CN216180653U - Integrated joint and robot - Google Patents

Abstract

The utility model provides an integrated joint and a robot, wherein the integrated joint comprises an electric control assembly, a motor assembly and a speed reducer assembly; the motor assembly comprises a rotor bracket, a motor rotor fixed on one side of the rotor bracket and a motor stator arranged on the inner side of the motor rotor; the speed reducer component is a double-stage planetary speed reducer and comprises an inner gear, a first sun gear, a first planet carrier, a second sun gear, a second planet gear and a second planet carrier, wherein the first planet gear and the second planet gear share the inner gear; the motor stator is fixed on the outer ring of the internal gear. According to the integrated joint and the robot, the first sun gear, the first planet gear, the second sun gear and the second planet gear are all located inside the inner gear, so that the structure of the speed reducer assembly is more compact. And the motor stator utilizes the space of the outer ring of the inner gear, the axial thickness of the integrated joint cannot be additionally increased, and the internal structure of the integrated joint is more compact.

Description

Integrated joint and robot

Technical Field

The utility model belongs to the technical field of intelligent machinery, and particularly relates to an integrated joint and a robot.

Background

In the existing integrated drive joint, a motor shaft of a motor assembly of the joint is connected with a sun gear of a planetary reducer, a planetary gear is meshed with the sun gear and an inner gear at the same time, and a planetary shaft is connected with the planetary gear and a planetary carrier. When the planetary gear set works, the motor shaft drives the sun gear to rotate at a high speed, the sun gear drives the planetary gear to rotate, the planetary gear is in meshing transmission with the inner gear, and then the planetary shaft drives the planetary carrier to rotate at a low speed and output torque. The motor end sensor can detect the rotating position of the motor shaft, and the correction of the position of the motor shaft is realized.

The internal structure of the existing joint is not compact enough, and a stator and a speed reducer of a motor are respectively arranged on an internal support, so that the installation space is wasted. Particularly, when a double-stage planetary reducer is arranged in the integrated driving joint, the overall volume of the joint is too large, and the joint is difficult to apply to a robot with a compact structure.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide an integrated joint and a robot, and aims to solve the technical problems that the joint is not compact in internal structure and occupies a large space in the prior art.

In order to achieve the purpose, the utility model adopts the technical scheme that: the integrated joint comprises an electric control assembly, a motor assembly and a speed reducer assembly;

the motor assembly comprises a rotor bracket, a motor rotor fixed on one side of the rotor bracket and a motor stator arranged on the inner side of the motor rotor, and the electric control assembly is arranged on one side of the rotor bracket, which is back to the motor rotor;

the speed reducer assembly comprises an inner gear, a first sun gear, a first planet carrier, a second sun gear, a second planet gear and a second planet carrier, the first sun gear is fixedly connected with the rotor support, the first sun gear, the first planet gear and the inner gear are sequentially in meshing transmission, a wheel shaft of the first planet gear drives the first planet carrier to rotate, the second sun gear is fixedly connected with the first planet carrier, the second sun gear, the second planet gear and the inner gear are sequentially in meshing transmission, and a wheel shaft of the second planet gear drives the second planet carrier to rotate;

the motor stator is fixed on the outer ring of the inner gear.

In one embodiment, the rotor support comprises a support rotor disc and a support shaft sleeve connected to the center of the support rotor disc, and one end face of the first sun gear is convexly formed with a wheel shaft which extends into and is fixed to the inner part of the support shaft sleeve.

In one embodiment, the rotor support further comprises a shaft cover for shielding the end face of the axle, the shaft cover is arranged at one end of the support shaft sleeve far away from the support rotor disc, and the shaft cover and the end face of the axle are fixedly connected through a fastener.

In one embodiment, the electric control assembly comprises an electric control shell with an open end, a tail cover for sealing the open end of the electric control shell, a code disc rotating synchronously with the rotor support, and a drive plate, wherein the drive plate is provided with a sensing part for matching with the code disc to measure speed, and the code disc and the drive plate are both arranged in a space enclosed by the electric control shell and the tail cover.

In one embodiment, the center of the rotor bracket is provided with a bracket shaft sleeve, the bracket shaft sleeve penetrates through the tail cover, the code disc sleeve is fixedly arranged on the bracket shaft sleeve, and the bracket shaft sleeve and the tail cover are supported through a bracket bearing.

