CN210476989U - Joint rotation power unit and quadruped robot applying same - Google Patents
Joint rotation power unit and quadruped robot applying same Download PDFInfo
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- CN210476989U CN210476989U CN201921114883.3U CN201921114883U CN210476989U CN 210476989 U CN210476989 U CN 210476989U CN 201921114883 U CN201921114883 U CN 201921114883U CN 210476989 U CN210476989 U CN 210476989U
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Abstract
The utility model relates to a robot equipment technical field discloses a joint gyration power pack of sufficient robot joint department and use its four-footed robot. The utility model provides a joint rotary power unit, which comprises a motor shell, a joint base, a motor unit and a reducer unit, wherein the motor unit is arranged in the motor shell, and the reducer unit is arranged in the joint base; the motor unit comprises a motor rotor and a motor stator, an opening of the motor rotor is opposite to the reducer unit, and the motor stator is fixedly connected with the motor shell; the speed reducer unit comprises a sun gear, and a motor rotor and the sun gear are coaxially arranged and fixedly connected. The utility model provides a joint gyration power unit, electric motor rotor adopt the external rotor, and electric motor rotor's opening is its reduction gear unit dorsad, and structural layout is reasonable, and overall structure is compacter.
Description
Technical Field
The utility model relates to a robot equipment technical field has especially related to a joint gyration power pack of sufficient formula robot joint department.
Background
The power unit of the robot joint is a core component of the robot, and the performance of the power unit directly influences the power performance of the robot. Besides the need of outputting large torque, the power unit of the robot joint also needs to have light weight, compact structure, small number of parts, good heat dissipation performance and simple and beautiful appearance.
However, most of the existing robot joint power units are complex in structure and large in number of parts, so that the size and the weight of a robot joint are large, and the motion performance of the robot is influenced; chinese patent application No. 201811561682.8 published in 2019, 4, 9 and 9, discloses a joint unit of a highly integrated and high performance robot, which also has a compact structure, but has relatively poor heat dissipation performance.
Further, the existing robot joint power unit is relatively inconvenient to integrate a motor driving plate inside.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, one of the purposes of the utility model provides a joint gyration power unit, its reduction gear unit of electric motor rotor opening dorsad, structural layout is reasonable, overall structure is compact, spare part is small in quantity, and the motor radiating effect is good, light in weight, inside very convenient integrated motor drive plate.
A second object of the present invention is to provide a quadruped robot, which comprises the above joint rotation power unit.
The utility model discloses an one of the purpose adopts following technical scheme to realize:
a joint rotation power unit comprises a motor shell, a joint base, a motor unit and a speed reducer unit, wherein the motor unit is arranged in the motor shell, and the speed reducer unit is arranged in the joint base; the motor unit comprises a motor rotor and a motor stator, one side of an opening of the motor rotor faces away from the speed reducer unit, the other side of the motor rotor is provided with an output shaft used for being connected with the speed reducer unit, and the motor stator is fixedly connected with the motor shell.
Further, the reduction gear unit includes sun gear, planet wheel, ring gear and planet carrier, the planet wheel respectively with the sun gear with the ring gear meshing, the planet carrier is used for exporting gyration power unit's power, electric motor rotor with the coaxial setting of sun gear and fixed connection.
Further, the motor unit comprises a driving plate, a containing cavity is formed in the center of the motor shell, and the driving plate is arranged in the containing cavity. After the motor rotor deviates from the arrangement of the speed reducer unit, the accommodating cavity formed in the center of the motor shell can be used for placing the drive plate, the drive plate is not required to be arranged in an extra space, and therefore the structure of the joint rotary power unit is more compact.
Furthermore, a radiating fin group for radiating the motor stator directly and fixedly connected with the motor shell is arranged on the outer side of the motor shell. The heat dissipation fin group is arranged on the outer side of the motor shell, and heat generated by the motor stator is directly transferred to the heat dissipation fin group through the motor shell, so that the heat dissipation effect is further enhanced; simultaneously because the utility model discloses a heat radiation structure is compact, and heat transfer path is short and direct, so the radiating effect is good.
Further, the sun gear is integrally formed with the output shaft of the motor rotor. Adopt sun gear and electric motor rotor's output shaft integrated into one piece design, directly adopt partly shaping on the electric motor rotor promptly to be the sun gear, direct integrated into one piece between them compares traditional spiro union or welding etc. and links firmly the mode, has following advantage: firstly, the sun gear and the output shaft of the motor rotor do not need to be assembled additionally, and the assembly process is simple; and after the two parts are integrally formed, the two parts have high coaxiality and small assembly error.
Furthermore, the planet wheel is a duplicate gear, the duplicate gear comprises a first gear and a second gear, the first gear is meshed with the sun gear, and the second gear is meshed with the gear ring. The dual gears are used as the planet gears of the reducer unit, so that the two-stage amplification of the reduction ratio can be realized, the transmission ratio is obviously improved, the transmission clearance can be reduced compared with the conventional two-stage planet reducer, the structure is more compact, and the purposes of compact structure and small volume of the whole joint rotation power unit are achieved.
