CN209364654U - A kind of high integration high-performance joint of robot unit - Google Patents
A kind of high integration high-performance joint of robot unit Download PDFInfo
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- CN209364654U CN209364654U CN201822144537.1U CN201822144537U CN209364654U CN 209364654 U CN209364654 U CN 209364654U CN 201822144537 U CN201822144537 U CN 201822144537U CN 209364654 U CN209364654 U CN 209364654U
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- gear ring
- motor
- motor base
- speed reducer
- rotor
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Abstract
The utility model discloses a kind of high integration high-performance joint of robot units, belong to robot device's technical field.The retarder of existing joint of robot will lead to the joints such as reducer gear damage of components, and the mesh tooth face of each tooth of retarder will appear more serious abrasion non-uniform phenomenon when being in hard service.The utility model is when the torque that the output end of rotor or speed reducer assembly is transmitted to gear ring is greater than the friction torque between gear ring and motor base, the gear ring of speed reducer assembly will be under the drive of the output end of rotor or speed reducer assembly, overcome the lower friction torque generated of friction force generator effect, so that gear ring and motor base relatively rotate, realize the friction slip of speed reducer assembly and motor base, the torque born to speed reducer assembly limits, to prevent retarder itself because bearing the larger torque from motor side or joint unit output end, and lead to the damage of retarder.
Description
Technical field
The utility model relates to a kind of high integration high-performance joint of robot units, belong to robot device's technology neck
Domain.
Background technique
High-performance joint of robot power unit is the component of the core of robot, and performance directly influences robot
Movenent performance.For the joint of robot power in ideal, it needs big, simple for structure tight with output torque/weight density
It gathers, the features such as manufacturing cost is low.
For being applied to the joint power unit of the occasion in this way such as image height performance legged type robot, mechanical arm or ectoskeleton,
Due to the with a varied topography changeable of ground or from extraneous impulsive disturbance power, closed when the driving moment of joint of robot motor is greater than
The maximum moment that section retarder is able to bear or the maximum, force that retarder is transmitted to by reducer output shaft from the external world
When square is greater than the maximum moment that joint speed reducer is able to bear, the retarder of joint of robot will be in hard service,
It will lead to the joints such as reducer gear damage of components.
Also, since joint of robot works long hours in reciprocating pattern under these operating conditions, and need to undertake from ground
The shock loading of face or external environment.Therefore the mesh tooth face of each tooth of its retarder will appear more serious abrasion unevenly now
As.
Further, output torque/weight density is big, the compact, demands such as manufacturing cost is low simple for structure to meet, often
The joint of robot power unit seen often sacrifices following characteristics: joint unit does not set central shaft hole, and then cannot achieve
Empty cabling, cable is directly outer to be hung over outside joint of robot, influences robot architecture's safety and beauty.
Utility model content
In view of the drawbacks of the prior art, the purpose of this utility model is to provide one kind can friction slip, realize torque
Limitation, suitable for Various Complex operating condition, it not will lead to the highly integrated of joint damage of components when joint absorbs impact load
Spend high-performance joint of robot unit.
The another object of the utility model is to provide a kind of joint unit and opens up axis hole, can be realized hollow cabling or wears
Connect other components, structure beauty, compact high integration high-performance joint of robot unit.
To achieve the above object, the technical solution of the utility model are as follows:
A kind of high integration high-performance joint of robot unit, motor assembly and retarder including driving joint motions
Assembly, motor assembly include the rotor and motor base for output torque；
The speed reducer assembly is equipped with a gear ring, and the gear ring contradicts under the action of rubbing force generator with motor base
Connection；
When the torque that the output end of rotor or speed reducer assembly is transmitted to gear ring is less than between gear ring and motor base
Friction torque when, the friction torque that the gear ring of speed reducer assembly generates under the force generator effect that rubs under the action of, is fixed on
On motor base, rotor drives the output end rotation of speed reducer assembly；
The utility model is greater than gear ring and electricity when the torque that the output end of rotor or speed reducer assembly is transmitted to gear ring
When friction torque between machine pedestal, the gear ring of speed reducer assembly will drive in the output end of rotor or speed reducer assembly
Under, overcome the lower friction torque generated of friction force generator effect to realize retarder so that gear ring and motor base relatively rotate
The friction slip of assembly and motor base, the torque born to speed reducer assembly limits, to prevent retarder itself
Because bearing the larger torque from motor side or joint unit output end, and lead to the damage of retarder, so that this is practical new
Type can be suitable for various complex working conditions, not will lead to joint damage of components when joint absorbs impact load.
