CN210525099U

CN210525099U - Robot and driving mechanism thereof

Info

Publication number: CN210525099U
Application number: CN201921427500.8U
Authority: CN
Inventors: 崔昊天; 闫巡戈; 宋晨
Original assignee: Innfos Drive Beijing Technologies Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-05-15
Anticipated expiration: 2029-08-29

Abstract

The present disclosure relates to a robot and a driving mechanism thereof. The robot driving mechanism comprises a motor controller, a motor and a speed reducer, wherein the motor controller is connected with a base of the motor, the speed reducer is connected with an output end of the motor, the speed reducer comprises a common gear ring, a multi-stage planetary gear train and an output flange, the common gear ring is provided with a first end and a second end which are opposite to each other on a rotation axis of the planetary gear train, the first end is connected with a stator of the motor, the output flange is rotatably arranged at the second end, the planetary gear train comprises a first-stage planetary gear train and a last-stage planetary gear train, the first-stage planetary gear train is connected with a rotor of the motor, the last-stage planetary gear train is connected with the output flange, and planetary gears in. The robot driving mechanism is strong in stability, high in precision, more flexible in output, capable of reducing mechanical damage in collision, compact in structure, small in overall size and capable of meeting installation environment with stricter space requirements.

Description

Robot and driving mechanism thereof

Technical Field

The present disclosure relates to the field of robotics, and in particular, to a robot and a driving mechanism thereof.

Background

At present, in order to realize the motion of the multi-joint robot, a driver is generally installed at the joint to realize the rotation of the joint with multiple degrees of freedom. However, the existing driver has a complex structure, so that the transmission resistance of the driver is large, the movement of the joint of the robot is not smooth, an uncertain clamping stagnation phenomenon occurs, the operation efficiency is low, and the energy loss is large.

SUMMERY OF THE UTILITY MODEL

The purpose of this disclosure is to provide a robot and its driving mechanism, this robot driving mechanism exports smoothly and compact structure.

In order to achieve the above object, the present disclosure provides a robot driving mechanism including a motor controller, a motor, and a reducer, the motor controller being connected to a base of the motor, the reducer being connected to an output end of the motor, the reducer including a common ring gear having a first end and a second end opposite to each other on a rotation axis of the planetary gear, the first end being connected to a stator of the motor, and the output flange being rotatably provided at the second end, the planetary gear including a first-stage planetary gear train and a last-stage planetary gear train, the first-stage planetary gear train being connected to a rotor of the motor, the last-stage planetary gear train being connected to the output flange, and planetary gears in the plurality of stages being engaged with inner teeth of the common ring gear.

Optionally, the reducer further comprises a cylindrical housing made of a carbon fiber material, the common ring gear has external teeth adhesively fixed in the housing by an adhesive, the housing is disposed outside the motor and the reducer and extends from the second end of the common ring gear along the rotation axis to a base of the motor.

Optionally, the reducer further comprises a slide rail defining an annular rail, the slide rail being fixed to the second end of the common ring gear, the output flange having an inner end close to the motor and an outer end far from the motor, a side wall of the inner end and a side wall of the carrier in the final planetary gear train being rotatably supported on the annular rail by a first bearing or a ball, and the outer end protruding from an end surface of the slide rail far from the motor for connection with an external actuator.

Optionally, each stage of the planetary gear train includes a sun gear, three planet gears, and a planet carrier, and the planet carrier includes a disc-shaped or triangular main body portion, and planet gear shafts respectively corresponding to the planet gears.

Optionally, in the planetary gear train of the same stage, a positioning shaft is formed at one end of the sun gear, which is far away from the motor, and a positioning hole is formed at the center of one side of the planet carrier, which is close to the motor, and the positioning shaft is rotatably inserted into the positioning hole through a second bearing.

Optionally, the first-stage planetary gear train includes a first-stage sun gear, a first-stage planet gear and a first-stage planet carrier, the last-stage planetary gear train includes a last-stage sun gear, a last-stage planet gear and a last-stage planet carrier, the first-stage sun gear is fixedly connected with the rotor of the motor, the first-stage planet carrier is fixedly connected with the last-stage sun gear, and the last-stage planet carrier is fixedly connected with the output flange.

Optionally, the motor is a flat brushless outer rotor motor, the speed reducer includes a fixing flange, the fixing flange is fixed to an outer rotor of the motor, and a sun gear of the primary planetary gear train is fixed to the fixing flange.

Optionally, the motor controller includes an encoder, an integrated circuit board and a heat sink, the encoder is connected to the rotor of the motor, the integrated circuit board is connected to the encoder, and the heat sink is used for dissipating heat of the integrated circuit board.

Optionally, the motor controller is integrated with the motor, the motor includes a motor housing and a rear cover hermetically connected to the motor housing, the rotor and the stator of the motor are disposed in the motor housing, the integrated circuit board includes a first integrated circuit board and a second integrated circuit board, and the first integrated circuit board, the heat sink, and the second integrated circuit board are sequentially stacked and accommodated in the rear cover.

Optionally, the motor includes a motor housing in which a rotor and a stator of the motor are disposed, a side cover attached to a side of the motor housing, and a rear cover hermetically attached to a bottom of the motor housing, the integrated circuit board including a first integrated circuit board disposed in the side cover and closed by the heat sink, and a second integrated circuit board penetrating the side cover and protruding into the motor housing and adjacent to a front side of the rear cover.

Another aspect of the present disclosure also provides a robot including the robot driving mechanism as described above.

