CN114633281A - Anti-side-tipping high-power-density robot joint driving unit - Google Patents
Anti-side-tipping high-power-density robot joint driving unit Download PDFInfo
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- CN114633281A CN114633281A CN202210189470.1A CN202210189470A CN114633281A CN 114633281 A CN114633281 A CN 114633281A CN 202210189470 A CN202210189470 A CN 202210189470A CN 114633281 A CN114633281 A CN 114633281A
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- 238000009434 installation Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000010030 laminating Methods 0.000 claims 1
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- 230000017525 heat dissipation Effects 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H2001/289—Toothed gearings for conveying rotary motion with gears having orbital motion comprising two or more coaxial and identical sets of orbital gears, e.g. for distributing torque between the coaxial sets
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
Abstract
The invention discloses an anti-side-tipping high-power-density robot joint driving unit which comprises a motor component and a speed reducer component, wherein the output end of the motor component is connected with the speed reducer component, the motor component comprises a stator, magnetic steel, a rotor and an impeller, the speed reducer component comprises an inner gear ring, a primary sun gear, a primary planet carrier, a secondary sun gear, a secondary planet gear and an output flange, the inner gear ring is fixedly connected with the stator, the impeller and the primary sun gear synchronously rotate, the primary sun gear is meshed with a plurality of primary planet gears, the primary planet gears are meshed with ring teeth of the inner gear ring, the primary planet gears are rotatably arranged on the primary planet carrier, the primary planet carrier is fixedly connected with the secondary sun gear, the secondary sun gear is meshed with a plurality of secondary planet gears, the secondary planet gears are meshed with ring teeth, and the secondary planet gears are rotatably arranged on the output flange. The invention has strong anti-side-tipping capability, high motion precision and good operation stability.
Description
Technical Field
The invention relates to the technical field of driving units, in particular to an anti-side-tipping high-power-density robot joint driving unit.
Background
At present, the drive unit with smaller axial thickness is used for compressing the axial size of the speed reducer, the output end is often provided with a single bearing instead of side-by-side bearings, when the output end positioned on one side of the drive unit is subjected to larger axial and radial loads, the output end is only supported by the single bearing, so that the output end is easy to displace and deform in the overturning direction, and the internal parts of the speed reducer and the motor rotor are driven to displace and deform, thereby causing the problems of speed reducer precision damage, service life shortening, transmission failure, rotor rotation instability, abnormal encoder operation and the like.
The temperature rise of the stator is always an important index for limiting the power density of the motor, external cooling equipment cannot be installed due to the fact that the volume and the internal space of the driving unit are limited, at present, passive heat dissipation modes such as a metal shell or a heat dissipation fin are mostly adopted, the cooling effect is limited, and the improvement of the power density of the driving unit is hindered.
Most of the existing robot joint driving units are fixedly connected with an encoder, a speed reducer and a motor, and are large in size, high in maintenance difficulty and high in replacement cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an anti-roll high-power-density robot joint driving unit, wherein a double-support structure is adopted for the output end of a speed reducer assembly, the appearance size of the speed reducer is not changed, the stress state of the output end can be obviously improved, the anti-roll capability of the output end of the driving unit is strong, the movement precision is high, and the operation stability is good; the impeller type rotor is adopted, so that the air flow in the motor can be accelerated, the temperature rise of the stator is reduced, and the maximum output torque of the driving unit is improved; the modular design is adopted, all components are connected in a mechanical mode, the components of the driving unit are mutually independent, the replacement and the maintenance are convenient, and the expansibility is strong; the encoder is arranged in a gap between the end cover and the rotor, the structure is compact, and the driving unit has strong applicability to narrow space.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an anti-side-tipping high-power-density robot joint driving unit comprises a motor component and a speed reducer component, wherein the output end of the motor component is connected with the speed reducer component, the motor component comprises a stator, magnetic steel, a rotor and an impeller, the rotor is fixedly connected with the magnetic steel, the magnetic steel is circumferentially and uniformly distributed on the inner surface of the rotor, the magnetic steel and the stator are concentrically distributed, an air gap is formed between the magnetic steel and the stator, the rotor is fixedly connected with the impeller, the speed reducer component comprises an inner gear ring, a primary sun gear, a primary planet carrier, a secondary sun gear, a secondary planet gear and an output flange, the inner gear ring is positioned on the inner surface of the stator, the inner gear ring is fixedly connected with the stator, the inner surface of the inner gear ring is provided with circumferentially distributed ring teeth, the impeller and the primary sun gear are concentrically distributed and synchronously rotate, the periphery of the primary sun gear is meshed with a plurality of circumferentially and uniformly distributed first planet gears, every one-level planet wheel all meshes the ring gear simultaneously, and a plurality of one-level planet wheels rotate jointly and install in the one-level planet carrier, the internal surface rigid coupling second grade sun gear of one-level planet carrier, the periphery of second grade sun gear meshes the second grade planet wheel of a plurality of circumference equipartitions, and every second grade planet wheel all meshes the ring gear simultaneously, and a plurality of second grade planet wheels rotate jointly and install in the output flange, one-level planet wheel and second grade planet wheel are located the both sides of one-level planet carrier respectively.