Further, joint gyration power unit includes the cable, electric motor rotor, the planet carrier with the centre of gyration of sun gear all is equipped with the through-hole, the through-hole is used for arranging the cable. And a through hole is arranged, so that the cable is directly connected out from the rotation center of the joint rotation power unit. Most compact robot joint power unit modules have their cables arranged outside the joint unit, which can easily damage the cables in case of collision and is not neat and beautiful enough. In the scheme, the cable directly penetrates through the joint rotary power unit and is output from the front end of the speed reducer unit, so that the problem is avoided, and the purposes of compact structure and small size of the rotary power unit are achieved.
Further, the motor rotor is an outer rotor. The outer rotor motor is adopted, the process is simple, the cost is low, and the structure of the whole joint rotation power unit is more compact.
The second purpose of the utility model is realized by adopting the following technical scheme:
a quadruped robot comprises the joint rotation power unit.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. the utility model provides a joint gyration power pack, motor rotor's opening one side dorsad its reduction gear unit, therefore motor rotor's output shaft is closer to reduction gear unit, and then has also lightened joint gyration power pack's weight when having reduced whole power pack's axial length, and structural layout is reasonable, and overall structure is compacter; simultaneously, because electric motor rotor's opening is towards its reduction gear unit dorsad, motor stator is more close to motor casing tip to motor stator is direct and motor casing fixed connection, and the heat that motor stator produced transmits the outside through the motor casing more easily, and the radiating effect is good.
2. The utility model provides a quadruped robot, including above-mentioned joint gyration power pack, motor rotor's opening one side dorsad its reduction gear unit, therefore motor rotor's output shaft is closer to reduction gear unit, has also lightened joint gyration power pack's weight when having reduced whole power pack's axial length, and structural layout is reasonable, and overall structure is compacter; simultaneously, because electric motor rotor's opening is towards its reduction gear unit dorsad, motor stator is more close to motor casing tip to motor stator is direct and motor casing fixed connection, and the heat that motor stator produced transmits the outside through the motor casing more easily, and the radiating effect is good.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is an exploded view of the present invention;
fig. 2 is a full sectional view of the present invention.
In the figure: 1. a motor housing; 2. a motor unit; 21. a motor rotor; 22. a motor stator; 3. a reducer unit; 31. a sun gear; 32. a planet wheel; 33. a ring gear; 34. a planet carrier; 5. A drive plate; 7. an accommodating chamber; 8. A first gear; 9. a second gear; 10. a through hole; 11. a joint base; 12. a set of fins.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
It should be noted that when two elements are "fixedly connected," the two elements may be directly connected or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 and 2, a joint rotation power unit includes a motor housing 1, a joint base 11, a motor unit 2 and a reducer unit 3, wherein the motor unit 2 is disposed in the motor housing 1, and the reducer unit 3 is disposed in the joint base 11; the motor unit 2 comprises a motor rotor 21 and a motor stator 22, the motor rotor 21 is an outer rotor, an outer rotor motor is adopted, the process is simple, the cost is low, and the structure of the whole joint rotation power unit is more compact. An opening of the motor rotor 21 faces away from the speed reducer unit 3, namely, one side of the motor rotor 21 with an output shaft faces the speed reducer unit 3, and the motor stator 22 is fixedly connected with the motor shell 1; the reducer unit 3 comprises a sun gear 31, a planet gear 32, a gear ring 33 and a planet carrier 34, wherein the planet gear 32 is respectively meshed with the sun gear 31 and the gear ring 33, and the planet carrier 34 is used for outputting the power of the rotary power unit; the motor rotor 21 and the sun gear 31 are coaxially arranged and fixedly connected. Compared with the traditional joint power unit, the output shaft of the motor rotor is shorter, so that the stress condition is better when the power is output. And an output shaft for connecting the reducer unit is provided at the opposite side of the motor rotor, so that the output shaft of the motor rotor does not pass through the motor stator.
In a preferred embodiment, the sun gear 31 is integrally formed with the output shaft of the motor rotor 21. The design that the sun gear 31 and the output shaft of the motor rotor 21 are integrally formed is adopted, namely, a part of the motor rotor 21 is directly formed into the sun gear 31; compared with the traditional fixed connection modes such as screw connection or welding and the like, the direct integral molding of the sun gear 31 and the motor rotor 21 has the advantages that the additional assembly is not needed between the sun gear 31 and the output shaft of the motor rotor 21, and the assembly process is simple; and after the two parts are integrally formed, the coaxiality of the two parts is high, and the assembly error is small.
The utility model discloses add the embodiment of the chamber 7 that holds of placing drive plate 5:
the motor unit 2 comprises a drive plate 5, a motor rotor 21 and the motor shell 1 form a containing cavity 7, and the drive plate 5 is arranged in the containing cavity 7. After the motor rotor 21 deviates from the reducer unit 3, the accommodating cavity 7 formed by the motor rotor 21 and the motor shell 1 can be used for placing the drive plate 5, and the drive plate 5 does not need to be arranged in an extra space, so that the structure of the joint rotary power unit is more compact.