Through the technical scheme, the speed reducer of the robot driving mechanism comprises the multistage planetary gear train, so that the carrying capacity is high, the stability is high, and stable flexible output can be obtained; in addition, the planet wheels of the multistage planetary gear train are kept around the sun wheel through the same common gear ring, so that the transmission stability and precision between the planetary gear trains of each stage can be improved, the output of the robot driving mechanism is more flexible, and the mechanical damage to the robot driving mechanism structure in collision is reduced. In addition, this disclosed actuating mechanism of robot still integrates motor controller, motor and reduction gear into an organic whole design, compact structure, whole small, can adapt to the stricter installation environment of space requirement.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings:

fig. 1 is a perspective view of a robot driving mechanism according to a first embodiment of the present disclosure;

fig. 2 is an exploded view of the main structure of a robot driving mechanism in the first embodiment of the present disclosure;

FIG. 3 is a side view of an output end of a robotic drive mechanism in a first embodiment of the present disclosure;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is an exploded view of a robot drive mechanism in accordance with a first embodiment of the disclosure;

fig. 6 is an exploded view from another perspective of a robot drive mechanism in accordance with a first embodiment of the present disclosure;

FIG. 7 is an exploded view of the planetary gear set in the first embodiment of the present disclosure, showing the assembly components between the sun gear and the planet carrier;

fig. 8 is a schematic structural diagram of a primary sun gear in the first embodiment of the disclosure;

fig. 9 is a perspective view of a robot driving mechanism according to a second embodiment of the present disclosure;

fig. 10 is an exploded view of the main structure of the robot driving mechanism in the second embodiment of the present disclosure;

fig. 11 is a side view of an output end of a robot drive mechanism in a second embodiment of the disclosure;

FIG. 12 is a cross-sectional view taken along line B-B of FIG. 3;

fig. 13 is an exploded view of the robot drive mechanism in a second embodiment of the disclosure;

fig. 14 is an exploded view from another perspective of the robot drive mechanism in a second embodiment of the disclosure;

fig. 15 is a schematic structural view of a common ring gear in the second embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of a first-stage planet carrier in the second embodiment of the disclosure;

fig. 17 is a perspective view of a robot driving mechanism according to one embodiment of the third embodiment of the present disclosure;

fig. 18 is an exploded view of the main structure of a robot driving mechanism according to one embodiment of the third embodiment of the present disclosure;

FIG. 19 is a side view of the output end of the robot drive mechanism of one of the third embodiments of the present disclosure;

FIG. 20 is a cross-sectional view taken along line D-D of FIG. 3;

FIG. 21 is an exploded view of a robot drive mechanism according to one embodiment of the third embodiment of the present disclosure;

fig. 22 is a perspective view of a robot driving mechanism according to another embodiment of the third embodiment of the present disclosure;

fig. 23 is an exploded view of the main structure of a robot driving mechanism according to another embodiment in the third embodiment of the present disclosure;

FIG. 24 is a side view of the output end of another embodiment of the robotic drive mechanism of a third embodiment of the present disclosure;

FIG. 25 is a cross-sectional view taken along line E-E of FIG. 3;

fig. 26 is an exploded view of another embodiment of a robot drive mechanism in a third embodiment of the present disclosure.

Description of the reference numerals

1. A motor controller; 11. a first integrated circuit board; 12. a second integrated circuit board; 13. a heat sink; 14. a rear cover; 15. a side cover; 2. a motor; 21. a motor housing; 22. a base; 23. an outer rotor; 24. a stator winding; 25. a coil; 26. a position encoder; 3. a speed reducer; 30. a housing; 31. a fixed flange; 311. a limiting column; 32. a primary sun gear; 321. a connecting portion; 322. a tooth-shaped portion; 33. a final sun gear; 34. a common ring gear; 341. a first end; 342. a second end; 343. internal teeth; 344. an outer tooth; 35. a first-stage planet wheel; 351. a third bearing; 352. a shaft sleeve; 36. a primary planet carrier; 361. a first-stage planet wheel shaft; 362. a main body portion; 363. a tool withdrawal groove; 364. positioning the shaft; 365. a reinforcing rib; 37. a final planet wheel; 38. a slide rail; 381. an annular track; 39. a final planet carrier; 391. a final-stage planet wheel shaft; 392. positioning holes; 40. an output flange; 401. a ball bearing; 402. a seal ring; 403. a first bearing; 41. a second bearing; 42. a limiting member; 43. a baffle plate; 44. an oil baffle ring; 45. lightening holes; 51. a first fastener; 52. a second fastener; C. a rotation axis of the planetary gear train;

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise stated, the use of directional words such as "inner and outer" refers to the inner and outer of the respective component profiles, "front" refers to the side where the front side is close to the output end of the robot driving mechanism, and "rear" refers to the side opposite to the front side. The above directional terms are based on the orientation or positional relationship shown in the drawings and are used for convenience in describing the present disclosure, but do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present disclosure. The term "flexible" is used to mean that the speed, torque, etc. of the output is smooth, without abrupt or intermittent changes; "rigid" refers to a phenomenon of stagnation, such as unsmooth output, abrupt or intermittent output, etc. Furthermore, terms such as "first," "second," and the like, are used herein to distinguish one element from another, and are not necessarily sequential or significant. In addition, in the description with reference to the drawings, the same reference numerals in different drawings denote the same elements.

One embodiment of the present disclosure provides a robot driving mechanism, as shown in fig. 1 to 26, including a motor controller 1, a motor 2, and a reducer 3, the motor controller 1 being connected to a base 22 of the motor 2, the reducer 3 being connected to an output terminal of the motor 2, the reducer 3 including a common ring gear 34, a plurality of planetary gear trains, and an output flange 40, the common ring gear 34 having a first end 341 and a second end 342 opposite to each other on a rotation axis C of the planetary gear train, the first end 341 being connected to a stator of the motor 2, the output flange 40 being rotatably provided at the second end 342 of the common ring gear 34, the planetary gear trains including a first-stage planetary gear train connected to a rotor of the motor 2 and a last-stage planetary gear train connected to the output flange 40, the planetary gears in the plurality of planetary gear trains being engaged with inner teeth 343 of the common ring gear 34.

It should be noted here that the motor 2 of the present disclosure may be any type of motor 2 capable of converting electric energy into rotational mechanical energy in the art, for example, an inner rotor motor, an outer rotor motor, etc., but is not limited thereto; herein, the stator of the motor 2 refers to a component that is kept stationary relative to the base 22 of the motor 2, such as a motor housing 21 and the like that will be mentioned below; the rotor of the motor 2 refers to a component that rotates around the central axis of the motor 2, such as an outer rotor 23 of the motor 2, etc., which will be mentioned below. In addition, the output flange 40 of the present disclosure is used for connecting an external actuator, such as a robot arm, a joint of a robot, etc., so as to drive the external actuator to perform a corresponding operation through the output flange 40.