The inner surface of the stator is provided with a stator notch, the outer surface of the inner gear ring is provided with an inner gear ring notch matched with the stator notch, and the stator notch and the inner gear ring notch are matched to form a hole for the stator positioning pin to be inserted in an interference fit manner.
The impeller is including being located the well dish at center, being located outlying outer ring and blade, connect through the blade of circumference equipartition between well dish and the outer ring, the one end of outer ring extends the cutting that forms the circumference equipartition, the cutting corresponds inserts between two adjacent magnet steels and the cutting all laminates with two adjacent magnet steels.
The outer surface of the inner gear ring is provided with an outer step, the stator is installed on the outer surface of the inner gear ring, one end of the stator abuts against the outer step, the other end of the stator abuts against through a pressing plate, and the pressing plate is fixedly connected to one end face of the inner gear ring.
An input flange is fixedly connected to one end face of the middle disc, the outer surface of the primary sun gear is in interference fit with the inner surface of the input flange, a protruding flange shaft is arranged at the center of the output flange, a needle bearing is installed between the inner surface of the primary sun gear and the outer surface of the flange shaft, and a crossed roller bearing II is installed between the outer surface of the input flange and the inner surface of the inner gear ring.
The input flange is characterized in that a second pin shaft is circumferentially arranged at one end of the first-stage planet carrier, the first-stage planet wheel sleeve is arranged on the periphery of the second pin shaft, a second needle roller is arranged between the first-stage planet wheel and the second pin shaft, a first large gasket is arranged on one end face of the input flange in an attached mode, one end faces of the first stage planet wheels are attached to the first large gaskets together, the other end faces of the first stage planet wheels are attached to first small gaskets respectively, and the other end faces of the first small gaskets are attached to the first-stage planet carrier.
The output flange is characterized in that a first pin shaft is circumferentially arranged at one end of the output flange, the second-stage planet wheels are sleeved on the periphery of the first pin shaft, a first roller pin is arranged between the second-stage planet wheels and the first pin shaft, a large gasket II is arranged on one end face of the first-stage planet carrier in a fit mode, one end faces of the second-stage planet wheels are jointly attached to the large gasket II, the other end faces of the second-stage planet wheels are respectively attached to a small gasket II, and the other end faces of the small gasket II are attached to the output flange.
And a first crossed roller bearing is arranged between the outer surface of the output flange and the inner surface of the inner gear ring.
The encoder component comprises an end cover, a PCB and an encoder code wheel, the end cover is fixedly connected with the PCB, the end cover is fixedly connected with one end face of the inner gear ring, the encoder code wheel is fixedly connected with one end face of the rotor, and the encoder code wheel is axially opposite to the PCB at intervals.
A temperature sensor is installed on one end face of the PCB, and the temperature sensor is located on one end face, far away from the encoder coded disc, of the PCB.
The invention has the beneficial effects that:
1. the output flange of the speed reducer assembly is supported by the two bearings together, so that deformation and displacement are not easy to generate, the stress state of the output flange is improved, the anti-roll capability is greatly improved, and excellent transmission precision and stability can be still maintained when the output flange bears larger load.
2. The impeller type rotor is adopted, the rotor is equivalent to a fan when rotating, air flow in the motor can be accelerated, the stator is actively cooled, temperature rise of the stator is inhibited, the maximum output torque of the driving unit is improved while an additional heat dissipation mechanism and weight are not increased, and the power density of the driving unit is further improved due to the fact that the additional heat dissipation mechanism and the weight are not increased.