In one embodiment, the integrated joint further comprises a joint housing, the motor assembly and the reducer assembly both being disposed within the joint housing; the joint shell comprises an annular cylinder and an end cover ring, the end cover ring is formed by radially and inwards extending one end of the annular cylinder, and the electric control assembly is fixed at one end, far away from the end cover ring, of the annular cylinder in a plugging mode.

In one embodiment, the internal gear is fixedly connected with the inner wall of the end cover ring, the outer wall of the end cover ring is used for being fixed on a fixed support, and the internal gear, the end cover ring and the fixed support are fixedly connected through fasteners.

In one embodiment, the first planet carrier comprises a first annular portion and a second annular portion which are coaxially arranged, the first annular portion and the second annular portion are connected with each other, a plurality of first planet cavities for accommodating the first planet gears are formed between the first annular portion and the second annular portion, the first planet gears are erected between the first annular portion and the second annular portion through a first planet shaft, and two ends of the first planet shaft respectively extend into the first annular portion and the second annular portion.

In one embodiment, an inner wall of the first annular portion is rotatably supported by a first bearing and an outer ring of the first sun gear, and an outer wall of the first annular portion is rotatably supported by a second bearing and an inner wall of the internal gear; the inner wall of the second annular part and the outer wall of the second sun wheel are fixed with each other.

In one embodiment, an annular first bearing retainer ring is fixed to a side of the first annular portion facing away from the first planet gear, and the first bearing retainer ring is used for stopping an outer ring of the first bearing and an inner ring of the second bearing.

In one embodiment, the second planet carrier comprises a third annular portion and a fourth annular portion, which are coaxially arranged, the third annular portion and the fourth annular portion are connected with each other, and a plurality of second planet cavities for accommodating the second planet wheels are formed between the third annular portion and the fourth annular portion, the second planet wheels are arranged between the third annular portion and the fourth annular portion through a second planet shaft, and two ends of the second planet shaft respectively extend into the third annular portion and the fourth annular portion.

In one embodiment, an inner wall of the fourth annular section is rotatably supported by a third bearing and an outer wall of the second sun gear, and an outer wall of the fourth annular section is rotatably supported by a fourth bearing and an inner wall of the internal gear.

The utility model also provides a robot which comprises the integrated joint.

The integrated joint and the robot provided by the utility model have the beneficial effects that: compared with the prior art, the integrated joint comprises an electric control assembly, a motor assembly and a speed reducer assembly, wherein a motor stator in the motor assembly is arranged on the inner side of a motor rotor, a rotor support is fixedly connected with the motor rotor, the speed reducer assembly is a two-stage planetary speed reducer, a first sun gear is fixedly connected with the rotor support, so that the first sun gear, a first planet gear and an inner gear are meshed with each other, a first planet carrier is fixedly connected with a second sun gear, so that the second sun gear, the second planet gear and the inner gear are meshed with each other, the first planet gear and the second planet gear share the same inner gear, namely the first sun gear, the first planet gear, the second sun gear and the second planet gear are all positioned in the inner gear, and the speed reducer assembly is more compact in structure. Meanwhile, the motor stator is fixed on the outer ring of the inner gear, namely the motor stator utilizes the space of the outer ring of the inner gear, the axial thickness of the integrated joint cannot be additionally increased, the internal structure of the integrated joint is more compact, and the occupied space is smaller.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a perspective structural view of an integrated joint according to an embodiment of the present invention;

FIG. 2 is a side view of an integrated joint provided by an embodiment of the present invention;

FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;

FIG. 4 is a cross-sectional view taken along line B-B of FIG. 2;

fig. 5 is a perspective view of a first planet carrier according to an embodiment of the present invention;

fig. 6 is a perspective structural view of a second planet carrier according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

1-an electronic control assembly; 11-an electronic control shell; 12-tail cap; 121 — a first stop; 122 — a first securing flange; 123-tail ring part; 13-code disc; 14-a drive plate; 15-a bracket bearing; 16-a third bearing retainer ring; 2-a motor assembly; 21-a rotor support; 211-support rotor disc; 212-a carrier sleeve; 213-a shaft cover; 22-a motor rotor; 23-a motor stator; 3-a retarder assembly; 31-internal gear; 311-a second fixing flange; 32-a first sun gear; 33-a first planet; 331-a first planet axis; 34-a first planet carrier; 341-first annular portion; 3411-a second stop; 3412-a third stop; 342-a second annular portion; 343-a first planet cavity; 35-a second sun gear; 36-a second planet; 361-a second planet axis; 37-a second planet carrier; 371-a third annular portion; 372-a fourth annular portion; 3721-fourth stop; 373-second planetary chamber; 381-a first bearing; 382-a second bearing; 383-a third bearing; 384-fourth bearing; 385-a first bearing retainer ring; 386-second bearing retainer ring; 4-joint shell; 41-an annular cylinder; 42-end cap ring; 43-a support ring; 44-a fifth stop; 5-fixing a bracket; 6-screw.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in 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 utility model and are not intended to limit the utility model.