As optimization technique measure, the rotor, which is worn, to be connect in the inner cavity of motor base, on the outside of the motor base
Be provide with a drive end bearing bracket, the friction force generator is assemblied in the accommodating chamber that motor base and drive end bearing bracket are formed, it is compact-sized can
It leans on, manufacture easy to produce.
As optimization technique measure, the drive end bearing bracket and motor base are affixed, squeeze the frictional force life for fitting within chamber
It grows up to be a useful person, friction force generator pushes gear ring that gear ring is combined together with motor base extrusion friction；The gear ring has ring
Shape rubbing surface.The friction area that the ring-type rubbing surface increases gear ring and rubs between force generator or motor base, is reduced
Abrasion and increase heat dissipation performance.
As optimization technique measure, a cricoid frictional disk, the frictional disk and motor base or tooth is arranged in the gear ring
Enclose frictional connection；The frictional disk is fabricated using wear-resistant material；Using the independent frictional disk, be conducive to dimension in the future
Shield replacement.
As optimization technique measure, assembly has the exports coding of hollow structure between pinion frame and motor base
Device；Motor encoder is equipped between the rotor and motor base；The motor encoder and output coder include
But it is not limited to magnetic coder, inductance encoder, capacitance encoder, rotary transformer, photoelectric encoder；The output coder master
It is used in the gear ring Frictional Slipping, still can be realized the real-time angular inspection to the output end of the speed reducer assembly
It surveys.
The utility model increases encoder between pinion frame and motor base, is ensuring the utility model knot
In the case that structure is compact, so that the utility model has the angle detectability of output shaft end；Compared to only having in motor side
The joint unit of encoder greatly improves controlled performance.
As optimization technique measure, the friction force generator is passive elastic element, including but not limited to disc spring, wave
Shape spring, helical spring, simple and reliable for structure, manufacturing cost is low.
As optimization technique measure, the friction force generator is Active control unit, can produce extruding force, so that
Gear ring, motor base can closely extrusion friction be combined together；The Active control unit include but is not limited to electromagnet,
Electrostriction material.After Active control unit, the friction force generator can according to actual needs, and dynamic adjusts in real time
Maximum friction torque between the gear ring and the motor base, facilitates joint unit to be adapted to various operating conditions.
As optimization technique measure,
The motor assembly further includes motor stator and winding, back end cover for motor；
The speed reducer assembly further includes sun gear, planetary gear, gear ring, pinion frame, output flange and output
Bearing (ball) cover；
The frictional disk, friction force generator and drive end bearing bracket constitute torque and limit assembly；
The motor base, frictional disk, gear ring, friction force generator and drive end bearing bracket collectively form moment of friction limitation machine
Structure.
The utility model has torque limitation capability, realizes torque limitation and output flange of the motor to output flange and arrives
The torque of motor side limits.Greatly improve the reliability of joint of robot unit.And what torque limitation once in a while caused subtracts
Skidding of the fast device gear ring relative to motor base, is conducive to the abrasion for balancing entire retarder, considerably increases joint unit
Service life.
As optimization technique measure, the axis of the rotor has hollow structure；The axis of the rotor is and electricity
Machine rotor is wholely set structure that is either seperated but being fixedly connected；The motor encoder has hollow structure；The sun
Gear also has hollow structure, and the sun gear is fixedly connected with rotor.The joint unit of the utility model is opened
If axis hole, so that the utility model compact-sized, under the premise of torque/weight density is big, realize hollow structure, facilitates pass
It hollow cabling or wears when saving unit practical application and connects other components, while cable is assemblied in inside joint unit, so that closing
Save unit more structure safety, beauty.
