CN214383148U

CN214383148U - Foot type robot joint module

Info

Publication number: CN214383148U
Application number: CN202120394287.6U
Authority: CN
Inventors: 阮清源; 杨宏强; 王雍雯; 李元基
Original assignee: Shaanxi Zhigantong And Iot Technology Co ltd
Current assignee: Shaanxi Zhigantong And Iot Technology Co ltd
Priority date: 2021-02-22
Filing date: 2021-02-22
Publication date: 2021-10-12
Anticipated expiration: 2031-02-22

Abstract

The utility model discloses a sufficient formula robot joint module, concretely relates to robotechnology field, including the power input end shell, there is motor housing one side of power input end shell through screw fixed mounting, and motor housing's inside is equipped with the motor rotor shell, the first bearing of motor housing's inner wall fixedly connected with, and the inner wall fixed mounting of motor rotor shell has cavity sun gear shaft, and there is the planet link one side of motor housing through screw fixed mounting, and the inner wall fixed mounting of planet link has the second bearing. In the scheme, the through holes are formed in the outer end planet carrier, the inner end planet carrier and the hollow sun gear shaft, so that the electric wire can conveniently penetrate into the through holes, the electric wire cannot be wound when the joint moves, and the electric wire is protected from being torn; and through setting up two absolute position encoder and encoder circuit protective housing, can measure accurate positional information to gather and transmit, thereby reduce the control degree of difficulty.

Description

Foot type robot joint module

Technical Field

The utility model relates to the technical field of robot, more specifically say, the utility model relates to a sufficient robot joint module.

Background

The existing foot type robot joint module has the problems of high manufacturing cost, high processing and manufacturing difficulty, high maintenance cost and the like; the input end absolute position sensor and the output end absolute position sensor are not simultaneously arranged, so that the position information is difficult to acquire, and the control difficulty is increased; the outgoing line position is located at a certain position on the shell, so that when the joint performs rotary motion, the wire is easy to be pulled and twisted to cause safety problems of personnel and equipment.

Therefore, it is desirable to provide a legged robot joint module.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above-mentioned defect of prior art, the embodiment of the utility model provides a sufficient robot joint module to solve prior art's wire rod and be dragged when joint department activity easily and lead to damaging and do not possess absolute position sensor's problem.

In order to solve the technical problem, the utility model provides a following technical scheme: a foot type robot joint module comprises a power input end shell, wherein a motor shell is fixedly arranged on one side of the power input end shell through screws, a motor rotor shell is arranged in the motor shell, a first bearing is fixedly connected to the inner wall of the motor shell, a hollow sun gear shaft is fixedly arranged on the inner wall of the motor rotor shell, a planet connecting frame is fixedly arranged on one side of the motor shell through screws, a second bearing is fixedly arranged on the inner wall of the planet connecting frame, an outer end planet carrier is fixedly arranged on the inner wall of the second bearing, a power output end shell is fixedly arranged on one side of the planet connecting frame through screws, an inner end planet carrier is fixedly connected to the inner wall of the planet connecting frame, an absolute position encoder is fixedly arranged on the inner side of the power output end shell through screws, and a power circuit board is fixedly arranged on the other side of the motor shell through screws, the outer side of the motor shell is fixedly provided with a circuit protection shell, and the outer wall of the hollow sun gear shaft is fixedly sleeved with a hollow annular magnet.

Preferably, the number of the absolute position encoders is two, and the other absolute position encoder is located inside the power supply circuit board.

Preferably, through holes are formed in the outer end planet carrier, the inner end planet carrier and the hollow sun gear shaft.

The utility model discloses an above-mentioned technical scheme's beneficial effect as follows:

in the scheme, the through holes are formed in the outer end planet carrier, the inner end planet carrier and the hollow sun gear shaft, so that the electric wire can conveniently penetrate into the through holes, the electric wire cannot be wound when the joint moves, meanwhile, the electric wire is protected from being torn, the safety performance is good, and the danger coefficient is low; and through setting up two absolute position encoder and encoder circuit protective housing, can measure accurate positional information to gather and transmit, thereby reduce the control degree of difficulty.

Drawings

FIG. 1 is an overall burst diagram of the present invention;

fig. 2 is an overall burst diagram of the present invention.

