Dual-motor coupling driving robot joint module based on planetary reducing mechanism

Abstract

The invention provides a dual-motor coupling driving robot joint module based on a planetary reducing mechanism, which comprises a first motor, a second motor, a first planetary reducing mechanism, a second planetary reducing mechanism and a gear ring, the first motor comprises a first casing and a first output shaft, and the second motor comprises a second casing and a second output shaft. The first planetary reducing mechanism comprises a first sun gear and a first planet gear, the first sun gear is connected with the first output shaft, the first planet gear is rotationally arranged on the first machine shell, and the first planet gear is meshed with the first sun gear; the second planetary reducing mechanism comprises a second sun gear and a second planet gear, the second sun gear is connected with the second output shaft, the second planet gear is rotationally arranged on the second machine shell, and the second planet gear is meshed with the second sun gear; and the gear rings are annularly arranged outside the first planet wheel and the second planet wheel correspondingly, the gear rings are engaged with the first planet wheel and the second planet wheel correspondingly, the gear rings are used for power output, and the compact design of the joint module is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joints, and in particular to a dual-motor coupled drive robot joint module based on a planetary reduction mechanism. Background Art

[0002] At a time when robotics technology is developing rapidly, the performance of the robot joint module, as a key moving component of the robot, directly determines the core indicators of the robot, such as movement flexibility, precision and load capacity.

[0003] Currently, many robotic joint modules utilize a single motor drive. While relatively simple in structure, single-motor drive systems are limited in terms of output torque and power by the motor's inherent performance. Consequently, their limitations become increasingly apparent when faced with complex working conditions and high-performance demands.

[0004] In order to overcome the limitations of single-motor drive, some dual-motor driven robot joint modules have also appeared in the industry. However, the existing dual-motor drive structure uses independent reducers to connect to the motors respectively, and then couples the power output through additional transmission components, refer to patent document CN111360869A. This structure not only increases the complexity and volume of the joint module, but also reduces the transmission efficiency and increases the precision loss due to the increase in transmission components. In addition, some dual-motor drive structures still face technical difficulties in achieving 360° rotation and non-hollow design, and cannot simultaneously meet the requirements of the robot joint module for a large rotation range, high compactness and good design flexibility. Summary of the Invention

[0005] The purpose of the present invention is to address the deficiencies in the prior art and provide a dual-motor coupled drive robot joint module based on a planetary reduction mechanism, aiming to solve the problem of 360° rotation, and through the innovative structure of two reduction mechanisms dragging the shared gear rings on both sides, realize the compact design of the joint module and improve the robot's motion performance and applicability.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: The dual-motor coupled drive robot joint module based on a planetary reduction mechanism includes: a first motor, the first motor comprising a first housing and a first output shaft, the first output shaft rotating relative to the first housing; a second motor, the second motor comprising a second housing and a second output shaft, the second output shaft rotating relative to the second housing; A first planetary reduction mechanism, the first planetary reduction mechanism comprising a first sun gear and a first planetary gear, the first sun gear being connected with the first output shaft, the first planetary gear being rotatably arranged on the first casing, the first planetary gear being engaged with the first sun gear; A second planetary reduction mechanism, the second planetary reduction mechanism comprising a second sun gear and a second planetary gear, the second sun gear being connected with the second output shaft, the second planetary gear being rotatably arranged on the second casing, the second planetary gear being engaged with the second sun gear; A ring gear, the ring gear being annularly arranged outside the first planetary gear and the second planetary gear respectively, the ring gear being engaged with the first planetary gear and the second planetary gear respectively, the ring gear being used for power output.

[0007] As a preferred embodiment, the first planetary reduction mechanism further comprises: A first planetary shaft, the first planetary shaft being fixed on the first casing, the first planetary gear being rotatably arranged on the first planetary shaft.

[0008] As a preferred embodiment, the second planetary reduction mechanism further comprises: A second planetary shaft, the second planetary shaft being fixed on the second casing, the second planetary gear being rotatably arranged on the second planetary shaft.

[0009] As a preferred embodiment, the first motor, the first planetary reduction mechanism, the second motor and the second planetary reduction mechanism are arranged from left to right.

