CN114633281B - Anti-roll high-power-density robot joint driving unit - Google Patents
Anti-roll high-power-density robot joint driving unit Download PDFInfo
- Publication number
- CN114633281B CN114633281B CN202210189470.1A CN202210189470A CN114633281B CN 114633281 B CN114633281 B CN 114633281B CN 202210189470 A CN202210189470 A CN 202210189470A CN 114633281 B CN114633281 B CN 114633281B
- Authority
- CN
- China
- Prior art keywords
- stator
- gear
- sun gear
- ring
- face
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 24
- 239000010959 steel Substances 0.000 claims abstract description 24
- 238000005520 cutting process Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000010030 laminating Methods 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 239000003638 chemical reducing agent Substances 0.000 abstract description 15
- 238000005096 rolling process Methods 0.000 abstract description 5
- IHIDFKLAWYPTKB-UHFFFAOYSA-N 1,3-dichloro-2-(4-chlorophenyl)benzene Chemical compound C1=CC(Cl)=CC=C1C1=C(Cl)C=CC=C1Cl IHIDFKLAWYPTKB-UHFFFAOYSA-N 0.000 description 6
- 230000017525 heat dissipation Effects 0.000 description 4
- 238000001816 cooling Methods 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000007547 defect 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
- 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
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Abstract
The invention discloses an anti-roll 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 first-stage sun gear, a first-stage planet gear carrier, a second-stage sun gear, a second-stage planet gear and an output flange, the inner gear ring is fixedly connected with the stator, the impeller and the first-stage sun gear synchronously rotate, the first-stage sun gear is meshed with a plurality of first-stage planet gears, the first-stage planet gears are meshed with annular teeth of the inner gear ring, the first-stage planet gears are rotatably arranged on the first-stage planet carrier, the first-stage planet carrier is fixedly connected with the second-stage sun gear, the second-stage sun gear is meshed with a plurality of second-stage planet gears, the second-stage planet gears are meshed with annular teeth, and the second-stage planet gears are rotatably arranged on the output flange. The invention has strong anti-rolling capability, high movement precision and good running stability.
Description
Technical Field
The invention relates to the technical field of driving units, in particular to an anti-roll high-power-density robot joint driving unit.
Background
At present, in order to compress the axial size of the speed reducer, the output end of the driving unit with smaller axial thickness is often provided with a single bearing instead of a side-by-side bearing, when the output end positioned at one side of the driving unit is subjected to larger axial and radial loads, the output end is supported by only a single bearing, so that the output end is easy to displace and deform in the overturning direction, and internal parts of the speed reducer and a motor rotor are driven to displace and deform, thereby causing the problems of precision damage, shortened service life, transmission failure, unstable rotor rotation, abnormal encoder operation and the like of the speed reducer.
The stator temperature rise is an important index for limiting the power density of the motor all the time, and because the volume and the internal space of the driving unit are limited, external cooling equipment cannot be installed, and at present, a passive heat dissipation mode such as a metal shell or a heat dissipation fin is adopted, so that the cooling effect is limited, and the power density of the driving unit is prevented from being increased.
The existing robot joint driving unit is mostly fixedly connected among an encoder, a speed reducer and a motor, and has the defects of large volume, high maintenance difficulty and high replacement cost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the anti-roll high-power-density robot joint driving unit, wherein the output end of the speed reducer assembly is of a double-support structure, so that the overall dimension 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 a stator is reduced, and the maximum output torque of a 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 the 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 above purpose, the technical scheme of the invention is as follows:
the utility model provides an anti high power density robot joint drive unit that heels, includes motor element, reduction gear subassembly, motor element's output connects the reduction gear subassembly, motor element includes stator, magnet steel, rotor and impeller, rotor and magnet steel rigid coupling and magnet steel circumference equipartition are in the rotor internal surface, magnet steel and stator are concentric to be distributed and form the air gap between the two, rotor and impeller rigid coupling, the reduction gear subassembly includes ring gear, one-level sun gear, one-level planet wheel, one-level planet carrier, second grade sun gear, second grade planet wheel and output flange, the ring gear is located the internal surface of stator and ring gear and stator rigid coupling, and the internal surface of ring gear is equipped with the ring tooth that circumference distributes, impeller and one-level sun gear concentric to distribute and synchronous rotation, the periphery of one-level sun gear meshes the one-level planet wheel of a plurality of circumference equipartition, and every one-level planet wheel all meshes the ring tooth simultaneously, a plurality of one-level planet wheels rotate jointly and install in one-level planet carrier's internal surface rigid coupling second grade sun gear, the periphery of second grade sun gear of a plurality of circumference meshing two-level planet wheels, each second grade planet wheel is located the one-level planet wheel and both sides rotation of second planet wheel, the one-level planet wheel is all installed in the same side planet carrier rotation.
