CN215093695U - Body driver, driving joint and robot - Google Patents

Abstract

The application discloses body driver, drive joint and robot. The body driver comprises a shell provided with a mounting circular hole, a tail cover connected with the shell, a control assembly connected with the tail cover, a stator mounted on the shell, a rotor rotatably mounted on the tail cover, and a planetary reduction assembly mounted in the mounting circular hole; a plurality of driving teeth are arranged on the inner wall of the mounting circular hole along the circumferential direction, and form an inner gear ring; the planetary reduction assembly comprises an output planet carrier, a plurality of planet wheels, a first bearing, a second bearing and a sun wheel, wherein the planet wheels are rotatably arranged on the output planet carrier and are meshed with the inner gear ring; the axis of the sun wheel is collinear with the axis of the mounting round hole, and the sun wheel is connected with the rotor. An inner gear ring is formed on the inner wall of the mounting circular hole, the concentricity between the sun gear and the inner gear ring can be kept high, and the mechanical transmission precision of the body driver is ensured.

Description

Body driver, driving joint and robot

Technical Field

The application relates to the technical field of robots, in particular to a body driver, a driving joint and a robot.

Background

In the leg-foot type servo driver, the body driver realizes low cost due to the small reduction ratio and the current loop control mode, can realize better force control characteristic and is widely applied.

However, the casing and the inner gear ring of the existing body driver adopt a split design scheme, and the sizes or installation errors of the inner gear ring, the casing and other components can cause the concentricity of the sun gear and the inner gear ring of the planetary reduction assembly to be low, so that a gap is easily generated between part of planetary wheels of the planetary reduction assembly and the inner gear ring, the mechanical transmission precision is not high, and the vibration noise is also large when the device is used.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a body driver, aim at solving prior art, the not high problem of body driver mechanical transmission precision.

To achieve the purpose, the embodiment of the application adopts the following technical scheme:

the body driver comprises a shell provided with a mounting circular hole, a tail cover connected with the shell, a control assembly connected with the tail cover, a stator mounted on the shell, a rotor rotatably mounted on the tail cover, and a planetary reduction assembly mounted in the mounting circular hole; a plurality of driving teeth are arranged on the inner wall of the mounting circular hole along the circumferential direction, and form an inner gear ring; the planetary reduction assembly comprises an output planet carrier, a plurality of planet wheels, a first bearing, a second bearing and a sun wheel, wherein the planet wheels are rotatably arranged on the output planet carrier and are meshed with the inner gear ring; the first bearing and the second bearing are opposite and arranged at intervals, the axis of the sun gear is collinear with the axis of the mounting round hole, and the sun gear is connected with the rotor; the control assembly comprises a control box connected with the tail cover and a control driving circuit board arranged in the control box.

In one embodiment, the outer ring of the first bearing and the outer ring of the second bearing are both mounted on the inner wall of the mounting circular hole, the inner ring of the first bearing and the inner ring of the second bearing are both mounted on the output planet carrier, and the inner ring gear is located between the first bearing and the second bearing.

In one embodiment, the output carrier includes a carrier, a gland, and a first connection screw connected between the carrier and the gland; one end of the support, which is far away from the gland, is provided with a first resisting bulge, and one end of the gland, which is far away from the support, is provided with a second resisting bulge; the first resisting bulge is positioned on one side of the first bearing, which is far away from the second bearing, and the first resisting bulge is abutted with the inner ring of the first bearing; the second resisting bulge is positioned on one side of the second bearing, which is far away from the first bearing, and the second resisting bulge is abutted with the inner ring of the second bearing.

In one embodiment, the inner wall of the mounting circular hole is provided with a third resisting protrusion, and the driving teeth are positioned on the third resisting protrusion; the outer ring of the first bearing is abutted with one end of the third retaining bulge, and the outer ring of the second bearing is abutted with the other end of the third retaining bulge.

In one embodiment, the output planet carrier is provided with an abdicating notch, and two opposite inner walls of the abdicating notch are provided with rotating holes; the planet speed reduction assembly further comprises a planet pin shaft which is rotatably connected with the planet wheel, and two opposite ends of the planet pin shaft are fixedly arranged in the rotating hole.