[0010] As a preferred embodiment, two ends of the first planetary shaft are connected with the first casing and the second casing respectively.

[0011] As a preferred embodiment, the first planetary reduction mechanism and the second planetary reduction mechanism are respectively located between the first motor and the second motor.

[0012] As a preferred embodiment, the first planetary shaft and the second planetary shaft correspond to each other, and the corresponding first planetary shaft and the second planetary shaft are integrally connected.

[0013] As a preferred embodiment, the first planetary shaft and the second planetary shaft are staggered.

[0014] As a preferred embodiment, the second motor, the first planetary reduction mechanism and the second planetary reduction mechanism are arranged inside the ring gear, and the first motor is arranged outside.

[0015] As a preferred embodiment, a heat conduction pipe is further connected between the first casing and the second casing.

[0016] As a preferred embodiment, the first motor and the second motor have the same number of stator slots, which are staggered. Alternatively, the first motor and the second motor have the same number of magnetic steel slots, which are staggered.

[0017] Compared with the existing technology, this technical solution has the following advantages: The first and second planetary gears simultaneously exert force on the ring gear, achieving dual-motor power coupling output. This coupling output method avoids the complexity and increased size associated with the use of independent reducers and additional transmission components in traditional dual-motor drive structures. It also reduces transmission components, effectively improving transmission efficiency and enabling easy 360-degree rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural diagram of the first embodiment of the dual-motor coupled drive robot joint module based on the planetary reduction mechanism of the present invention; Figure 2 This is a structural schematic diagram of the second embodiment of the dual-motor coupled drive robot joint module based on the planetary reduction mechanism described in the present invention.

[0019] In the figure: 100 first motor, 110 first housing, 120 first output shaft, 200 second motor, 210 second housing, 220 second output shaft, 300 first planetary reduction mechanism, 310 first sun gear, 320 first planetary shaft, 330 first planetary gear, 400 second planetary reduction mechanism, 410 second sun gear, 420 second planetary shaft, 430 second planetary gear, 500 ring gear. DETAILED DESCRIPTION

[0020] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are for illustrative purposes only, and those skilled in the art will readily appreciate other obvious variations. The basic principles of the present invention defined in the following description may be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0021] like Figure 1 and Figure 2 As shown, the dual-motor coupled drive robot joint module based on the planetary reduction mechanism includes: A first motor 100 , comprising a first housing 110 and a first output shaft 120 , wherein the first output shaft 120 rotates relative to the first housing 110 ; A second motor 200 , comprising a second housing 210 and a second output shaft 220 , wherein the second output shaft 220 rotates relative to the second housing 210 ; A first planetary reduction mechanism 300 includes a first sun gear 310 and first planetary gears 330. The first sun gear 310 is connected to the first output shaft 120. The first planetary gears 330 are rotatably mounted on the first housing 110. The first planetary gears 330 mesh with the first sun gear 310. A second planetary reduction mechanism 400 includes a second sun gear 410 and second planetary gears 430 . The second sun gear 410 is connected to the second output shaft 220 . The second planetary gears 430 are rotatably mounted on the second housing 210 . The second planetary gears 430 mesh with the second sun gear 410 . The ring gear 500 is respectively arranged outside the first planetary gear 330 and the second planetary gear 430 , and the ring gear 500 is respectively engaged with the first planetary gear 330 and the second planetary gear 430 . The ring gear 500 is used for power output.

[0022] The first output shaft 120 drives the first sun gear 310 to rotate, and the first sun gear 310 drives the first planetary gear 330 to rotate around its own axis. The second output shaft 220 drives the second sun gear 410 to rotate, and the second sun gear 410 drives the second planetary gear 430 to rotate around its own axis. During operation, the first planetary gear 330 and the second planetary gear 430 rotate under the drive of their respective sun gears and transmit power to the ring gear 500, which then acts as the power output. Because the first planetary gear 330 and the second planetary gear 430 simultaneously apply force to the ring gear 500, the power coupling output of the dual motors is achieved. This coupling output method avoids the complexity and volume increase caused by the use of independent reducers and coupling output through additional transmission components in traditional dual-motor drive structures, while reducing transmission components, effectively improving transmission efficiency, and easily achieving 360° rotation.