As optimization technique measure,
The planetary pinion gear uses duplicate gear, can only somewhat increase compared to using conventional planetary gear
Higher reduction ratio is realized under the premise of retarder weight and volume；
The pinion frame is fixedly connected with output flange, this described the two part all has the shaft shoulder, the company of being fixed to each other
The output bearing being clamped while connecing on the output flange；So that not needing additional components carrys out axial restraint bearing,
Reduce amount of parts, reduces the weight and volume of joint unit, reduce costs.
As optimization technique measure, the output bearing uses crossed roller bearing, improves joint unit output shaft
Axial force ability to bear；This bearing at 3 of back end cover for motor bearing, motor base bearing and centre bearing is at least arranged at 2；Institute
Stating motor assembly is outer-rotor permanent magnet motor, so that joint structure is more compact, the manufacturing process of motor is more easy to be at low cost.
Compared with prior art, the utility model has the following beneficial effects:
The utility model is greater than gear ring and electricity when the torque that the output end of rotor or speed reducer assembly is transmitted to gear ring
When friction torque between machine pedestal, the gear ring of speed reducer assembly will drive in the output end of rotor or speed reducer assembly
Under, overcome the lower friction torque generated of friction force generator effect to realize retarder so that gear ring and motor base relatively rotate
The friction slip of assembly and motor base realizes that the torque born to speed reducer assembly limits, to prevent retarder
Itself is because bear the larger torque from motor side or joint unit output end, and lead to the damage of retarder, so that this reality
It can be suitable for Various Complex operating condition with novel, not will lead to joint damage of components when joint absorbs impact load.
Further, the joint unit of the utility model opens up axis hole, so that the utility model is in compact-sized, torque/weight
Under the premise of metric density is big, hollow structure is still realized.Facilitate when joint unit practical application hollow cabling or wear and connects not
Components.Cable is assemblied in inside joint unit simultaneously, is eliminated external cable, is improved the integrated level of joint unit, keep away
Having exempted from external environment gives cable bring possible damage, so that joint unit structure is safer, beautiful.
Detailed description of the invention
Fig. 1 is the entirety sectional view of the utility model；
Fig. 2 is the explosive view of the utility model；
Fig. 3 is the overall appearance figure of the utility model；
Fig. 4 be the friction force generator of the utility model using Active control unit when entirety sectional view.
Description of symbols:
1, motor assembly；2, motor encoder；3, speed reducer assembly；4, torque limits assembly；11, motor stator and around
Group；12, rotor；13, motor base；14, back end cover for motor；15, back end cover for motor bearing；16, motor base bearing；
31, sun gear；32, planetary gear；33, gear ring；34, pinion frame；35, output flange；36, bearing is exported；37, it exports
Bearing (ball) cover；38, centre bearing；39, output coder；41, frictional disk；42, rub force generator；43, drive end bearing bracket.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
On the contrary, the utility model cover it is any be defined by the claims do in the spirit and scope of the utility model
Substitution, modification, equivalent method and scheme.Further, right below in order to make the public have a better understanding the utility model
It is detailed to describe some specific detail sections in the datail description of the utility model.Do not have for a person skilled in the art
The utility model can also be understood completely in the description of these detail sections.
As shown in Figs 1-4, a kind of high integration high-performance joint of robot unit, including driving the motor of joint motions total
At 1 and speed reducer assembly 3, motor assembly 1 includes the rotor 12 and motor base 13 for output torque.
The speed reducer assembly 3 is equipped with a gear ring 33, and the gear ring 33 is under the action of rubbing force generator 42 and motor
Pedestal 13 contradicts connection.
When the torque that the output end of rotor 12 or speed reducer assembly 3 is transmitted to gear ring 33 is less than gear ring 33 and motor base
When friction torque between seat 13, friction torque that the gear ring 33 of speed reducer assembly 3 is generated in the case where friction force generator 42 acts on
Under the action of be fixed on motor base 13, rotor 12 drive speed reducer assembly 3 output end rotation.