[ reference numerals ]

1. A power input end housing; 2. a motor housing; 3. a motor rotor housing; 4. a first bearing; 5. a hollow sun gear shaft; 6. a second bearing; 7. an outer end planet carrier; 8. a planet carrier; 9. a power output end housing; 10. an inner end planet carrier; 11. an absolute position encoder; 12. a power supply circuit board; 13. a circuit protection housing; 14. a hollow ring magnet.

Detailed Description

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.

The embodiment of the present invention as shown in fig. 1 to 2 provides a foot type robot joint module, which comprises a power input end housing 1, a motor housing 2 is fixedly installed on one side of the power input end housing 1 through screws, a motor rotor housing 3 is arranged inside the motor housing 2, a first bearing 4 is fixedly connected to the inner wall of the motor housing 2, a hollow sun gear shaft 5 is fixedly installed on the inner wall of the motor rotor housing 3, a planetary connecting frame 8 is fixedly installed on one side of the motor housing 2 through screws, a second bearing 6 is fixedly installed on the inner wall of the planetary connecting frame 8, an outer end planet carrier 7 is fixedly installed on the inner wall of the second bearing 6, a power output end housing 9 is fixedly installed on one side of the planetary connecting frame 8 through screws, an inner end planet carrier 10 is fixedly connected to the inner wall of the planetary connecting frame 8, an absolute position encoder 11 is fixedly installed on the inner side of the power output end housing 9 through screws, the other side of the motor shell 2 is fixedly provided with a power supply circuit board 12 through screws, the outer side of the motor shell 2 is fixedly provided with a circuit protection shell 13, and the outer wall of the hollow sun gear shaft 5 is fixedly sleeved with a hollow annular magnet 14; the number of the absolute position encoders 11 is two, and the other absolute position encoder 11 is located inside the power supply circuit board 12.

As shown in fig. 1-2, through holes are formed in the outer end planet carrier 7, the inner end planet carrier 10 and the hollow sun gear shaft 5.

Specifically, the inside of outer end planet carrier 7 and inner planet carrier 10 sets up the through-hole to all seted up the through-hole at power input end shell 1, motor housing 2, motor rotor shell 3 etc. be convenient for make the electric wire pass the device, avoid the lines winding.

The working process of the utility model is as follows:

in the scheme, through holes are formed in the outer end planet carrier 7, the inner end planet carrier 10 and the hollow sun gear shaft 5, so that electric wires can conveniently penetrate into the through holes, the electric wires are prevented from being wound when the joints move, meanwhile, the electric wires are prevented from being torn, the safety performance is good, the risk coefficient is low, and the service life of the machine is prolonged;

in the above scheme, set up two absolute position encoder 11 and encoder circuit protective housing 13, respectively in the inside both sides of the device, can measure accurate positional information to gather and transmit, thereby reduce the control degree of difficulty.

The points to be finally explained are: in the description of the present application, it is noted that unless otherwise specified and limited, the terms "mounted," "connected," and "connected" are to be construed broadly, as meaning either a mechanical or electrical connection, or a communication between two elements, either directly,

"upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationships may change;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The foot type robot joint module comprises a power input end shell (1), wherein a motor shell (2) is fixedly arranged on one side of the power input end shell (1) through screws, a motor rotor shell (3) is arranged inside the motor shell (2), a first bearing (4) is fixedly connected to the inner wall of the motor shell (2), the foot type robot joint module is characterized in that a hollow sun gear shaft (5) is fixedly arranged on the inner wall of the motor rotor shell (3), a planet connecting frame (8) is fixedly arranged on one side of the motor shell (2) through screws, a second bearing (6) is fixedly arranged on the inner wall of the planet connecting frame (8), an outer end planet carrier (7) is fixedly arranged on the inner wall of the second bearing (6), and a power output end shell (9) is fixedly arranged on one side of the planet connecting frame (8) through screws, inner planet carrier (10) of inner wall fixedly connected with of planet link (8), there is absolute position encoder (11) inboard of power take off shell (9) through screw fixed mounting, there is power supply circuit board (12) on the opposite side of motor housing (2) through screw fixed mounting, the outside fixed mounting of motor housing (2) has circuit protection shell (13), cavity ring magnet (14) have been cup jointed to the outer wall fixation of cavity sun gear shaft (5).

2. The legged robot joint module according to claim 1, wherein the number of the absolute position encoders (11) is two, and the other absolute position encoder (11) is located inside the power circuit board (12).

3. The legged robot joint module according to claim 1, wherein the outer end planet carrier (7), the inner end planet carrier (10) and the hollow sun gear shaft (5) are all provided with through holes.