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 interference fit insertion of the stator positioning pin.
The impeller comprises a central disk positioned at the center, an outer ring positioned at the periphery and blades, wherein the central disk is connected with the outer ring through blades uniformly distributed in the circumferential direction, one end of the outer ring extends to form cutting bars uniformly distributed in the circumferential direction, and the cutting bars are correspondingly inserted between two adjacent magnetic steels and are attached to the two adjacent magnetic steels.
The outer surface of the inner gear ring is provided with an outer step, the stator is arranged on the outer surface of the inner gear ring, one end of the stator is propped against the outer step, the other end of the stator is propped against the outer step through a pressing plate, and the pressing plate is fixedly connected to one end face of the inner gear ring.
The input flange is fixedly connected with one end face of the middle disc, the outer surface of the primary sun wheel is in interference fit with the inner surface of the input flange, a convex flange shaft is arranged in the center of the output flange, a needle bearing is arranged between the inner surface of the primary sun wheel and the outer surface of the flange shaft, and a cross roller bearing II is arranged between the outer surface of the input flange and the inner surface of the annular gear.
The one end circumference installation round pin axle second of one-level planet carrier, one-level planet wheel cover is located round pin axle second periphery, installs the kingpin second between one-level planet wheel and the round pin axle second, input flange's one end laminating is equipped with big gasket first, and big gasket first is laminated jointly to a plurality of one-level planet wheel's one end, and a little gasket first is laminated respectively to a plurality of one-level planet wheel's other end, little gasket first other end laminating one-level planet carrier.
The first round pin axle is installed to the one end circumference of output flange, second grade planet wheel cover is located round pin axle one periphery, installs the kingpin one between second grade planet wheel and the round pin axle one, one end laminating of one-level planet carrier is equipped with big gasket two, and big gasket two is laminated jointly to a plurality of second grade planet wheel's one end, and a little gasket two is laminated respectively to a plurality of second grade planet wheel's another terminal surface, little gasket two other terminal surface laminating output flange.
And a crossed roller bearing I is arranged between the outer surface of the output flange and the inner surface of the annular gear.
The encoder assembly comprises an end cover, a PCB and an encoder code disc, wherein 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 disc is fixedly connected with one end face of the rotor, and the encoder code disc is opposite to the PCB in axial interval.
And a temperature sensor is arranged on one end face of the PCB, and the temperature sensor is positioned on one end face of the PCB, far away from the encoder code disc.
The beneficial effects of the invention are as follows:
1. the output flange of the speed reducer assembly is supported by the two bearings together so as not to easily deform and displace, the stress state of the output flange is improved, the anti-roll capability is greatly improved, and the output flange can still maintain excellent transmission precision and stability when bearing larger load.
2. The impeller type rotor is adopted, the rotor is equivalent to a fan when rotating, the air flow in the motor can be accelerated, the stator is actively cooled, the temperature rise of the stator is restrained, the maximum output torque of the driving unit is improved while the additional heat dissipation mechanism and the weight are not added, 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 added.
3. The encoder is arranged in the gap between the end cover and the rotor, the whole structure of the driving unit is compact, the appearance is regular, the applicability to various robot joints is strong, and the driving unit is particularly suitable for driving joints with small reserved space of the driving unit.
4. Because the encoder code wheel is installed in rotor one end, and the sensor integration is on the PCB board surface, therefore rotor pivoted stability will directly influence the accuracy of encoder feedback, and the improvement of anti roll ability has further guaranteed the encoder accuracy of feedback.