In one embodiment, a mounting table is formed by extending a side surface of the shell facing the tail cover in a direction close to the tail cover, and the stator is sleeved on the mounting table; the mounting round hole penetrates through the mounting table; in the axial direction of the mounting round hole, at least part of the position of the stator coincides with the planetary reduction assembly.

In one embodiment, a first mounting cylinder is formed by extending a side surface of the rotor facing the housing in a direction close to the housing, the sun gear is connected with the first mounting cylinder, the body driver further comprises a third bearing arranged between the first mounting cylinder and the output planet carrier, an inner ring of the third bearing is mounted on the first mounting cylinder, and an outer ring of the third bearing is mounted on the output planet carrier.

In one embodiment, a side surface of the rotor, which faces away from the housing, extends to form a second mounting cylinder in a direction away from the housing; the body driver further comprises a fourth bearing arranged between the second mounting cylinder and the tail cover; the inner ring of the fourth bearing is arranged on the second mounting cylinder, and the tail cover is arranged on the outer ring of the fourth bearing.

In one embodiment, the body driver further comprises a motor angle sensor electrically connected to the control driving circuit board, the motor angle sensor being mounted on the rotor; the control box is detachably connected with the tail cover.

It is a further object of the present application to provide a drive joint comprising the body driver of any of the above embodiments, and an output structure; the output structural member is connected with the output planet carrier.

In one embodiment, the drive joint further comprises a fifth bearing with an inner ring mounted on the tail cover, and the output structure comprises a connecting part, a first supporting part connected with the connecting part, and a second supporting part connected with the first supporting part; the first supporting part and the second supporting part are opposite and arranged at intervals; the first supporting part is connected with the output planet carrier, and the second supporting part is installed on the outer ring of the fifth bearing.

In one embodiment, the drive joint further comprises a second connection screw connected between the first support portion and the output carrier; the drive joint further comprises a support end cover arranged on the tail cover, and a third connecting screw connected between the tail cover and the support end cover, and the fifth bearing is arranged on the support end cover.

It is a further object of the present application to provide a robot comprising a drive joint as described in any of the embodiments above.

The beneficial effects of the embodiment of the application are as follows: the inner wall of the mounting round hole on the shell is provided with the driving teeth to form the inner gear ring, so that the inner gear ring is directly arranged on the shell. Compared with the installation mode that the inner gear ring is separated from the shell in the prior art, the concentricity between the sun gear and the inner gear ring can be kept high. Because the concentricity between the sun gear and the inner gear ring can be stably kept in a higher state, a plurality of planet gears meshed with the sun gear and the inner gear ring can be simultaneously arranged between the inner gear ring and the sun gear; the problem that a gap exists between a certain planet wheel and the inner gear ring is not easy to occur, namely, in the working process of the body driver, each planet wheel can stably rotate between the inner gear ring and the sun wheel, the assembly precision of each part is ensured, and the mechanical transmission precision of the body driver is further ensured.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a body driver according to an embodiment of the present application;

FIG. 2 is a cross-sectional view of a body driver in an embodiment of the present application;

FIG. 3 is a schematic structural view of the housing of FIGS. 1-2;

FIG. 4 is a partial view of the planetary reduction assembly of FIG. 2;

FIG. 5 is an exploded view of a planetary reduction assembly in an embodiment of the present application;

FIG. 6 is a partial view of the rotor of FIG. 2;

FIG. 7 is a partial view of FIG. 2 at the tail cap;

FIG. 8 is a cross-sectional view of a drive joint in an embodiment of the present application;

in the figure:

1. a housing; 101. mounting a round hole; 102. an inner gear ring; 1021. a drive tooth; 103. a third resisting bulge; 104. an installation table; 2. a planetary reduction assembly; 201. an output planet carrier; 2011. a support; 20111. a first resisting bulge; 2012. a gland; 20121. a second resisting bulge; 2013. a first connection screw; 2014. a abdication gap; 20141. rotating the hole; 202. a planet wheel; 203. a sun gear; 204. a planet pin shaft; 3. a tail cover; 4. a control component; 401. a control box; 402. a control drive circuit board; 5. a stator; 6. a rotor; 601. a first mounting cylinder; 602. a second mounting cylinder; 7. a first bearing; 8. a second bearing; 9. a third bearing; 10. a fourth bearing; 11. a motor angle sensor; 12. outputting a structural part; 1201. a connecting portion; 1202. a first support section; 1203. a second support portion; 13. a fifth bearing; 14. supporting the end cap.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and 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 thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

The following detailed description of implementations of the present application is provided in conjunction with specific embodiments.