Through the technical scheme, the robot driving mechanism with smooth output and compact structure is provided. The speed reducer 3 of the robot driving mechanism comprises a multi-stage planetary gear train, the planetary gear train has large bearing capacity and strong stability, and the rotating speed output by the motor 2 is gradually reduced step by step through the planetary gear train, so that stable flexible output can be obtained; moreover, compared with the scheme that each planetary gear train in the related art has an independent common gear ring, the planetary gears of the multi-stage planetary gear train disclosed by the invention are kept around the sun gear through the same common gear ring 34, so that the transmission stability and precision between each planetary gear train can be improved, and the output of the robot driving mechanism is more flexible.

In practical applications, the external actuator mounted on the robot driving mechanism usually involves high acceleration and high load interaction with the environment, for example, high acceleration caused by sudden start or sudden stop of the external actuator, or high load to which the external actuator is subjected during working, etc. The output of the robot driving mechanism of the present disclosure is more flexible, and thus, the rigid impact of the collision can be effectively reduced, and the buffering effect is achieved, thereby reducing mechanical damage to the robot driving mechanism structure during the collision.

In addition, this disclosed actuating mechanism of robot still integrates motor controller 1,

motor

2 and 3 three designs of reduction gear into an organic whole, compact structure, whole small, can adapt to the stricter installation environment of space requirement. Moreover, the motor controller 1 is integrated on the base 22 of the motor 2, and the control of the motor 2 can be realized only by a sensor (for example, an encoder 26 mentioned below) or a small amount of cables, so that compared with a separate motor controller and a motor in the related art, the integrated robot driving mechanism disclosed by the disclosure can effectively simplify the number of connecting wires and the wiring difficulty between the motor controller 1 and the motor 2, and can enable signals transmitted between the motor controller 1 and the motor 2 to be less interfered by the outside world, and the control precision is high.

In the following, various embodiments of the robot driving mechanism of the present disclosure will be explained in detail with reference to fig. 1 to 26, including:

example one

As shown in fig. 1 to 4, a robot driving mechanism according to an embodiment of the present disclosure includes a motor controller 1, a motor 2, and a reducer 3. Wherein, embodiment one is designed the structure with the transmission precision that improves robot actuating mechanism, satisfies the flexibility output as the purpose, based on this, reduction gear 3 can be made by metal material, needs to satisfy reduction gear 3's intensity demand and machining precision when selecting materials, and in reduction gear 3, the effect and required intensity, the rigidity of different spare parts are different, consequently, different spare parts can select for use different metal material to make.

As shown in fig. 1 to 6, the reducer 3 may include a common ring gear 34, a multi-stage planetary gear train and an output flange 40, wherein the planetary gear train includes a first-stage planetary gear train and a last-stage planetary gear train, the first-stage planetary gear train is connected with a rotor of the motor 2, the last-stage planetary gear train is connected with the output flange 40, the multi-stage planetary gear train is engaged with the internal teeth 343 of the common ring gear 34, an output end of the motor 2 transmits torque and rotation speed to the output flange 40 through the multi-stage planetary gear train, and the output flange 40 drives an external actuator of the robot to perform related operations such as rotation.

As an exemplary embodiment of the present disclosure, the reducer 3 may include a two-stage planetary gear train, as shown in fig. 4 to 5, the first stage planetary gear train includes a first stage sun gear 32, a first stage planetary gear 35, and a first stage carrier 36, the last stage planetary gear train includes a last stage sun gear 33, a last stage planetary gear 37, and a last stage carrier 39, the first stage sun gear 32 is fixedly connected with the rotor of the motor 2, the first stage carrier 36 is fixedly connected with the last stage sun gear 33, and the last stage carrier 39 is fixedly connected with the output flange 40.

Specifically, the primary sun gear 32 and the primary planet gears 35 are arranged between the primary planet carrier 36 and the output of the electric machine 2. The primary sun gear 32 is fixedly connected with the rotor of the motor 2 and rotates along with the rotor, the plurality of primary planet gears 35 are meshed around the primary sun gear 32, one side of the primary planet carrier 36 close to the motor 2 is provided with a plurality of primary planet gear shafts 361 corresponding to the primary planet gears 35 respectively, and the primary planet gears 35 are rotatably arranged on the primary planet gear shafts 361.

The final sun gear 33 is fixed to the first planet carrier 36 on the side away from the motor 2, a plurality of final planet gears 37 are engaged around the final sun gear 33, the final planet carrier 39 on the side close to the motor 2 has a plurality of final planet gear shafts 391 corresponding to the final planet gears 37, respectively, the final planet gears 37 are rotatably provided on the final planet gear shafts 391, and an output flange 40 is fixed to the final planet carrier 39 on the side away from the motor 2.

According to the matching relationship of the planetary gear trains, the rotor of the motor 2 drives the first-stage sun gear 32 to rotate, the first-stage sun gear 32 drives the first-stage planetary gear 35 to revolve around the first-stage sun gear 32, the first-stage planetary gear 35 drives the first-stage planetary gear carrier 36 to rotate, the first-stage planetary gear carrier 36 drives the last-stage sun gear 33 to rotate, the last-stage sun gear 33 drives the last-stage planetary gear 37 to revolve around the last-stage sun gear 33, the last-stage planetary gear 37 drives the last-stage planetary gear carrier 39 to rotate, and the last-stage planetary gear. In this way, the torque and the rotational speed output by the motor 2 can be transmitted to the output flange 40 step by step through the planetary gear train.

The scheme comprises two stages of planetary gear trains, the number of stages of the planetary gear trains is small, the transmission efficiency is high, and the structure miniaturization is facilitated. In addition, the two-stage planetary gear train meets the speed reduction requirement, compared with the speed reducer 3 with various gears matched in the related technology, the planetary gear train has the advantages that the number of parts is small, the impedance caused by factors such as friction in the transmission process can be reduced, the torque output by the motor 2 can be almost completely transmitted to the output flange 40 as far as possible, and the driving force of the output flange 40 to an external actuator is ensured.

