CN215548809U

CN215548809U - Robot joint power mechanism and robot

Info

Publication number: CN215548809U
Application number: CN202122136454.XU
Authority: CN
Inventors: 黄炫煜; 陈华伟; 殷明; 甘泉; 谌振宇
Original assignee: Beijing Haqi Robot Technology Co ltd
Current assignee: Beijing Haqi Robot Technology Co ltd
Priority date: 2021-09-06
Filing date: 2021-09-06
Publication date: 2022-01-18
Anticipated expiration: 2031-09-06

Abstract

The utility model relates to the technical field of robots, and particularly discloses a robot joint power mechanism and a robot. The base body fixing shell comprises an annular plate and a cylinder connected to one side of the annular plate; the base-retaining shell may be considered to be formed by rotation of an L-shaped structure, the annular plate and the cylinder preferably being integrally formed. The housing is covered on the cylinder and connected with the annular plate, and the housing, the annular plate and the cylinder form an installation cavity; the rotating assembly is arranged in the mounting cavity. The gear ring is arranged on the inner side wall of the cylinder; the planet assembly is rotatably arranged in the cylinder and is meshed with the gear ring; the sun gear is arranged in the cylinder, connected to the output end of the rotating assembly and meshed with the planetary assembly. In the arrangement, the planet assembly is arranged to play a role in speed regulation, a speed reducer unit is not used, the weight of the robot joint power mechanism is reduced, and the control performance of the robot is improved.

Description

Robot joint power mechanism and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot joint power mechanism and a robot.

Background

The robot joint power mechanism is a core part of a robot and generally comprises a motor and a reducer unit, and the performance of the robot joint power mechanism directly influences the motion performance of the robot. The existing robot joint power mechanism has the following technical problems:

firstly, the weight of a power mechanism of a joint of the robot accounts for the weight of the whole robot due to the existence of a speed reducer, and the control performance of the robot is directly reduced due to the large weight;

secondly, the structure of the existing robot joint power mechanism is unreasonable, so that the radial space or the axial space of the robot joint power mechanism is not fully utilized, and the installation is inconvenient.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a robot joint power mechanism and a robot, which solve the problems that the weight of the robot joint power mechanism is large, the utilization of radial space or axial space is insufficient, and the installation is inconvenient.

In order to achieve the purpose, the utility model adopts the following technical scheme:

in one aspect, the present invention provides a robot joint power mechanism, including:

the base body fixing shell comprises an annular plate and a cylinder connected to one side of the annular plate;

the housing is covered on the cylinder and connected to the annular plate, and the housing, the annular plate and the cylinder form an installation cavity;

the rotating assembly is arranged in the mounting cavity;

the gear ring is arranged on the inner side wall of the cylinder;

the planet assembly is rotatably arranged in the cylinder and is meshed with the gear ring;

and the sun wheel is arranged in the cylinder, connected to the output end of the rotating assembly and meshed with the planet assembly.

As a preferable scheme of the robot joint power mechanism, the rotating assembly comprises a stator assembly and a rotor assembly, the stator assembly is arranged in the installation cavity and is fixed on the outer side wall of the cylinder; the rotor assembly is sleeved on the stator assembly and is rotatably arranged on the housing, and the sun gear is arranged at the output end of the rotor assembly.

As a preferred scheme of a robot joint power mechanism, the planet assembly comprises an upper support, a lower support, a plurality of planet wheels and a plurality of planet shafts, the upper support is fixedly connected with the lower support, the plurality of planet shafts are arranged between the upper support and the lower support, and the planet wheels are arranged on the planet shafts and can rotate around the axes of the planet shafts; the planet gear is simultaneously meshed with the gear ring and the sun gear.

As a preferred scheme of a robot joint power mechanism, the planet shaft is rotatably arranged between the upper bracket and the lower bracket, and the planet wheel is fixedly arranged on the planet shaft; or

The planet shaft is fixedly arranged between the upper bracket and the lower bracket, and the planet wheel is rotatably arranged on the planet shaft; or

The planet shaft is rotatably arranged between the upper support and the lower support, and the planet wheel is rotatably arranged on the planet shaft.

As a preferable scheme of the robot joint power mechanism, the robot joint power mechanism further comprises a PCB motor driving board, and the PCB motor driving board is used for controlling the rotation of the rotating assembly.