As shown in fig. 1-3, the embodiment of the present application provides a body driver, which includes a casing 1 provided with a mounting circular hole 101, a tail cover 3 connected to the casing 1, a control assembly 4 connected to the tail cover 3, a stator 5 mounted to the casing 1, a rotor 6 rotatably mounted to the tail cover 3, and a planetary reduction assembly 2 mounted in the mounting circular hole 101. The shell 1 and the tail cover 3 are connected to form a shell of the body driver, and the stator 5, the rotor 6 and the planetary reduction assembly 2 are all installed in the shell. The control assembly 4 includes a control box 401 connected to the tail cover 3, and a control drive circuit board 402 disposed in the control box 401 and used for controlling parameters such as the rotation speed of the body driver. The control box 401 and the tail cover 3 can be selectively detachably connected, so that the control assembly 4 can be integrally separated from the tail cover 3.

Referring to fig. 3, a plurality of driving teeth 1021 are arranged on the inner wall of the mounting circular hole 101 along the circumferential direction, the plurality of driving teeth 1021 form an inner gear ring 102, and the inner gear ring 102 is used for matching with the planetary reduction assembly 2. Referring to fig. 4 to 5, the planetary reduction assembly 2 includes an output planet carrier 201, a plurality of planet gears 202 rotatably mounted to the output planet carrier 201 and engaged with the ring gear 102, first and second bearings 7 and 8 mounted to the output planet carrier 201, and a sun gear 203 engaged with each of the plurality of planet gears 202. The axis of the sun gear 203 is collinear with the axis of the mounting circular hole 101, and the sun gear 203 is connected with the rotor 6. When the body driver works, the sun gear 203 rotates synchronously along with the rotor 6 and drives the plurality of planet gears 202 to rotate, interaction force is generated between the planet gears 202 and the inner gear ring 102 when the planet gears 202 rotate, so that the output planet carrier 201 rotates, and the output planet carrier 201 is connected with an external structure to realize the rotation output of the body driver. The first bearing 7 and the second bearing 8 are arranged oppositely and at intervals, so that double-side support is provided for the whole planetary reduction assembly 2. Therefore, when the planetary reduction assembly 2 works, the first bearing 7 and the second bearing 8 can provide stable bilateral support for the output planet carrier 201 on both sides, so that the output stability of the output planet carrier 201 is ensured on one hand, and the meshing stability of the planet wheel 202 and the inner gear ring 102 is ensured on the other hand.

In the embodiment of the application, the inner gear ring 102 is formed by arranging the driving teeth 1021 on the inner wall of the mounting round hole 101 on the shell 1, so that the inner gear ring 102 is directly arranged on the shell 1, and the planetary reduction assembly 2 arranged in the mounting round hole 101 of the shell 1 is matched with the inner gear ring 102, so that the function of speed reduction output of the planetary reducer is realized. Compared with the installation mode of separating the ring gear 102 from the housing 1 in the prior art, the relative position of the ring gear 102 and the housing 1 is fixed, and the ring gear 102 and the housing 1 cannot move mutually. Under the condition that the axes of the sun gear 203 and the inner gear ring 102 of the star reducer are collinear, the concentric arrangement of the sun gear 203 and the inner gear ring 102 can be realized. And it tends to be difficult to be affected by the assembling accuracy between the ring gear 102 and the housing 1 only when the size or mounting accuracy of the sun gear 203 itself is insufficient, resulting in a decrease in the concentricity between the sun gear 203 and the ring gear 102. Therefore, the concentricity between the sun gear 203 and the ring gear 102 can be kept high when the body driver is assembled and used.