3. The encoder is arranged in a gap between the end cover and the rotor, the driving unit is compact in overall structure, regular in appearance and high in applicability to various robot joints, and the encoder is particularly suitable for driving the joints at the small reserved space of the driving unit.
4. Because the encoder code wheel is installed in rotor one end, the sensor integration is on PCB board surface, therefore the stability of rotor pivoted will directly influence the accuracy of encoder feedback, and the improvement of anti heeling ability has further guaranteed that the encoder feedback is accurate.
5. And by adopting a modular design, all components are mutually independent, and the assembly and disassembly are easy and convenient to maintain.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of the motor assembly of the present invention;
FIG. 3 is an exploded view of the motor assembly of the present invention;
FIG. 4 is a cross-sectional view of the motor assembly of the present invention;
FIG. 5 is a partial exploded view of the present invention;
FIG. 6 is an enlarged view taken at A in FIG. 5;
FIG. 7 is a cross-sectional view of the present invention;
FIG. 8 is an exploded view of the encoder assembly of the present invention;
fig. 9 is a perspective view of an inner ring gear of the present invention;
FIG. 10 is a perspective view of an output flange of the present invention;
FIG. 11 is a perspective view of the impeller of the present invention; .
In the figure: motor assembly 1, stator 11, stator notch 111, magnetic steel 12, rotor 13, impeller 14, middle disc 141, outer ring 142, blade 143, slip 144, impeller hole 145, reducer assembly 2, cross roller bearing 201, output flange 202, flange shaft 2021, flange pin slot 2022, pin 203, small pad 204, needle 205, second-stage planet wheel 206, large pad 207, second-stage sun wheel 208, first-stage planet carrier 209, planet carrier pin slot 2091, inner gear ring 210, inner gear ring notch 2101, outer step 2102, ring tooth 2103, inner step 2104, inner step 2105, stator positioning pin 211, pin 212, small pad 213, needle 214, first-stage planet wheel 215, large pad 216, needle bearing 217, first-stage sun wheel 218, input flange 219, cross roller bearing 220, pressing plate 221, encoder assembly 3, end cover 31, PCB plate 32, temperature sensor 33, and the like, An encoder code wheel 34.
Detailed Description
The technical solution of the present invention is further illustrated by the following examples in combination with the accompanying drawings.
As shown in fig. 1-11, an anti-roll high power density robot joint driving unit includes a motor assembly 1, a reducer assembly 2, and an encoder assembly 3, an output end of the motor assembly 1 is connected to the reducer assembly 2, the motor assembly 1 includes a stator 11, a magnetic steel 12, a rotor 13, and an impeller 14, in this embodiment, the output end of the motor assembly 1 is referred to as the impeller 14.
Referring to fig. 3 and 4, the rotor 13 is fixedly connected with the magnetic steel 12, the magnetic steel 12 is circumferentially and uniformly distributed on the inner surface of the rotor 13, and both ends of the magnetic steel 12 do not exceed both ends of the rotor 13. The magnetic steel 12 and the stator 11 are concentrically distributed and form an air gap therebetween, and the air gap is a proper term in the field of motors and is the prior art.
The rotor 13 is fixedly connected with the impeller 14, referring to fig. 11, the impeller 14 includes a central disk 141 located at the center, an outer ring 142 located at the periphery, and blades 143, the central disk 141 is circular, the central disk 141 and the outer ring 142 are connected by the blades 143 uniformly distributed in the circumferential direction, the outer surface of the outer ring 142 forms a step, and after the rotor 13 is installed, one end face of the rotor is abutted against the step and then is welded and fixed.
Referring to fig. 3 and 4, one end of the outer ring 142 extends to form inserting strips 144 which are uniformly distributed in the circumferential direction, the inserting strips 144 are correspondingly inserted between two adjacent magnetic steels 12, and the inserting strips 144 are attached to two adjacent magnetic steels 12. The inserting strips 144 extend into the rotor 13, the arranging of the inserting strips 144 can facilitate the installation and positioning of the magnetic steel 12, the magnetic steel 12 is installed after the rotor 13 and the impeller 14 are welded, and each magnetic steel 12 is inserted by aligning with a gap between two inserting strips 144.