In other embodiments of the present disclosure, the first-stage planetary gear train serves as a power input end of the speed reducer 3, the last-stage planetary gear train serves as a power output end of the speed reducer 3, and a multi-stage intermediate planetary gear train may be further disposed between the first-stage planetary gear train and the last-stage planetary gear train to change the reduction ratio of the speed reducer 3, so that the speed reducer 3 better satisfies the interaction of high acceleration and high load between the external actuator and the environment. Here, the present disclosure does not limit the number of planetary gear trains.

Aiming at the planetary gear train, the partial structure of the planetary gear train is optimized by the method, so that the stability and the precision of the speed reducer 3 are improved, and the requirement of flexible output is met. Specific details are set forth below.

As an optional implementation manner of the present disclosure, in the same-stage planetary gear train, a positioning shaft may be formed at one end of the sun gear, which is far away from the motor, and a positioning hole may be formed at the center of one side of the planetary carrier, which is close to the motor, and the positioning shaft is rotatably inserted into the positioning hole.

Specifically, taking the final planetary gear train as an example, as shown in fig. 7, a positioning shaft 364 is formed at an end of the final sun gear 33 away from the motor 2, and a positioning hole 392 is formed at a center of the final planet carrier 39, where the positioning hole 392 may be a through hole or a blind hole, which is not limited by the present disclosure. The positioning shaft 364 can be inserted into the positioning hole 392 in various ways, for example, as an exemplary embodiment of the present disclosure, the positioning shaft 364 can be installed in the positioning hole 392 through the second bearing 41, the inner ring of the second bearing 41 is sleeved on the positioning shaft 364 and is fixed and stopped by the stopper 42, the outer ring of the second bearing 41 is arranged on the inner wall of the positioning hole 392 and is tightly fitted with the inner wall of the positioning hole 392, so that the positioning shaft 364 can rotate relative to the positioning hole 392. Here, as an example, the stopper 42 may be formed in a sheet shape and fixed to an end of the positioning shaft 364 by a fastener such as a screw, a pin, or the like.

According to the structure, one end of the sun gear is fixed on the upper-stage planet carrier or the rotor of the motor 2, and the positioning shaft 364 is formed at the other end of the sun gear, so that two ends of the sun gear are supported, the coaxiality between planetary gear trains at different stages can be ensured, the transmission stability and precision of the planetary gear trains are improved, and the requirement of flexible output is met. It should be noted here that the positioning shaft 364 may be designed according to the actual requirements of the sun gear, for example, for a multi-stage planetary gear train, the positioning shaft 364 may be designed on only a part of the sun gear of the planetary gear train.

In addition, the sun gear of the planetary gear train and the planet carrier connected with the sun gear can be integrally formed, so that the assembly can be simplified, and the coaxiality between the planetary gear trains can be improved. Specifically, for example, as shown in fig. 7, the final stage planetary gear train may be formed integrally by a metal material between the final stage sun gear 33 and the first stage planetary carrier 36, and when a metal member is machined, in order to ensure the accuracy of the tooth profile of the final stage sun gear 33 and the appearance surface of the first stage planetary carrier 36, a relief groove 363 may be formed between the final stage sun gear 33 and the first stage planetary carrier 36, so that a cutter such as a milling cutter may be prevented from scratching the first stage planetary carrier 36.

Here, in other embodiments of the present disclosure, the sun gear may be fixed to the carrier or the rotor of the motor 2 by various means such as fastening with a fastener, welding, and the like, which is not limited by the present disclosure.

For the planetary gear in the planetary gear train, a plurality of planetary gears, for example, two, three or four planetary gears, may be engaged around the sun gear, and the number of planetary gears is not limited by the present disclosure, and those skilled in the art may design the planetary gear according to actual needs.

As an exemplary embodiment of the present disclosure, taking a first-stage planetary gear train as an example, the first-stage planetary gear 35 may be sleeved on the first-stage planetary gear shaft 361 through a third bearing 351, an inner ring of the third bearing 351 is fixed on the first-stage planetary gear shaft 361, for example, fixed in an interference fit manner, a limiting member is limited, and an outer ring of the third bearing 351 is fixed in a central shaft hole of the first-stage planetary gear 35, so that the first-stage planetary gear 35 is rotatably sleeved on the first-stage planetary gear shaft 361.

As shown in fig. 5 to 7, the carrier includes a disk-shaped or triangular body portion 362 and planetary gear shafts corresponding to the planetary gears, respectively. In one embodiment of the present disclosure, if the same-stage planetary gear train includes three planetary gears, the main body portion 362 of the carrier may be configured in a triangle shape, and the three planetary gear shafts are respectively located at three vertices of the main body portion 362, so that the structural size and the structural weight may be reduced. In another embodiment of the present disclosure, when there are N planet gears (N is a positive integer greater than or equal to 1), the main body 362 of the planet carrier may be disc-shaped, the planet gear shafts are arranged at intervals along the circumference of the main body 362, the disc-shaped planet carrier has low processing difficulty, and the number of the planet gears is not limited. In other embodiments of the present disclosure, the subject portion of the carrier may have other polygonal shapes, which is not limited by the present disclosure.

The mating and gearing relationships between the planetary gear trains of the various stages are described in detail above, as well as exemplary configurations of the sun gear, planet gears and planet carrier. Hereinafter, the connection structure of the output flange 40 and the common ring gear 34, and the connection structure of the reduction gear 3 and the motor 2 will be described in detail.

The output of the reducer 3 transmits the torque of the motor 2 to the output flange 40 via the planetary gear train, and the final planetary carrier 39 is fixedly connected to the output flange 40. As shown in fig. 5 and 6, as an exemplary embodiment of the present disclosure, a plurality of fastening holes may be opened in the final stage carrier 39 and the output flange 40 to correspond to each other, and the final stage carrier 39 and the output flange 40 may be fixed by first fastening members 51 (pins and/or bolts). In addition, in other embodiments of the present disclosure, the final stage carrier 39 and the output flange 40 may be fixed by welding, clamping, or the like, which is not limited by the present disclosure.