Since the concentricity between the sun gear 203 and the ring gear 102 can be stably maintained in a high state, the plurality of planet gears 202 engaged with the sun gear 203 and the ring gear 102 can be simultaneously engaged between the ring gear 102 and the sun gear 203; the problem that a gap exists between a certain planet wheel 202 and the inner gear ring 102 is not easy to occur, namely in the working process of the body driver, each planet wheel 202 can stably rotate between the inner gear ring 102 and the sun wheel 203, the assembly precision of each part is ensured, and the mechanical transmission precision of the body driver is further ensured.

Meanwhile, because the problem that a gap exists between a certain planet wheel 202 and the inner gear ring 102 is not easy to occur, each planet wheel 202 can stably rotate when being meshed with the inner gear ring 102, and is not easy to collide with the inner gear ring 102, thereby avoiding generating larger vibration noise.

Referring to fig. 2 to 4, as another embodiment of the body driver provided by the present application, outer rings of the first bearing 7 and the second bearing 8 are installed on an inner wall of the installation circular hole 101, the ring gear 102 is located between the first bearing 7 and the second bearing 8, and the output planet carrier 201 is installed on inner rings of the first bearing 7 and the second bearing 8, so that double-side support of the planetary reduction assembly 2 by the two bearings is realized, and stability of the planetary reduction assembly 2 during movement is ensured. The output planet carrier 201 of the planetary reduction assembly 2 is used as the output end of the body driver, is directly connected with the output structural member 12 and bears certain external pressure, the arrangement of the first bearing 7 and the second bearing 8 can provide better rotary support for the output planet carrier 201, and the output planet carrier 201 can rotate better when receiving the external pressure.

Referring to fig. 2 to 5, as another embodiment of the body driver provided by the present application, the output planet carrier 201 includes a bracket 2011, a gland 2012, and a first connection screw 2013 connected between the bracket 2011 and the gland 2012. A threaded hole can be formed in the support 2011, a through hole is formed in the gland 2012, and the first connecting screw 2013 penetrates through the through hole and then is in threaded connection with the threaded hole, so that the gland 2012 and the support 2011 are locked.

Referring to fig. 2 and fig. 4-5, an end of the support 2011 away from the gland 2012 has a first resisting protrusion 20111, and an end of the gland 2012 away from the support 2011 has a second resisting protrusion 20121; the first abutting protrusion 20111 is located on one side of the first bearing 7 away from the second bearing 8, and the first abutting protrusion 20111 abuts against the inner ring of the first bearing 7; the second resisting protrusion 20121 is located on one side of the second bearing 8 far away from the first bearing 7, and the second resisting protrusion 20121 is in contact with the inner ring of the second bearing 8. When the first connecting screw 2013 locks the bracket 2011 and the gland 2012, the first abutting protrusion 20111 on the bracket 2011 abuts against the inner ring of the first bearing 7 and applies pressure directed to the second bearing 8 to the inner ring of the first bearing 7; at the same time, the second abutting projections 20121 on the gland 2012 abut against the inner ring of the second bearing 8 and apply a pressure directed to the first bearing 7 to the inner ring of the second bearing 8; and the locking state of the first connecting screw 2013 can be adjusted, so that the first bearing 7 can be stably abutted against the first abutting projection, the second bearing 8 can be stably abutted against the second abutting projection, and the first bearing 7 and the second bearing 8 are stably arranged on the output planet carrier 201 and form a whole with other components of the planetary reduction assembly 2. Thereby reducing or even eliminating the axial play of the first bearing 7 and the second bearing 8 in the axial direction of the first bearing 7 and the second bearing 8. When the output planet carrier 201 of the planetary reduction assembly 2 is used as the output end of the body driver, the first bearing 7 and the second bearing 8 are not easy to shift in the self axial direction after being stressed, and stable rotation support can be provided for the output planet carrier 201. And because the first bearing 7 and the second bearing 8 are integrated with other parts of the planetary reduction assembly 2, when the planetary reduction assembly 2 works, the first bearing 7 and the second bearing 8 are not easy to be displaced relative to other parts of the planetary reduction assembly 2, so that the relative stability of the self position can be kept, and further the double-side support is provided for the whole planetary reduction assembly 2. Therefore, when the planetary reduction assembly 2 works, the first bearing 7 and the second bearing 8 can provide stable bilateral support for the output planet carrier 201 on both sides, so that the output stability of the output planet carrier 201 is ensured on one hand, and the meshing stability of the planet wheel 202 and the inner gear ring 102 is ensured on the other hand.

Meanwhile, as the first bearing 7 and the second bearing 8 are integrated with other parts of the planetary reduction assembly 2, when the planetary reduction assembly 2 is installed in the installation round hole 101 of the shell 1, under the condition that the axes of the sun gear 203 and the inner gear ring 102 of the planetary reduction assembly 2 are collinear, the position of the first bearing 7 and the position of the second bearing 8 relative to the inner gear ring can meet the installation requirement, and the difficulty of assembling the body driver is reduced.

Referring to fig. 2 and fig. 4-5, as another embodiment of the main body driver provided in the present application, a third resisting protrusion 103 is disposed on an inner wall of the mounting circular hole 101, and the driving tooth 1021 is disposed on the third resisting protrusion 103; the outer ring of the first bearing 7 abuts against one end of the third abutting protrusion 103, and the outer ring of the second bearing 8 abuts against the other end of the third abutting protrusion 103. Therefore, the first abutting protrusion 20111 abuts against the inner ring of the first bearing 7 at one side (the side far away from the ring gear 102) of the first bearing 7, and the third abutting protrusion 103 abuts against the outer ring of the first bearing 7 at the other side of the first bearing 7, so that the first bearing 7 is abutted by the first abutting protrusion 20111 and the third abutting protrusion 103 at two opposite sides respectively, a possible play of the first bearing 7 in the axial direction is approximately eliminated, when the output planet carrier 201 is rotatably supported, the position where the output planet carrier is mounted on the housing 1 cannot be easily changed even when pressure is applied, and stable rotation support is provided for the output planet carrier 201. Similarly, the second abutting protrusion 20121 abuts against the inner ring of the second bearing 8 at one side (the side far away from the ring gear 102) of the second bearing 8, the third abutting protrusion 103 abuts against the outer ring of the second bearing 8 at the other side of the second bearing 8, so that the second bearing 8 abuts against the second abutting protrusion 20121 and the third abutting protrusion 103 at the two opposite sides respectively, the possible play of the second bearing 8 in the axial direction is eliminated, when the output planet carrier 201 is rotatably supported, the position where the second bearing is mounted on the housing 1 is not easily changed after pressure is received, and the output planet carrier 201 is stably rotatably supported.

Because the first bearing 7 and the second bearing 8 form a whole with other parts of the planetary reduction assembly 2, the first bearing 7 and the second bearing 8 can directly provide better rotary support for the output planet carrier 201, so that the planetary reduction assembly 2 can be integrally supported at two sides in a rotary manner, and the bending moment, the axial force and the radial force applied to the output planet carrier 201 can be jointly borne by the first bearing 7 and the second bearing 8, so that the body driver has strong external impact resistance and high use reliability during working. Compared with the prior art, the cross roller bearing mode is adopted, the cost is reduced, the weight of the body driver is reduced, and the volume of the body driver is reduced.

In the present embodiment, the housing 1 is provided with the ring gear 102, and serves as a bearing mounting seat for the first bearing 7 and the second bearing 8. And because the stator 5 and the rotor 6 are both arranged in a shell formed by connecting the shell 1 and the tail cover 3, the shell 1 can be used as a part of a motor. The simplification of the body driver component is realized, and the effects of compactness, small size and light weight of the body driver structure are achieved.

Referring to fig. 5, as another specific embodiment of the body driver provided in the present application, a plurality of abdicating notches 2014 are formed in the output planet carrier 201, the notches correspond to the planet wheels 202 one by one, and each planet wheel 202 is installed in one abdicating notch 2014. The output planet carrier 201 is through at two ends for the sun gear 203 to extend into, and the abdicating notch 2014 is connected with the through part thereof, so the planet gear 202 at the abdicating notch 2014 can be meshed with the sun gear 203 of the through part to realize transmission connection.

