CN113199503A - High-rigidity high-efficiency integrated precise driving unit, joint assembly and robot - Google Patents
High-rigidity high-efficiency integrated precise driving unit, joint assembly and robot Download PDFInfo
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- CN113199503A CN113199503A CN202110553862.7A CN202110553862A CN113199503A CN 113199503 A CN113199503 A CN 113199503A CN 202110553862 A CN202110553862 A CN 202110553862A CN 113199503 A CN113199503 A CN 113199503A
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- cycloidal
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- pin gear
- gear speed
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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Abstract
The application provides a precision drive unit that high rigidity high efficiency integrated, include: a cycloidal-pin gear speed reducing mechanism; and the driving mechanism is in transmission connection with the input shaft of the cycloidal pin gear speed reducing mechanism so as to drive the input shaft of the cycloidal pin gear speed reducing mechanism to rotate. This high rigidity high efficiency integrates precision drive unit includes: the driving mechanism is connected with an input shaft of the cycloidal pin gear speed reducing mechanism in a transmission way so as to drive the input shaft of the cycloidal pin gear speed reducing mechanism to rotate. The cycloidal pin gear speed reducing mechanism has no elastic element, so that the transmission rigidity of the whole structure is high; secondly, the cycloidal pin gear speed reducing mechanism can ensure that the precise speed reducer can realize precise motion transmission; in addition, the cycloidal-pin gear speed reducing mechanism can form a pure rolling mechanism under the working condition, thereby effectively improving the transmission efficiency. In conclusion, the high-rigidity high-efficiency integrated precise driving unit can realize precise motion transmission and has the outstanding advantages of high rigidity and high efficiency.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a high-rigidity high-efficiency integrated precision driving unit, a joint assembly and a robot.
Background
The joint component is a basic component of the robot, the performance of the robot is directly influenced by the performance of the joint component, the robot joint is continuously developed along with the development of electronic technologies such as a digital servo technology and the like, and the robot joint has the trends of large moment, high precision, sensitive response, miniaturization, electromechanical integration, standardization, modularization and the like so as to adapt to the development requirement of the robot technology. Since the harmonic reducer has the advantages of simple structure, small volume, large transmission ratio, high precision and the like, in the related art, the harmonic reducer is generally adopted for the joint assembly of the small robot. But the joint assembly manufactured by utilizing the harmonic reducer has the characteristics of poor rigidity, obviously reduced motion precision along with the increase of service time, low efficiency and the like.
Disclosure of Invention
An object of the embodiment of the application is to provide a precision driving unit, a joint assembly and a robot that high rigidity high efficiency integrates to there is the relatively poor, along with the technical problem that the operating time increases motion precision is showing to reduce and efficiency is on the low side in the joint assembly who exists among the prior art to solve.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
provided is a highly rigid, highly efficient integrated precision drive unit, comprising: a cycloidal-pin gear speed reducing mechanism; and the driving mechanism is in transmission connection with the input shaft of the cycloidal pin gear speed reducing mechanism so as to drive the input shaft of the cycloidal pin gear speed reducing mechanism to rotate.
Further, the cycloidal-pin gear speed-reducing mechanism includes: the input shaft comprises a rotating part, a first eccentric sleeve and a second eccentric sleeve which are fixedly connected in sequence, the rotating part is used for being in transmission connection with the driving mechanism, the first eccentric sleeve and the second eccentric sleeve are both arranged into a rotary body, the central axis of the first eccentric sleeve is positioned on one side of the rotating axis of the rotating part, and the central axis of the second eccentric sleeve is positioned on the other side, opposite to one side, of the rotating axis of the rotating part; the first bearing is fixedly sleeved on the first eccentric sleeve, and the second bearing is fixedly sleeved on the second eccentric sleeve; the first cycloid wheel is fixedly sleeved on the first bearing, and the second cycloid wheel is fixedly sleeved on the second bearing; the first cycloidal gear is provided with a plurality of first through holes which are annularly distributed around the central axis of the first cycloidal gear; the second cycloidal gear is provided with a plurality of second through holes which are annularly distributed around the central axis of the second cycloidal gear; the first through holes and the second through holes correspond to each other one by one; the needle teeth are annularly distributed on the outer sides of the first cycloidal gear and the second cycloidal gear and are used for being meshed with the first cycloidal gear and the second cycloidal gear; the pins are partially positioned in the first through holes and the second through holes, the pins correspond to the first through holes one by one, and the pins correspond to the second through holes one by one; the pin is used for abutting against the first cycloidal gear to rotate around the central axis of the first cycloidal gear under the driving of the first cycloidal gear; the pin is used for abutting against the second cycloidal gear to rotate around the central axis of the second cycloidal gear under the driving of the second cycloidal gear; and the output shaft is fixedly connected with the pins and driven by the pins to rotate.
