CN114102659B - Integrated robot driving joint based on planetary reducer - Google Patents
Integrated robot driving joint based on planetary reducer Download PDFInfo
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- CN114102659B CN114102659B CN202111477607.5A CN202111477607A CN114102659B CN 114102659 B CN114102659 B CN 114102659B CN 202111477607 A CN202111477607 A CN 202111477607A CN 114102659 B CN114102659 B CN 114102659B
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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
Abstract
The invention discloses an integrated robot driving joint based on a planetary reducer, which comprises a shell component, a reducer component and an encoder component, wherein the shell component comprises a shell and a rear cover; the speed reducer assembly comprises a rotor, a stator, a bearing seat, a sun gear, a planet gear, a gear ring, a planet carrier, an output end cover and a gear ring support; the encoder assembly comprises a PCB board, an optical encoder, a magnet and an output shaft. The driving joint disclosed by the invention adopts the two-stage planetary reducer, and simultaneously combines the first-stage reducer with the stator, so that the volume of the driving joint is reduced, the driving joint has a higher reducer ratio, and the torque/weight value is improved; according to the invention, an output shaft arrangement mode penetrating through two-stage sun gears is adopted, and two encoders can be installed at the same time, so that the test precision of the joint motor is improved, and the abrasion condition of the joint motor can be predicted; the invention combines optical braiding and magnetic braiding, reduces the number of encoder components and improves the compactness of the driving joint.
Description
Technical Field
The invention relates to the field of robots, in particular to an integrated robot driving joint based on a planetary reducer.
Background
For bipedal robots, the driving unit is a core component of the bipedal robot, the motion performance of the robot is directly affected, and due to the limitation of a use scene, the driving unit of the bipedal robot is required to have a relatively large output torque, and meanwhile, the bipedal robot is required to have a relatively compact volume, and meanwhile, higher control precision is required. At present, the traditional robot driving joint structure mainly comprises a single motor and a speed reducer, and the existing driving joint is large in size, large in mass, small in output torque and relatively slow. The motion performance and response precision of the driving joint of the robot are directly affected, and the performance improvement of the bipedal robot is affected. In order to increase the output torque of the robot driving joint, a single-stage planetary transmission mode is generally adopted at present, and then the mass and the size of a speed reducer are larger during single-stage planetary transmission, so that the requirements of the small size and the light weight of the robot joint are difficult to meet. Therefore, the integrated robot driving joint has important significance in the aspects of intelligent robot design and compact structure. Based on the above, the present invention proposes an improvement against the above-mentioned technical shortcomings.
Disclosure of Invention
Aiming at the defects of the existing driving joints, the integrated robot driving joint based on the planetary reducer is provided. The driving joint has a more compact structure, larger output torque and higher control precision.
The aim of the invention is achieved by the following technical scheme: an integrated robot driving joint based on a planetary reducer comprises a shell component, a reducer component and an encoder component;
the shell component comprises a shell and a rear cover fixedly connected with the shell;
the speed reducer assembly comprises a rotor, a stator, a supporting bearing seat, a first supporting bearing seat, an adapter bearing seat, a first-stage sun gear, a first-stage planetary gear, a first-stage gear ring, a first-stage planetary carrier, a second-stage bearing seat, a second-stage sun gear, a second-stage planetary gear, a second-stage gear ring, a second-stage planetary carrier, an output end cover, a first-stage bearing, a second-stage bearing, a third-stage bearing, an output shaft, a gear ring support, a first-stage supporting bearing, a terminal adapter bearing and an output supporting bearing;
the stator is matched with the supporting bearing seat; the first support bearing seat, the second primary bearing and the primary gear ring are fixed on the inner ring of the support bearing seat; the rotor is fixedly connected with the first-stage sun gear; the rotor is connected with the adapter bearing seat;
the first-stage sun gear is connected with the first-stage bearing seat and the first support bearing seat through the first-stage bearing and the first-stage support bearing respectively; the primary sun gear is meshed with the primary planet gear, and the primary planet gear is meshed with the primary gear ring; the first-stage planetary gear is rotationally connected with the first-stage planetary carrier through a third first-stage bearing; the first-stage planet carrier is fixedly connected with the second-stage sun gear, the first-stage planet carrier is fixedly connected with the first-stage bearing seat, and the first-stage planet carrier is rotatably connected with the second-stage bearing seat through a first second-stage bearing; the second-stage bearing seat is rotatably connected with the gear ring support through a second-stage bearing; the second planet wheel is meshed with the second sun wheel, the second planet wheel is meshed with the second gear ring, and the second planet wheel is rotationally connected with the second planet carrier through a third second bearing; the secondary planet carrier is fixedly connected with the secondary bearing seat; the secondary planet carrier is rotationally connected with the output end cover through an output bearing; the output end cover is fixedly connected with the gear ring support; the gear ring support is fixedly connected with the support bearing seat;
the output shaft is matched with the secondary planet carrier and the output support bearing; the support bearing is matched with the first-stage sun gear; the output shaft is connected with the first-stage sun wheel through a support bearing;
the encoder assembly comprises a PCB, optical braids and magnets; the PCB is fixedly connected with the shell, the magnet is arranged at the tail end of the output shaft, and the optical braid is fixedly connected with the rotor.