Referring to fig. 5, two inner walls of the abdicating notch 2014 are provided with rotating holes 20141; the planetary reduction assembly 2 further includes a planetary pin 204 rotatably connected to the planetary gear 202, and two opposite ends of the planetary pin 204 are fixedly mounted in the rotation hole 20141 (in interference fit), so that the planetary gear 202 is indirectly rotatably mounted on the output planet carrier 201 through the planetary pin 204. Optionally, the planet wheel 202 and the planet pin 204 may be an integral component, and are processed into a component by casting or cutting, and the planet wheel 202 and the planet pin 204 are formed on the component, so that the component formed by the planet wheel 202 and the planet pin 204 has sufficient strength, and the concentricity of the planet wheel 202 and the planet pin 204 is also high, and when the planet wheel 202 and the planet pin 204 are assembled on the output planet carrier 201, the planet wheel 202 and the planet pin can rotate well, thereby further ensuring the high precision of mechanical transmission, and reducing the noise during use. Optionally, the manner in which the planet gear 202 is rotatably mounted on the planet pin 204 is as follows: the planet wheel 202 includes a planet wheel body and a planet bearing (without an inner ring needle bearing) fixed in an interference manner, and the planet wheel body and the planet bearing may be an integral piece and realize relative rotation with the planet pin 204. The planet wheel body and the planet bearing are formed on the component by adopting a mode of casting, cutting and the like.

Referring to fig. 2-3, as another embodiment of the body driver provided by the present application, a mounting table 104 is formed by extending a surface of the casing 1 facing the tail cover 3 in a direction close to the tail cover 3, and the stator 5 is sleeved on the mounting table 104; since the mounting circular hole 101 penetrates the mounting base 104, the planetary reduction gear unit 2 is fitted inside the mounting base 104. In the axial direction of the mounting circular hole 101, at least part of the position of the stator 5 coincides with the planetary reduction assembly 2 and is embedded in the stator 5, and in the axial direction of the stator 5, a large mounting space is not required to be provided for the planetary reduction assembly alone, so that the length of the body driver in the axial direction of the stator 5 is reduced, and the compactness of the structure of the body driver is further realized.

Referring to fig. 2, 4 and 6, as another embodiment of the body driver provided by the present application, a first mounting cylinder 601 is formed by extending a side surface of the rotor 6 facing the housing 1 in a direction close to the housing 1, and the sun gear 203 is connected to the first mounting cylinder 601, so that the sun gear 203 can be driven to rotate by the first mounting cylinder 601 when the rotor 6 rotates.

Referring to fig. 2, 4 and 6, the main body driver further includes a third bearing 9 disposed between the first mounting cylinder 601 and the output planet carrier 201, an inner ring of the third bearing 9 is mounted on the first mounting cylinder 601, and an outer ring of the third bearing 9 is mounted on the output planet carrier 201. That is, the first mounting tube 601 is rotatably mounted on the output planet carrier 201 of the planetary reduction assembly through the third bearing 9, so that the stability of the rotor 6 during the integral rotation can be ensured.

Referring to fig. 2, 4 and 6, as another embodiment of the body driver provided by the present application, a second mounting cylinder 602 is formed by extending a surface of the rotor 6 opposite to the housing 1 in a direction away from the housing 1; the body driver further comprises a fourth bearing 10 arranged between the second mounting cylinder 602 and the tail cover 3; the inner race of the fourth bearing 10 is mounted on the second mounting tube 602, and the tail cap 3 is mounted on the outer race of the fourth bearing 10. The rotor 6 is rotatably mounted on the tail cover 3 through a fourth bearing 10, and when the rotor 6 rotates, the fourth bearing 10 can provide good rotational support for the rotor 6.

Simultaneously, third bearing 9 supports rotor 6 in rotor 6's relative both sides respectively with fourth bearing 10, can cooperate to provide better rotation support to rotor 6, further promotes body driver's mechanical transmission precision.

At this time, referring to fig. 2, 4 and 6-7, the planetary reduction assembly is directly rotatably mounted on the rotor 6 through the third bearing 9 and indirectly rotatably mounted on the tail cover 3 through the rotor 6 and the fourth bearing 10 under the condition that the planetary reduction assembly is directly supported by the first bearing 7 and the second bearing 8 on the housing 1. When the output planet carrier 201 of the planetary reduction assembly receives the reaction force of the output structural member 12, the plurality of bearings implemented in the axial direction of the planetary reduction assembly can apply stable rotation support to the planetary reduction assembly at a plurality of positions, and the planetary reduction assembly can rotate continuously and stably.