Further, still include: and the first rotating speed detection mechanism is connected to the output shaft of the cycloidal pin gear speed reduction mechanism and is used for detecting the rotating speed of the output shaft of the cycloidal pin gear speed reduction mechanism.
Further, still include: and the second rotating speed detection mechanism is connected to the input shaft of the cycloidal-pin gear speed reduction mechanism and is used for detecting the rotating speed of the input shaft of the cycloidal-pin gear speed reduction mechanism.
Further, still include: the brake mechanism is abutted to an output shaft of the driving mechanism so as to limit the rotation of the output shaft of the driving mechanism; wherein the brake mechanism comprises: the brake disc is fixedly connected to the output shaft of the driving mechanism; the end disc is abutted to the brake disc so as to limit the brake disc to rotate; a coil for applying an electromagnetic force to the brake disc to move in a direction away from the end disc; and the elastic piece is used for applying an elastic force to the brake disc, wherein the elastic force moves towards the direction close to the end disc.
Further, still include: the temperature detection mechanism is used for acquiring temperature information in the cycloidal pin gear speed reducing mechanism; and the control mechanism is electrically connected with the temperature detection mechanism and the driving mechanism and is used for receiving the temperature information and controlling the driving mechanism to work according to the temperature information.
Further, the control mechanism includes: a signal receiving unit for receiving a wireless signal and an electric signal; and the processing unit is used for controlling the driving mechanism to work according to the wireless signal and the electric signal.
Further, still include: a housing having a receiving chamber formed therein for receiving at least a portion of the cycloidal-pin gear reduction mechanism and at least a portion of the drive mechanism; the drive mechanism includes: the stator, the stator and the casing structure as an organic whole.
There is also provided a joint assembly comprising: a first joint member and a second joint member; foretell high rigidity high efficiency integrated precision drive unit, one end transmission connect in first joint spare, with the other end transmission that one end is relative connect in second joint spare is used for driving first joint spare for second joint spare rotates.
A robot is also provided, which comprises the joint component.
The application provides a high rigidity high efficiency integrated's precision drive unit, joint subassembly and robot's beneficial effect lies in: this high rigidity high efficiency integrates precision drive unit includes: the driving mechanism is connected with an input shaft of the cycloidal pin gear speed reducing mechanism in a transmission way so as to drive the input shaft of the cycloidal pin gear speed reducing mechanism to rotate. The cycloidal pin gear speed reducing mechanism has no elastic element, so that the transmission rigidity of the whole structure is high; secondly, the cycloidal pin gear speed reducing mechanism can ensure that the precise speed reducer can realize precise motion transmission; in addition, the cycloidal-pin gear speed reducing mechanism can form a pure rolling mechanism under the working condition, thereby effectively improving the transmission efficiency. In conclusion, the high-rigidity high-efficiency integrated precise driving unit can realize precise motion transmission and has the outstanding advantages of high rigidity and high efficiency.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a high-rigidity, high-efficiency and integrated precision driving unit according to an embodiment of the present application.
Wherein, in the figures, the respective reference numerals:
100-high rigidity high efficiency integrated precision driving unit; 110-a housing; 120-cycloidal-pin gear reduction mechanism; 121-an input shaft; 122 — a first bearing; 123-a second bearing; 124-pin; 125-an output shaft; 126-a first cycloidal gear; 127-a second cycloidal gear; 128-pin teeth; 130-a drive mechanism; 131-a stator; 132-a rotor; 140-a braking mechanism; 141-a brake disc; 142-end disk; 143-coils; 144-an elastic member; 151-first rotation speed detecting means; 152-second rotational speed detection means; 160-temperature detection mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
The robot provided in the embodiments of the present application will now be described.