5. By adopting the modularized design, all the components are mutually independent, easy to assemble and disassemble 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 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 the 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 an impeller of the present invention; .
In the figure: the motor assembly 1, the stator 11, the stator notch 111, the magnetic steel 12, the rotor 13, the impeller 14, the middle disk 141, the outer ring 142, the blades 143, the cutting 144, the impeller hole 145, the reducer assembly 2, the first cross roller bearing 201, the output flange 202, the flange shaft 2021, the flange pin groove 2022, the first pin 203, the second small gasket 204, the first needle roller 205, the second planet 206, the second large gasket 207, the second sun 208, the first planet carrier 209, the planet carrier pin groove 2091, the inner ring 210, the inner ring notch 2101, the outer step 2102, the ring teeth 2103, the inner step 2104, the inner step 2105, the stator locating pins 211, the second needle roller 212, the first small gasket 213, the second needle roller 214, the first planet 215, the first large gasket 216, the needle roller bearing 217, the first sun 218, the input flange 219, the second cross roller bearing 220, the pressure plate 221, the encoder assembly 3, the end cap 31, the PCB 32, the temperature sensor 33, and the encoder code wheel 34.
Detailed Description
The technical scheme of the invention is further described below through examples and with reference to the accompanying drawings.
As shown in fig. 1 to 11, an anti-roll high power density robot joint driving unit comprises a motor assembly 1, a speed reducer assembly 2 and an encoder assembly 3, wherein the output end of the motor assembly 1 is connected with the speed reducer assembly 2, the motor assembly 1 comprises a stator 11, magnetic steel 12, a rotor 13 and an impeller 14, and in the embodiment, the output end of the motor assembly 1 is 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 an air gap is formed between the two, and is a proper noun in the field of motors, which 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, an outer ring 142 and blades 143 at the periphery, the central disk 141 is circular, the central disk 141 and the outer ring 142 are connected by the blades 143 uniformly distributed circumferentially, the outer surface of the outer ring 142 forms a step, and one end face of the rotor 13 is welded and fixed against the step after being mounted.
Referring to fig. 3 and 4, one end of the outer ring 142 extends to form circumferentially uniformly distributed cutting strips 144, the cutting strips 144 are correspondingly inserted between two adjacent magnetic steels 12, and the cutting strips 144 are attached to the two adjacent magnetic steels 12. The cutting 144 stretches into the rotor 13, the setting of cutting 144 can make things convenient for the installation location of magnet steel 12, carries out the installation of magnet steel 12 again after rotor 13 and impeller 14 weld, and every magnet steel 12 aligns the space between two cutting 144 and inserts.
Referring to fig. 5, 6 and 7, the reducer assembly 2 includes 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, the inner gear ring 210 is fixedly connected with the stator 11, a stator notch 111 (refer to fig. 2) is provided on the inner surface of the stator 11, the stator notch 111 penetrates through two ends of the inner surface of the stator 11, an inner gear ring notch 2101 matched with the stator notch 111 is provided on the outer surface of the inner gear ring 210, and the stator notch 111 and the inner gear ring notch 2101 are matched to form a hole for inserting the stator positioning pin 211 in an interference fit. The stator notch 111 and the ring gear notch 2101 are matched to form a complete round hole, and the stator positioning pin 211 can prevent relative rotation after being inserted. The ring gear 210 and the stator 11 are mounted for an interference fit.
Referring to fig. 9, the inner surface of the ring gear 210 is provided with ring teeth 2103 distributed circumferentially, the outer surface of the ring gear 210 is provided with an outer step 2102, the stator 11 is mounted on the outer surface of the ring gear 210, one end of the stator 11 abuts against the outer step 2102, the other end of the stator 11 abuts against (referring to fig. 7) through a pressing plate 221, and the pressing plate 221 is fixedly connected to one end surface of the ring gear 210 (referring to fig. 7, one end surface of the ring gear 210 is the left end surface thereof).
Referring to fig. 9, the inner surface of the ring gear 210 is further provided with an inner step one 2104 and an inner step two 2105, and the inner step one 2104 and the inner step two 2105 are located on both sides of the ring gear 2103, respectively.