Referring to fig. 5, 6 and 7, the reducer assembly 2 includes a ring gear 210, a primary sun gear 218, a primary planet gear 215, a primary planet carrier 209, a secondary sun gear 208, a secondary planet gear 206 and an output flange 202, the ring gear 210 is located on an inner surface of the stator 11, the ring gear 210 is fixedly connected to the stator 11, a stator notch 111 (see fig. 2) is formed in the inner surface of the stator 11, the stator notch 111 penetrates through two ends of the inner surface of the stator 11, a ring gear notch 2101 matched with the stator notch 111 is formed in the outer surface of the ring gear 210, and the stator notch 111 and the ring gear notch 2101 are matched to form a hole for the stator positioning pin 211 to be inserted in an interference fit manner. Stator notch 111 and ring gear notch 2101 match and form complete round hole, and stator locating pin 211 can prevent both relative rotations after inserting. The inner gear ring 210 and the stator 11 are mounted in an interference fit manner.
Referring to fig. 9, ring teeth 2103 distributed circumferentially are disposed on an inner surface of ring gear 210, an outer step 2102 is disposed on an outer surface of ring gear 210, stator 11 is mounted on an outer surface of ring gear 210, one end of stator 11 abuts against outer step 2102, the other end of stator 11 abuts against pressing plate 221 (see fig. 7), and pressing plate 221 is fixedly connected to one end surface of ring gear 210 (referring to fig. 7, one end surface of ring gear 210 is a left end surface thereof).
Referring to fig. 9, the inner surface of the ring gear 210 is further provided with a first inner step 2104 and a second inner step 2105, and the first inner step 2104 and the second inner step 2105 are respectively located at two sides of the ring gear 2103.
Referring to fig. 7, an end surface of the middle plate 141 (the end surface is a right end surface with reference to fig. 7) is fixedly connected to an input flange 219, and the two are connected by bolts, an outer surface of the primary sun gear 218 is in interference fit with an inner surface of the input flange 219, the primary sun gear 218 further includes a boss at a left end thereof, the middle plate 141 is provided at a center thereof with an impeller hole 145, the boss is cylindrical and is inserted into the impeller hole 145 in a clearance fit manner, but the boss does not exceed the left end of the impeller hole 145, and the impeller 14 and the primary sun gear 218 are concentrically arranged and synchronously rotate.
Referring to fig. 7, a protruded flange shaft 2021 is provided at the center of the output flange 202, the flange shaft 2021 extends to the left end and extends into the primary sun gear 218, and a needle bearing 217 is installed between the inner surface of the primary sun gear 218 and the outer surface of the flange shaft 2021.
Referring to fig. 7, a second cross roller bearing 220 is installed between the outer surface of the input flange 219 and the inner surface of the ring gear 210. The right end of the outer ring of the second cross roller bearing 220 abuts against the first inner step 2104, and the left end of the outer ring of the second cross roller bearing 220 abuts against the pressure plate 221.
Referring to fig. 7, the periphery of the primary sun gear 218 is engaged with a plurality of circumferentially uniformly distributed primary planet gears 215, in this embodiment, the number of the primary planet gears 215 is 4, the primary planet gears 215 are located on the right side of the input flange 219, each primary planet gear 215 is simultaneously engaged with the ring gear 2103, the primary planet gears 215 are located between the ring gear 2103 and the primary sun gear 218, the ring gear 2103 is located on the outermost periphery of the three, the plurality of primary planet gears 215 are jointly rotatably mounted on the primary planet carrier 209, the primary planet carrier 209 is provided with planet carrier pin grooves 2091, the number of the planet carrier pin grooves 2091 is the same as that of the primary planet gears 215, one end of the primary planet carrier 209 is circumferentially provided with a pin shaft two 212, the pin shaft two 212 is mounted in an interference fit manner on the planet carrier pin groove 2091, the left end of the pin shaft two 212 exceeds the planet carrier pin groove 2091, and the primary planet gears 215 are sleeved on the periphery of the pin shaft two 212 (specifically, the left end of the pin shaft two 212 exceeds the planet shaft groove 2091), a second needle roller 214 is installed between the first-stage planet wheel 215 and the second pin shaft 212 (referring to the distribution of the first needle roller 205 in fig. 6, the second needle roller 214 is the same as the distribution of the first needle roller 205), that is, the second needle roller 214 fills the gap between the first-stage planet wheel 215 and the second pin shaft 212.