When the torque that the output end of rotor 12 or speed reducer assembly 3 is transmitted to gear ring 33 is greater than gear ring 33 and motor base
Seat 13 between friction torque when, the gear ring 33 of speed reducer assembly 3 will be in the output end band of rotor 12 or speed reducer assembly 3
Under dynamic, the lower friction torque generated of friction force generator 42 effect is overcome, so that gear ring 33 and motor base 13 relatively rotate.From
And retarder itself is prevented because bearing the larger torque from motor side or joint unit output end, and lead to the damage of retarder
It is bad.
The utility model adds the embodiment of frictional disk 41:
A cricoid frictional disk 41 is arranged in the gear ring 33, and the frictional disk 41 connects with motor base 13 or the friction of gear ring 33
It connects；The frictional disk 41 is fabricated using wear-resistant material；Using the independent frictional disk 41, the maintenance be conducive in the future is replaced
It changes.
A kind of specific structure embodiment of the utility model:
The motor assembly 1 further includes motor stator and winding 11, back end cover for motor 14；The speed reducer assembly 3 also wraps
Include sun gear 31, planetary gear 32, gear ring 33, pinion frame 34, output flange 35 and output bearing (ball) cover 37；It is described to rub
It wipes disk 41, friction force generator 42 and drive end bearing bracket 43 and constitutes torque limitation assembly 4；The motor base 13, frictional disk 41, gear ring
33, friction force generator 42 and drive end bearing bracket 43 collectively form moment of friction limiting mechanism.
The utility model friction force generator 42 assembles embodiment:
The rotor 12, which is worn, to be connect in the inner cavity of motor base 13, is provide with a drive end bearing bracket on the outside of the motor base 13
43, the friction force generator 42 is assemblied in the accommodating chamber that motor base 13 and drive end bearing bracket 43 are formed, compact-sized reliable.
The drive end bearing bracket 43 and motor base 13 are affixed, squeeze the friction force generator 42 for fitting within chamber, frictional force
Generator 42 pushes gear ring 33 that gear ring 33 is combined together with 13 extrusion friction of motor base；The gear ring 33 has ring-type
Rubbing surface.The friction area that the ring-type rubbing surface increases gear ring 33 and rubs between force generator 42 or motor base 13,
Reduce abrasion and increases heat dissipation performance.
The utility model adds encoder embodiment:
Assembly has the output coder 39 of hollow structure between pinion frame 34 and motor base 13；The motor turns
Motor encoder 2 is equipped between son 12 and motor base 13；The motor encoder 2 and output coder 39 include but unlimited
In magnetic coder, inductance encoder, capacitance encoder, rotary transformer, photoelectric encoder；The output coder 39 is mainly used
It is detected in 33 Frictional Slipping of gear ring, still can be realized the real-time angular to the output end of the speed reducer assembly 3.
A kind of the utility model friction embodiment of force generator 42:
The friction force generator 42 is passive elastic element, including but not limited to disc spring, waveform spring, spiral bullet
Spring, it is simple and reliable for structure.
Another embodiment of the utility model friction force generator 42:
The friction force generator 42 is Active control unit, can produce extruding force, so that gear ring 33, motor base
13 can closely extrusion friction be combined together；The Active control unit includes but is not limited to electromagnet, electrostriction material
Material.After Active control unit, the friction force generator 42 dynamically can adjust the gear ring according to actual needs in real time
Maximum friction torque between 33 and the motor base 13, facilitates joint unit to be adapted to various operating conditions.
The utility model realizes a kind of embodiment of hollow cabling:
The axis of the rotor 12 has hollow structure；The axis of the rotor 12 is integrally set with rotor 12
Set structure that is either seperated but being fixedly connected；The motor encoder 2 has hollow structure；The sun gear 31 also has
Hollow structure, and the sun gear 31 is fixedly connected with rotor 12.This joint unit, in compact-sized, torque/weight
Under the premise of metric density is big, hollow structure is realized, facilitates when joint unit practical application hollow cabling or wears and connect other zero
Component.