Referring to fig. 7, an end surface of the middle plate 141 (refer to fig. 7, which is a right end surface) is fixedly connected with an input flange 219, and the two end surfaces are connected by bolts, the outer surface of the primary sun gear 218 is in interference fit with the inner surface of the input flange 219, the primary sun gear 218 is further provided with a protruding head positioned at the left end of the primary sun gear 218, an impeller hole 145 is arranged at the center of the middle plate 141, the protruding head is cylindrical and extends into the impeller hole 145 in a clearance fit manner, but the protruding head does not exceed the left end of the impeller hole 145, and the impellers 14 and the primary sun gear 218 are concentrically distributed and synchronously rotate.
Referring to fig. 7, the center of the output flange 202 is provided with a protruding flange shaft 2021, the flange shaft 2021 extends to the left end and into the primary sun gear 218, and a needle bearing 217 is mounted 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 outer ring right end of the second cross roller bearing 220 abuts against the first inner step 2104, and the outer ring left end of the second cross roller bearing 220 abuts against the pressing plate 221.
Referring to fig. 7, the outer periphery of the primary sun gear 218 engages with a plurality of primary planet gears 215 uniformly distributed in the circumferential direction, in this embodiment, the number of 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 simultaneously engages with the ring tooth 2103, the primary planet gears 215 are located between the ring tooth 2103 and the primary sun gear 218, the ring tooth 2103 is located on the outermost periphery of the ring tooth 2103, the plurality of primary planet gears 215 are rotatably mounted on the primary planet carrier 209, the primary planet carrier 209 is provided with planet carrier pin grooves 2091 the same number as the primary planet gears 215, one end of the primary planet carrier 209 is circumferentially provided with pin two 212, the pin two 212 is mounted on the planet carrier pin groove 2091 in an interference fit manner, the left end of the pin two 212 exceeds the planet carrier pin groove 2091, the primary planet gears 215 are sleeved on the periphery of the pin two 212 (specifically, the left end of the pin two 212 exceeds the portion of the carrier pin groove 2091), and the needle roller two 214 are mounted between the primary planet gears 215 and the pin two 212 (referring to the distribution of the needle roller pin 205 in fig. 6, the needle roller two 214 is identical to the needle roller 205), i.e. the needle roller 215 and the needle roller 212 fills the gap between the needle roller 215 and the needle two needle roller 212.
Referring to fig. 7, one end face (right end face) of the input flange 219 is fitted with a large first spacer 216, one end face (left end face) of the plurality of primary planet gears 215 is jointly fitted with the large first spacer 216, and the large first spacer 216 is sleeved on the periphery of the primary sun gear 218. The other end face (right end face) of the first-stage planetary gears 215 is respectively attached to one small gasket one 213, the number of the small gaskets one 213 is 4, the other end face (right end face) of the small gasket one 213 is attached to the first-stage planetary gears 209, and the small gaskets one 213 are sleeved on the periphery of a corresponding pin shaft two 212.
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 mounted in an interference fit, the secondary sun gear 208 is sleeved on the periphery of the flange shaft 2021 but does not contact the 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 the secondary sun gear 208 is meshed with a plurality of circumferentially uniformly distributed secondary planet gears 206, the number of the secondary planet gears 206 is 4, the arrangement form is the same as that of the primary planet gears 215, each secondary planet gear 206 is simultaneously meshed with a ring gear 2103, the plurality of secondary planet gears 206 are rotatably mounted on the output flange 202 together, and the primary planet gears 215 and the secondary planet gears 206 are respectively located on two sides of the primary planet carrier 209 (the primary planet gears 215 are located on the left side, and the secondary planet gears 206 are located on the right side).
Referring to fig. 7, a first pin 203 is circumferentially mounted at one end (left end) of the output flange 202, a flange pin groove 2022 is provided at the left end of the output flange 202, the first pin 203 is mounted 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 second planetary gear 206 is sleeved on the periphery of the first pin 203, and a first rolling pin 205 is installed between the second planetary gear 206 and the first pin 203, and the installation mode of the first rolling pin 205 is the same as that of the second rolling pin 214.