Referring to fig. 7, an end face (right end face) of the input flange 219 is fitted with a first large pad 216, end faces (left end faces) of the plurality of primary planet wheels 215 are jointly fitted with the first large pad 216, and the first large pad 216 is sleeved on the periphery of the primary sun wheel 218. Another terminal surface (right-hand member face) of a plurality of first-level planet wheels 215 laminates a little gasket 213 respectively, and the quantity of little gasket 213 is 4, one level planet carrier 209 is laminated to another terminal surface (right-hand member face) of little gasket 213, and little gasket 213 all overlaps and establishes in a round pin axle two 212 periphery that corresponds.
Referring to fig. 7, the inner surface of the primary planet carrier 209 is fixedly connected with a secondary sun gear 208, the secondary sun gear 208 and the primary planet carrier 209 are installed in an interference fit manner, the secondary sun gear 208 is sleeved on the periphery of the flange shaft 2021 but does not contact the outer peripheral wall of the flange shaft 2021, and the secondary sun gear 208 is located on the right side of the primary sun gear 218. The periphery of secondary sun gear 208 meshes a plurality of circumferentially evenly distributed secondary planet wheels 206, the number of secondary planet wheels 206 is 4 and the arrangement form is the same as that of primary planet wheels 215, each secondary planet wheel 206 simultaneously meshes with ring gear 2103, a plurality of secondary planet wheels 206 are rotatably mounted on output flange 202 together, primary planet wheels 215 and secondary planet wheels 206 are respectively located on two sides of primary planet carrier 209 (primary planet wheels 215 are located on the left side, and secondary planet wheels 206 are located on the right side).
Referring to fig. 7, a first pin 203 is circumferentially installed at one end (left end) of the output flange 202, a flange pin groove 2022 is formed at the left end of the output flange 202, the first pin 203 is installed in the flange pin groove 2022 in an interference fit manner, and the left end of the first pin 203 exceeds the flange pin groove 2022. The secondary planet gear 206 is sleeved on the periphery of the first pin shaft 203, a first roller pin 205 is arranged between the secondary planet gear 206 and the first pin shaft 203, and the installation mode of the first roller pin 205 is the same as that of the second roller pin 214.
When the output flange 202 is subjected to an overturning moment, the double-support structure formed by the crossed roller bearings 201 and the needle roller bearings 217 can apply a reaction force to the deformation trend generated at the two ends of the output flange 202, so that the output flange 202 is ensured not to deform and displace, the first pin shaft 203 fixedly connected to the output flange 202 is further ensured not to displace and deform along with the deformation trend, and finally, the internal parts of the speed reducer are always kept in a good matching state, so that the anti-rolling effect is achieved.
Referring to fig. 7, one end surface (right end surface) of the primary planet carrier 209 is provided with a large second gasket 207 in a fitting manner, the large second gasket 207 is sleeved on the periphery of the secondary sun gear 208, one end surface (left end surface) of the plurality of secondary planet gears 206 is commonly fitted with the large second gasket 207, the other end surface (right end surface) of the plurality of secondary planet gears 206 is respectively fitted with a small second gasket 204, the number of the small second gaskets 204 is 4, the other end surface (right end surface) of the small second gasket 204 is fitted with the output flange 202, and the small second gasket 204 is sleeved on the periphery of the first pin shaft 203.
Referring to fig. 7, the encoder assembly 3 includes an end cap 31, a PCB board 32 and an encoder code wheel 34, and a cross roller bearing 201 is installed between the outer surface of the output flange 202 and the inner surface of an inner ring gear 210. The left end of the outer surface of the output flange 202 is provided with a step, the left end face of the inner ring of the first cross roller bearing 201 abuts against the step, the left end of the outer ring of the first cross roller bearing 201 abuts against the second inner step 2105, and the inner edge of the end cover 31 abuts against the right end face of the outer ring of the first cross roller bearing 201. The center of the right end face of the output flange 202 is provided with a screw hole for connecting a load.
Referring to fig. 7 and 8, the end cover 31 and the PCB 32 are fixedly connected by bolts, the end cover 31 is fixedly connected to one end surface (right end surface) of the inner gear ring 210 by bolts, the encoder code disc 34 is fixedly connected to one end surface (right end surface) of the rotor 13, and the encoder code disc 34 is axially spaced and opposite to the PCB 32.
Referring to fig. 7 and 8, a temperature sensor 33 is mounted on one end face of the PCB 32, and the temperature sensor 33 is located on one end face of the PCB 32 far away from the encoder code wheel 34. The end cover 31 is provided with an avoidance gap for the temperature sensor 33 to pass through, the signal output end of the temperature sensor 33 is welded on the PCB 32, and the signal acquisition end is bonded on the surface of the coil of the stator 11.
Referring to fig. 11, the impeller 14 has five blades, and the blade sections have an anti-symmetric structure, so that the blade can accelerate the air flow inside the motor assembly 1 and cool the stator 11 regardless of the rotation direction of the rotor 13.
Referring to fig. 7, a channel is formed between the PCB 32 and the encoder disc 34, the stator 11 is located between the channel and the blades of the impeller 14, and the blades rotate to introduce cooling air into the channel, through the stator 11 and out. Or the fan blades may direct wind through the stator 11 and out of the path.
In the embodiment, the cover 31, the rotor 13, the impeller 14 and the primary planet carrier 209 are made of light materials, for example, aluminum alloy is used for manufacturing the cover, the rotor 13, the impeller 14 and the primary planet carrier 209, and titanium alloy is used for manufacturing the output flange 202, the secondary planet wheel 206, the secondary sun wheel 208, the primary planet wheel 215, the primary sun wheel 218 and the input flange 219, so that the overall mass is greatly reduced and the power density is improved on the premise of ensuring the strength and the service life of parts.
Referring to fig. 7, the middle disc 141, the input flange 219, the primary planet gear 215, the primary planet carrier 209, the secondary planet gear 206 and the output flange 202 are designed by being attached from left to right, and other parts do not exceed the axial range.
The working principle of the embodiment is as follows: when the driving unit operates, the rotor 13 and the impeller 14 rotate relative to the stator 11 and drive the input flange 219 and the primary sun gear 218 fixedly connected with the input flange to rotate, and the four primary planet gears 215 rotate and move along the circumference of the ring gear 2103 to drive the primary planet carrier 209 and the secondary sun gear 208 to rotate, so that the first-stage speed reduction is completed; the four secondary planet gears 206 are meshed with the secondary sun gear 208, the four secondary planet gears 206 rotate and move along the circumference of the ring gear 2103 to drive the output flange 202 to rotate, so that the second-stage speed reduction is completed, and power is output through the output flange 202.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An anti-roll high power density robot joint drive unit characterized by: the motor comprises a motor component (1) and a speed reducer component (2), wherein the output end of the motor component (1) is connected with the speed reducer component (2), the motor component (1) comprises a stator (11), magnetic steel (12), a rotor (13) and an impeller (14), the rotor (13) and the magnetic steel (12) are fixedly connected, the magnetic steel (12) and the stator (11) are circumferentially and uniformly distributed on the inner surface of the rotor (13), an air gap is formed between the magnetic steel (12) and the stator (11) in a concentric distribution manner, the rotor (13) and the impeller (14) are fixedly connected, the speed reducer component (2) comprises an inner gear ring (210), a primary sun gear (218), a primary planet gear (215), a primary planet carrier (209), a secondary sun gear (208), a secondary planet gear (206) and an output flange (202), the inner gear ring (210) is located on the inner surface of the stator (11), and the inner gear ring (210) and the stator (11) are fixedly connected, the inner surface of the inner gear ring (210) is provided with ring teeth (2103) which are distributed circumferentially, the impeller (14) and the primary sun gear (218) are distributed concentrically and rotate synchronously, the periphery of the primary sun gear (218) is meshed with a plurality of circumferentially uniformly distributed primary planet gears (215), each primary planet gear (215) is simultaneously meshed with a ring gear (2103), the plurality of primary planet gears (215) are jointly and rotatably arranged on a primary planet carrier (209), the inner surface of the primary planet carrier (209) is fixedly connected with a secondary sun gear (208), the periphery of the secondary sun wheel (208) is meshed with a plurality of secondary planet wheels (206) which are uniformly distributed in the circumferential direction, each secondary planet wheel (206) is simultaneously meshed with a ring gear (2103), the plurality of secondary planet wheels (206) are jointly rotatably arranged on the output flange (202), the primary planet wheel (215) and the secondary planet wheel (206) are respectively positioned at two sides of the primary planet carrier (209).
2. An anti-roll high power density robot joint drive unit according to claim 1, characterized by: the inner surface of the stator (11) is provided with a stator notch (111), the outer surface of the inner gear ring (210) is provided with an inner gear ring notch (2101) matched with the stator notch (111), and the stator notch (111) and the inner gear ring notch (2101) are matched to form a hole for the stator positioning pin (211) to be inserted in an interference fit mode.