Further, the first-stage sun gear is meshed with three first-stage planet gears, and the three first-stage planet gears are arranged in a central symmetry mode.
Further, the secondary sun gear is meshed with three secondary planet gears which are arranged in a central symmetry mode.
Further, the primary planet carrier is fixedly connected with the secondary sun gear through jackscrews.
Further, the rotor is fixed with the transfer bearing seat in a jackscrew and mechanical limiting mode, so that the rotor drives the transfer bearing seat to rotate simultaneously; the transfer bearing seat is rotationally connected with the shell through the tail end transfer bearing, so that when the rotor rotates, the transfer bearing seat rotates relative to the shell.
Further, the first-stage bearing seat is positioned at the inner ring of the second-stage bearing and is rotationally connected with the supporting bearing seat through the second-stage bearing.
Further, the adapter bearing seat is connected with the shell through a tail end adapter bearing.
Further, the gear ring support is fixedly connected with the housing.
Further, the rear cover is provided with a heat dissipation hole.
Further, the stator is in transition fit with the support bearing seat.
The beneficial effects of the invention are as follows:
the integrated driving joint adopts the two-stage planetary reducer, and the first-stage reducer is arranged in the motor stator, so that the compact structure of the driving joint is greatly improved while the larger output torque is ensured, and the torque/weight performance of the driving unit is improved.
The invention adopts the structure that one output shaft penetrates through the rotating shaft inside the integral driving joint, and can simultaneously install the absolute type encoder and the incremental type encoder, and the double encoders installed by the structural characteristics can greatly improve the control precision of the driving joint and accurately evaluate the abrasion condition of the driving joint.
According to the integrated driving joint, the optical knitting sensor and the magnetic knitting sensor are simultaneously arranged on the PCB, so that the size of the driving joint is greatly reduced while higher control precision is ensured, and the control performance of the driving joint is improved.
Drawings
FIG. 1 is a schematic cross-sectional view of the structure of the present invention;
FIG. 2 is a schematic diagram of a primary planetary reducer of the present invention;
FIG. 3 is a schematic diagram of a two-stage planetary reducer of the present invention;
in the figure, shell, PCB board, back lid, rotor, stator, one-level bearing frame, one-level sun gear, one-level planet wheel, one-level ring gear, one-level planet carrier, second grade bearing frame, second grade sun gear, second grade planet wheel, second grade ring gear, second grade planet carrier, output end cover, first primary bearing, second primary bearing, third primary bearing, first secondary bearing, second secondary bearing, third secondary bearing, output bearing, optical braiding, magnet, output shaft, ring gear support, support bearing frame, first primary support bearing, transfer bearing frame, terminal transfer bearing and output support bearing.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the preferred embodiments and the accompanying drawings, in which the present invention is further described in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in the figure, the present invention proposes an integrated robot driving joint based on a planetary reducer, comprising: the device comprises a shell, a PCB (printed circuit board), a rear cover, a rotor, a stator, a first-stage bearing seat, a first-stage sun gear, a first-stage planet gear, a first-stage gear ring, a first-stage planet carrier, a second-stage bearing seat, a second-stage sun gear, a second-stage gear ring, a second-stage planet carrier, an output end cover, a first-stage bearing, a second-stage bearing, a third-stage bearing, a first-stage bearing, a second-stage bearing, a third-stage bearing, an output bearing, a light knitting, a magnet, an output shaft, a gear ring support, a support bearing seat, a first-stage support bearing, a transfer bearing seat, a tail end transfer bearing and an output support bearing.
The shell component comprises a shell and a rear cover; the shell is fixedly connected with the rear cover by adopting bolts, and is fixedly connected with the output end cover, the gear ring support and the PCB, so that the functions of supporting and fixing the driving joint body and fixing the PCB are achieved; the rear cover adopts a convex design and is provided with a heat dissipation hole, so that the effects of protecting the PCB and cooling and heat dissipation are achieved.
The speed reducer assembly comprises a rotor, a stator, a first-stage bearing seat, a first-stage sun wheel, a first-stage planet wheel, a first-stage gear ring, a first-stage planet carrier, a second-stage bearing seat, a second-stage sun wheel, a second-stage gear ring, a second-stage planet carrier, an output end cover, a first-stage bearing, a second-stage bearing, a third-stage bearing, a first second-stage bearing, a second-stage bearing, a third second-stage bearing, an output shaft, a gear ring support, a support bearing seat, a first-stage support bearing, a transfer bearing seat, a tail end transfer bearing and an output support bearing.
The stator and the supporting bearing seat are in transition fit, and are adhered and fixed by glue, so that the component is firmly fixed in the stator; the primary gear ring, the second primary bearing and the first support bearing seat are firmly fixed in the support bearing seat in a glue bonding and mechanical limiting mode.
The rotor and the first-stage sun gear are fastened in a jackscrew fixing mode, and when the rotor rotates, the rotor can drive the first-stage sun gear to rotate together; simultaneously, the rotor is firmly fixed with the transfer bearing seat in a jackscrew and mechanical limiting mode, so that the rotor can drive the transfer bearing seat to rotate together, and meanwhile, the transfer bearing seat is rotationally connected with the shell through the tail end transfer bearing, so that the transfer bearing seat can slide and rotate relative to the shell when the rotor rotates;
the first-stage sun gear is connected with the first-stage bearing seat in a rotating mode through a first-stage bearing, and the first-stage sun gear is connected with the first supporting bearing seat through a first-stage supporting bearing in a rotating mode, so that the first-stage sun gear can easily rotate around the first-stage bearing seat; the first-stage bearing seat is positioned at the inner ring of the second-stage bearing and is rotationally connected with the supporting bearing seat through the second-stage bearing, so that the first-stage bearing seat can easily rotate around the supporting bearing seat; the first-stage sun gear is meshed with three first-stage planetary gears which are distributed in a central symmetry way, the first-stage planetary gears are meshed with a first-stage gear ring, the first-stage planetary gears are rotationally connected with a first-stage planetary carrier through a third first-stage bearing, and the first-stage planetary carrier is fixedly connected with a first-stage bearing seat through screws, so that a first-stage planetary reducer is formed, and the first-stage reduction of a rotor is realized; through design and mounting means, can arrange the one-level reduction gear of planetary reduction gear in the motor stator inside, greatly reduced the motor size, promoted the space utilization to the motor. The primary planet carrier serves as the output end of the primary speed reducer and is fixedly connected with the secondary sun gear through jackscrews, so that the output end of the primary speed reducer is fixed with the input end of the secondary speed reducer. The first-stage planet carrier is rotationally connected with the second-stage bearing seat through the first second-stage bearing, so that the first-stage planet carrier can easily rotate around the second-stage bearing seat; the secondary bearing seat is rotatably connected with the gear ring support through a second secondary bearing, so that the secondary bearing seat can easily rotate around the gear ring support; the second-stage sun gear is meshed with three second-stage planetary gears which are symmetrically distributed at the center, the second-stage planetary gears are meshed with a second-stage gear ring, the second-stage planetary gears are rotationally connected with a second-stage planetary carrier through a third second-stage bearing, and the second-stage planetary carrier is fixedly connected with a second-stage bearing seat through screws, so that a second-stage planetary reducer is formed, and the second-stage speed reduction of a rotor is realized; the second-stage planet carrier is rotationally connected with the output end cover through the output bearing, the gear ring support and the support bearing seat are connected through screws, the coaxiality of the speed reducer is guaranteed, the support and the fixing function can be achieved, the strength and the mechanical precision of the integrated joint motor are improved, and the performance of the integrated joint motor is improved.
The output shaft is matched with the secondary planet carrier and the output support bearing to finish the speed reduction function of the speed reducer, and the robot driving joint is ensured to output larger torque.
The encoder assembly comprises a PCB board, an optical encoder, a magnet and an output shaft; the output shaft is fixedly connected with the secondary planet carrier in an interference fit and screw fastening mode, and the tail end of the output shaft is fixedly provided with a magnet; the optical braid is fixedly connected with the rotor through the screw, the output shaft is connected with the first-stage sun wheel through the output support bearing, so that the coaxiality of the output shaft is ensured, the rigidity of the output shaft is greatly improved, and the coaxiality of the tail end of the output shaft is ensured; because the output shaft thoroughly penetrates through the design scheme in the driving joint rotating shaft, two encoders, namely a grating encoder and a magnetic encoder, can be installed simultaneously, the measurement accuracy of the integrated driving joint is improved, the accuracy performance of the integrated driving joint is improved, and the integrated driving joint can be used for evaluating the abrasion condition of the driving joint. Meanwhile, the mounting design mode is adopted, so that the position of the tail end magnet of the output shaft relative to the PCB can be adjusted while the output shaft is fixed with the output end of the motor, and the magnetic braiding is conveniently and precisely adjusted, so that the control precision of the integrated joint is greatly improved.
It will be appreciated by persons skilled in the art that the foregoing description is a preferred embodiment of the invention, and is not intended to limit the invention, but rather to limit the invention to the specific embodiments described, and that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for elements thereof, for the purposes of those skilled in the art. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An integrated robot driving joint based on a planetary reducer is characterized by comprising a shell component, a reducer component and an encoder component;
the shell component comprises a shell (1) and a rear cover (3) fixedly connected with the shell (1);
the speed reducer assembly comprises a rotor (4), a stator (5), a supporting bearing seat (28), a first supporting bearing seat (29), a transfer bearing seat (31), a first-stage bearing seat (6), a first-stage sun gear (7), a first-stage planetary gear (8), a first-stage gear ring (9), a first-stage planetary carrier (10), a second-stage bearing seat (11), a second-stage sun gear (12), a second-stage planetary gear (13), a second-stage gear ring (14), a second-stage planetary carrier (15), an output end cover (16), a first-stage bearing (17), a second-stage bearing (18), a third-stage bearing (19), a first-stage bearing (20), a second-stage bearing (21), a third-stage bearing (22), an output bearing (23), an output shaft (26), a gear ring support (27), a first-stage supporting bearing (30), a tail end transfer bearing (32) and an output supporting bearing (33);
the stator (5) is matched with the supporting bearing seat (28); the first support bearing seat (29), the second primary bearing (18) and the primary gear ring (9) are fixed on the inner ring of the support bearing seat (28); the rotor (4) is fixedly connected with the first-stage sun gear (7); the rotor (4) is connected with the adapter bearing seat (31);
the primary sun gear (7) is connected with the primary bearing seat (6) and the first support bearing seat (29) through the first primary bearing (17) and the first primary support bearing (30) respectively; the primary sun gear (7) is meshed with the primary planet gear (8), and the primary planet gear (8) is meshed with the primary gear ring (9); the primary planet wheel (8) is rotationally connected with the primary planet carrier (10) through a third primary bearing (19); the primary planet carrier (10) is fixedly connected with the secondary sun gear (12), the primary planet carrier (10) is fixedly connected with the primary bearing seat (6), and the primary planet carrier (10) is rotationally connected with the secondary bearing seat (11) through the first secondary bearing (20); the secondary bearing seat (11) is rotationally connected with the gear ring support (27) through a second secondary bearing (21); the secondary planet wheel (13) is meshed with the secondary sun wheel (12), the secondary planet wheel (13) is meshed with the secondary gear ring (14), and the secondary planet wheel (13) is rotationally connected with the secondary planet carrier (15) through a third secondary bearing (22); the secondary planet carrier (15) is fixedly connected with the secondary bearing seat (11); the secondary planet carrier (15) is rotationally connected with the output end cover (16) through an output bearing (23); the output end cover (16) is fixedly connected with the gear ring support (27); the gear ring support (27) is fixedly connected with the support bearing seat (28);
the output shaft (26) is matched with the secondary planet carrier (15) and the output support bearing (33); the support bearing (33) is matched with the primary sun gear (7); the output shaft (26) is rotationally connected with the primary sun gear (7) through a support bearing (33);
the encoder assembly comprises a PCB (2), an optical braid (24) and a magnet (25); the PCB (2) is fixedly connected with the shell (1), the magnet (25) is arranged at the tail end of the output shaft (26), and the optical braid (24) is fixedly connected with the rotor (4).
2. The integrated robot driving joint based on the planetary reducer according to claim 1, wherein the primary sun wheel (7) is meshed with three primary planet wheels (8), and the three primary planet wheels (8) are arranged in a central symmetry manner.
3. The integrated robot driving joint based on the planetary reducer according to claim 1, wherein the secondary sun gear (12) is meshed with three secondary planet gears (13), and the three secondary planet gears (13) are arranged in a central symmetry manner.
4. The integrated robot drive joint based on planetary reducer according to claim 1, characterized in that the primary planet carrier (10) is fixedly connected with the secondary sun wheel (12) by a jackscrew.
5. The integrated robot driving joint based on the planetary reducer according to claim 1, wherein the rotor (4) is fixed with the adapting bearing seat (31) by a jackscrew and a mechanical limiting mode, so that the rotor (4) drives the adapting bearing seat (31) to rotate simultaneously; the adapter bearing seat (31) is rotationally connected with the shell (1) through the tail end adapter bearing (32), so that when the rotor (4) rotates, the adapter bearing seat (31) rotates relative to the shell (1).
6. The integrated robot drive joint based on the planetary reducer according to claim 1, characterized in that the primary bearing seat (6) is located at the inner ring of the second primary bearing (18) and is rotatably connected with the support bearing seat (28) through the second primary bearing (18).
7. The integrated planetary reducer-based robotic drive joint according to claim 1, wherein the adapter bearing housing (31) is connected to the housing (1) by means of a terminal adapter bearing (32).
8. The integrated robot drive joint based on planetary reducer according to claim 1, characterized in that the ring gear support (27) is fixedly connected with the housing (1).
9. The integrated robot driving joint based on the planetary reducer according to claim 1, wherein the rear cover (3) is provided with a heat radiation hole.
10. The integrated robot drive joint based on planetary reducer according to claim 1, characterized in that the stator (5) is in transition fit with a support bearing block (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477607.5A CN114102659B (en) | 2021-12-06 | 2021-12-06 | Integrated robot driving joint based on planetary reducer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111477607.5A CN114102659B (en) | 2021-12-06 | 2021-12-06 | Integrated robot driving joint based on planetary reducer |
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| CN114102659A CN114102659A (en) | 2022-03-01 |
| CN114102659B true CN114102659B (en) | 2023-07-07 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115276311B (en) * | 2022-08-12 | 2023-05-30 | 广东天太机器人有限公司 | Power base station |
| CN117028494A (en) * | 2023-10-08 | 2023-11-10 | 深圳逐际动力科技有限公司 | Speed reducer, actuator, joint module and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170121520A (en) * | 2016-04-25 | 2017-11-02 | 삼보모터스주식회사 | Reducer for active stabilizer |
| CN110834325A (en) * | 2019-09-30 | 2020-02-25 | 中国北方车辆研究所 | Two-stage planetary transmission robot joint body driver |
| CN110953304A (en) * | 2019-11-07 | 2020-04-03 | 上海大学 | Compact double-stage planetary gear reducer suitable for robot integral joint |
| CN112109113A (en) * | 2020-08-31 | 2020-12-22 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Integrated exoskeleton robot joint assembly |
-
2021
- 2021-12-06 CN CN202111477607.5A patent/CN114102659B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170121520A (en) * | 2016-04-25 | 2017-11-02 | 삼보모터스주식회사 | Reducer for active stabilizer |
| CN110834325A (en) * | 2019-09-30 | 2020-02-25 | 中国北方车辆研究所 | Two-stage planetary transmission robot joint body driver |
| CN110953304A (en) * | 2019-11-07 | 2020-04-03 | 上海大学 | Compact double-stage planetary gear reducer suitable for robot integral joint |
| CN112109113A (en) * | 2020-08-31 | 2020-12-22 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Integrated exoskeleton robot joint assembly |
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