Joint power unit and mechanical arm applying same

Abstract

The invention relates to the technical field of robot equipment, and discloses a joint power unit and a mechanical arm applying the same. The joint power unit comprises a fixing base, a motor unit and a speed reducer unit, the motor unit and the speed reducer unit are arranged in the fixing base, the speed reducer unit comprises an inner gear ring, a flexible outer gear ring arranged on the inner side of the inner gear ring and a cam arranged on the inner side of the flexible outer gear ring, the flexible outer gear ring sequentially comprises a meshing part, a flexible connecting part capable of generating deformation and an output part, the meshing part is in meshing transmission with the inner gear ring, and the number of teeth of the meshing part is smaller than that of teeth of the inner gear ring; the cam abuts against the meshing part and rotates relative to the meshing part so as to drive the meshing part to roll on the inner side of the inner gear ring; when the inner gear ring is fixed, the meshing part rolls on the inner side of the inner gear ring, and the output part is driven to rotate through the flexible connecting part; and the flexible outer gear ring and the cam form a containing cavity, and the motor unit is arranged in the containing cavity. The axial size of the joint power unit is greatly shortened, and the overall structure is more compact.

Description

Technical field [0001] The present invention relates to the field of robotics equipment, and particularly to a power unit and a robot arm joint application thereof. Background technique [0002] Integrated joint speed reducer of the power unit is one of the key components of the robot, the conventional speed reducer large structures, such as harmonic reducer, cycloid reducer size, layout and structure provided with a plurality of motor unit design of the series in the axial direction, results in a large axial dimension of the joint power unit, the structure is not compact. [0003] For example: Chinese patent application No. 2018212673930 rotary drive of an electric power unit is disclosed an electrically driven rotary power unit, comprising a motor base, the motor unit and the reduction gear unit, motor unit and a reduction gear unit which is the axial series design, the entire joint axially resulting in larger size of the power unit, the structure is not compact and is not cond...

AI Technical Summary

Problems solved by technology

[0002] The joint power unit with integrated reducer is one of the key parts of the robot. The existing reducer structures, such as harmonic reducer and cycloid reducer, are relatively large in size, and the structure layout of the motor unit is mostly set as The series design in the axial direction leads to a larger axial dimension of the joint power unit and a less compact structure

[0003] For example: Chinese patent application number 2018212673930 for an electric drive rotary power unit discloses an electric drive rotary power unit, including a motor base, a motor unit and a reducer unit, the motor unit and the reducer unit are axially connected in series design, resulting in a large axial dimension of the entire joint power unit, and the structure is not compact, which is not conducive to popularization and use

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