When the body drive is part of a drive joint, the output planet carrier 201 of the star reduction assembly is connected to the output structural member 12. The drive joint further comprises a fifth bearing 13 with an inner ring mounted on the tail cover 3, and the output structural member 12 comprises a connecting part 1201, a first supporting part 1202 connected with the connecting part 1201, and a second supporting part 1203 connected with the first supporting part 1202; the first supporting portion 1202 is opposite to the second supporting portion 1203 and is arranged at an interval; the first support portion 1202 is connected to the output carrier 201, and the second support portion 1203 is mounted on the outer race of the fifth bearing 13. At this time, the output planet carrier 201 and the fifth bearing 13 at the two ends of the body driver can support the output structural member 12 at two positions, and the output planet carrier 201 can stably drive the output structural member 12 to rotate.

Under the condition that the first bearing 7, the second bearing 8, the third bearing 9, the fourth bearing 10 and the fifth bearing 13 are arranged at the same time, when an output structural part 12 of the driving joint is installed on the body driver, bending moment, axial force and radial force borne by the body driver can be supported by the first bearing 7, the second bearing 8, the third bearing 9, the fourth bearing 10 and the fifth bearing 13 together, so that better operation of the driving joint is ensured.

Referring to fig. 2, 4 and 6, as another embodiment of the body driver provided by the present application, the body driver further includes a motor angle sensor 11 electrically connected to the control driving circuit board 402, and the motor angle sensor 11 is mounted on the rotor 6; the motor angle sensor 11 detects the rotation state of the rotor 6 and detects information such as the rotation speed and the angle. The control unit 4 controls the driving and controlling device on the driving circuit board 402 to perform speed loop, position loop and current loop control according to the information.

As shown in fig. 8, the present embodiment provides a driving joint, which includes the body driver in any one of the above embodiments, and an output structural member 12; the output structural member 12 is connected to the output carrier 201. The concentricity between the sun gear 203 and the inner gear ring 102 of the body drive can be stably maintained in a high state, so that a plurality of planet gears 202 meshed with the sun gear 203 and the inner gear ring 102 can be simultaneously between the inner gear ring 102 and the sun gear 203; the problem that a gap exists between a certain planet wheel 202 and the inner gear ring 102 is not easy to occur, namely in the working process of the body driver, each planet wheel 202 can stably rotate between the inner gear ring 102 and the sun wheel 203, the assembly precision of each part is ensured, and the mechanical transmission precision of the body driver is further ensured. Therefore, the driving joint of the body driver in the above embodiment has high mechanical transmission precision.

Referring to fig. 8, as another embodiment of the driving joint provided in the present application, the driving joint further includes a fifth bearing 13 whose inner ring is installed on the tail cover 3, and the output structural member 12 includes a connecting portion 1201, a first supporting portion 1202 connected to the connecting portion 1201, and a second supporting portion 1203 connected to the first supporting portion 1202; the first supporting portion 1202 is opposite to the second supporting portion 1203 and is arranged at an interval; the first support portion 1202 is connected to the output carrier 201, and the second support portion 1203 is mounted on the outer race of the fifth bearing 13.

At this time, the output planet carrier 201 and the fifth bearing 13 at the two ends of the body driver can support the output structural member 12 at two positions, and the output planet carrier 201 can stably drive the output structural member 12 to rotate.

Under the condition that the first bearing 7, the second bearing 8, the third bearing 9, the fourth bearing 10 and the fifth bearing 13 are arranged at the same time, when an output structural part 12 of the driving joint is installed on the body driver, bending moment, axial force and radial force borne by the body driver can be supported by the first bearing 7, the second bearing 8, the third bearing 9, the fourth bearing 10 and the fifth bearing 13 together, so that better operation of the driving joint is ensured.