As a preferable scheme of the robot joint power mechanism, the robot joint power mechanism further comprises a first auxiliary fixing shell, the first auxiliary fixing shell is fixed on one side of the housing far away from or close to the housing, a driving plate placing cavity is formed between the first auxiliary fixing shell and the housing, and the PCB motor driving plate is fixed in the driving plate placing cavity.

As a preferable scheme of the robot joint power mechanisms, the PCB motor driving board includes a first connection harness and a second connection harness, and the first connection harness and the second connection harness are respectively used for connecting the two robot joint power mechanisms.

As a preferred scheme of the robot joint power mechanism, the robot joint power mechanism further comprises a second auxiliary fixing shell, the second auxiliary fixing shell is fixed on the peripheral side of the housing, a wire arrangement cavity is formed between the second auxiliary fixing shell and the housing, and a cable connected between the PCB motor driving board and the rotating component is arranged in the wire arrangement cavity.

As a preferred scheme of a robot joint power mechanism, a plurality of upper threaded holes are uniformly distributed in the circumferential direction of the annular plate; underground mounting holes which correspond to the upper threaded holes one by one are formed in the housing at intervals in the circumferential direction; and the locking screw penetrates through the lower mounting hole and then is in threaded connection with the upper threaded hole.

In another aspect, the present invention provides a robot including the robot joint power mechanism according to any one of the above aspects.

The utility model has the beneficial effects that:

the utility model provides a robot joint power mechanism and a robot, wherein the robot joint power mechanism forms an installation cavity by connecting a base fixing shell and a housing, and the base fixing shell comprises an annular plate and a cylinder connected to one side of the annular plate; the rotating assembly is arranged in the mounting cavity, the gear ring, the planetary assembly and the sun gear are arranged in the cylinder, the planetary assembly is arranged to play a role in speed regulation, a speed reducer unit is avoided, the weight of a robot joint power mechanism is reduced, and the control performance of the robot is improved.

Secondly, through the setting of annular plate and drum, the housing can cover and locate the drum and connect in the annular plate for the planet subassembly can be installed to the drum inside, and power component sets up in the installation intracavity, has rationally utilized robot joint power unit's radial space and axial space, and the installation is convenient.

Drawings

FIG. 1 is a schematic structural diagram of a power mechanism of a robot joint according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an internal structure of a power mechanism of a robot joint according to an embodiment of the present invention;

FIG. 3 is an exploded view of a power mechanism of a robot joint according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a substrate holding case according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of a substrate holding case according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a power mechanism of a robot joint according to an embodiment of the present invention (including a first auxiliary fixing housing and a second auxiliary fixing housing);

fig. 7 is a schematic diagram of an internal structure of a power mechanism of a robot joint according to an embodiment of the present invention, including a first auxiliary fixing housing and a second auxiliary fixing housing);

FIG. 8 is a first schematic structural view of a first auxiliary stationary housing according to an embodiment of the present invention;

FIG. 9 is a second schematic structural view of the first auxiliary stationary housing according to the embodiment of the present invention;

fig. 10 is a schematic structural diagram of a second auxiliary fixing housing in the embodiment of the present invention.

In the figure:

1. a substrate fixing case; 11. an annular plate; 111. an upper threaded hole; 12. a cylinder;

2. a housing; 21. a lower mounting hole;

3. a rotating assembly; 31. a stator assembly; 32. a rotor assembly; 33. a rotor bearing;

4. a ring gear;

5. a planetary assembly; 51. an upper bracket; 52. a lower bracket; 53. a planet wheel; 54. a planet shaft; 55. a planet fixing frame;

6. a sun gear;

7. a PCB motor drive board; 71. a first connection harness; 72. a second connection harness; 73. a cable;

8. a first auxiliary stationary housing;

9. and a second auxiliary fixing housing.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As shown in fig. 1 to 5, the present embodiment provides a robot joint power mechanism, which includes a base fixing shell 1, a housing 2, a rotating component 3, a ring gear 4, a planetary component 5, and a sun gear 6. Wherein, the basal body fixing shell 1 comprises an annular plate 11 and a cylinder 12 connected with one side of the annular plate 11; the base-fixing casing 1 can be regarded as being rotated by an L-shaped structure, and the connection relationship between the annular plate 11 and the cylinder 12 is preferably integrally formed. The housing 2 is covered on the cylinder 12 and connected to the annular plate 11, and the housing 2, the annular plate 11 and the cylinder 12 form an installation cavity; the rotating assembly 3 is arranged in the installation cavity. The gear ring 4 is arranged on the inner side wall of the cylinder 12; the planetary assembly 5 is rotatably arranged in the cylinder 12 and is meshed with the gear ring 4; the sun gear 6 is arranged in the cylinder 12, and the sun gear 6 is connected with the output end of the rotating component 3 and meshed with the planetary component 5.