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, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and 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 is therefore not to be construed as limiting the utility model.

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 invention, "a plurality" means two or more unless specifically defined otherwise.

The integrated joint provided by the embodiments of the present invention will now be described. The integrated joint provided by the embodiment of the utility model can be a quasi-direct drive joint and can be used as a joint for controlling the output of force.

In one embodiment of the present invention, referring to fig. 1 to 3 together, the integrated joint includes an electric control assembly 1, a motor assembly 2 and a speed reducer assembly 3. The electric control component 1 can control the start and stop of the motor component 2 and is a control part of the integrated joint. The motor assembly 2 is used for providing power, the speed reducer assembly 3 is used for reducing speed, and rotary motion with smaller output speed is output.

The motor assembly 2 comprises a rotor bracket 21, a motor rotor 22 and a motor stator 23, the motor stator 23 is fixedly arranged, the motor rotor 22 is arranged on the outer ring of the motor stator 23, and when the integrated joint is electrified, an excitation effect is generated between the motor rotor 22 and the motor stator 23 to enable the motor rotor 22 to rotate. The motor rotor 22 is fixed to one side of the rotor bracket 21, and the rotor bracket 21 is provided to facilitate transmission of rotation of the motor rotor 22 to the speed reducer assembly 3. The electric control assembly 1 is arranged on the other side of the rotor support 21, namely, the rotor support 21 is taken as a reference part, and the rest structure of the motor assembly 2 and the electric control assembly 1 are respectively arranged on two opposite sides of the rotor support 21, so that the space on two sides of the rotor support 21 is fully utilized.

The reducer assembly 3 comprises an internal gear 31, a first sun gear 32, a first planet gear 33, a first planet carrier 34, a second sun gear 35, a second planet gear 36 and a second planet carrier 37. The reducer assembly 3 is a double-stage planetary reducer, the first stage planetary reducer includes a first sun gear 32, a first planet gear 33, an inner gear 31 and a first planet carrier 34, and the second stage planetary reducer includes a second sun gear 35, a second planet gear 36, an inner gear 31 and a second planet carrier 37. First level planet wheel reduction gear and second level planet wheel reduction gear share same internal gear 31, combines the structural feature of planet wheel reduction gear, then first sun gear 32, first planet wheel 33, second sun gear 35, second planet wheel 36 all are located the inside of internal gear 31, make reduction gear assembly 3 compacter.

The rotor support 21 is fixedly connected to the first sun gear 32, which moves the first stage planetary gear reduction. The first sun gear 32, the first planet gears 33 and the inner gear 31 are meshed in sequence, the number of the first planet gears 33 is multiple, the first planet gears 33 are arranged between the first sun gear 32 and the inner gear 31, the first planet carrier 34 is a power output end of a first-stage planet gear reducer, a wheel shaft of the first planet gears 33 is connected with the first planet carrier 34, and the first planet gears 33 drive the first planet carrier 34 to rotate. That is, the first planet gear 33 is meshed with the first sun gear 32 and also meshed with the internal gear 31, the first planet gear 33 revolves relative to the first sun gear 32, the movement locus of the wheel shaft of the first planet gear 33 is annular, the first planet carrier 34 and the first sun gear 32 are coaxially arranged, and the wheel shafts of the first planet gear 34 and the first planet gear 33 move synchronously, so that the first planet carrier 34 outputs a rotary motion.

The first planet carrier 34 is fixedly connected to the second sun gear 35 to move the second planetary reduction gear. The second sun gear 35, the second planet gears 36 and the internal gear 31 are meshed in sequence, the number of the second planet gears 36 is multiple, the second planet gears 36 are arranged between the second sun gear 35 and the internal gear 31, the second planet carrier 37 is a power output end of a second-stage planet gear reducer, a wheel shaft of the second planet gears 36 is fixedly connected with the second planet carrier 37, and the wheel shaft of the second planet gears 36 is rotatably connected with the body of the second planet gears 36. That is, the second planetary gear 36 meshes with the second sun gear 35 and also meshes with the internal gear 31, the second planetary gear 36 revolves relative to the second sun gear 35, the movement locus of the wheel axle of the second planetary gear 36 is annular, the second planetary carrier 37 and the second sun gear 35 are coaxially arranged, and the second planetary carrier 37 and the wheel axle of the second planetary gear 36 move synchronously, so that the second planetary carrier 37 outputs rotary motion.

The motor stator 23 is fixed on the outer ring of the internal gear 31, that is, the internal gear 31 at least partially extends into the motor stator 23, so that the motor stator 23 does not additionally occupy the axial space of the integrated joint, the space is fully utilized in the axial direction as much as possible, and the integrated joint is more compact.

The integrated joint in the above embodiment includes an electronic control component 1, a motor component 2, and a reducer component 3, where a motor stator 23 in the motor component 2 is disposed inside a motor rotor 22, the rotor support 21 is fixedly connected with the motor rotor 22, the reducer component 3 is a two-stage planetary reducer, the first sun gear 32 is fixedly connected with the rotor support 21, so that the first sun gear 32, the first planet gear 33, and the internal gear 31 are engaged with each other, the first planet carrier 34 is fixedly connected with the second sun gear 35, so that the second sun gear 35, the second planet gear 36, and the internal gear 31 are engaged with each other, the first planet gear 33 and the second planet gear 36 share the same internal gear 31, that is, the first sun gear 32, the first planet gear 33, the second sun gear 35, and the second planet gear 36 are all located inside the internal gear 31, so that the reducer component 3 has a more compact structure. Meanwhile, the motor stator 23 is fixed on the outer ring of the internal gear 31, namely the motor stator 23 utilizes the space of the outer ring of the internal gear 31, the axial thickness of the integrated joint cannot be additionally increased, the internal structure of the integrated joint is more compact, and the occupied space is smaller.

In one embodiment of the present invention, referring to fig. 3 and 4, the rotor support 21 includes a support rotor disc 211 and a support shaft sleeve 212, the support rotor disc 211 is disc-shaped, and the support shaft sleeve 212 is disposed at the center of the support rotor disc 211. That is, the carrier hub 212 extends axially from the center of the carrier rotor disk 211. One of the end surfaces of the first sun gear 32 is protruded to form a wheel shaft, the wheel shaft is inserted into the bracket shaft sleeve 212, and the wheel shaft and the bracket shaft sleeve 212 are fixed to each other, so that the first sun gear 32 and the rotor bracket 21 rotate synchronously. Wherein, the wheel axle and the bracket shaft sleeve 212 can be fixedly connected in a mode of interference fit and the like. Optionally, the bracket shaft sleeve 212 extends into the electronic control assembly 1, and the electronic control assembly 1 can correct the rotation speed of the motor rotor 22 by detecting the rotation speed of the bracket shaft sleeve 212. In other embodiments, the axle of the first sun gear 32 extends into the electronic control assembly 1, and the electronic control assembly 1 can correct the rotation speed of the motor rotor 22 by detecting the rotation speed of the first sun gear 32. The rotor bracket 21 is used for connecting the motor rotor 22 and the first sun gear 32, and also can facilitate the electronic control assembly 1 to correct the rotating speed of the motor rotor 22.

Optionally, the rotor support 21 further includes a shaft cover 213, the shaft cover 213 is disposed at an end of the support shaft sleeve 212 far from the support rotor disc 211, and seals the end of the support shaft sleeve 212 far from the support rotor disc 211, and the shaft cover 213 is configured to stop an end surface of the axle of the first sun gear 32, so as to prevent the first sun gear 32 from axially shifting relative to the support shaft sleeve 212. The shaft cover 213 is fixedly connected to the end face of the wheel shaft by a fastener, so that the rotor holder 21 and the first sun gear 32 are axially fixed. The fasteners may be selected as screws that pass through the shaft cap 213 and extend into the axle of the first sun gear 32 to threadably engage the axle of the first sun gear 32.

In one embodiment of the present invention, referring to fig. 3 and 4, the electronic control assembly 1 includes an electronic control housing 11, a tail cover 12, a code wheel 13 and a driving plate 14, wherein one end of the electronic control housing 11 is an open end, and the tail cover 12 covers the open end of the electronic control housing 11, so that when the electronic control housing 11 and the tail cover 12 are covered together, a space capable of accommodating the code wheel 13 and the driving plate 14 is formed. The coded disc 13 and the rotor support 21 rotate synchronously, the driving plate 14 is correspondingly provided with an induction part, and the induction part is matched with the coded disc 13, so that the rotating speed of the coded disc 13 can be detected, and the rotating speeds of the rotor support 21 and the motor rotor 22 can be obtained correspondingly.