When the output flange 202 is subjected to overturning moment, the double-support structure formed by the crossed roller bearings 201 and the needle roller bearings 217 can apply reaction force to deformation trend generated at two ends of the output flange 202, so that the output flange 202 is ensured not to deform and displace, and further, the first pin shaft 203 fixedly connected to the output flange 202 is ensured not to displace and deform along with the deformation, and finally, the internal parts of the speed reducer are maintained to be in a good matching state all the time, and an anti-rolling effect is achieved.
Referring to fig. 7, a second large gasket 207 is attached to one end face (right end face) of the first-stage planet carrier 209, the second large gasket 207 is sleeved on the periphery of the second-stage sun gear 208, one end faces (left end faces) of the plurality of second-stage planet gears 206 are jointly attached to the second large gasket 207, the other end faces (right end faces) of the plurality of second-stage planet gears 206 are respectively attached to a second small gasket 204, the number of the second small gaskets 204 is 4, the other end faces (right end faces) of the second small gaskets 204 are attached to the output flange 202, and the second small gaskets 204 are 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 one 201 is installed between an outer surface of the output flange 202 and an inner surface of the ring gear 210. The left end of the outer surface of the output flange 202 is provided with a step against which the left end face of the inner ring of the first cross roller bearing 201 abuts, 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 ring gear 210 by bolts, the encoder code wheel 34 is fixedly connected to one end surface (right end surface) of the rotor 13, and the encoder code wheel 34 is axially spaced from the PCB 32.
Referring to fig. 7 and 8, a temperature sensor 33 is mounted on an end surface of the PCB 32, and the temperature sensor 33 is located on an end surface of the PCB 32 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 adhered to the coil surface of the stator 11.
Referring to fig. 11, the impeller 14 has five blades with an anti-symmetrical cross section, so that the air flow in the motor assembly 1 can be accelerated regardless of the rotation direction of the rotor 13, and the stator 11 can be cooled.
Referring to fig. 7, a channel is formed between the pcb 32 and the encoder disk 34, the stator 11 is located between the channel and the blades of the impeller 14, and the cooling air can be introduced from the channel through the stator 11 by rotation of the blades. Or the blades blow out of the channel after introducing wind through the stator 11.
The present embodiment is made of light materials, such as aluminum alloy for manufacturing the end cover 31, the rotor 13, the impeller 14 and the primary planet carrier 209, titanium alloy for manufacturing the output flange 202, the secondary planet 206, the secondary sun gear 208, the primary planet 215, the primary sun gear 218 and the input flange 219, so that the overall quality is greatly reduced and the power density is improved on the premise of ensuring the strength and the service life of the parts.
Referring to fig. 7, the middle disk 141, the input flange 219, the first-stage planetary gears 215, the first-stage planetary gear carrier 209, the second-stage planetary gears 206 and the output flange 202 are attached together from left to right, and the rest parts do not exceed the axial range, so that the whole product has compact structure, small whole mass and high power density.
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 first-stage sun gear 218 fixedly connected with the input flange to rotate, and the four first-stage planetary gears 215 rotate and move along the circumference of the ring teeth 2103 to drive the first-stage planetary carrier 209 and the second-stage sun gear 208 to rotate, so that first-stage deceleration is completed; the four secondary planet gears 206 are meshed with the secondary sun gear 208, and the four secondary planet gears 206 rotate and move circumferentially along the ring teeth 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 foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. An anti-roll high power density robotic joint drive unit, characterized by: including motor element (1), reduction gear subassembly (2) are connected to the output of motor element (1), motor element (1) includes stator (11), magnet steel (12), rotor (13) and impeller (14), rotor (13) and magnet steel (12) rigid coupling and magnet steel (12) circumference equipartition are in rotor (13) internal surface, magnet steel (12) and stator (11) concentric distribution and form the air gap between the two, rotor (13) and impeller (14) rigid coupling, reduction gear subassembly (2) include ring gear (210), one-level sun gear (218), one-level planet wheel (215), one-level planet carrier (209), second grade sun gear (208), second grade planet wheel (206) and output flange (202), ring gear (210) are located the internal surface of stator (11) and ring gear (210) and stator (11) rigid coupling, and the internal surface of ring gear (210) is equipped with ring tooth (2103) of circumference distribution, impeller (14) and one-level sun gear (218) concentric distribution and synchronous rotation, one-level sun gear (215) a plurality of planet wheels (215) circumference equipartition each one-level planet wheel (215) meshing simultaneously, the utility model provides a common rotation of a plurality of one-level planet wheel (215) is installed in one-level planet carrier (209), the internal surface rigid coupling second grade sun gear (208) of one-level planet carrier (209), the periphery of second grade sun gear (208) meshes second grade planet wheel (206) of a plurality of circumference equipartitions, and every second grade planet wheel (206) all mesh ring tooth (2103) simultaneously, and a plurality of second grade planet wheels (206) are installed in output flange (202) in the rotation jointly, one-level planet wheel (215) and second grade planet wheel (206) are located the both sides of one-level planet carrier (209) respectively.