Further, the output flange 40 is formed in a circular shape, a mounting hole for mounting an external actuator is opened at the center thereof, and an annular flange fitted to the inner wall of the mounting hole is formed on the final stage carrier 39 in order to secure the coaxiality between the final stage carrier 39 and the output flange 40. In addition, a dust-proof baffle 43 is provided in the mounting hole of the output flange 40.

According to the above description, the output flange 40 is rotated by the final carrier 39, the planetary gear train is rotated in engagement with the internal teeth 343 of the common ring gear 34, the first end 341 of the common ring gear 34 is connected to the stator of the motor 2, and thus the output flange 40 is rotated relative to the second end 342 of the common ring gear 34. In order to support the output flange 40 of the speed reducer 3 on the common ring gear 34, in one embodiment of the present disclosure, as shown in fig. 6, the speed reducer 3 further includes a slide rail 38 defining an annular rail 381, the slide rail 38 is fixed to the second end 342 of the common ring gear 34, the output flange 40 has an inner end close to the motor 2 and an outer end far from the motor 2, a side wall of the inner end and a side wall of the final stage carrier 39 in the final stage planetary gear train are rotatably supported on the annular rail 381 through a first bearing 403, and the outer end protrudes from an end surface of the slide rail 38 far from the motor 2 for connection with an external actuator. In this way, the rotor side and the stator side of the reduction gear 3 can be linked, and the stability of the rotation of the output flange 40 is improved by the slide rails 38. The outer end of the output flange 40 protrudes from the end face of the slide rail 38 far away from the motor 2, so that the slide rail 38 can be prevented from generating motion interference on an external actuator.

Here, slide rails 38 may be secured to second end 342 of common ring gear 34 in a variety of ways, such as welding, snapping, fastener fastening, etc., as the present disclosure is not limited in this respect. In order to facilitate the detachment of the slide rail 38 for mounting the planetary gear train and the output flange 40, the present disclosure provides an example of a fastening connection of fasteners, as shown in fig. 5 and 6, a plurality of fastening holes corresponding to each other may be opened on the slide rail 38, the common ring gear 34 and the motor housing 21 (mentioned below), respectively, the fastening holes extend along the rotation axis C of the planetary gear train, penetrate all the way from the slide rail 38 to the motor housing 21, and then a second fastener 52 (bolt and/or pin) is inserted through the fastening holes to fix all three of the slide rail 38, the common ring gear 34 and the motor housing 21 together at the same time. Thus, the number of parts can be reduced and the difficulty of assembly can be simplified.

As for the input of the reducer 3, the common ring gear 34 of the reducer 3 is fixedly connected to the stator of the electric machine 2, and the primary sun gear 32 of the primary planetary gear train is fixedly connected to the rotor of the electric machine 2, as described above. The motor 2 of the present disclosure may be any type of motor capable of converting electrical energy into rotational mechanical energy in the art, for example, may be an inner rotor motor, an outer rotor motor, or the like. In the case of an inner rotor motor, the primary sun gear 32 may be directly fixed to the output shaft of the motor 2, and in the case of an outer rotor motor, the primary sun gear 32 may be fixed to the outer rotor 23 of the motor 2 by a connecting member such as a flange.

As an exemplary embodiment of the present disclosure, the motor 2 may be a flat brushless external rotor motor, and includes a motor housing 21, and an external rotor 23 and a stator winding 24 disposed in the motor housing 21, the external rotor 23 being disposed around the stator winding 24, the stator winding 24 including a coil 25, and when the coil 25 is energized, the external rotor 23 is driven to rotate under the action of a magnetic field. Such flat brushless external rotor motor 2 has advantages such as big, the high torque density of moment of torsion radius, can provide stable flexible output. The coil 25 is formed by winding a copper wire, and may be specifically an enameled wire high-temperature resistant coil, which is not limited in this disclosure.

It should be noted that the motor housing 21 may be a metal housing to form an electromagnetic shielding layer around the coil 25, so as to improve the anti-interference capability of the motor 2; the remaining components of the motor 2 may be made of a non-metallic insulating material to prevent interference with the magnetic field of the coil 25.

Based on the flat brushless external rotor motor example, as shown in fig. 4 to 6, the reducer 3 may include a fixed flange 31, the fixed flange 31 is fixed on the external rotor 23 of the motor 2, and the primary sun gear 32 of the primary planetary gear train is fixed with the fixed flange 31.

Specifically, the primary sun gear 32 includes a connecting portion 321 and a tooth portion 322, a through hole is formed in the center of the fixing flange 31, and the connecting portion 321 of the primary sun gear 32 penetrates through the through hole and is inserted into the center of the motor 2, so as to ensure the coaxiality of the primary planetary gear train and the motor 2; the fixing flange 31 is fixed to the outer rotor 23 of the motor 2 by a fastening member, and the first-stage sun gear 32, the fixing flange 31, and the outer rotor 23 are fastened together. In other embodiments of the present disclosure, the primary sun gear 32 may also be integrally formed with the fixing flange 31, and may be welded or snap-fixed, which is not limited by the present disclosure.

As an alternative embodiment of the present disclosure, as shown in fig. 4 to 6, an oil deflector 44 is further provided between the reducer 3 and the motor 2, and the center of the oil deflector 44 is formed as a through hole for receiving the fixing flange 31, so that the fixing flange 31 and the oil deflector 44 are combined into a disc-shaped structure for blocking between the reducer 3 and the motor 2 to prevent the lubricating oil in the reducer 3 from flowing into the motor 2. The oil deflector 44 may be fixed to the motor housing 21 by fastening, welding, clamping, or the like, and the fixing flange 31 may rotate relative to the oil deflector 44.

The robot driving mechanism provided by the present disclosure integrates the motor controller 1 on the base 22 of the motor 2, and the matching relationship between the motor controller 1 and the motor 2 will be described in detail with reference to fig. 4 to 6.

Specifically, the motor controller 1 includes an encoder 26, an integrated circuit board, and a heat sink 13, the encoder 26 is connected to the rotor of the motor 2, the integrated circuit board is connected to the encoder 26, and the heat sink 13 is used to dissipate heat for the integrated circuit board.

