joint is more accurate.
The magnetic ring assembly 8 is fixed on the output end shell 7, so that the magnetic ring assembly 8 rotates along with the rotation of the output end shell 7, the relative position of the magnetic ring assembly and the output end shell can be guaranteed not to change while the magnetic ring assembly rotates, the distance between the magnetic ring assembly and the Hall probe and the axial position can be relatively fixed and unchanged when the Hall probe is subsequently fixed, and the stability and the reliability of the rotation angle information of the integrated exoskeleton robot joint assembly read by the Hall probe are guaranteed. The interface terminal 110 is arranged on the motor shell 11, the interface terminal 110 comprises a power port and a communication port and is used for electrically connecting cables placed in a hollow structure through the interface terminal 110, the interface terminal 110 can be used for shielding mutual interference among a plurality of cables, the probability of wire breakage can be reduced, and the stability and reliability of the integrated exoskeleton robot joint assembly are greatly improved.
The integrated exoskeleton robot joint assembly further comprises: the encoder (or called as an encoder for a motor) comprises an encoding ring 91 and an encoding reading head 92, wherein the encoding ring 91 rotates along with the rotation of the rotating shaft, and can be fixed on the iron core, for example, the fixing is realized by gluing, a through hole formed by the encoding ring 91 is larger than the outer diameter of the first bearing 3122, the structure is compact, and the encoding ring can also be fixed on the rotating shaft 3, which is not limited by the embodiment. The coding read head 92 is installed on the rear end cover 13, and the position information and the rotating speed information of the rotating shaft 3 can be directly detected through the coding read head 92 and the coding ring 91, so that the position information and the speed information of the integrated exoskeleton robot joint assembly can be monitored in real time, the motion information of the integrated exoskeleton robot joint assembly can be accurately fed back, more effective control can be performed according to accurate feedback motion information, and the working performance of the assembly is improved. The encoder may be a grating encoder, an infrared encoder, a magnetic encoder, or the like.
The assembling process of the integrated exoskeleton robot joint assembly provided by the embodiment of the invention can be as follows:
And 2, fixing the flange mounting piece of the primary annular gear 51 on the front end cover 13.
And 4, inserting the rotating shaft after the step 3 into the primary annular gear 51 until the outer ring of the second bearing 3132 on the rotating shaft 3 is matched with the spigot of the primary annular gear 51, so that the rotating shaft does not move leftwards in the axial direction any more.
Step 5, assembling a first-stage planet carrier 53 and a first-stage planet gear 54, a second-stage planet carrier 63 and a second-stage planet gear 64, wherein the number of the planet gears is 4, the planet gears are provided with bearings, the first-stage planet carrier 53 is also provided with a second-stage sun gear 61 for transmitting power to the second-stage planet carrier 63, the second-stage sun gear 61 and the first-stage planet carrier 53 are radially fixed through a key and a key groove, a fourth bearing 55 matched with a bearing outer ring is also assembled in the first-stage planet carrier 53, and a fifth bearing 56 matched with a bearing outer ring is also assembled in the second-.
And 6, inserting and assembling the primary planet carrier 53 subjected to the step 5 in the primary annular gear 51 from left to right until a bearing inner ring of a fourth bearing 55 with a bearing outer ring assembled at the right end of the primary planet carrier is matched and installed on the output end (or called left end) of the rotating shaft 3 and a shaft shoulder on the rotating shaft 3 props against the right end of the bearing inner ring of the fourth bearing 55, so that the axial right locking of the primary planet carrier 53 is realized.
And 7, mounting the secondary annular gear 62 with the flange mounting part on the motor shell 11.
And 8, inserting and assembling the secondary planet carrier 63 subjected to the step 5 in the secondary annular gear from left to right until the bearing inner ring of the fifth bearing 56 with the bearing outer ring assembled at the right end of the secondary planet carrier 63 is inserted and matched by the output shaft at the left side of the primary planet carrier 53 and the right end face of the bearing inner ring is propped against a shaft shoulder on the output shaft, so that the secondary planet carrier 63 is limited to move axially to the right.
And 9, respectively installing and fixing the limit stop 67 and the third bearing 65 on the reducer end cover 66, wherein the third bearing 65 is inserted and matched in the reducer end cover 66 through a bearing outer ring, then pressing the bearing separation sheet 68 to the right end face of the third bearing 65 from right to left, and screwing and fixing the bearing separation sheet with a fastener (such as a screw), so that the axial fixation of the third bearing 65 is realized.