[0023] The first motor 100 , the second motor 200 , the first planetary reduction mechanism 300 , and the second planetary reduction mechanism 400 may be arranged in various ways, which will be described in detail below through two embodiments.

[0024] First embodiment like Figure 1As shown, the first motor 100, the first planetary reduction mechanism 300, the second motor 200, and the second planetary reduction mechanism 400 are arranged from left to right. This arrangement is compact and rational, with tight connections between components, making full use of space. While ensuring overall structural stability, it effectively reduces the size of the joint module, making it more suitable for robotic applications with high space requirements.

[0025] refer to Figure 1 The first motor 100 further includes a stator and a rotor. The stator is fixed to the inner wall of the first housing 110. The rotor is rotatably disposed within the first housing 110 and is connected to the first output shaft 120. When the first motor 100 is energized, the rotor drives the first output shaft 120 to rotate about its own axis under the action of the principle of electromagnetic induction, while the stator and the first housing 110 remain stationary.

[0026] refer to Figure 1 The second motor 200 has the same structure as the first motor 100 and also includes a stator and a rotor. When the second motor 200 is powered on, the rotor drives the second output shaft 220 to rotate around its own axis, and the second housing 210 and the stator are fixed.

[0027] refer to Figure 1 The first planetary reduction mechanism 300 is located between the first motor 100 and the second motor 200. The first planetary reduction mechanism 300 plays a key role in reducing the speed and increasing the torque of the output power of the first motor 100.

[0028] The first planetary reduction mechanism 300 includes a first sun gear 310 and first planetary gears 330. The first sun gear 310 is connected to the first output shaft 120. When the first output shaft 120 rotates, the first sun gear 310 is driven to rotate around its own axis.

[0029] The first planetary reduction mechanism 300 further includes: The first planetary shaft 320 is fixed on the first housing 110 and provides a stable support shaft for the rotation of the first planetary gear 330 .

[0030] The first planetary gear 330 is rotatably mounted on the first planetary shaft 320 and aligned with the center of the first planetary shaft 320, ensuring that the first planetary gear 330 can rotate smoothly about its own axis. Because the first planetary gear 330 is meshed with the first sun gear 310, the interaction between the rotating first sun gear 310 and the first planetary gear 330 drives the first planetary gear 330 to rotate about its own axis. Simultaneously, the first planetary gear 330 also orbits around the first sun gear 310, thereby achieving the function of reducing speed and increasing torque.

[0031] Preferably, the two ends of the first planetary shaft 320 are respectively connected to the first housing 110 and the second housing 210. This design can significantly improve the structural stability of the first planetary shaft 320, making it less likely to deform or damage when subjected to various forces generated by the rotation of the first planetary gear 330, thereby ensuring the reliable operation of the first planetary reduction mechanism 300.

[0032] The number of first planetary shafts 320 is equal to the number of first planetary gears 330, with one first planetary gear 330 mounted on each first planetary shaft 320. In this embodiment, there are three first planetary gears 330, evenly spaced around the first sun gear 310. This multi-planetary gear design allows for more even distribution of torque transmitted by the first sun gear 310, improving the load-bearing capacity and transmission smoothness of the first planetary reduction mechanism 300.

[0033] refer to Figure 1 The second planetary reduction mechanism 400 is located on the right side of the second motor 200 , and its function is to reduce the speed and increase the torque of the power output by the second motor 200 .

[0034] The second planetary reduction mechanism 400 includes a second sun gear 410 and second planetary gears 430. The second sun gear 410 is connected to the second output shaft 220. When the second output shaft 220 rotates, the second sun gear 410 is driven to rotate around its own axis.

[0035] The second planetary reduction mechanism 400 further includes: The second planetary shaft 420 is fixed on the second housing 210 to provide stable support for rotation of the second planetary gear 430. The second planetary gear 430 is rotatably arranged on the second planetary shaft 420, and is rotatably arranged on the second planetary shaft 420 by sleeving. Since the second planetary gear 430 is engaged with the second sun gear 410, when the rotating second sun gear 410 interacts with the second planetary gear 430, the second planetary gear 430 is driven to rotate around its own axis, and the second planetary gear 430 also revolves around the second sun gear 410, thereby achieving the function of speed reduction and torque increase.