The integrated circuit board may process and transmit various signals, may receive a control signal from an external controller to control the output of the motor 2, and may also send the signal to the external controller for processing, or may be integrated with a processing chip to automatically generate a control command according to the signal collected by the encoder 26, for example, the encoder 26 may detect information such as a rotational angle position of the rotor and a rotational speed of the rotor, and then send the information to the integrated circuit board for processing, so as to generate a corresponding control command for controlling the output of the motor 2. As an example of the present disclosure, the motor 2 is a flat brushless outer rotor motor, and the flat structure thereof makes the outer diameter of the rotor of the motor 2 large, and the encoder 26 with a larger code wheel can be used to improve the resolution of the encoder 26.

Here, the encoder 26 may be a magnetic encoder 26 or an optical encoder 26, and other small-sized position sensors may be used in place of the encoder 26 in the present disclosure.

The encoder 26, the integrated circuit board, and the heat sink 13 may be integrally arranged in the motor 2 in various forms. As an exemplary embodiment of the present disclosure, as shown in fig. 4 to 6, the motor controller 1 and the motor 2 are integrated, the motor 2 includes a motor housing 21 and a rear cover 14 hermetically connected to the motor housing 21, a rotor and a stator of the motor 2 are disposed in the motor housing 21, an integrated circuit board includes a first integrated circuit board 11 and a second integrated circuit board 12, and the first integrated circuit board 11, the heat sink 13, and the second integrated circuit board 12 are sequentially stacked and accommodated in the rear cover 14. Wherein, encoder 26 sets up between motor 2 rotor and first integrated circuit board 11, and encoder 26 gathers the information direct transmission of the rotor of motor 2 and handles to first integrated circuit board 11. Thus, the motor controller 1 and the motor 2 are integrally arranged, so that the wiring harness between the motor controller 1 and the motor 2 can be reduced, and the structure is more compact; further, by spacing the first integrated circuit board 11 and the second integrated circuit board 12 by the heat sink 13, the heat dissipation effect can be enhanced.

It should be noted that the integrated circuit board may be provided with a signal receiver or a signal transmitter for communicating with the outside to realize wireless communication connection with the external controller, and in order to establish good signal connection with the external controller, the rear cover 14 may be made of a non-metal material (such as high-strength plastic, resin, etc.) to prevent signal shielding of the integrated circuit board inside. The rear cover 14 is formed to have a bottom wall and a cylindrical side wall so as to be able to accommodate the encoder 26, the integrated circuit board, and the heat sink 13 therein.

Here, in order to facilitate the integrated circuit board to establish a wired signal connection with an external controller or a power supply, an external interface may be formed on the integrated circuit board, for example, a plurality of external interfaces such as a power supply interface and a control signal line interface may be formed on the second integrated circuit board 12, and a plurality of openings avoiding the external interface are formed on the rear cover 14, so that the external interface is exposed from the rear cover 14.

Example two

As shown in fig. 9 to 16, the robot driving mechanism of the second embodiment of the present disclosure includes a motor controller 1, a motor 2 and a decelerator 3, wherein, the second embodiment is designed to achieve the purpose of light weight and low cost of the reducer 3, the reducer 3 can therefore be made of relatively light non-metallic composite materials, such as plastics, resins, carbon fibre materials, etc., which are selected to meet the strength requirements and the machining precision of the reducer 3, the functions of the different components and the required material properties being different, different metal materials can therefore be selected for the various parts of the reducer 3, for example, for the internal common ring gear 34 and the components of the planetary gear train that are in meshing transmission with the sun gear, the planet gears and the like, the high-strength material has high requirement on strength, so that the high-strength material can be made of high-strength materials such as stainless steel (polyoxymethylene).

The structure and the matching relationship of the motor 2 and the motor controller 1 in the second embodiment of the present disclosure are the same as those in the first embodiment, and the main structure of the reducer 3 in the second embodiment is the same as those in the first embodiment, for example, the robot driving mechanism in the second embodiment also includes a common ring gear 34, a multi-stage planetary gear train and an output flange 40, where the planetary gear train includes a first-stage planetary gear train and a last-stage planetary gear train, the first-stage planetary gear train is connected with the rotor of the motor 2, the last-stage planetary gear train is connected with the output flange 40, the multi-stage planetary gear train is engaged with the internal teeth 343 of the common ring gear 34, the output end of the motor 2 transmits torque to the output flange 40 through the multi-stage planetary gear train, and the output flange 40 drives the external actuator of the robot. Here, the parts of the robot driving mechanism according to the second embodiment of the present disclosure that are the same as those of the first embodiment are not described again.

In the second embodiment of the present disclosure, in order to achieve the purpose of light weight and low cost of the speed reducer 3, on the basis of the robot driving mechanism of the first embodiment, in addition to changing the parts of the speed reducer 3 from metal to non-metal material, a part of the structure is also optimized, and hereinafter, the features of these structures will be described in detail.

With the planetary gear train of the speed reducer 3, since a non-metallic material such as plastic or the like can be molded by an injection molding process, a member having a relatively unique and complicated shape can be relatively easily manufactured. In view of this, as an exemplary embodiment, the first stage sun gear 32 and the fixed flange 31 may be integrally formed by injection molding, and similarly, other stage sun gears may be integrally formed with the previous stage carrier, for example, the last stage sun gear 33 and the first stage carrier 36 may also be integrally formed by injection molding. Like this, can reduce spare part quantity, simplify the assembly degree of difficulty of structure, can also improve the axiality of sun gear and planet carrier.

Here, a limit post 311 may be further formed at a side of the fixed flange 31 close to the motor 2, and the limit post 311 may be rotatably inserted in the center of the motor 2 to maintain the coaxiality of the primary planetary gear train and the motor 2.

Similarly, the planetary carrier in the second embodiment includes a disk-shaped or triangular main body portion 362 and planetary gear shafts corresponding to the planetary gears, respectively. In one embodiment of the present disclosure, if the same stage planetary gear train includes three planetary gears, the main body portion 362 of the carrier may be constructed in a triangular frame structure with the sun gear disposed at the center of the triangular frame and the frame structure having reinforcing ribs 365 radially extending from the center to the edges to secure the structural strength of the carrier. Although the shape of the planet carrier is complex, the planet carrier can be integrally formed by injection molding, and the processing difficulty is not increased.