2. An anti-roll high power density robotic joint drive unit as set forth in claim 1, wherein: 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 inserting a stator positioning pin (211) in an interference fit manner.
3. An anti-roll high power density robotic joint drive unit as set forth in claim 1, wherein: impeller (14) are including being located central middle dish (141), being located peripheral outer loop (142) and blade (143), be connected through blade (143) of circumference equipartition between middle dish (141) and outer loop (142), the one end of outer loop (142) extends and forms cutting (144) of circumference equipartition, cutting (144) correspond and insert between two adjacent magnet steel (12) and cutting (144) are all laminated with two adjacent magnet steel (12).
4. An anti-roll high power density robotic joint drive unit as set forth in claim 1, wherein: the outer surface of the inner gear ring (210) is provided with an outer step (2102), the stator (11) is arranged on the outer surface of the inner gear ring (210), one end of the stator (11) is propped against the outer step (2102), the other end of the stator (11) is propped 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 robotic joint drive unit as claimed in claim 3, wherein: 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 convex flange shaft (2021) is arranged in the center of the output flange (202), a needle bearing (217) is arranged between the inner surface of the primary sun gear (218) and the outer surface of the flange shaft (2021), and a cross roller bearing II (220) is arranged between the outer surface of the input flange (219) and the inner surface of the annular gear (210).
6. An anti-roll high power density robotic joint drive unit as set forth in claim 5, wherein: one end circumference installation round pin axle two (212) of one-level planet carrier (209), one-level planet wheel (215) cover is located round pin axle two (212) periphery, installs round pin roller two (214) between one-level planet wheel (215) and round pin axle two (212), the laminating of one end face of input flange (219) is equipped with big gasket one (216), and big gasket one (216) are laminated jointly to the one end face of a plurality of one-level planet wheels (215), and one little gasket one (213) are laminated respectively to the other end face of a plurality of one-level planet wheels (215), little gasket one (213) other end face laminating one-level planet carrier (209).
7. An anti-roll high power density robotic joint drive unit as set forth in claim 1, wherein: one end circumference installation round pin axle one (203) of output flange (202), second grade planet wheel (206) cover is located round pin axle one (203) periphery, installs round pin axle one (205) between second grade planet wheel (206) and round pin axle one (203), one end face laminating of one-level planet carrier (209) is equipped with big gasket two (207), and big gasket two (207) are laminated jointly to one end face of a plurality of second grade planet wheels (206), and a little gasket two (204) are laminated respectively to another end face of a plurality of second grade planet wheels (206), little gasket two (204) another end face laminating output flange (202).
8. An anti-roll high power density robotic joint drive unit as set forth in claim 1, wherein: a first crossed roller bearing (201) is arranged between the outer surface of the output flange (202) and the inner surface of the annular gear (210).
9. An anti-roll high power density robotic joint drive unit as claimed in any one of claims 1 to 8, wherein: 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 ring gear (210) an terminal surface, encoder code wheel (34) rigid coupling is in an terminal surface of rotor (13), and encoder code wheel (34) are opposite with PCB board (32) axial interval.