[0036] The number of the second planetary shaft 420 is equal to the number of the second planetary gear 430, and each second planetary shaft 420 is sleeved with a second planetary gear 430. In this embodiment, the number of the second planetary gear 430 is three, and they are evenly arranged around the second sun gear 410. This design can also evenly share the torque transmitted by the second sun gear 410, and improve the load capacity and transmission stability of the second planetary reduction mechanism 400.

[0037] Reference Figure 1 The ring gear 500 is arranged around the outside of the first planetary gear 330 and the second planetary gear 430, and is engaged with the first planetary gear 330 and the second planetary gear 430, respectively. In the working process, the first planetary gear 330 and the second planetary gear 430 simultaneously apply force to the ring gear 500, realizing the power coupling output of the dual-motor. This power coupling output method avoids the complexity and volume increase caused by the use of independent reducers and the coupling output through additional transmission components in the traditional dual-motor driving structure, while reducing the transmission components, effectively improving the transmission efficiency.

[0038] The right side of the ring gear 500 serves as an output end, which can stably transmit the coupled power to the subsequent mechanical structure to drive the robot joint to realize various movements.

[0039] In addition, the second motor 200, the first planetary reduction mechanism 300 and the second planetary reduction mechanism 400 are arranged inside the ring gear 500, and the first motor 100 is arranged outside. Such a layout makes full use of the space inside the ring gear 500, making the overall structure more compact, and placing the first motor 100 outside to facilitate heat dissipation and maintenance operations.

[0040] The dual-motor coupling driving robot joint module based on the planetary reduction mechanism takes the first housing 110 of the first motor 100 as a fixed point.

[0041] Reference Figure 1A heat pipe is also connected between the first housing 110 and the second housing 210. During operation of the joint module, the second motor 200 generates heat, which is transferred to the first housing 110 of the first motor 100 through the heat pipe. Because the first motor 100 is located externally, with a large contact area with the external environment, it can directly dissipate heat, effectively reducing the temperature of the second motor 200 and preventing its performance and lifespan from being affected by excessive temperatures.

[0042] The first housing 110 and the second housing 210 can be made of a thermally conductive material, such as aluminum alloy. This material has excellent thermal conductivity and can quickly transfer heat generated by the second motor 200 to the heat pipe, where it is then dissipated to the outside environment, further improving heat dissipation efficiency. Furthermore, the first housing 110 and the second housing 210 can be provided with heat dissipation ribs to further enhance heat dissipation.

[0043] Furthermore, cooling channels are provided within the first housing 110 and the second housing 210, through which a cooling medium, such as cooling oil or cooling gas, is communicated. When the joint module is in operation, the cooling medium circulates within the cooling channels, removing heat generated by the first motor 100 and the second motor 200, achieving more efficient heat dissipation.

[0044] The heat conducting pipe is staggered with the first planetary shaft 320 and the first planetary gear 330 to avoid affecting the rotation of the first planetary gear 330 .

[0045] The first motor 100 and the second motor 200 may be radial magnetic field motors, wherein the stator is sleeved outside the rotor. The first motor 100 and the second motor 200 may be axial magnetic field motors, wherein the stator and the rotor are parallel, which have the advantages of small axial size and high power density.

[0046] Taking a radial magnetic field motor as an example, referring to patent document CN111404289B, stator slots for coil arrangement are formed between the stator teeth of the stator, and magnetic steel slots for securing the magnetic steel are provided on the outer surface of the rotor core. The first motor 100 and the second motor 200 have the same number of stator slots, but they are staggered.

[0047] Alternatively, the first motor 100 and the second motor 200 have the same number of magnetic steel slots, which are staggered.

[0048] By staggering the stator slots or the magnetic steel slots, the torque can be offset, so that the motor rotates more smoothly.