Alternatively, the code wheel 13 is fixedly connected with the rotor bracket 21, and when the rotor bracket 21 includes the bracket boss 212, the code wheel 13 can be fixedly sleeved on the bracket boss 212, so that the fixed connection between the code wheel 13 and the rotor bracket 21 is realized. More specifically, the bracket boss 212 passes through the tail cover 12 and enters a space enclosed by the electronic control housing 11 and the tail cover 12, thereby facilitating connection with the code wheel 13. In order to keep the stability of the rotation of the code wheel 13 and the rotor bracket 21, the rotor bracket 21 and the tail cover 12 are mutually supported through the bracket bearing 15, so that the rotor bracket 21 can smoothly rotate relative to the tail cover 12, and the bracket bearing 15 forms a certain stable supporting point for the rotor bracket 21.

Optionally, the drive plate 14 is fixed to the electronic control housing 11 or the tail cover 12. The drive plate 14 may be annular and the code wheel 13 is located at the centre of the drive plate 14 so that a sensing portion on the drive plate 14 can sense the number of turns of the code wheel 13 per unit time as the code wheel 13 rotates with the rotor support 21.

Alternatively, the drive plates 14 may be one, two, or more. When two or more driving plates 14 are provided, the adjacent driving plates 14 can be fixedly connected through nut posts, and are mutually inserted through connecting terminals, so that the plurality of driving plates 14 are electrically connected.

Optionally, referring to fig. 4, the axle of the first sun gear 32 is provided with a shoulder near one end of its meshing teeth for stopping the right end of the inner race of the carrier bearing 15. The left end of the inner ring of the support bearing 15 is provided with a third bearing retainer ring 16, and the inner ring of the third bearing retainer ring 16 is clamped on the periphery of the wheel shaft of the first sun gear 32, so that the third bearing retainer ring 16 can stop the left end of the inner ring of the support bearing 15. The center of tail cover 12 has tail ring portion 123, and the shaft of first sun gear 32 and rotor support 21's support axle sleeve 212 passes tail ring portion 123 and sets up, and tail ring portion 123 radially inwards extends and is formed with first backstop portion 121, and first backstop portion 121 is used for the left end of backstop support bearing 15 outer lane, makes things convenient for support bearing 15 to pack into from the right-hand member of tail cover 12.

In one embodiment of the present invention, referring to fig. 3 and 4, the integrated joint further includes a joint housing 4, and the motor assembly 2 and the reducer assembly 3 are both disposed in the joint housing 4. The joint housing 4 may be in a cylindrical shape, and both ends of the joint housing 4 are opened.

Alternatively, the joint housing 4 includes an annular cylinder 41 and an end cover ring 42, and the outer periphery of the end cover ring 42 is connected to one end of the annular cylinder 41, that is, the end cover ring 42 is formed by extending one end of the annular cylinder 41 radially inward. Since the end cap ring 42 is annular, the end cap ring 42 is not arranged to close the end of the joint housing 4, but is still open. The end of the annular cylinder 41 remote from the end cap ring 42 is then blocked by the electronic control assembly 1. Specifically, the tail cover 12 of the electronic control assembly 1 is plugged on one side of the annular cylinder 41, which is far away from the end cover ring 42, the first-stage planetary gear set can be arranged close to the electronic control assembly 1, so that the electronic control assembly 1 can detect the rotating speed of the first sun gear 32 conveniently, the second-stage planetary gear set can be arranged close to the end cover ring 42, and the second planet carrier 37 is arranged close to the end cover ring 42 to output power.

Optionally, the tail cap 12 is formed with a first fixing flange 122 extending toward the annular cylinder 41, and the first fixing flange 122 and the annular cylinder 41 are at least partially overlapped in the axial direction, so that the fasteners fix the annular cylinder 41 and the first fixing flange 122, thereby fixedly connecting the tail cap 12 and the joint housing 4.

Alternatively, the internal gear 31 is fixedly connected to the inner wall of the end cover ring 42. The outer periphery of the internal gear 31 is formed with a second fixing flange 311 projecting radially outward such that the end cover ring 42 and the second fixing flange 311 are disposed adjacently, and the end cover ring 42 and the second fixing flange 311 are fixed by fasteners. The outer wall of the end cap ring 42 is intended to be fixed to the fixing support 5, so that the entire integrated joint is mounted on the fixing support 5. Specifically, fixed bolster 5, end cover ring 42 and second fixed flange 311 set gradually, and the fastener passes fixed bolster 5, end cover ring 42 to with second fixed flange 311 threaded connection, thereby make fixed bolster 5, joint shell 4 and internal gear 31 three reciprocal anchorage, so set up, can reduce the stress that joint shell 4 received, correspondingly, can output bigger moment.

Alternatively, the inner ring of the end cover ring 42 is extended radially outward to form a support ring 43, and the support ring 43 wraps part of the inner gear 31 such that the axial length of the annular cylinder 41 is smaller than the sum of the axial lengths of the motor assembly 2 and the reducer assembly 3. Thus, the fixing bracket 5 can be sleeved on the periphery of the support ring 43, the axial space occupied by the integrated joint is fully utilized, and the installation space required by the integrated joint is further reduced.

In one embodiment of the present invention, referring to fig. 3 to 5, the first planet carrier 34 includes a first annular portion 341 and a second annular portion 342 which are coaxially disposed, the first annular portion 341 and the second annular portion 342 are connected to each other such that a plurality of first planet cavities 343 are formed between the first annular portion 341 and the second annular portion 342, and a first planet wheel 33 is disposed in each first planet cavity 343 such that the first planet wheel 33 can mesh with both the first sun gear 32 and the inner gear 31. The first planetary gear 33 is bridged between the first annular portion 341 and the second annular portion 342 by the first planetary shaft 331, and the first planetary gear 33 revolves around the first sun gear 32 while rotating on the first planetary shaft 331. Both the first annular portion 341 and the second annular portion 342 have axial holes, so that both ends of the first planetary shaft 331 respectively extend into the axial holes of the first annular portion 341 and the axial holes of the second annular portion 342.

Alternatively, the inner wall of the first annular portion 341 is rotatably supported by the first bearing 381 and the outer wall of the first sun gear 32, and specifically may be rotatably supported by the outer wall of the axle of the first sun gear 32, that is, the inner ring of the first bearing 381 is fixed to the outer wall of the axle of the first sun gear 32, and the outer ring of the first bearing 381 is fixed to the inner wall of the first annular portion 341. The outer wall of the first annular portion 341 is rotatably supported by the second bearing 382 and the inner wall of the internal gear 31, that is, the inner race of the second bearing 382 is fixed to the outer wall of the first annular portion 341 and the outer race of the second bearing 382 is fixed to the inner wall of the internal gear 31. The first annular portion 341 is stably supported between the first sun gear 32 and the internal gear 31 by the first bearing 381 and the second bearing 382, and stability in operation of the first stage planetary reduction gear can be enhanced. The first carrier 34 is an output end of the first stage planetary reducer, and the first carrier 34 is disposed coaxially with the first sun gear 32, and has the same rotation speed as the first sun gear 32 rotated by the axle of the first planetary gear 33.

Alternatively, a shaft shoulder for stopping the right end of the inner ring of the first bearing 381 is provided on the wheel shaft of the first sun gear 32, and the first annular portion 341 has a second stopping portion 3411 for stopping the right end of the inner ring of the first bearing 381; the inner wall of the internal gear 31 has a shoulder for stopping the outer ring right end of the second bearing 382, and the first annular portion 341 has a third stopper portion 3412 for stopping the inner ring right end of the second bearing 382. A first bearing retainer 385 is fixed to a side of the first annular portion 341 (left side of the first annular portion 341) facing away from the first planetary gear 33, the first bearing retainer 385 is annular, and a center and an edge of the first bearing retainer 385 are used for stopping a left end of an outer ring of the first bearing 381 and a left end of an inner ring of the second bearing 382, respectively.

The first bearing retainer 385 may be closely fixed to the left side of the first annular portion 341 and may have the same shape as the left side of the first annular portion 341. For example, the first annular portion 341 has an annular recess on the left side thereof, and accordingly, the first bearing retainer 385 is also provided with an annular recess, so that the first bearing retainer 385 can be fitted into the first annular portion 341, thereby fixing the first bearing retainer 385 more stably to the first annular portion 341.

Alternatively, the inner wall of the second annular portion 342 and the outer wall of the second sun gear 35 are fixed to each other, the axle of the second sun gear 35 extends into the second annular portion 342, and the second annular portion 342 and the second sun gear 35 can be fixed to each other by interference fit therebetween, so that the movement of the first carrier 34 can be transmitted to the second sun gear 35.