10. An anti-roll high power density robotic joint drive unit as set forth in claim 9, wherein: 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, far away from the encoder code disc (34), of the PCB (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189470.1A CN114633281B (en) | 2022-02-28 | 2022-02-28 | Anti-roll high-power-density robot joint driving unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210189470.1A CN114633281B (en) | 2022-02-28 | 2022-02-28 | Anti-roll high-power-density robot joint driving unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114633281A CN114633281A (en) | 2022-06-17 |
| CN114633281B true CN114633281B (en) | 2023-12-29 |
Family
ID=81946884
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210189470.1A Active CN114633281B (en) | 2022-02-28 | 2022-02-28 | Anti-roll high-power-density robot joint driving unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114633281B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115276311B (en) * | 2022-08-12 | 2023-05-30 | 广东天太机器人有限公司 | Power base station |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010005783A (en) * | 2008-05-27 | 2010-01-14 | Mitsuba Corp | Electric rotary joint |
| CN110682739A (en) * | 2019-10-12 | 2020-01-14 | 北京工业大学 | Braking and retarding integrated supporting bridge for trailer |
| 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 |
| 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 |
| WO2021217883A1 (en) * | 2020-04-30 | 2021-11-04 | 北京理工大学 | Robot power joint having turbulent flow heat dissipation structure, and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004004617A1 (en) * | 2004-01-29 | 2005-09-08 | Magnet-Motor Gesellschaft Für Magnetmotorische Technik Mbh | Electric drive unit for a motor vehicle |
-
2022
- 2022-02-28 CN CN202210189470.1A patent/CN114633281B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2010005783A (en) * | 2008-05-27 | 2010-01-14 | Mitsuba Corp | Electric rotary joint |
| 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 |
| CN110682739A (en) * | 2019-10-12 | 2020-01-14 | 北京工业大学 | Braking and retarding integrated supporting bridge for trailer |
| WO2021217883A1 (en) * | 2020-04-30 | 2021-11-04 | 北京理工大学 | Robot power joint having turbulent flow heat dissipation structure, and robot |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| 风电叶片管道内窥履带机器人的设计与运动分析;张月，董雷，宦荣华;中国机械工程;第32卷(第15期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114633281A (en) | 2022-06-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8506438B2 (en) | Cycloidal speed reducer, in-wheel motor drive device, and vehicle motor drive device | |
| EP0687837B1 (en) | Geared motors | |
| JP4975081B2 (en) | Planetary gear reducer | |
| CN114633281B (en) | Anti-roll high-power-density robot joint driving unit | |
| EP3399211B1 (en) | Cycloid speed reducer | |
| CN110139999B (en) | Transmission speed reducer | |
| CN111963668B (en) | Planetary gear speed reduction transmission structure and speed reducer with same | |
| CN211259503U (en) | Large-speed-ratio hollow ultra-small robot joint speed reducer | |
| CN113790248A (en) | Gear box output coupling, gear box and low-floor railway vehicle | |
| CN210034303U (en) | Single-stage large transmission ratio gear reducer | |
| CN111946796A (en) | Multistage gear drive's harmonic speed reducer ware and robot | |
| CN213478968U (en) | Big hub diaphragm coupling | |
| CN210461612U (en) | Module assembling type synchronizing wheel | |
| CN216343711U (en) | Robot joint reduction gears based on planetary gear train | |
| CN219623221U (en) | Vertical mill gear box output structure, gear box transmission assembly, planetary gear box and power assembly | |
| CN216774521U (en) | Novel low noise monitoring robot that cruises's two reducing gear box motor structures of going out | |
| CN217022162U (en) | Integrated shaft type electric driving system, integrated chassis structure and new energy automobile | |
| CN209868645U (en) | Ultra-thin outer rotor harmonic speed reduction all-in-one machine | |
| CN115056262B (en) | Driving assembly of joint module, robot joint module and robot | |
| CN219692237U (en) | Planetary transmission structure convenient to dismouting | |
| CN216774435U (en) | Integrated EPS power system | |
| CN215980707U (en) | High-precision high-efficiency transmission gear shaft | |
| CN217289176U (en) | Novel shaftless drum screen | |
| CN216200207U (en) | Single-support one-stage transmission planetary gear reducer | |
| CN218566546U (en) | Double-rotary table mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |