Infinitely variable speed reducer and power adjustable joints for bionic robots

Abstract

The invention provides an infinitely variable speed reducer and a power adjustable joint for a bionic robot. The reducer includes a primary sun gear, a primary planetary gear, a primary internal ring gear, a secondary planetary gear, a secondary internal ring gear, Planetary carrier and friction clutch, the primary planetary gear is externally meshed with the primary sun gear, the primary planetary gear is internally meshed with the primary ring gear, the primary planetary gear is supported on the support shaft on the planetary carrier, and the primary planetary There is a first bearing between the wheel and the support shaft; the secondary planetary gear is internally meshed with the secondary ring gear, and the secondary planetary gear and the primary planetary gear rotate synchronously; the friction clutch includes a friction plate and a pressure part, and the friction plate Located on one side of the outer peripheral wall of the first-stage ring gear, the pressure applying part is used to apply pressure to the friction plate, so as to generate friction force between the friction plate and the outer peripheral wall. The reducer has a wide range of power adjustment, light structure, compact structure and high reliability, which meets the specific requirements of bionic robots.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to an infinitely variable speed reducer and power adjustable joints for bionic robots. Background technique [0002] When a robot (especially a bionic robot) performs ultra-dynamic motions such as running and jumping, in addition to the maximum output torque density of each joint (the maximum output torque of the joint / the self-weight of the joint) and the maximum output speed density (the maximum output torque of the joint) In addition to meeting the minimum requirements, it is also necessary to optimize the output power of each joint in terms of speed and torque, so as to satisfy the drive torque of each joint at each specific moment of hyperdynamic action as much as possible. and the compound change demand of driving speed. Take the demand for driving torque and driving speed of the knee joint at each moment when the biped robot takes off from the squatting state as an exa...

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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