[0049] Second embodiment like Figure 2As shown, the dual-motor coupled drive robot joint module based on a planetary reduction mechanism of the second embodiment is different from the first embodiment in that the first planetary reduction mechanism 300 and the second planetary reduction mechanism 400 are respectively located between the first motor 100 and the second motor 200.

[0050] The number of the first planetary shafts 320 and the second planetary shafts 420 are equal and correspond one to one, and the corresponding first planetary shafts 320 and the second planetary shafts 420 are integrally connected.

[0051] Third embodiment refer to Figure 2 The dual-motor coupling drive robot joint module based on the planetary reduction mechanism of the third embodiment is different from the second embodiment in that the first planetary shaft 320 and the second planetary shaft 420 are staggered.

[0052] The embodiments described above are only used to illustrate the technical ideas and features of the present invention. Their purpose is to enable those skilled in the art to understand the contents of the present invention and implement them accordingly. The scope of the patent application of the present invention cannot be limited by these embodiments alone. That is, any equivalent changes or modifications made according to the spirit disclosed by the present invention still fall within the patent scope of the present invention.

Claims

1. A dual-motor coupled drive robot joint module based on a planetary reduction mechanism, characterized in that: include: A first motor (100), the first motor (100) comprising a first housing (110) and a first output shaft (120), the first output shaft (120) rotating relative to the first housing (110); A second motor (200), the second motor (200) comprising a second housing (210) and a second output shaft (220), the second output shaft (220) rotating relative to the second housing (210); A first planetary reduction mechanism (300), the first planetary reduction mechanism (300) comprising a first sun gear (310) and a first planetary gear (330), the first sun gear (310) being connected to the first output shaft (120), the first planetary gear (330) being rotatably disposed on the first housing (110), and the first planetary gear (330) being meshed with the first sun gear (310); a second planetary reduction mechanism (400), the second planetary reduction mechanism (400) comprising a second sun gear (410) and a second planetary gear (430), the second sun gear (410) being connected to the second output shaft (220), the second planetary gear (430) being rotatably disposed on the second housing (210), and the second planetary gear (430) being meshed with the second sun gear (410); A ring gear (500) is disposed outside the first planetary gear (330) and the second planetary gear (430), respectively. The ring gear (500) is meshed with the first planetary gear (330) and the second planetary gear (430), respectively. The ring gear (500) is used for power output.

2. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 1, characterized in that: The first planetary reduction mechanism (300) further includes: A first planetary shaft (320) is fixed on the first housing (110), and the first planetary gear (330) is rotatably disposed on the first planetary shaft (320).

3. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 2, characterized in that: The second planetary reduction mechanism (400) further includes: A second planetary shaft (420) is fixed on the second housing (210), and the second planetary gear (430) is rotatably disposed on the second planetary shaft (420).

4. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 3, characterized in that: The first motor (100), the first planetary reduction mechanism (300), the second motor (200) and the second planetary reduction mechanism (400) are arranged from left to right.

5. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 4, characterized in that: The two ends of the first planetary shaft (320) are respectively connected to the first housing (110) and the second housing (210).

6. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 3, characterized in that: The first planetary reduction mechanism (300) and the second planetary reduction mechanism (400) are respectively located between the first motor (100) and the second motor (200).

7. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 6, characterized in that: The first planetary shaft (320) and the second planetary shaft (420) correspond one to one, and the corresponding first planetary shaft (320) and the second planetary shaft (420) are integrally connected; Alternatively, the first planetary shaft (320) and the second planetary shaft (420) are staggered.

8. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 1, characterized in that: The first motor (100) and the second motor (200) have the same number of stator slots, and are staggered. Alternatively, the first motor (100) and the second motor (200) have the same number of magnetic steel slots, and the two are staggered.

9. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to any one of claims 4 to 8, characterized in that: The second motor (200), the first planetary reduction mechanism (300) and the second planetary reduction mechanism (400) are arranged inside the ring gear (500), and the first motor (100) is located outside.

10. The dual-motor coupled drive robot joint module based on a planetary reduction mechanism according to claim 9, characterized in that: A heat pipe is also connected between the first housing (110) and the second housing (210).

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