In this embodiment, the planet assembly 5 is arranged to adjust the speed, so that a reducer unit is not used, the weight of the power mechanism of the joint of the robot is reduced, and the control performance of the robot is improved.

In addition, through the arrangement of the annular plate 11 and the cylinder 12, the housing 2 can cover the cylinder 12 and is connected to the annular plate 11, so that the planetary assembly 5 can be installed inside the cylinder 12, the power assembly is arranged in the installation cavity, the radial space and the axial space of the robot joint power mechanism are reasonably utilized, the power density of the robot joint power mechanism is improved, and the installation is convenient.

Regarding the rotating assembly 3, in the present embodiment, specifically, the rotating assembly 3 includes a stator assembly 31 and a rotor assembly 32, the stator assembly 31 is disposed in the installation cavity and fixed to the outer sidewall of the cylinder 12; the rotor assembly 32 is sleeved on the stator assembly 31 and rotatably disposed on the housing 2, and the sun gear 6 is disposed at an output end of the rotor assembly 32. With the aid of the arrangement, the stator assembly 31 can be firstly installed in the installation cavity, and then the rotor assembly 32 is rotatably installed in the housing 2 through the rotor bearing 33, so that the installation efficiency of the rotating assembly 3 is improved. Optionally, in this embodiment, the rotor assembly 32 is sleeved on the outer periphery of the stator assembly 31, and this arrangement reduces the volume of the stator assembly 31. The opening of the rotor assembly 32 faces one side of the planetary assembly 5, and the radial space and the axial space of the robot joint power mechanism are fully utilized, so that the power density of the robot joint power mechanism is further improved.

Of course, in other embodiments, the rotor assembly 32 may also be internal to the stator assembly 31 such that the stator assembly 31 may be snug against the casing 2 to facilitate heat dissipation from the stator assembly 31.

The planet assembly 5 comprises an upper bracket 51, a lower bracket 52, a plurality of planet wheels 53 and a plurality of planet shafts 54, the upper bracket 51 is fixedly connected with the lower bracket 52 through screws, the plurality of planet shafts 54 are arranged between the upper bracket 51 and the lower bracket 52, and the planet wheels 53 are arranged on the planet shafts 54 and can rotate around the axes thereof; the planet wheels 53 are meshed with the ring gear 4 and the sun gear 6 simultaneously, in the embodiment, the number of the planet wheels 53 is preferably three, and five, six, seven or eight may be required. The planet component 5 is arranged to complete the speed reduction output of the sun gear 6, so that the torque is amplified, and the torque is output by the planet component 5. Preferably, a planetary bearing is provided between the upper carrier 51 and the cylinder 12. Furthermore, one end of the inner ring of the planet bearing abuts against the lower bracket 52, and the other end abuts against the upper bracket 51; one end of the outer ring of the planetary bearing abuts against the ring gear 4, and the other end abuts against a planetary mount 55 fixed to the base fixing housing 1. Still further, the planetary retainer is fixed in the cylinder 12 and abuts against the ring gear 4, and the other end of the outer ring of the planetary bearing abuts against the planetary retainer. Preferably, the inner contour of the planet retainer ring at the end close to the ring gear 4 is flared with the opening facing the planet wheels 53, so as to avoid friction between the planet wheels 53 and the planet retainer ring.

In the present embodiment, regarding the connection relationship between the planetary gear 53 and the planetary shaft 54, optionally, the planetary shaft 54 is rotatably disposed between the upper bracket 51 and the lower bracket 52, and the planetary gear 53 is fixedly disposed on the planetary shaft 54; or the planet shaft 54 is fixedly arranged between the upper bracket 51 and the lower bracket 52, and the planet wheel 53 is rotatably arranged on the planet shaft 54; alternatively, a planetary shaft 54 is rotatably provided between the upper and

lower carriers

51 and 52, and the planetary gear 53 is rotatably provided on the planetary shaft 54. The above arrangement enables rotation of the planet wheel 53. Preferably, each rotary joint is provided with a rotary bearing.