The application provides a robot includes: a body and a joint assembly.
The joint component is fixedly arranged on the body and can be an arm joint, a leg joint and the like. Through the joint assembly, the relative rotation of the robot without a position structure can be realized, so that the use scene of the robot is expanded.
The joint assembly includes: first joint spare, second joint spare and high rigidity high efficiency integrate accurate drive unit.
The one end transmission of the precision drive unit that high rigidity high efficiency integrated is connected in first joint spare, and the precision drive unit that high rigidity high efficiency integrated is connected in second joint spare with the other end transmission that this one end is relative, and the precision drive unit that high rigidity high efficiency integrated is used for driving first joint spare and rotates for second joint spare. Under the state of work, the accurate drive unit that high rigidity high efficiency integrated can make the contained angle between the accurate drive unit's that high rigidity high efficiency integrated one end and the other end change through the motion of self to can drive first joint spare and second joint spare relative rotation.
As shown in fig. 1, the high-rigidity high-efficiency integrated precision drive unit 100 includes: a cycloidal-pin gear reduction mechanism 120 and a drive mechanism 130.
The cycloidal pin gear speed reducer is a novel transmission device which applies a planetary transmission principle and adopts the meshing of cycloidal pin gears 128. All transmission devices of the cycloidal pin gear speed reducer can be divided into three parts: an input part, a deceleration part and an output part. A double eccentric sleeve with 180-degree dislocation is arranged on an input shaft 121, two roller bearings called rotating arms are arranged on the eccentric sleeve to form an H mechanism, central holes of two cycloidal gears are raceways of the bearings of the rotating arms on the eccentric sleeve, and the cycloidal gears are meshed with a group of annularly arranged needle teeth 128 on a needle gear 128 to form an inner meshing speed reducing mechanism with one tooth difference.
The driving mechanism 130 is drivingly connected to the input shaft 121 of the cycloidal-pin gear speed-reducing mechanism 120 to rotate the input shaft 121 of the cycloidal-pin gear speed-reducing mechanism 120. Specifically, the rotor 132 of the driving mechanism 130 may be fixedly connected to the input shaft 121 of the cycloidal-pin gear speed-reducing mechanism 120 to ensure the connection strength of the two; the rotor 132 of the driving mechanism 130 may also be drivingly connected to the input shaft 121 of the cycloidal-pin gear reduction mechanism 120 by a keyed connection for easy removal and installation.
The high-rigidity high-efficiency integrated precision drive unit 100 includes: the cycloid pin gear speed reducing mechanism 120 and the driving mechanism 130, the driving mechanism 130 is connected with the input shaft 121 of the cycloid pin gear speed reducing mechanism 120 in a transmission mode so as to drive the input shaft 121 of the cycloid pin gear speed reducing mechanism 120 to rotate. Because the cycloid pin gear speed reducing mechanism 120 has no elastic element, the transmission rigidity of the whole structure is high; secondly, the cycloidal pin gear speed reducing mechanism 120 can ensure that the precise speed reducer can realize precise motion transmission; in addition, the cycloidal-pin gear speed reducing mechanism 120 can form a pure rolling mechanism under the working condition, thereby effectively improving the transmission efficiency. In conclusion, the high-rigidity high-efficiency integrated precision driving unit 100 can realize precise motion transmission and has the outstanding advantages of high rigidity and high efficiency.
As shown in fig. 1, in some embodiments of the present application, the cycloidal-pin gear reduction mechanism 120 includes: an input shaft 121, first and second bearings 122 and 123, first and second cycloidal gears 126 and 127, a plurality of pin teeth 128, and an output shaft 125.
The input shaft 121 includes a rotating portion, a first eccentric sleeve, and a second eccentric sleeve, which are fixedly connected in sequence. The rotating part is in transmission connection with the driving mechanism 130 so as to rotate around a rotating shaft of the driving mechanism 130; the first eccentric sleeve and the second eccentric sleeve are both arranged in a rotary body shape. Specifically, the first eccentric sleeve and the second eccentric sleeve can be arranged to be cylindrical, so that the processing and the manufacturing are convenient. The central axis of the first eccentric sleeve is located at one side of the rotation axis of the rotation portion, and in the process that the driving mechanism 130 drives the rotation portion to rotate, the first eccentric sleeve is driven by the rotation portion to rotate eccentrically around the rotation axis of the rotation portion. The central axis of the second eccentric sleeve is located on the other side of the rotation axis of the rotation portion opposite to the one side, and the second eccentric sleeve eccentrically rotates around the rotation axis of the rotation portion under the driving of the rotation portion in the process that the driving mechanism 130 drives the rotation portion to rotate. The phase difference of the first and second eccentric sleeves may be 180 °.