In one embodiment of the present invention, referring to fig. 3, 4 and 6, the second planet carrier 37 includes a third annular portion 371 and a fourth annular portion 372 that are coaxially disposed, the third annular portion 371 and the fourth annular portion 372 are connected to each other, so that a plurality of second planet cavities 373 are formed between the third annular portion 371 and the fourth annular portion 372, and a second planet wheel 36 is disposed in each second planet cavity 373, so that the second planet wheel 36 can mesh with both the second sun gear 35 and the inner gear 31. The second planetary gear 36 is bridged between the third annular portion 371 and the fourth annular portion 372 by a second planetary shaft 361, and the second planetary gear 36 revolves around the second sun gear 35 while rotating on the second planetary shaft 361. The third annular part 371 and the fourth annular part 372 are both provided with shaft holes, so that two ends of the second planet shaft 361 respectively extend into the shaft holes of the third annular part 371 and the shaft holes of the fourth annular part 372.

Optionally, the inner wall of the fourth annular portion 372 is rotatably supported by the third bearing 383 and the outer wall of the second sun gear 35, and specifically is rotatably supported by the outer wall of the axle of the second sun gear 35, that is, the inner ring of the third bearing 383 is fixed to the outer wall of the axle of the second sun gear 35, and the outer ring of the third bearing 383 is fixed to the inner wall of the fourth annular portion 372. The outer wall of the fourth annular portion 372 is rotatably supported by the fourth bearing 384 and the inner wall of the internal gear 31, that is, the inner ring of the fourth bearing 384 is fixed to the outer wall of the fourth annular portion 372, and the outer ring of the fourth bearing 384 is fixed to the inner wall of the internal gear 31. The fourth annular portion 372 is stably supported between the second sun gear 35 and the internal gear 31 by the third bearing 383 and the fourth bearing 384, and the stability of the second stage planetary gear set in operation can be enhanced. The second bearing 382 and the fourth bearing 384 are respectively disposed on two opposite sides of the internal gear 31, and can stably support the internal gear 31.

Optionally, a shaft shoulder is arranged on the wheel shaft of the second sun gear 35 for stopping the left end of the inner ring of the third bearing 383; the outer ring of the fourth annular portion 372 has a fourth stopping portion 3721 for stopping the left end of the inner ring of the fourth bearing 384; the inner wall of the inner gear 31 is provided with a shoulder for stopping the left end of the outer ring of the fourth bearing 384.

Optionally, a second bearing ring 386 is fixed to an end of the fourth annular portion 372 facing away from the second planet wheels 36, and the second bearing ring 386 is used for stopping a right end of an inner ring of the fourth bearing 384. In the joint housing 4, a fifth stop 44 is formed by the end of the support ring 43 remote from the annular cylinder 41 and extends radially inward, and the fifth stop 44 is used for stopping the right end of the outer ring of the fourth bearing 384.

The utility model also provides a robot comprising the integrated joint in any of the above embodiments. The integrated joint may be fixed to the above-mentioned fixed bracket 5. The robot may also include structural members that effect end movements, such as arms, legs, etc.

The robot provided by the utility model adopts the integrated joint in any embodiment, the integrated joint comprises an electric control component 1, a motor component 2 and a speed reducer component 3, a motor stator 23 in the motor component 2 is arranged on the inner side of a motor rotor 22, a rotor support 21 is fixedly connected with the motor rotor 22, the speed reducer component 3 is a double-stage planetary speed reducer, a first sun gear 32 is fixedly connected with the rotor support 21 to enable the first sun gear 32, a first planetary gear 33 and an inner gear 31 to be meshed with each other, a first planet carrier 34 is fixedly connected with a second sun gear 35 to enable the second sun gear 35, a second planetary gear 36 and the inner gear 31 to be meshed with each other, the first planetary gear 33 and the second planetary gear 36 share the same inner gear 31, that is, the first sun gear 32, the first planet gears 33, the second sun gear 35 and the second planet gears 36 are all located inside the inner gear 31, so that the reducer assembly 3 is more compact. Meanwhile, the motor stator 23 is fixed on the outer ring of the internal gear 31, namely the motor stator 23 utilizes the space of the outer ring of the internal gear 31, the axial thickness of the integrated joint cannot be additionally increased, the internal structure of the integrated joint is more compact, and the occupied space is smaller.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (13)

1. An integrated joint is characterized by comprising an electric control assembly, a motor assembly and a speed reducer assembly;

the motor assembly comprises a rotor bracket, a motor rotor fixed on one side of the rotor bracket and a motor stator arranged on the inner side of the motor rotor, and the electric control assembly is arranged on one side of the rotor bracket, which is back to the motor rotor;

the speed reducer assembly comprises an inner gear, a first sun gear, a first planet carrier, a second sun gear, a second planet gear and a second planet carrier, the first sun gear is fixedly connected with the rotor support, the first sun gear, the first planet gear and the inner gear are sequentially in meshing transmission, a wheel shaft of the first planet gear drives the first planet carrier to rotate, the second sun gear is fixedly connected with the first planet carrier, the second sun gear, the second planet gear and the inner gear are sequentially in meshing transmission, and a wheel shaft of the second planet gear drives the second planet carrier to rotate;

the motor stator is fixed on the outer ring of the inner gear.

2. The integrated joint of claim 1, wherein: the rotor support comprises a support rotor disc and a support shaft sleeve connected to the center of the support rotor disc, and an end face of the first sun gear is convexly provided with a wheel shaft which extends into and is fixed to the inner part of the support shaft sleeve.

3. The integrated joint of claim 2, wherein: the rotor support further comprises a shaft cover used for shielding the end face of the wheel shaft, the shaft cover is arranged at one end, far away from the rotor disc of the support, of the support shaft sleeve, and the shaft cover is fixedly connected with the end face of the wheel shaft through a fastening piece.

4. The integrated joint of claim 1, wherein: the electric control assembly comprises an electric control shell with an opening end, a tail cover used for plugging the opening end of the electric control shell, a coded disc and a driving plate, wherein the coded disc and the driving plate synchronously rotate with the rotor support, an induction part used for matching with the coded disc to measure speed is arranged on the driving plate, and the coded disc and the driving plate are both arranged in a space enclosed by the electric control shell and the tail cover.

5. The integrated joint of claim 4, wherein: the center of the rotor support is provided with a support shaft sleeve, the support shaft sleeve penetrates through the tail cover, the coded disc sleeve is fixedly arranged on the support shaft sleeve, and the support shaft sleeve and the tail cover are supported through a support bearing.

6. The integrated joint of claim 1, wherein: the integrated joint also comprises a joint shell, and the motor assembly and the speed reducer assembly are both arranged in the joint shell; the joint shell comprises an annular cylinder and an end cover ring, the end cover ring is formed by radially and inwards extending one end of the annular cylinder, and the electric control assembly is fixed at one end, far away from the end cover ring, of the annular cylinder in a plugging mode.

7. The integrated joint of claim 6, wherein: the internal gear with the inner wall fixed connection of end cover ring, the outer wall of end cover ring is used for fixing on the fixed bolster, the internal gear the end cover ring with the fixed bolster passes through fastener fixed connection.

8. The integrated joint of any of claims 1-7, wherein: first planet carrier is including the first annular portion and the second annular portion of coaxial setting, first annular portion with second annular portion interconnect, and make first annular portion with form a plurality of being used for holding between the second annular portion the first planet chamber of first planet wheel, first planet wheel erects through first planet axle in first annular portion with between the second annular portion, the both ends of first planet axle stretch into respectively first annular portion with second annular portion.

9. The integrated joint of claim 8, wherein: the inner wall of the first annular part is rotatably supported with the outer ring of the first sun gear through a first bearing, and the outer wall of the first annular part is rotatably supported with the inner wall of the inner gear through a second bearing; the inner wall of the second annular part and the outer wall of the second sun wheel are fixed with each other.

10. The integrated joint of claim 9, wherein: an annular first bearing retainer ring is fixed on one side, facing away from the first planet wheel, of the first annular portion and used for stopping the outer ring of the first bearing and the inner ring of the second bearing.

11. The integrated joint of any of claims 1-7, wherein: the second planet carrier includes third annular portion and the fourth annular portion of coaxial setting, the third annular portion with fourth annular portion interconnect, and make the third annular portion with form a plurality of second planet chambeies that are used for holding the second planet wheel between the fourth annular portion, the second planet wheel erects through the second planet axle in the third annular portion with between the fourth annular portion, the both ends of second planet axle stretch into respectively the third annular portion with fourth annular portion.

12. The integrated joint of claim 11, wherein: the inner wall of the fourth annular part is rotatably supported with the outer wall of the second sun gear through a third bearing, and the outer wall of the fourth annular part is rotatably supported with the inner wall of the inner gear through a fourth bearing.

13. A robot, characterized by: comprising an integrated joint according to any of claims 1-12.

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