In other embodiments, the types and numbers of the rotor bearing 33, the planet bearing and the rotation bearing may be configured according to actual working conditions, and are not limited to the description in the embodiment.

In this embodiment, optionally, the robot joint power mechanism further includes a PCB motor driving board 7, and the PCB motor driving board 7 is configured to control rotation of the rotating assembly 3. The PCB motor driving board 7 can control the starting and stopping and the rotating speed of the robot joint power mechanism, and the integration level of the robot joint power mechanism is improved. Of course, in other embodiments, the power mechanism of the robot joint may be controlled by the external PCB motor driving board 7.

As shown in fig. 6 to 9, preferably, the robot joint power mechanism further includes a first auxiliary fixing housing 8, the first auxiliary fixing housing 8 is fixed to a side of the housing 2 away from or close to the housing 2, a driving board placing cavity is formed between the first auxiliary fixing housing 8 and the housing 2, and the PCB motor driving board 7 is fixed in the driving board placing cavity. The arrangement of the first auxiliary fixing shell 8 can protect the PCB motor driving board 7 and prevent the PCB motor driving board from being damaged by external force.

In this embodiment, the PCB motor driving board 7 includes a first connection harness 71 and a second connection harness 72, and the first connection harness 71 and the second connection harness 72 are respectively used for connecting two robot joint power mechanisms. Above-mentioned setting makes PCB motor drive board 7 possess the separated time function, can carry out synchro control to a plurality of robot joint power unit, has improved wiring efficiency. In addition, the first auxiliary fixing shell 8 leaves a wire distributing space, and is matched with the PCB motor driving board 7 with the wire distributing function, so that the connection of each cable 73 of the robot can be greatly simplified, and the wiring efficiency is improved. Specifically, the first auxiliary stationary housing 8 is provided with a first piercing position and a second piercing position, and the first connection harness 71 and the second connection harness 72 can be pierced through from the first piercing position and the second piercing position, respectively. Optionally, the first auxiliary fixing housing 8 is further provided with a fixing block, and the PCB motor driving board 7 is fixed to the fixing block.

The robot has multiple degrees of freedom, one robot joint power mechanism is often required to be arranged for driving one degree of freedom, and multiple wire harnesses can appear in more robot joint power mechanisms, so that the stability of the robot can be ensured by better fixing and restricting the wire harnesses.

Referring to fig. 10, in this embodiment, the robot joint power mechanism further includes a second auxiliary fixing housing 9, the second auxiliary fixing housing 9 is fixed to the periphery of the housing 2, a wire arrangement cavity is formed between the second auxiliary fixing housing 9 and the housing 2, and a cable 73 connected between the PCB motor driving board 7 and the rotating assembly 3 is disposed in the wire arrangement cavity. The arrangement can fix the wiring harness at a designated position, so that the wiring harness is arranged regularly and protected, the weight distribution of the wiring harness can be controlled, and the stability of the robot is improved; in addition, the wire harness is prevented from occupying a large space, and the space utilization rate is improved.

A plurality of upper threaded holes 111 are uniformly distributed in the circumferential direction of the annular plate 11; underground mounting holes 21 which are in one-to-one correspondence with the upper threaded holes 111 are formed in the circumferential direction of the housing 2 at intervals; the locking screw passes through the lower mounting hole 21 and is screwed in the upper threaded hole 111. This arrangement allows the housing 2 and annular plate 11 to be mounted using the axial thickness of the annular plate 11 to achieve space saving. In this embodiment, the center lines of the upper screw hole 111 and the lower mounting hole 21 are perpendicular to the center line of the housing 2. In other embodiments of the present embodiment, the center lines of the upper screw hole 111 and the lower mounting hole 21 are parallel to the center line of the housing 2.

When the power mechanism of the robot joint is installed, the method comprises the following steps:

(1) the ring gear 4 and the stator assembly 31 are fixed to the inner and outer sides of the cylinder 12 of the base fixing case 1, respectively.

(2) The planetary assembly 5 is rotatably connected to the inside of the cylinder 12 while the planet wheels 53 are brought into engagement with the ring gear 4.

(3) The rotor assembly 32 is rotatably connected to the housing 2 while the sun gear 6 is in mesh with the planet gears 53.

(4) The cover shell 2 is fixedly connected with the base body fixing shell 1.

(5) The planetary fixing frame 55 is fixed to the base fixing shell 1, so that the planetary assembly 5 is axially fixed and the assembly is completed.

The embodiment also provides a robot, which comprises the robot joint power mechanism in the scheme.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. 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 invention should be included in the protection scope of the claims of the present invention.

Claims

1. A robot joint power mechanism is characterized by comprising:

the base fixing shell (1), the base fixing shell (1) comprises an annular plate (11) and a cylinder (12) connected to one side of the annular plate (11);

the housing (2) is covered on the cylinder (12) and connected to the annular plate (11), and the housing (2), the annular plate (11) and the cylinder (12) form an installation cavity;

the rotating assembly (3) is arranged in the mounting cavity;

a ring gear (4) provided on the inner side wall of the cylinder (12);

the planetary assembly (5) is rotatably arranged in the cylinder (12) and is meshed with the gear ring (4);

and the sun wheel (6) is arranged in the cylinder (12), is connected to the output end of the rotating assembly (3) and is meshed with the planetary assembly (5).

2. The robot joint power mechanism according to claim 1, wherein the rotating component (3) comprises a stator component (31) and a rotor component (32), the stator component (31) is arranged in the installation cavity and fixed on the outer side wall of the cylinder (12); the rotor assembly (32) is sleeved on the stator assembly (31) and is rotatably arranged on the housing (2), and the sun gear (6) is arranged at the output end of the rotor assembly (32).

3. The robot joint power mechanism according to claim 1, wherein the planetary assembly (5) comprises an upper bracket (51), a lower bracket (52), a plurality of planetary wheels (53) and a plurality of planetary shafts (54), the upper bracket (51) is fixedly connected with the lower bracket (52), the plurality of planetary shafts (54) are arranged between the upper bracket (51) and the lower bracket (52), and the planetary wheels (53) are arranged on the planetary shafts (54) and can rotate around their axes; the planet wheels (53) are simultaneously meshed with the ring gear (4) and the sun wheel (6).

4. The power mechanism of the robot joint as claimed in claim 3, characterized in that the planetary shaft (54) is rotatably arranged between the upper bracket (51) and the lower bracket (52), and the planetary wheel (53) is fixedly arranged on the planetary shaft (54); or

The planet shaft (54) is fixedly arranged between the upper bracket (51) and the lower bracket (52), and the planet wheel (53) is rotatably arranged on the planet shaft (54); or

The planet shaft (54) is rotatably arranged between the upper support (51) and the lower support (52), and the planet wheel (53) is rotatably arranged on the planet shaft (54).

5. The power mechanism of robot joint according to any of claims 1 to 4, characterized in that it further comprises a PCB motor driving board (7), said PCB motor driving board (7) being used to control the rotation of said rotating assembly (3).

6. The power mechanism of the robot joint as claimed in claim 5, further comprising a first auxiliary fixing shell (8), wherein the first auxiliary fixing shell (8) is fixed on one side of the housing (2) far away from or close to the housing (2), a driving board placing cavity is formed between the first auxiliary fixing shell (8) and the housing (2), and the PCB motor driving board (7) is fixed in the driving board placing cavity.

7. The robot joint power mechanism according to claim 5, wherein the PCB motor driving board (7) comprises a first connection harness (71) and a second connection harness (72), and the first connection harness (71) and the second connection harness (72) are respectively used for connecting two robot joint power mechanisms.

8. The power mechanism of robot joint as claimed in claim 5, further comprising a second auxiliary fixing housing (9), wherein the second auxiliary fixing housing (9) is fixed on the periphery of the housing (2), a wire arrangement cavity is formed between the second auxiliary fixing housing (9) and the housing (2), and a cable (73) connected between the PCB motor driving board (7) and the rotating component (3) is arranged in the wire arrangement cavity.

9. The robot joint power mechanism according to claim 1, wherein a plurality of upper threaded holes (111) are uniformly distributed on the annular plate (11) in the circumferential direction; underground mounting holes (21) which are in one-to-one correspondence with the upper threaded holes (111) are formed in the housing (2) at intervals in the circumferential direction; and the locking screw passes through the lower mounting hole (21) and then is screwed in the upper threaded hole (111).

10. A robot comprising a robot joint power mechanism according to any of claims 1-9.