Step 10, installing the reducer end cover 66 after the step 9 is executed on the motor housing 11 from left to right, matching the bearing inner ring of the third bearing 65 with the outer cylindrical surface of the output end of the secondary planet carrier 63 together, screwing in a fastener (such as a screw) from left to right, and fixedly installing the reducer end cover 66 on the motor housing 11, so that the problem of axial limiting of the secondary planetary reducer is solved.
And 11, respectively installing the encoding reading head 92 and the first bearing 3122 on the rear end cover, wherein a rigid wave spring for the motor is placed between the first bearing 3122 and a matching hole on the rear end cover 13 to provide a pre-pressing force for axially fixing the motor shaft, so as to prevent a shaft crossing phenomenon, and finally screwing a fastener (such as a screw) into the motor housing 11 from right to left, thereby realizing the axial fixing of the rotating shaft 3.
And step 12, mounting and fixing the output end shell 7 on the output end of the secondary planet carrier from left to right, wherein the output end shell is a cylindrical left end surface in the figure 2 and is screwed and fixed by a fastener (such as a screw), so that the power output by the speed reduction of the primary planetary reducer and the secondary planetary reducer is transmitted to the output end shell 7 and is used as the power output end of the integrated exoskeleton robot joint assembly.
And step 13, mounting the magnetic ring assembly 8 on the output end shell 7 from left to right, and screwing and fixing the magnetic ring assembly through a fastener (such as a screw).
In summary, compared with the prior art, the technical scheme provided by the embodiment of the invention can achieve the following technical effects:
(1) the one-level planetary reducer is embedded in the motor, and the one-level planetary reducer and the motor share the outer shell structure of the motor, so that the compactness is improved, and the size and the quality are reduced.
(2) The two-stage planetary reducer, the motor and the encoder are integrated into a whole, and the one-stage planetary reducer and the two-stage planetary reducer share the motor shell, so that the integration of the robot joint structure is realized, the practicability of the robot joint is improved, the size and the quality of the robot joint are reduced, and the compactness of the robot joint structure is improved.
(3) The rotating shaft of the motor is designed into a hollow structure, wires can be arranged through the hollow structure in the joint, and the problem that wires and cables are arranged outside the traditional motor in a messy mode is solved.
(4) The two-stage planetary reducer is integrally designed and shares a hollow rotating shaft, so that the whole robot joint only uses one pair of bearings as a support, the supporting condition of two or more pairs of bearings in the prior art is solved, and the size of the robot joint is reduced.
Claims (10)
1. An integrated exoskeleton robot joint assembly, the integrated exoskeleton robot joint assembly comprising: the motor and the primary planetary reducer;
the motor has the shell and is located with rotating the rotor in the shell, the shell is including being motor casing, the rear end cap of cartridge type and being annular front end housing, the rear end cap with the front end cap connect in the both ends of motor casing, the pivot of rotor includes in proper order along the axial: the outer diameter of the input part is larger than that of the output part, and the input part of the rotating shaft is connected with the iron core of the rotor;
the primary planetary reducer is provided with a primary sun wheel, a primary inner gear ring, a primary planet carrier and a primary planet wheel meshed between the primary sun wheel and the primary inner gear ring, the primary sun wheel is sleeved on the output part of the rotating shaft, the primary inner gear ring is fixedly arranged on the inner side surface of the front end cover and is positioned in a hollow space formed by an iron core of the rotor, and the primary planet carrier is connected with the primary planet wheel and serves as the output end of the integrated exoskeleton robot joint assembly.
2. The integrated exoskeleton robot joint assembly of claim 1 wherein the input portion of the shaft comprises, in radial sequence: a central shaft portion, a first ring portion and a second ring portion;
the rear end face of the first ring part is provided with a first annular groove, a bearing inner ring of a first bearing is sleeved in the first annular groove, and a bearing outer ring of the first bearing is separated from the groove wall of the first annular groove and is connected with the rear end cover;
the outer side surface of the second ring part is connected with the iron core of the rotor, a second annular groove is formed in the front end face of the second ring part, a bearing inner ring of a second bearing is sleeved in the second annular groove, and a bearing outer ring of the second bearing is spaced from the groove wall of the second annular groove and is connected with the primary inner gear ring.