In addition, the planet wheels can be rotatably mounted on the planet wheel shaft through a shaft sleeve 352, and the shaft sleeve 352 is low in cost and simple in structure relative to a bearing.

In the second embodiment of the present disclosure, there is also provided a variant embodiment of the output end of the reducer 3, specifically, as shown in fig. 12 to 14, according to the above description, the output flange 40 is rotated by the final stage carrier 39, the planetary gear train is rotated in mesh with the internal teeth 343 of the common ring gear 34, the first end 341 of the common ring gear 34 is connected to the stator of the motor 2, the output flange 40 is rotated with respect to the second end 342 of the common ring gear 34, in order to support the output flange 40 of the reducer 3 on the common ring gear 34, in one embodiment of the present disclosure, the reducer 3 further includes a slide rail 38 defining an annular track 381, the slide rail 38 is fixed to the second end 342 of the common ring gear 34, the output flange 40 has an inner end close to the motor 2 and an outer end far from the motor 2, a side wall of the inner end and a side wall of the carrier in the final stage planetary gear train are rotatably supported on the annular track 381 by, the outer end of the slide rail 38 protrudes from the end face of the motor 2 for connection to an external actuator. The ball 401 is smaller and cheaper to manufacture than the first bearing 403.

Considering that there is a gap between the side wall of the output flange 40 and the slide rail 38 when using the balls 401 as the support of the output flange 40, a sealing ring 402 is provided between the side wall of the output flange 40 and the slide rail 38 to prevent dust from entering the annular rail 381 to affect the rotation of the balls 401.

Further, as an alternative embodiment, as shown in fig. 11 and 13, a plurality of lightening holes 45 may be formed in the output flange 40 at intervals along the circumferential direction, so as to achieve the purpose of lightening the weight. However, the lightening holes 45 are not necessarily too large in size, and the size design thereof is required on the premise of ensuring the strength of the output flange 40 so as to be able to apply a sufficient driving torque to the external actuator, for example, a plurality of arc-shaped lightening holes 45 may be provided at intervals along the circumferential direction of the output flange 40.

It should be noted that, in order to simplify the structure, since the reducer 3 is mainly made of non-metal materials such as plastic, resin, etc., and the bonding of these materials by using an adhesive is reliable, the parts of the second embodiment are mainly bonded by an adhesive, for example, the common ring gear 34 and the first end 341 are fixed to the motor housing 21 by an adhesive, and the slide rail 38 is fixed to the second end 342 of the common ring gear 34 by an adhesive.

In the second embodiment, the motor housing 21 may also be made of a non-metallic material to reduce weight. In this way, in order to ensure the structural strength and the capability of resisting external impacts of the common ring gear 34 and the motor housing 21, which are made of non-metallic materials, in one embodiment of the present disclosure, as shown in fig. 15, the speed reducer 3 further includes a cylindrical housing 30 made of a carbon fiber material, the common ring gear 34 has external teeth 344, the external teeth 344 are adhesively fixed in the housing 30 by an adhesive, and the housing 30 is disposed outside the motor 2 and the speed reducer 3 and extends from the second end 342 of the common ring gear 34 along the rotation axis C to the base 22 of the motor 2.

Further, as shown in fig. 12, a groove for accommodating the cylindrical housing 30 may be formed on the motor housing 21, and when the cylindrical housing 30 is mounted on the outer sides of the motor 2 and the decelerator 3, the appearance surface of the motor 2 and the appearance surface of the decelerator 3 are kept flat, thereby improving the appearance.

Here, the slide rails 38 of the speed reducer 3 may also be provided in the housing 30, for example, all or part of the side walls of the slide rails 38 are covered by the housing 30, which is not limited by the present disclosure.

In addition, since the motor housing 21 and the rear cover 14 of the motor controller 1 are made of a non-metallic material, the height of the motor housing 21 may be designed to accommodate the rotor, the stator, and the encoder 26, the integrated circuit board, and the heat sink 13 of the motor 2, and the rear cover 14 may be formed in a disk shape.

As shown, as an exemplary embodiment of the present disclosure, the common ring gear 34 has the external teeth 344, which may increase a contact area of the common ring gear 34 with an adhesive, and improve bonding firmness; when the planet gears in the common ring gear 34 rotate, a certain torque is generated on the common ring gear 34, and the outer teeth 344 are formed on the outer side of the common ring gear 34, so that a tooth form fit relationship can be formed between the outer teeth and the adhesive, and the torque resistance of the common ring gear 34 can be improved.

Except for the above-described structure, the remaining structure in the second embodiment is substantially the same as that in the first embodiment, and is not described again here.

EXAMPLE III

As shown in fig. 17 to 26, the robot driving mechanism according to the third embodiment of the present disclosure includes a motor controller 1, a motor 2, and a reducer 3, wherein the third embodiment is designed to reduce the volume of the structure, and therefore, the robot driving mechanism according to the third embodiment is based on the first embodiment and the second embodiment, and the arrangement of the motor controller 1 is improved to adapt to an installation environment with stricter space requirements. For example, fig. 17 to 21 show a robot driving mechanism improved on the basis of the structure of the first embodiment, and fig. 22 to 26 show a robot driving mechanism improved on the basis of the structure of the second embodiment.

Specifically, the motor controller 1 includes an encoder 26, an integrated circuit board, and a heat sink 13, the encoder 26 is connected to the rotor of the motor 2, the integrated circuit board is connected to the encoder 26, and the heat sink 13 is used to dissipate heat for the integrated circuit board. As an exemplary embodiment of the present disclosure, as shown in fig. 17 to 26, the motor 2 includes a motor housing 21, a side cover 15, and a rear cover 14, a rotor and a stator of the motor 2 are disposed in the motor housing 21, the rear cover 14 is closely attached to the bottom of the motor housing 21, the side cover 15 is attached to a side of the motor housing 21, the integrated circuit board includes a first integrated circuit board 11 and a second integrated circuit board 12, the first integrated circuit board 11 is disposed in the side cover 15 and is closed by a heat sink 13, and the second integrated circuit board 12 passes through the side cover 15 and protrudes into the motor housing 21 and is adjacent to a front side of the rear cover 14.