A kind of embodiment of the utility model planetary gear 32:
32 gear of planetary gear uses duplicate gear, can be only somewhat compared to using conventional planetary gear 32
Higher reduction ratio is realized under the premise of increasing retarder weight and volume；
The pinion frame 34 is fixedly connected with output flange 35, this described the two part all has the shaft shoulder, mutually solid
Surely the output bearing 36 being clamped while connection on the output flange 35；Come axially admittedly so that not needing additional components
Dead axle is held, and reduces amount of parts, is reduced the weight and volume of joint unit, is reduced costs.
Embodiment is arranged in the utility model bearing:
The output bearing 36 uses crossed roller bearing, improves the axial force ability to bear of joint unit output shaft；
This bearing at 3 of back end cover for motor bearing 15, motor base bearing 16 and centre bearing 38 is at least arranged at 2；The motor is total
It is outer-rotor permanent magnet motor at 1, so that joint structure is more compact, the manufacturing process of motor is more easy to be at low cost.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (11)
1. a kind of high integration high-performance joint of robot unit, including driving the motor assembly (1) of joint motions and slowing down
Device assembly (3), which is characterized in that motor assembly (1) includes the rotor (12) and motor base for output torque
(13)；
The speed reducer assembly (3) be equipped with a gear ring (33), the gear ring (33) under the action of rub force generator (42) with
Motor base (13) contradicts connection；
When the torque that the output end of rotor (12) or speed reducer assembly (3) is transmitted to gear ring (33) is less than gear ring (33) and electricity
When friction torque between machine pedestal (13), the gear ring (33) of speed reducer assembly (3) is in the lower production of friction force generator (42) effect
It is fixed under the action of raw friction torque on motor base (13), rotor (12) drives the output of speed reducer assembly (3)
End rotation；
When the torque that the output end of rotor (12) or speed reducer assembly (3) is transmitted to gear ring (33) is greater than gear ring (33) and electricity
When friction torque between machine pedestal (13), the gear ring (33) of speed reducer assembly (3) will be total in rotor (12) or retarder
Under driving at the output end of (3), the lower friction torque generated of friction force generator (42) effect is overcome, so that gear ring (33) and electricity
Machine pedestal (13) relatively rotates.
2. a kind of high integration high-performance joint of robot unit as described in claim 1, which is characterized in that the motor turns
Sub (12), which are worn, to be connect in the inner cavity of motor base (13), is provide with a drive end bearing bracket (43) on the outside of the motor base (13), described to rub
Force generator (42) are wiped to be assemblied in the accommodating chamber that motor base (13) and drive end bearing bracket (43) are formed.
3. a kind of high integration high-performance joint of robot unit as claimed in claim 2, which is characterized in that the drive end bearing bracket
(43) affixed with motor base (13), the friction force generator (42) for fitting within chamber is squeezed, friction force generator (42) pushes away
Movable tooth circle (33) is combined together gear ring (33) with motor base (13) extrusion friction；The gear ring (33) is rubbed with ring-type
Wiping face.
4. a kind of high integration high-performance joint of robot unit as claimed in claim 3, which is characterized in that the gear ring
(33) a cricoid frictional disk (41), the frictional disk (41) and motor base (13) or gear ring (33) frictional connection are set；Institute
Frictional disk (41) is stated to be fabricated using wear-resistant material.
5. a kind of high integration high-performance joint of robot unit as claimed in claim 4, which is characterized in that pinion frame
(34) output coder (39) of the assembly with hollow structure between motor base (13)；The rotor (12) and motor
Motor encoder (2) are equipped between pedestal (13)；The motor encoder (2) and output coder (39) include but is not limited to
Magnetic coder, inductance encoder, capacitance encoder, rotary transformer, photoelectric encoder；The output coder (39) is mainly used
In in the gear ring (33) Frictional Slipping, the real-time angular of the output end to the speed reducer assembly (3) still can be realized
Detection.
6. a kind of high integration high-performance joint of robot unit as claimed in claim 5, which is characterized in that the frictional force
Generator (42) is passive elastic element, including but not limited to disc spring, waveform spring, helical spring.
7. a kind of high integration high-performance joint of robot unit as described in claim 1-6 is any, which is characterized in that described
Friction force generator (42) is Active control unit, can produce extruding force, so that gear ring (33), motor base (13) can
Close extrusion friction is combined together；The Active control unit includes but is not limited to electromagnet, electrostriction material；Using
After Active control unit, the friction force generator (42) dynamically can adjust the gear ring (33) according to actual needs in real time
With the maximum friction torque between the motor base (13).