3. The integrated exoskeleton robot joint assembly of claim 2 wherein the central shaft portion is of hollow construction.
4. The integrated exoskeleton robot joint assembly of claim 1 wherein the primary planet carrier comprises: the planet carrier body is connected with the primary planet wheel and is also connected with the output shaft, the output shaft is far away from the primary planet wheel relative to the planet carrier body and is coaxial with the rotating shaft, and the output shaft is used as the output end of the primary planetary reducer;
the integrated exoskeleton robot joint assembly further comprises: the secondary planet gear is provided with a secondary sun gear, a secondary inner gear ring, a secondary planet carrier and a secondary planet gear meshed between the secondary sun gear and the secondary inner gear ring, the secondary sun gear is sleeved on an output shaft of the primary planet carrier, the secondary inner gear ring is fixedly arranged on the motor shell or the front end cover, and the secondary planet carrier is connected with the secondary planet gear and serves as an output end of the integrated exoskeleton robot joint assembly.
5. The integrated exoskeleton robot joint assembly of claim 4 wherein the secondary planetary reducer further has: a third bearing and a speed reducer end cover in an annular shape;
the bearing inner ring of the third bearing is sleeved on the radial outer side surface of the secondary planet carrier;
the edge of the speed reducer end cover is connected with the motor shell or the front end cover, and the speed reducer end cover is internally connected with a bearing outer ring of the third bearing.
6. The integrated exoskeleton robot joint assembly of claim 5 wherein the secondary planetary reducer further has: a plurality of limit stops;
the limiting stops are arranged on the front end face of the speed reducer end cover along the circumferential direction of the speed reducer end cover, a distance is reserved between every two adjacent limiting stops, and the circumferential angle corresponding to the distance is the rotating angle of the output end of the integrated exoskeleton robot joint assembly.
7. The integrated exoskeleton robot joint assembly of claim 4 further comprising: a fourth bearing and a fifth bearing;
the bearing inner ring of the fourth bearing is sleeved at the output end of the output part of the rotating shaft, and the bearing outer ring of the fourth bearing is sleeved in the planet carrier body of the primary planet carrier;
the bearing inner ring of the fifth bearing is sleeved at the output end of the output shaft of the first-stage planet carrier, and the bearing outer ring of the fifth bearing is sleeved in the second-stage planet carrier.
8. The integrated exoskeleton robot joint assembly of claim 1 further comprising: an output end housing;
the output end shell is fixedly connected with the output end of the integrated exoskeleton robot joint assembly, is covered on the output end of the integrated exoskeleton robot joint assembly, and is spaced from the motor shell.
9. The integrated exoskeleton robot joint assembly of claim 8, wherein the robot integration structure further comprises:
and the magnetic ring assembly is fixedly arranged on the output end shell and is used in cooperation with the Hall probe.
10. The integrated exoskeleton robot joint assembly of claim 1, wherein the robot integration structure further comprises: an encoder;
the encoder has: an encoding ring and an encoding read head; the coding ring is arranged on the iron core of the rotor, and the coding reading head is arranged on the rear end cover.
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| CN202010899706.1A CN112109113A (en) | 2020-08-31 | 2020-08-31 | Integrated exoskeleton robot joint assembly |
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| CN202010899706.1A CN112109113A (en) | 2020-08-31 | 2020-08-31 | Integrated exoskeleton robot joint assembly |
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| CN114633281A (en) * | 2022-02-28 | 2022-06-17 | 浙江大学 | Anti-side-tipping high-power-density robot joint driving unit |
| CN114932575A (en) * | 2022-04-28 | 2022-08-23 | 北京交通大学 | Compact type large-torque joint module for driving exoskeleton joint |
| CN115582856A (en) * | 2021-07-05 | 2023-01-10 | 广州雷辰机电技术有限公司 | Robot and joint module |
| CN117006204A (en) * | 2023-10-08 | 2023-11-07 | 深圳逐际动力科技有限公司 | Actuator, joint module and robot |
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| CN117006204A (en) * | 2023-10-08 | 2023-11-07 | 深圳逐际动力科技有限公司 | Actuator, joint module and robot |
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