Referring to fig. 8, as another specific embodiment of the driving joint provided in the present application, the driving joint further includes a second connection screw connected between the first supporting portion 1202 and the output planet carrier 201, so as to detachably connect the first supporting portion 1202 and the output planet carrier 201; the driving joint further comprises a supporting end cover 14 installed on the tail cover 3, a third connecting screw is connected between the tail cover 3 and the supporting end cover 14, the supporting end cover 14 can protrude out of the surface of the tail cover 3, a fifth bearing 13 is installed on the supporting end cover 14, so that the fifth bearing 13 can protrude out of the surface of the tail cover 3, and the second supporting portion 1203 can be installed on the tail cover 3 through the fifth bearing 13 in a better rotating mode.

An embodiment of the present application provides a robot, including the driving joint in any one of the above embodiments. Since the drive joints have high mechanical transmission accuracy, joints such as leg joints and hand joints of the robot also have high mechanical transmission accuracy.

It is to be understood that aspects of the present invention may be practiced otherwise than as specifically described.

It should be understood that the above examples are merely examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims (10)

1. The body driver is characterized by comprising a shell provided with a mounting circular hole, a tail cover connected with the shell, a control assembly connected with the tail cover, a stator mounted on the shell, a rotor rotatably mounted on the tail cover and a planetary speed reduction assembly mounted in the mounting circular hole; a plurality of driving teeth are arranged on the inner wall of the mounting circular hole along the circumferential direction, and form an inner gear ring; the planetary reduction assembly comprises an output planet carrier, a plurality of planet wheels which are rotatably arranged on the output planet carrier and meshed with the inner gear ring, a first bearing and a second bearing which are arranged on the output planet carrier, and a sun wheel which is meshed with the planet wheels, wherein the first bearing and the second bearing are opposite and arranged at intervals; the axis of the sun wheel is collinear with the axis of the mounting round hole, and the sun wheel is connected with the rotor; the control assembly comprises a control box connected with the tail cover and a control driving circuit board arranged in the control box.

2. The body drive of claim 1, wherein the outer race of the first bearing and the outer race of the second bearing are both mounted on an inner wall of the mounting bore, the inner race of the first bearing and the inner race of the second bearing are both mounted on the output carrier, and the ring gear is located between the first bearing and the second bearing.

3. The body driver of claim 1, wherein the output planet carrier is provided with a abdication notch, and two opposite inner walls of the abdication notch are provided with rotating holes; the planet speed reduction assembly further comprises a planet pin shaft which is rotatably connected with the planet wheel, and two opposite ends of the planet pin shaft are fixedly arranged in the rotating hole.

4. The body driver as claimed in any one of claims 1 to 3, wherein a mounting table is formed by extending a surface of the housing facing the tail cap in a direction approaching the tail cap, and the stator is fitted on the mounting table; the mounting round hole penetrates through the mounting table; in the axial direction of the mounting round hole, at least part of the position of the stator coincides with the planetary reduction assembly.

5. The body driver as claimed in any one of claims 1 to 3, wherein a first mounting cylinder is formed by extending a side surface of the rotor facing the housing in a direction approaching the housing, the sun gear is connected to the first mounting cylinder, the body driver further includes a third bearing provided between the first mounting cylinder and the output carrier, an inner ring of the third bearing is mounted on the first mounting cylinder, and an outer ring of the third bearing is mounted on the output carrier.

6. The body driver as claimed in any one of claims 1 to 3, wherein a side surface of the rotor facing away from the housing is formed with a second mounting cylinder extending away from the housing; the body driver further comprises a fourth bearing arranged between the second mounting cylinder and the tail cover; the inner ring of the fourth bearing is arranged on the second mounting cylinder, and the tail cover is arranged on the outer ring of the fourth bearing.

7. The body driver of claim 1, further comprising a motor angle sensor electrically connected to the control drive circuit board, the motor angle sensor being mounted on the rotor.

8. A drive joint comprising a body drive according to any one of claims 1 to 7, and an output structure; the output structural member is connected with the output planet carrier.

9. The drive joint of claim 8, further comprising a fifth bearing having an inner race mounted to the tail cap, the output structure comprising a connecting portion, a first support portion coupled to the connecting portion, and a second support portion coupled to the first support portion; the first supporting part and the second supporting part are opposite and arranged at intervals; the first supporting part is connected with the output planet carrier, and the second supporting part is installed on the outer ring of the fifth bearing.

10. Robot, characterized in that it comprises a drive joint according to claim 8 or 9.

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