8. a kind of high integration high-performance joint of robot unit as claimed in claim 6, which is characterized in that
The motor assembly (1) further includes motor stator and winding (11), back end cover for motor (14)；
The speed reducer assembly (3) further include sun gear (31), planetary gear (32), gear ring (33), pinion frame (34),
Output flange (35) and output bearing (ball) cover (37)；
The frictional disk (41), friction force generator (42) and drive end bearing bracket (43) constitute torque limitation assembly (4)；
The motor base (13), frictional disk (41), gear ring (33), friction force generator (42) and drive end bearing bracket (43) collectively form
Moment of friction limiting mechanism.
9. a kind of high integration high-performance joint of robot unit as claimed in claim 8, which is characterized in that the motor turns
The axis of sub (12) has hollow structure；The axis of the rotor (12) be with rotor (12) be wholely set either it is seperated
But the structure being fixedly connected；The motor encoder (2) has hollow structure；The sun gear (31) also has hollow knot
Structure, and the sun gear (31) is fixedly connected with rotor (12).
10. a kind of high integration high-performance joint of robot unit as claimed in claim 9, which is characterized in that
Planetary gear (32) gear uses duplicate gear, can be only somewhat compared to using conventional planetary gear (32)
Higher reduction ratio is realized under the premise of increasing retarder weight and volume；
The pinion frame (34) is fixedly connected with output flange (35), this described the two part all has the shaft shoulder, mutually solid
Surely the output bearing (36) being clamped while connection on the output flange (35).
11. a kind of high integration high-performance joint of robot unit as claimed in claim 10, which is characterized in that the output
Bearing (36) uses crossed roller bearing；Back end cover for motor bearing (15), motor base bearing (16) and centre bearing (38) this 3
The bearing at place is at least arranged at 2；The motor assembly (1) is outer-rotor permanent magnet motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822144537.1U CN209364654U (en) | 2018-12-20 | 2018-12-20 | A kind of high integration high-performance joint of robot unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822144537.1U CN209364654U (en) | 2018-12-20 | 2018-12-20 | A kind of high integration high-performance joint of robot unit |
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| Publication Number | Publication Date |
|---|---|
| CN209364654U true CN209364654U (en) | 2019-09-10 |
Family
ID=67829499
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822144537.1U Active CN209364654U (en) | 2018-12-20 | 2018-12-20 | A kind of high integration high-performance joint of robot unit |
Country Status (1)
| Country | Link |
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| CN (1) | CN209364654U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591045A (en) * | 2018-12-20 | 2019-04-09 | 杭州宇树科技有限公司 | A kind of high integration high-performance joint of robot unit |
| CN111609095A (en) * | 2020-05-26 | 2020-09-01 | 杭州宇树科技有限公司 | Speed reducer, electric drive power unit using speed reducer and quadruped robot |
| CN111702804A (en) * | 2020-06-28 | 2020-09-25 | 中国科学院宁波材料技术与工程研究所 | Driving joint and robot |
-
2018
- 2018-12-20 CN CN201822144537.1U patent/CN209364654U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591045A (en) * | 2018-12-20 | 2019-04-09 | 杭州宇树科技有限公司 | A kind of high integration high-performance joint of robot unit |
| WO2020125095A1 (en) * | 2018-12-20 | 2020-06-25 | 杭州宇树科技有限公司 | Robot joint unit with high degree of integrity and high performance |
| US11969895B2 (en) | 2018-12-20 | 2024-04-30 | Hangzhou Yushu Technology Co., Ltd. | Highly integrated high-performance robot joint unit |
| CN111609095A (en) * | 2020-05-26 | 2020-09-01 | 杭州宇树科技有限公司 | Speed reducer, electric drive power unit using speed reducer and quadruped robot |
| CN111702804A (en) * | 2020-06-28 | 2020-09-25 | 中国科学院宁波材料技术与工程研究所 | Driving joint and robot |
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