CN113580201A

CN113580201A - Power module and sufficient robot

Info

Publication number: CN113580201A
Application number: CN202110969894.5A
Authority: CN
Inventors: 黄炫煜; 甘泉; 谌振宇
Original assignee: Beijing Haqi Robot Technology Co ltd
Current assignee: Beijing Haqi Robot Technology Co ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-11-02

Abstract

The invention relates to the technical field of foot robots, and particularly discloses a power module and a foot robot. Wherein, the power component is arranged in the module shell; the planet assembly comprises a planet support, a sun gear, a plurality of planet gears, a gear ring and a plurality of planet shafts; the planet carrier is rotatably arranged in the module shell; the gear ring is arranged in the module shell, the plurality of planet shafts are arranged on the planet support, and the plurality of planet wheels are arranged on the plurality of planet shafts in a one-to-one correspondence manner; the sun wheel is meshed among the planetary wheels and is connected to the output end of the power assembly; the thrust bearing is abutted between the module shell and the planet carrier. The planet carrier bearing is arranged between the planet carrier and the module shell. The thrust bearing ensures the axial load capacity and the overturning rigidity of the output shaft of the power module, and the planet carrier bearing ensures the radial load capacity.

Description

Power module and sufficient robot

Technical Field

The invention relates to the technical field of foot robots, in particular to a power module and a foot robot.

Background

The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings, and the actions of the robot are generally driven by a motor.

The motor that uses on the robot at present still needs the control volume when guaranteeing output shaft rigidity, often can adopt cross roller bearing, but cross roller bearing is expensive, and the manufacturing difficulty is big, has increased the manufacturing cost of power module.

Disclosure of Invention

The invention aims to provide a power module and a foot type robot, which avoid using a crossed roller bearing and reduce the manufacturing cost.

In order to achieve the purpose, the invention adopts the following technical scheme:

in one aspect, the present invention provides a power module, comprising:

a module housing;

the power assembly is arranged in the module shell;

the planet assembly comprises a planet support, a sun gear, a plurality of planet gears, a gear ring and a plurality of planet shafts; the planet carrier is rotatably arranged in the module shell; the gear ring is arranged in the module shell, the plurality of planet shafts are arranged on the planet support, and the plurality of planet wheels are arranged on the plurality of planet shafts in a one-to-one correspondence manner; the sun wheel is meshed among the planet wheels and is connected to the output end of the power assembly;

the thrust bearing is abutted between the module shell and the planet carrier;

the inner ring of the planet carrier bearing is sleeved on the planet support, and the outer ring of the planet carrier bearing is arranged in the module shell in a penetrating way, or

The inner ring of the planet carrier bearing is sleeved on the module shell, and the outer ring of the planet carrier bearing penetrates through the planet support.

Preferably, the planet carrier comprises an upper planet carrier and a lower planet carrier; the upper planet carrier is provided with an upper connecting part and a ballast part arranged on the periphery of the upper connecting part, the lower planet carrier is provided with a lower connecting part, and the upper planet carrier and the lower planet carrier are connected through the upper connecting part and the lower connecting part; the thrust bearing is abutted between the module housing and the ballast portion.

Preferably, lower connecting portion are equipped with a plurality ofly, wind the central line interval of sun gear sets up, lower connecting portion are equipped with the installation department, and are a plurality of the installation department forms first installation position, the module casing is equipped with the turn-ups of inside buckling, the ring gear with the turn-ups encloses to establish and forms second installation position, planet carrier bearing locates first installation position with between the second installation position.

Preferably, the module shell comprises an upper shell and a lower shell, and the upper shell and the lower shell are in threaded connection and then are surrounded to form an installation cavity; the power assembly is arranged in the mounting cavity; the flanging is arranged at one end, far away from the lower shell, of the upper shell, and the gear ring is arranged in the upper shell.

Preferably, the planet gear comprises a first stage planet gear and a second stage planet gear which are coaxially arranged; the first-stage planetary gears are meshed with the sun gear, the second-stage planetary gears are meshed with the gear ring, and the diameters of the first-stage planetary gears are larger than those of the second-stage planetary gears.

Preferably, the power assembly comprises a stator assembly and a rotor assembly which interact with each other, and the stator assembly is fixedly arranged on the module shell; the rotor assembly is rotatably arranged on the module shell and/or the planet carrier; the sun gear is connected to the output end of the rotor assembly.

Preferably, the stator assembly is provided with a first through hole, the rotor assembly penetrates through the first through hole, the rotor assembly is provided with a second through hole, the protective cover is provided with a third through hole, the sun gear is provided with a fourth through hole, the planet carrier is provided with a fifth through hole, and the first through hole, the second through hole, the fourth through hole and the fifth through hole are all concentrically arranged; the protection casing one end is connected wear to locate in proper order behind the module casing the second through-hole fourth through-hole and fifth through-hole, the pencil passes the third through-hole is in order to run through the power module.

Preferably, the drive plate of the power module is arranged in the module shell, the module shell is provided with a sixth through hole, the drive plate is provided with a seventh through hole, the protective cover further penetrates through the sixth through hole and the seventh through hole, the protective cover comprises a fixing part, and the fixing part is connected with the module shell and is located on one side, far away from the power assembly, of the drive plate.

Preferably, a cantilever bearing is arranged between the protective cover and the planet carrier.

In another aspect, the present invention provides a legged robot including the power module according to any one of the above aspects.

The invention has the beneficial effects that:

the invention provides a power module, which comprises a module shell, a power assembly and a planetary assembly, wherein the power assembly and the planetary assembly are arranged in the module shell, the planetary assembly and the module shell are connected to the output end of the power assembly through the planetary assembly, and a thrust bearing and a planet carrier bearing are arranged between the planetary assembly and the module shell. The thrust bearing ensures the axial load capacity and the overturning rigidity of the output shaft of the power module, and the planet carrier bearing ensures the radial load capacity of the output shaft of the power module.

Drawings

FIG. 1 is a schematic structural diagram of a power module according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of an internal structure of the power module according to the embodiment of the present invention;

FIG. 3 is a first exploded view of the power module according to an embodiment of the present invention;

FIG. 4 is an exploded view of the power module according to the embodiment of the present invention;

FIG. 5 is a third exploded view of the power module according to the embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a downlink carrier in an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a protective cover in an embodiment of the invention.

In the figure:

1. a module housing; 11. an upper housing; 111. flanging; 12. a lower housing;

2. a power assembly; 21. a stator assembly; 22. a rotor assembly; 221. a magnetic yoke iron ring; 222. a rotor magnet; 23. a position generator; 24. a first rotor bearing; 25. a second rotor bearing;

3. a planetary assembly; 31. an ascending planet carrier; 32. a downlink planet carrier; 321. a lower connecting portion; 3211. an installation part; 33. a sun gear; 34. a planet wheel; 35. a planet shaft; 36. a ring gear;

4. a thrust bearing;

5. a planet carrier bearing;

6. a protective cover; 61. a fixed part; 62. a cantilever bearing;

7. a drive plate.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but 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 construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

As shown in fig. 1-5, the present embodiment provides a power module, which includes a module housing 1, a power assembly 2, a planetary assembly 3, a thrust bearing 4 and a planet carrier bearing 5. Wherein, the power component 2 is arranged in the module shell 1; the planet assembly 3 comprises a planet carrier, a sun gear 33, a plurality of planet wheels 34, a plurality of ring gears 36 and a planet shaft 35; the planet support is rotatably arranged in the module shell 1; the gear ring 36 is arranged in the module shell 1, the plurality of planet shafts 35 are arranged on the planet support, and the plurality of planet wheels 34 are arranged on the plurality of planet shafts 35 in a one-to-one correspondence manner; a sun wheel 33 is meshed among the planetary wheels 34 and is connected with the output end of the power assembly 2; the thrust bearing 4 is abutted between the module housing 1 and the planet carrier. The planet carrier is located to planet carrier bearing 5's inner circle cover, and module casing 1 is worn to locate by planet carrier bearing 5's outer lane. In other embodiments, optionally, an inner ring of the planet carrier bearing 5 is sleeved on the module housing 1, and an outer ring of the planet carrier bearing 5 is inserted through the planet carrier.

In the embodiment, the thrust bearing 4 ensures the axial load capacity and the overturning rigidity of the output shaft of the power module, and the planet carrier bearing 5 ensures the radial load capacity of the output shaft of the power module.

Regarding the structure of the planetary carrier, in the present embodiment, specifically, the planetary carrier includes an upper carrier 31 and a lower carrier 32; the upper planet carrier 31 is provided with an upper connecting part and a ballast part arranged on the periphery of the upper connecting part, the lower planet carrier 32 is provided with a lower connecting part 321, and the upper planet carrier 31 and the lower planet carrier 32 are connected through the upper connecting part and the lower connecting part 321; the plurality of planet shafts 35 are arranged between the upper planet carrier 31 and the lower planet carrier 32; the thrust bearing 4 is abutted between the module case 1 and the ballast portion. This arrangement makes it easy to disassemble and assemble the upper planetary carrier 31 and the lower planetary carrier 32, and is convenient to install the sun gear 33 and the plurality of planetary gears 34 between the upper planetary carrier 31 and the lower planetary carrier 32, which improves the assembly efficiency.

As shown in fig. 6, optionally, the lower connection portion 321 is provided in plurality, the lower connection portions 321 are arranged at intervals around the central line of the sun gear 33, the lower connection portion 321 is provided with mounting portions 3211, the mounting portions 3211 form a first mounting position, the module housing 1 is provided with a flange 111 bent inward, the ring gear 36 and the flange 111 surround to form a second mounting position, and the planet carrier bearing 5 is arranged between the first mounting position and the second mounting position. This arrangement provides two mounting positions for the planet carrier bearing 5, avoiding axial movement of the planet carrier bearing 5. Specifically, the inner ring of the planet carrier bearing 5 is sleeved on the first mounting position, and the outer ring of the planet carrier bearing 5 is located in the second mounting position. Preferably, the mounting portion 3211 includes a sleeved portion and an abutting portion, the abutting portion is located at an end of the sleeved portion away from the upper planet carrier 31, and an inner ring of the planet carrier bearing 5 is sleeved on the sleeved portion and abuts against the abutting portion; the end surface of the outer ring of the carrier bearing 5 away from the abutment portion abuts against the burring 111. The arrangement described above cooperates with the thrust bearing 4 to secure the planet carrier to the module housing 1.

In the present embodiment, the planet carrier bearing 5 may be a tapered roller bearing. The tapered roller bearing can also bear the resistance of the planet carrier far away from the module shell 1 while assisting the planet carrier to rotate.

Preferably, the module housing 1 comprises an upper housing 11 and a lower housing 12, and the upper housing 11 and the lower housing 12 are screwed and then surrounded to form a mounting cavity; the power assembly 2 is arranged in the mounting cavity; the flange 111 is provided at an end of the upper case 11 remote from the lower case 12, and the ring gear 36 is provided in the upper case 11. This setting is convenient for install in the installation cavity with planet subassembly 3 and power component 2, has improved the packaging efficiency of power module. Preferably, the upper housing 11 and the lower housing 12 are screwed. Preferably, the peripheries of the upper case 11 and the lower case 12 are provided with heat dissipation fins for dissipating heat.

For the purpose of speed change, in the present embodiment, it is preferable that the planetary gear 34 includes a first stage planetary gear and a second stage planetary gear which are coaxially arranged; the first stage of planet gears are in mesh with the sun gear 33 and the second stage of planet gears are in mesh with the ring gear 36, the diameter of the first stage of planet gears being larger than the diameter of the second stage of planet gears. With the above arrangement, the decelerating action of the power module 2 can be achieved. The ratio of the diameter of the first stage planets to the diameter of the second stage planets may be set as required to reduce the rotational speed of the output shaft of the power assembly 2.

Optionally, the power assembly 2 comprises a stator assembly 21 and a rotor assembly 22 which interact with each other, the stator assembly 21 is fixedly arranged on the module housing 1; the rotor assembly 22 is rotatably arranged on the module shell 1 and/or the planet carrier; the sun gear 33 is connected to the output of the rotor assembly 22.

In this embodiment, specifically, the stator assembly 21 includes a coil and a stator bracket, the stator bracket is disposed on the module housing 1, and the coil is wound on the stator bracket; the rotor assembly 22 includes a yoke iron ring 221 and rotor magnets 222 disposed at intervals along a circumferential direction of the yoke iron ring 221, and the yoke iron ring 221 is rotatably coupled to the module case 1 and/or the planet carrier through at least two bearings. Preferably, the rotor assembly 22 rotates a lower carrier 32 provided to the lower housing 12 and the planet carrier of the module housing 1. Specifically, the lower housing 12 is provided with a first rotor mounting position, the lower carrier 32 is provided with a second rotor mounting position, and the yoke iron ring 221 is provided with a third rotor mounting position and a fourth rotor mounting position; the first rotor bearing 24 is arranged between the first rotor mounting position and the third rotor mounting position and sleeved on the third rotor mounting position, and the second rotor bearing 25 is arranged between the second rotor mounting position and the fourth rotor mounting position and sleeved on the fourth rotor mounting position.

In this embodiment, preferably, the stator assembly 21 is provided with a first through hole, the rotor assembly 22 is inserted into the first through hole, the rotor assembly 22 is provided with a second through hole, the protective cover 6 is provided with a third through hole, the third through hole is preferably a circular hole, the sun gear 33 is provided with a fourth through hole, the planet carrier is provided with a fifth through hole, and the first through hole, the second through hole, the fourth through hole and the fifth through hole are all concentrically arranged; the second through hole, the fourth through hole and the fifth through hole are sequentially penetrated and arranged after one end of the protective cover 6 is connected with the module shell 1, and the wire harness penetrates through the third through hole to penetrate through the power module. This setting makes the pencil pass the power module, and can not take place the friction with the rotation position to can not receive wearing and tearing. In addition, the protective cover 6 does not occupy extra space, so that the power module is compact in structure. Alternatively, the second through hole is provided in the yoke iron ring 221. Of course, in other embodiments, the stator assembly 21 may be disposed inside the rotor assembly 22.

Referring to fig. 7, optionally, the driving plate 7 of the power module is disposed in the module housing 1, the module housing 1 is provided with a sixth through hole, the driving plate 7 is provided with a seventh through hole, the protective cover 6 further passes through the sixth through hole and the seventh through hole, the protective cover 6 includes a fixing portion 61, and the fixing portion 61 is connected to the module housing 1 and located on one side of the driving plate 7 away from the power assembly 2. Specifically, the lower case 12 of the module case 1 is provided with a sixth lower case through hole; the upper shell 11 is provided with a sixth upper shell through hole, the upper planet carrier 31 of the planet carrier is provided with a fifth upper through hole, and the lower planet carrier 32 is provided with a fifth lower through hole; go up planet frame 31 and wear to locate sixth epitheca through-hole, sun gear 33 wears to locate fifth lower through-hole, and protection casing 6 passes seventh through-hole, second through-hole, fourth through-hole and fifth upper through-hole in proper order after passing sixth inferior valve through-hole, and fixed part 61 wears to establish and the rigid coupling in the lateral wall of sixth inferior valve through-hole. Preferably, the fixing part 61 may be screwed or inserted to a sidewall of the sixth lower case through hole. With the above arrangement, the driving plate 7 can be protected. Of course, in other embodiments, the power module may be controlled by an external drive plate 7.

The yoke iron ring 221 is mounted with the position generator 23, the position generator 23 is preferably a magnetic ring, and the position generator 23 may be a magnet or an optical code disc. The position receiver is integrated on the drive plate 7.

In order to increase the strength of the shield 6, a cantilever bearing 62 is provided between the shield 6 and the planet carrier. Preferably, a cantilever bearing 62 is provided between the shield 6 and the upper carrier 31. The above arrangement avoids the occurrence of cantilevering of the shield 6.

Preferably, the shield 6 is made of carbon fiber or steel material. In the present embodiment, the cantilever bearing 62 may not be provided between the shield 6 and the planet carrier.

Example two

The present embodiment provides a foot robot, which includes the power module in any of the above embodiments.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A power module, comprising:

a module case (1);

the power assembly (2) is arranged in the module shell (1);

a planetary assembly (3), the planetary assembly (3) comprising a planet carrier, a sun gear (33), a plurality of planet gears (34), a ring gear (36) and a plurality of planet shafts (35); the planet support is rotatably arranged in the module shell (1); the gear ring (36) is arranged in the module shell (1), the plurality of planet shafts (35) are arranged on the planet carrier, and the plurality of planet wheels (34) are arranged on the plurality of planet shafts (35) in a one-to-one correspondence manner; the sun wheel (33) is meshed among the planetary wheels (34) and is connected to the output end of the power assembly (2);

the thrust bearing (4) is abutted between the module shell (1) and the planet carrier;

the planet carrier bearing (5), the inner ring cover of planet carrier bearing (5) is located the planet carrier, the outer lane of planet carrier bearing (5) is worn to locate module casing (1), or

The inner ring of the planet carrier bearing (5) is sleeved on the module shell (1), and the outer ring of the planet carrier bearing (5) penetrates through the planet carrier.

2. A power module according to claim 1, characterised in that the planet carrier comprises an upper planet carrier (31) and a lower planet carrier (32); the upper planet carrier (31) is provided with an upper connecting part and a ballast part arranged on the periphery of the upper connecting part, the lower planet carrier (32) is provided with a lower connecting part (321), and the upper planet carrier (31) and the lower planet carrier (32) are connected through the upper connecting part and the lower connecting part (321); the thrust bearing (4) is arranged between the module shell (1) and the ballast part in an abutting mode.

3. The power module as claimed in claim 2, wherein the lower connecting portion (321) is provided with a plurality of mounting portions (3211) at intervals around the central line of the sun gear (33), the lower connecting portion (321) is provided with a mounting portion (3211), the mounting portions (3211) form a first mounting position, the module housing (1) is provided with a flange (111) which is bent inwards, the gear ring (36) and the flange (111) enclose a second mounting position, and the planet carrier bearing (5) is arranged between the first mounting position and the second mounting position.

4. The power module as claimed in claim 3, characterized in that the module housing (1) comprises an upper housing (11) and a lower housing (12), and the upper housing (11) and the lower housing (12) are screwed and then enclose to form a mounting cavity; the power assembly (2) is arranged in the mounting cavity; the flanging (111) is arranged at one end, far away from the lower shell (12), of the upper shell (11), and the gear ring (36) is arranged in the upper shell (11).

5. A power module according to claim 1, characterised in that the planet gears (34) comprise coaxially arranged first and second stage planet gears; the first stage planet gears are meshed with the sun gear (33), the second stage planet gears are meshed with the ring gear (36), and the diameter of the first stage planet gears is larger than that of the second stage planet gears.

6. A power module according to any one of claims 1-5, characterized in that the power assembly (2) comprises a stator assembly (21) and a rotor assembly (22) interacting with each other, the stator assembly (21) being fixedly arranged to the module housing (1); the rotor assembly (22) is rotatably arranged on the module shell (1) and/or the planet carrier; the sun gear (33) is connected to an output end of the rotor assembly (22).

7. The power module according to claim 6, wherein the stator assembly (21) is provided with a first through hole, the rotor assembly (22) is arranged in the first through hole in a penetrating manner, the rotor assembly (22) is provided with a second through hole, the protective cover (6) is provided with a third through hole, the sun gear (33) is provided with a fourth through hole, the planet carrier is provided with a fifth through hole, and the first through hole, the second through hole, the fourth through hole and the fifth through hole are all arranged in a concentric manner; one end of the protective cover (6) is connected with the module shell (1) and then sequentially penetrates through the second through hole, the fourth through hole and the fifth through hole, and the wire harness penetrates through the third through hole to penetrate through the power module.

8. The power module according to claim 7, characterized in that the drive plate (7) of the power module is arranged in the module housing (1), the module housing (1) is provided with a sixth through hole, the drive plate (7) is provided with a seventh through hole, the protective cover (6) further passes through the sixth through hole and the seventh through hole, the protective cover (6) comprises a fixing portion (61), and the fixing portion (61) is connected with the module housing (1) and is positioned on the side of the drive plate (7) away from the power assembly (2).

9. A power module according to claim 8, characterized in that a cantilever bearing (62) is provided between the shield (6) and the planet carrier.

10. A legged robot comprising a power module according to any of claims 1-9.