The first bearing 122 is fixedly sleeved on the first eccentric sleeve, the first eccentric sleeve drives the inner ring of the first bearing 122 to rotate eccentrically in the process of rotating eccentrically, and the outer ring of the first bearing 122 can rotate eccentrically and can also rotate eccentrically and rotate around the central axis of the outer ring. The second bearing 123 is fixedly sleeved on the second eccentric sleeve, the second eccentric sleeve drives the inner ring of the second bearing 123 to eccentrically rotate in the process of eccentric rotation, and the outer ring of the second bearing 123 can eccentrically rotate or can eccentrically rotate and also can be sleeved on the central axis of the outer ring to rotate.
The first cycloidal gear 126 is fixedly sleeved on the first bearing 122, and the first cycloidal gear 126 is driven to eccentrically rotate in the process of eccentric rotation of the outer ring of the first bearing 122; the second cycloid is fixedly sleeved on the second bearing 123, and the second cycloid wheel 127 is driven to eccentrically rotate in the process of eccentric rotation of the outer ring of the second bearing 123. The first and second cycloidal gears 126 and 127 each have a plurality of teeth thereon. The first cycloidal gear 126 is provided with a plurality of first through holes, the first through holes penetrate through the first cycloidal gear 126 along the central axis of the first cycloidal gear 126, and the plurality of first through holes are annularly distributed around the central axis of the first cycloidal gear 126; the second cycloid wheel 127 has a plurality of second through holes, the first through holes and the second through holes correspond one to one, the second through holes penetrate through the second cycloid wheel 127 along the direction of the central axis of the second cycloid wheel 127, and the plurality of second through holes are annularly distributed around the central axis of the second cycloid wheel 127. The central axis of the first cycloidal gear 126 coincides with the central axis of the second cycloidal gear 127, and both the central axis of the first cycloidal gear 126 and the central axis of the second cycloidal gear 127 may coincide with the rotation axis of the rotation portion.
A plurality of needle teeth 128 are annularly distributed on the outer sides of the first cycloidal gear 126 and the second cycloidal gear 127, each needle tooth 128 is used for being meshed with the first cycloidal gear 126 and the second cycloidal gear 127, and the first cycloidal gear 126 and the second cycloidal gear 127 are meshed with the needle teeth 128 in the process of eccentric rotation of the first cycloidal gear 126 and the second cycloidal gear 127. During the meshing process of the first cycloidal gear 126 and the needle teeth 128, the first cycloidal gear 126 is caused to rotate around the central axis of the first cycloidal gear 126; during the engagement of the second cycloidal gear 127 with the needle toothing 128, the second cycloidal gear 127 is caused to rotate about the central axis of the second cycloidal gear 127.
The pins 1124 correspond to the first through holes one by one, and the pins 1124 correspond to the second through holes one by one, and each pin 1124 is partially inserted into the corresponding first through hole and the corresponding second through hole. The pin 1124 is alternatively abutted between the first cycloid wheel 126 and the second cycloid wheel 127, and when the pin 1124 is abutted to the first cycloid wheel 126, the pin 1124 is driven by the first cycloid wheel 126 to rotate around the central axis of the first cycloid wheel 126; when the pin 1124 abuts against the second cycloid wheel 127, the pin 1124 is rotated about the central axis of the second cycloid wheel 127 by the second cycloid wheel 127.
The output shaft 125 is fixedly connected to each of the pins 1124, and since the relative positional relationship between all the pins 1124 is fixed, when the output shaft 125 is fixedly connected to each of the pins 1124, the rotation of the pins 1124 around the central axis of the first cycloidal gear 126 will drive the rotation of the output shaft 125 around the central axis of the first cycloidal gear 126. Since both the center axis of the first cycloid gear 126 and the center axis of the second cycloid gear 127 coincide with the rotation axis of the rotating portion, the rotation axis of the output shaft 125 and the rotation axis of the rotating portion coincide.
As shown in fig. 1, in some embodiments of the present application, the high-rigidity high-efficiency integrated precision drive unit 100 may further include: the first rotational speed detecting mechanism 151.
The first rotational speed detecting means 151 is connected to the output shaft 125 of the cycloidal-pin gear speed-reducing mechanism 120, and the first rotational speed detecting means 151 detects the rotational speed of the output shaft 125 of the cycloidal-pin gear speed-reducing mechanism 120. Specifically, the first rotational speed detecting mechanism 151 may be an encoder. The rotational speed of the output shaft 125 of the cycloid pin gear reduction mechanism 120 can be accurately obtained by the first rotational speed detection mechanism 151, and the relative rotational angle of the first joint member and the second joint member can be accurately controlled.
As shown in fig. 1, in some embodiments of the present application, the high-rigidity high-efficiency integrated precision drive unit 100 may further include: the second rotational speed detecting means 152.
The first rotational speed detecting means 151 is connected to the input shaft 121 of the cycloid pin gear speed reducing mechanism 120, and the first rotational speed detecting means 151 detects the rotational speed of the input shaft 121 of the cycloid pin gear speed reducing mechanism 120. Specifically, the first rotational speed detecting mechanism 151 may be an encoder. The second rotation speed detection mechanism 152 can accurately acquire the rotation speed of the input shaft 121 of the cycloidal-pin gear speed reduction mechanism 120, can facilitate accurate control of the output rotation speed of the driving mechanism 130, and can jointly realize accurate control of the relative rotation angles of the first joint part and the second joint part through the combined action of the first rotation speed mechanism and the second rotation speed mechanism.
As shown in fig. 1, in some embodiments of the present application, the high-rigidity high-efficiency integrated precision drive unit 100 further comprises: a brake mechanism 140.
The braking mechanism 140 is configured to abut against the output shaft 125 of the driving mechanism 130, and the braking mechanism 140 is configured to restrict the rotation of the output shaft 125 of the driving mechanism 130. In the case where the output shaft 125 of the driving mechanism 130 needs to stop rotating, the braking mechanism 140 may be controlled such that the output shaft 125 of the driving mechanism 130 gradually decelerates until the speed is zero.
As shown in fig. 1, in some embodiments of the present application, the detent mechanism comprises: a brake disc 141, an end disc 142, a coil 143, and an elastic member 144.
The brake disk 141 is fixedly connected to the output shaft 125 of the drive mechanism 130. Specifically, the brake disc 141 may be annular, and the brake disc 141 may be sleeved on the output shaft 125 of the driving mechanism 130 to ensure that the brake disc 141 can abut against the end disc 142 when the output shaft 125 of the output mechanism rotates to any angle.
The end disc 142 is configured to abut against the brake disc 141, and in a state where the end disc 142 and the brake disc 141 abut against each other, a frictional force between the end disc 142 and the brake disc 141 provides an acting force in a direction opposite to the rotation of the brake disc 141, so that the brake disc 141 is decelerated until the speed becomes zero.
The coil 143 is fixedly mounted on the end disc 142, and the coil 143 is used for generating magnetism when being electrified so as to apply electromagnetic force to the brake disc 141, wherein the electromagnetic force moves towards the direction away from the end disc 142. In the case that braking is not required, the coil 143 is energized, and the coil 143 generates magnetic force and attracts the end disc 142 away from the brake disc 141 until the brake disc 141 and the end disc 142 are released from contact.
One end of the elastic member 144 is fixedly connected to the end disc 142, and the other end of the elastic member 144 opposite to the one end is fixedly connected to the brake disc 141, and the elastic member 144 is used for applying an elastic force to the brake disc 141 to move in a direction close to the end disc 142. In the case that braking is required, the coil 143 is de-energized, the end disc 142 moves toward the brake disc 141 by the elastic member 144 until the end disc 142 moves to a position abutting against the brake disc 141, and when the end disc 142 and the brake disc 141 are in close contact, the end disc 142 applies a friction force to the brake disc 141, so that the brake disc 141 stops rotating.
As shown in fig. 1, in some embodiments of the present application, the high-rigidity high-efficiency integrated precision drive unit 100 further comprises: a temperature detection mechanism 160 and a control mechanism.
The temperature detection mechanism 160 is used to acquire temperature information within the cycloidal-pin gear reduction mechanism 120, and the temperature detection mechanism 160 may be used to acquire temperature information of an oil seal within the cycloidal-pin gear reduction mechanism 120. Specifically, the temperature detection mechanism 160 may be a temperature sensor.
The control mechanism is electrically connected to the temperature detection mechanism 160 and the driving mechanism 130, and the control mechanism is configured to receive the temperature information and control the driving mechanism 130 to operate according to the temperature information. For example, when the temperature in the cycloid pin gear reduction mechanism 120 is too high, the temperature detection mechanism 160 acquires temperature information at that time and transmits the temperature information to the control mechanism, and the control mechanism receives the temperature information to control the drive mechanism 130 to stop operating or control the drive mechanism 130 to reduce the rotational speed so as to reduce the temperature in the cycloid pin gear reduction mechanism 120.
As shown in fig. 1, in particular, the control mechanism may include: signal receiving unit and processing unit.
The signal receiving unit is used for receiving wireless signals and electric signals. The staff can send a signal from a remote image control mechanism by using a wireless signal, and the signal receiving unit can receive the signal.
The processing unit is used for controlling the driving mechanism 130 to work according to the wireless signal and the electric signal. For example, if the signal received by the signal receiving unit is too high, the processing unit sends an instruction to the driving mechanism 130 to reduce the rotation speed of the driving mechanism 130 or stop the rotation of the driving mechanism 130.
As shown in fig. 1, in some embodiments of the present application, the high-rigidity high-efficiency integrated precision drive unit 100 further comprises: a housing 110.
The interior of the housing 110 forms a receiving chamber for receiving at least part of the cycloidal-pin gear reduction mechanism 120 and at least part of the drive mechanism 130. The housing 110 provides a stable working environment for the cycloidal-pin gear reduction mechanism 120 and the drive mechanism 130, and provides protection for the cycloidal-pin gear reduction mechanism 120 and the drive mechanism 130.
The driving mechanism 130 includes a stator 131 and a rotor 132, and in an operating state, the stator 131 is fixed relative to the housing 110, and the rotor 132 rotates relative to the housing 110. The stator 131 may be fixedly coupled to the housing 110. Specifically, the stator 131 may be in interference fit with the housing 110 to ensure the connection strength therebetween. Also can be integrated into one piece structure between stator 131 and casing 110, when effectively guaranteeing the two joint strength, can also reduce part quantity, reduce the assembly degree of difficulty and improve and integrate.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A high rigidity high efficiency integrated precision drive unit, its characterized in that includes:
a cycloidal-pin gear speed reducing mechanism;
and the driving mechanism is in transmission connection with the input shaft of the cycloidal pin gear speed reducing mechanism so as to drive the input shaft of the cycloidal pin gear speed reducing mechanism to rotate.
2. The highly rigid, highly efficient integrated precision drive unit of claim 1 wherein said cycloidal-pin gear reduction mechanism comprises:
the input shaft comprises a rotating part, a first eccentric sleeve and a second eccentric sleeve which are fixedly connected in sequence, the rotating part is used for being in transmission connection with the driving mechanism, the first eccentric sleeve and the second eccentric sleeve are both arranged into a rotary body, the central axis of the first eccentric sleeve is positioned on one side of the rotating axis of the rotating part, and the central axis of the second eccentric sleeve is positioned on the other side, opposite to one side, of the rotating axis of the rotating part;
the first bearing is fixedly sleeved on the first eccentric sleeve, and the second bearing is fixedly sleeved on the second eccentric sleeve;
the first cycloid wheel is fixedly sleeved on the first bearing, and the second cycloid wheel is fixedly sleeved on the second bearing; the first cycloidal gear is provided with a plurality of first through holes which are annularly distributed around the central axis of the first cycloidal gear; the second cycloidal gear is provided with a plurality of second through holes which are annularly distributed around the central axis of the second cycloidal gear; the first through holes and the second through holes correspond to each other one by one;
the needle teeth are annularly distributed on the outer sides of the first cycloidal gear and the second cycloidal gear and are used for being meshed with the first cycloidal gear and the second cycloidal gear;
the pins are partially positioned in the first through holes and the second through holes, the pins correspond to the first through holes one by one, and the pins correspond to the second through holes one by one; the pin is used for abutting against the first cycloidal gear to rotate around the central axis of the first cycloidal gear under the driving of the first cycloidal gear; the pin is used for abutting against the second cycloidal gear to rotate around the central axis of the second cycloidal gear under the driving of the second cycloidal gear;
and the output shaft is fixedly connected with the pins and driven by the pins to rotate.
3. The high stiffness high efficiency integrated precision drive unit of claim 1 further comprising:
and the first rotating speed detection mechanism is connected to the output shaft of the cycloidal pin gear speed reduction mechanism and is used for detecting the rotating speed of the output shaft of the cycloidal pin gear speed reduction mechanism.
4. The high stiffness high efficiency integrated precision drive unit of claim 3 further comprising:
and the second rotating speed detection mechanism is connected to the input shaft of the cycloidal-pin gear speed reduction mechanism and is used for detecting the rotating speed of the input shaft of the cycloidal-pin gear speed reduction mechanism.
5. The high stiffness high efficiency integrated precision drive unit of claim 1 further comprising:
the brake mechanism is abutted to an output shaft of the driving mechanism so as to limit the rotation of the output shaft of the driving mechanism; wherein the content of the first and second substances,
the brake mechanism includes:
the brake disc is fixedly connected to the output shaft of the driving mechanism;
the end disc is abutted to the brake disc so as to limit the brake disc to rotate;
a coil for applying an electromagnetic force to the brake disc to move in a direction away from the end disc;
and the elastic piece is used for applying an elastic force to the brake disc, wherein the elastic force moves towards the direction close to the end disc.
6. The high stiffness high efficiency integrated precision drive unit of claim 1 further comprising:
the temperature detection mechanism is used for acquiring temperature information in the cycloidal pin gear speed reducing mechanism;
and the control mechanism is electrically connected with the temperature detection mechanism and the driving mechanism and is used for receiving the temperature information and controlling the driving mechanism to work according to the temperature information.
7. The high-stiffness high-efficiency integrated precision drive unit of claim 1, wherein the control mechanism comprises:
a signal receiving unit for receiving a wireless signal and an electric signal;
and the processing unit is used for controlling the driving mechanism to work according to the wireless signal and the electric signal.
8. The high stiffness high efficiency integrated precision drive unit of claim 1 further comprising:
a housing having a receiving chamber formed therein for receiving at least a portion of the cycloidal-pin gear reduction mechanism and at least a portion of the drive mechanism;
the drive mechanism includes: the stator, the stator and the casing structure as an organic whole.
9. A joint assembly, comprising:
a first joint member and a second joint member;
the high-rigidity high-efficiency integrated precision driving unit as claimed in any one of claims 1 to 8, wherein one end of the precision driving unit is in transmission connection with the first joint member, and the other end opposite to the one end of the precision driving unit is in transmission connection with the second joint member, so as to drive the first joint member to rotate relative to the second joint member.
10. A robot comprising a joint assembly as claimed in claim 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110553862.7A CN113199503A (en) | 2021-05-20 | 2021-05-20 | High-rigidity high-efficiency integrated precise driving unit, joint assembly and robot |
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| CN202110553862.7A CN113199503A (en) | 2021-05-20 | 2021-05-20 | High-rigidity high-efficiency integrated precise driving unit, joint assembly and robot |
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| CN202110553862.7A Pending CN113199503A (en) | 2021-05-20 | 2021-05-20 | High-rigidity high-efficiency integrated precise driving unit, joint assembly and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117182958A (en) * | 2023-09-26 | 2023-12-08 | 东莞市伟创动力科技有限公司 | Robot joint motor and control method thereof |
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| CN117506881A (en) * | 2023-12-05 | 2024-02-06 | 东莞市伟创动力科技有限公司 | High-precision cycloidal gear speed reduction centrally-mounted motor and control system thereof |
| CN117506881B (en) * | 2023-12-05 | 2024-05-28 | 东莞市伟创动力科技有限公司 | High-precision cycloidal gear speed reduction centrally-mounted motor and control system thereof |
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