The utility model discloses add the embodiment of fin group 12:
the outside of the motor casing 1 is provided with a radiating fin group 12 for radiating heat of a motor stator 22 directly and fixedly connected with the motor casing 1. The outside of the motor casing 1 is provided with a radiating fin group 12, and heat generated by the motor stator 22 is directly transmitted to the radiating fin group 12 through the motor casing 1. The heat dissipation structure is compact, the heat transfer path is short and direct, and the heat dissipation effect is good.
The utility model discloses add duplicate gear's embodiment:
the planet gear 32 is a duplicate gear, which includes a first gear 8 and a second gear 9, the first gear 8 is engaged with the sun gear 31, and the second gear 9 is engaged with the ring gear 33. The duplicate gear is adopted as the planet gear 32 of the reducer unit 3, so that the two-stage amplification of the reduction ratio can be realized, the transmission ratio is obviously improved, the transmission clearance can be reduced compared with the conventional two-stage planet reducer, the structure is more compact, and the purposes of compact structure and small volume of the whole joint rotation power unit are achieved.
The utility model discloses add the embodiment of arranging through-hole 10 of cable:
the joint rotary power unit comprises cables, the rotary centers of the motor rotor 21, the planet carrier 34 and the sun gear 31 are all provided with through holes 10, and the through holes 10 are used for arranging the cables. The through hole 10 is arranged to lead the cable to be directly led out from the rotation center of the joint rotation power unit. Most compact robot joint power unit modules have their cables arranged outside the joint unit, which can easily damage the cables in case of collision and is not neat and beautiful enough. In the scheme, the cable directly passes through the joint rotary power unit and is output from the front end of the speed reducer unit 3, so that the problem is avoided, and the purposes of compact structure and small volume of the rotary power unit are achieved.
The utility model also provides a four-legged robot, set up above-mentioned joint gyration power pack in its joint department.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Claims (9)
1. A joint rotation power unit is characterized by comprising a motor shell (1), a joint base (11), a motor unit (2) and a speed reducer unit (3), wherein the motor unit (2) is arranged in the motor shell (1), and the speed reducer unit (3) is arranged in the joint base (11);
the motor unit (2) comprises a motor rotor (21) and a motor stator (22), one side of an opening of the motor rotor (21) faces away from the speed reducer unit (3), the other side of the motor rotor (21) is provided with an output shaft used for being connected with the speed reducer unit (3), and the motor stator (22) is fixedly connected with the motor shell (1);
the reducer unit (3) comprises a sun wheel (31) and a planet wheel (32);
the planet wheel (32) is meshed with the sun wheel (31);
the motor rotor (21) and the sun gear (31) are coaxially arranged and fixedly connected.
2. Joint rotary power unit according to claim 1, characterized in that the reducer unit (3) further comprises a ring gear (33) and a planet carrier (34), the planet wheels (32) being in mesh with the ring gear (33), the planet carrier (34) being intended to output the power of the rotary power unit.
3. Joint rotary power unit according to claim 2, characterized in that the motor unit (2) comprises a drive plate (5), the motor housing (1) is centrally provided with a receiving cavity (7), and the drive plate (5) is arranged in the receiving cavity (7).
4. Joint rotary power unit according to claim 3, characterized in that the outside of the motor housing (1) is provided with a cooling fin set (12) for cooling the motor stator (22) directly fixedly connected to the motor housing (1).
5. Joint slewing power unit according to claim 4, in which the sun gear (31) is integrated with the output shaft of the motor rotor (21).
6. Joint rotary power unit according to any of claims 2-5, characterized in that the planet wheels (32) are duplicate gears, which duplicate gears comprise a first gear wheel (8) and a second gear wheel (9), the first gear wheel (8) being in mesh with the sun wheel (31), the second gear wheel (9) being in mesh with the ring gear (33).
7. Joint rotary power unit according to claim 6, characterized in that it comprises a cable, the centres of rotation of the motor rotor (21), the planet carrier (34) and the sun wheel (31) being provided with a through hole (10), the through hole (10) being used for arranging the cable.
8. Joint rotary power unit according to claim 7, characterized in that the motor rotor (21) is an outer rotor.
9. A quadruped robot comprising a joint turning power unit according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921114883.3U CN210476989U (en) | 2019-07-16 | 2019-07-16 | Joint rotation power unit and quadruped robot applying same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921114883.3U CN210476989U (en) | 2019-07-16 | 2019-07-16 | Joint rotation power unit and quadruped robot applying same |
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| Publication Number | Publication Date |
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| CN210476989U true CN210476989U (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921114883.3U Active CN210476989U (en) | 2019-07-16 | 2019-07-16 | Joint rotation power unit and quadruped robot applying same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077875A (en) * | 2020-08-21 | 2020-12-15 | 上海大学 | High dynamic swing joint of robot based on high-efficient one-way internal power |
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2019
- 2019-07-16 CN CN201921114883.3U patent/CN210476989U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112077875A (en) * | 2020-08-21 | 2020-12-15 | 上海大学 | High dynamic swing joint of robot based on high-efficient one-way internal power |
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