3. An anti-roll high power density robot joint drive unit according to claim 1, characterized by: impeller (14) including well dish (141) that are located the center, be located outlying outer ring (142) and blade (143), connect through blade (143) of circumference equipartition between well dish (141) and outer ring (142), the one end of outer ring (142) is extended and is formed cutting (144) of circumference equipartition, cutting (144) correspond insert between two adjacent magnet steel (12) and cutting (144) and two adjacent magnet steel (12) all laminate.
4. An anti-roll high power density robot joint drive unit according to claim 1, characterized by: the outer surface of the inner gear ring (210) is provided with an outer step (2102), the stator (11) is installed on the outer surface of the inner gear ring (210), one end of the stator (11) abuts against the outer step (2102), the other end of the stator (11) abuts against through a pressing plate (221), and the pressing plate (221) is fixedly connected to one end face of the inner gear ring (210).
5. An anti-roll high power density robot joint drive unit according to claim 3, characterized in that: an end face of the middle disc (141) is fixedly connected with an input flange (219), the outer surface of the primary sun gear (218) is in interference fit with the inner surface of the input flange (219), a protruding flange shaft (2021) is arranged at the center of the output flange (202), a needle bearing (217) is installed between the inner surface of the primary sun gear (218) and the outer surface of the flange shaft (2021), and a second crossed roller bearing (220) is installed between the outer surface of the input flange (219) and the inner surface of the inner gear ring (210).
6. An anti-roll high power density robot joint drive unit according to claim 5, characterized in that: the one end circumference installation round pin axle two (212) of one-level planet carrier (209), round pin axle two (212) periphery is located in one-level planet wheel (215), installation kingpin two (214) between one-level planet wheel (215) and round pin axle two (212), the one end face laminating of input flange (219) is equipped with big gasket one (216), and big gasket one (216) are laminated jointly to a plurality of one-level planet wheels (215) one end face, and one little gasket one (213) is laminated respectively to another end face of a plurality of one-level planet wheels (215), one grade planet carrier (209) is laminated to another end face of little gasket one (213).
7. An anti-roll high power density robot joint drive unit according to claim 1, characterized by: the output flange (202) is characterized in that a first pin shaft (203) is circumferentially arranged at one end of the output flange (202), a second-stage planet wheel (206) is sleeved on the periphery of the first pin shaft (203), a first rolling needle (205) is arranged between the second-stage planet wheel (206) and the first pin shaft (203), a large gasket II (207) is arranged on one end face of the first-stage planet wheel (209) in a fit mode, a large gasket II (207) is jointly attached to one end face of a plurality of second-stage planet wheels (206), a small gasket II (204) is attached to the other end face of the plurality of second-stage planet wheels (206) respectively, and the output flange (202) is attached to the other end face of the small gasket II (204).
8. An anti-roll high power density robot joint drive unit according to claim 1, characterized by: a first cross roller bearing (201) is arranged between the outer surface of the output flange (202) and the inner surface of the inner gear ring (210).
9. An anti-roll high power density robot joint drive unit according to any of claims 1-8, characterized by: still include encoder subassembly (3), encoder subassembly (3) include end cover (31), PCB board (32) and encoder code wheel (34), end cover (31) and PCB board (32) rigid coupling, end cover (31) rigid coupling is in an terminal surface of ring gear (210), encoder code wheel (34) rigid coupling is in a terminal surface of rotor (13), and encoder code wheel (34) are relative with PCB board (32) axial interval.
10. An anti-roll high power density robot joint drive unit according to claim 9, characterized by: a temperature sensor (33) is installed to PCB board (32) one end face, temperature sensor (33) are located the one end face of keeping away from encoder code wheel (34) of PCB board (32).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210189470.1A CN114633281B (en) | 2022-02-28 | 2022-02-28 | Anti-roll high-power-density robot joint driving unit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210189470.1A CN114633281B (en) | 2022-02-28 | 2022-02-28 | Anti-roll high-power-density robot joint driving unit |
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| CN114633281A true CN114633281A (en) | 2022-06-17 |
| CN114633281B CN114633281B (en) | 2023-12-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024031858A1 (en) * | 2022-08-12 | 2024-02-15 | 广东天太机器人有限公司 | Power base station |
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| CN114633281B (en) | 2023-12-29 |
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