Here, the front side is a side close to the output end of the robot driving mechanism, and is not to be construed as limiting the present disclosure. The first integrated circuit board 11 is arranged on the side of the motor 2, so that the height of the robot driving mechanism on the rotation axis C can be reduced to adapt to a mounting environment with smaller height; furthermore, by arranging the first integrated circuit board 11 and the second integrated circuit board 12 in a staggered manner, for example, by arranging the first integrated circuit board 11 perpendicular to the second integrated circuit board 12, it is possible to prevent heat generated by the first integrated circuit board 11 and the second integrated circuit board 12 from affecting each other; the heat sink 13 is formed as a part of the side cover 15 and is in direct contact with the external environment, thereby improving the heat dissipation effect.

In order to prevent electromagnetic shielding of the integrated circuit board, the side cover 15 and the rear cover 14 are made of a non-metal material, but the heat sink 13 may be made of a metal material in order to ensure a heat dissipation effect.

Here, external interfaces having a plurality of functions, such as a power interface, a control signal line interface, and the like, may be formed on the first integrated circuit board 11, and a plurality of openings avoiding the external interfaces may be formed on the heat sink 13 to expose the external interfaces.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A robot drive mechanism, characterized by comprising a motor controller (1), a motor (2) and a reducer (3), the motor controller (1) being connected to a base (22) of the motor (2), the reducer (3) being connected to an output of the motor (2), the reducer (3) comprising a common ring gear (34), a plurality of planetary gear trains and an output flange (40), the common ring gear (34) having a first end (341) and a second end (342) opposite to each other on a rotation axis (C) of the planetary gear trains, the first end (341) being connected to a stator of the motor (2), the output flange (40) being rotatably provided at the second end (342), the planetary gear trains comprising a first planetary gear train and a last planetary gear train, the first planetary gear train being connected to a rotor of the motor (2), the final planetary gear train is connected with the output flange (40), and planetary gears in the planetary gear trains in multiple stages are meshed with the internal teeth (343) of the common gear ring (34).

2. The robot drive according to claim 1, characterized in that the retarder (3) further comprises a cylindrical housing (30) made of carbon fiber material, the common ring gear (34) having external teeth (344), the external teeth (344) being adhesively fixed in the housing (30) by adhesive, the housing (30) being arranged outside the motor (2) and the retarder (3) and extending from the second end (342) of the common ring gear (34) along the rotation axis (C) to a base (22) of the motor (2).

3. The robot drive according to claim 1, characterized in that the reducer (3) further comprises a slide rail (38) defining an annular rail (381), the slide rail (38) being fixed to the second end (342) of the common ring gear (34), the output flange (40) having an inner end close to the motor (2) and an outer end remote from the motor (2), a side wall of the inner end and a side wall of a carrier in the final planetary gear train being rotatably supported on the annular rail (381) by a first bearing (403) or balls (401), the outer end projecting from an end face of the slide rail (38) remote from the motor (2) for connection with an external actuator.

4. The robot drive mechanism according to claim 1, characterized in that each stage of the planetary gear train includes a sun gear, three planetary gears, and a planetary carrier including a disc-shaped or triangular main body portion (362), and planetary gear shafts respectively corresponding to the planetary gears.

5. The robot driving mechanism according to claim 1, wherein in the planetary gear train of the same stage, a positioning shaft (364) is formed at an end of a sun gear which is far from the motor (2), and a positioning hole (392) is formed at a center of a side of a carrier which is close to the motor (2), the positioning shaft (364) being rotatably inserted in the positioning hole (392) through a second bearing (41).

6. The robot drive according to claim 1, characterized in that the primary planetary gear train comprises a primary sun gear (32), a primary planet gear (35) and a primary planet carrier (36), and the final planetary gear train comprises a final sun gear (33), a final planet gear (37) and a final planet carrier (39), the primary sun gear (32) being fixedly connected to the rotor of the electric machine (2), the primary planet carrier (36) being fixedly connected to the final sun gear (33), and the final planet carrier (39) being fixedly connected to the output flange (40).

7. The robot drive according to claim 1, characterized in that the motor (2) is a flat brushless external rotor motor, the reducer (3) comprises a fixed flange (31), the fixed flange (31) is fixed on the external rotor (23) of the motor (2), and the sun gear of the primary planetary gear train is fixed with the fixed flange (31).

8. Robot drive mechanism according to any of the claims 1-7, characterized in that the motor controller (1) comprises an encoder (26), an integrated circuit board and a heat sink (13), the encoder (26) being connected to the rotor of the motor (2), the integrated circuit board being connected to the encoder (26), the heat sink (13) being arranged to dissipate heat for the integrated circuit board.

9. The robot drive mechanism according to claim 8, wherein the motor controller (1) and the motor (2) are integrated, the motor (2) includes a motor housing (21) and a rear cover (14) hermetically connected to the motor housing (21), a rotor and a stator of the motor (2) are provided in the motor housing (21), the integrated circuit board includes a first integrated circuit board (11) and a second integrated circuit board (12), and the first integrated circuit board (11), the heat sink (13), and the second integrated circuit board (12) are sequentially stacked and accommodated in the rear cover (14).

10. The robot drive mechanism according to claim 8, characterized in that the motor (2) includes a motor housing (21), a side cover (15), and a rear cover (14), the rotor and the stator of the motor (2) are disposed in the motor housing (21), the rear cover (14) is closely attached to the bottom of the motor housing (21), the side cover (15) is attached to a side of the motor (2) housing, the integrated circuit board includes a first integrated circuit board (11) and a second integrated circuit board (12), the first integrated circuit board (11) is disposed in the side cover (15) and is closed by the heat sink (13), and the second integrated circuit board (12) passes through the side cover (15) and protrudes into the motor housing (21) and is adjacent to a front side of the rear cover (14).

11. A robot, characterized in that the robot comprises a robot drive mechanism according to any of claims 1-10.