Stepless speed changing reducer and driving joint used for bio-robot

Abstract

The invention provides a stepless speed changing reducer and a driving joint used for a bio-robot. The reducer comprises a first grade sun gear, a first grade planet gear, a first grade annular gear,a second grade planet gear, a second grade annular gear, a planet carrier and a friction type clutch; the first grade planet gear is outwardly engaged with the sun gear; the first grade planet gear isinwardly engaged with the first grade annular gear; the first grade planet gear is supported on a supporting shaft of the planet carrier; a first bearing is arranged between the first grade planet gear and the supporting shaft; the second grade planet gear is inwardly engaged with the second grade annular gear; the second grade planet gear rotates synchronously with the first grade planet gear; the friction type clutch comprises a friction sheet and a pressurizing part; the friction sheet is positioned on one side of the peripheral wall of the first grade annular gear; and the pressurizing part is used for exerting pressure on the friction sheet to generate friction force between the friction sheet and the peripheral wall. The reducer has a wide range of power adjustment, is light, convenient and tight in structure, is highly reliable, and meets specific requirements of the bio-robot.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to an infinitely variable speed reducer and a drive joint for a bionic robot. Background technique [0002] When a robot (especially a bionic robot) performs ultra-dynamic movements such as running and jumping, in addition to the maximum output torque density of the joints (the maximum output torque of the joint / the weight of the joint) and the maximum output speed density (the maximum output of the joint) In addition to meeting the minimum requirements, the output power of each joint needs to be optimally deployed in terms of speed and torque, so as to meet the driving torque of each joint at each specific moment of the hyperdynamic action as much as possible. and the compound change requirements of the drive speed. Take the demand for knee joint driving torque and driving speed at each moment when a biped robot takes off from the squat state as an example: at the initial fo...

AI Technical Summary

Problems solved by technology

However, because the output performance of the motor itself is limited by bottlenecks such as heat dissipation and electromagnetic saturation, the adjustable range of joint power obtained only by adjusting the output speed and torque of the motor is very limited, and it is difficult to fully meet the requirements of each joint in the ultra-dynamic action of the robot. Compound change demand for driving torque and driving speed at a specific moment

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