A power module and a legged robot

Abstract

The present invention relates to the technical field of legged robots, and specifically discloses a power module and a legged robot. The power module includes a module housing, a power component, a planetary component, a thrust bearing, and a planet carrier bearing. Among them, the power component is arranged inside the module housing; the planetary component includes a planetary bracket, a sun gear, a plurality of planet gears, a ring gear, and a plurality of planetary shafts; the planetary bracket is rotatably arranged inside the module housing; the ring gear is arranged inside the module housing, the plurality of planetary shafts are arranged on the planetary bracket, and the plurality of planet gears are correspondingly arranged on the plurality of planetary shafts; the sun gear meshes between the plurality of planet gears and is connected to the output end of the power component; the thrust bearing is abutted between the module housing and the planetary bracket. The planet carrier bearing is arranged between the planetary bracket and the module housing. The axial load capacity and tilting stiffness of the output shaft of the power module are ensured by the thrust bearing, and the radial load capacity is ensured by the planet carrier bearing. Compared with cross roller bearings, the cost is low and it is easy to manufacture.

Description

Technical Field

[0001] The present invention relates to the technical field of legged robots, and in particular to a power module and a legged robot. Background Art

[0002] Robots have basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans to complete dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities. Generally, the movements of robots are driven by motors.

[0003] Currently, the motors applied to robots often use crossed roller bearings in order to control the volume while ensuring the stiffness of the output shaft. However, crossed roller bearings are expensive and difficult to manufacture, increasing the manufacturing cost of the power module. Summary of the Invention

[0004] The purpose of the present invention is to provide a power module and a legged robot, which avoid using crossed roller bearings and reduce the manufacturing cost.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] On the one hand, the present invention provides a power module, which includes:

[0007] A module housing;

[0008] A power component, disposed inside the module housing;

[0009] A planetary component, the planetary component includes a planetary carrier, a sun gear, a plurality of planetary gears, a ring gear, and a plurality of planetary shafts; the planetary carrier is rotatably disposed inside the module housing; the ring gear is disposed inside the module housing, the plurality of planetary shafts are disposed on the planetary carrier, and the plurality of planetary gears are respectively disposed on the plurality of planetary shafts; the sun gear meshes between the plurality of planetary gears and is connected to the output end of the power component;

[0010] A thrust bearing, abutted between the module housing and the planetary carrier;

[0011] A planetary carrier bearing, the inner ring of the planetary carrier bearing is sleeved on the planetary carrier, and the outer ring of the planetary carrier bearing penetrates through the module housing, or

[0012] The inner ring of the planetary carrier bearing is sleeved on the module housing, and the outer ring of the planetary carrier bearing penetrates through the planetary carrier.

[0013] Preferably, the planetary carrier includes an upper planetary carrier and a lower planetary carrier; the upper planetary carrier is provided with an upper connecting portion and a ballast portion disposed on the outer periphery of the upper connecting portion, the lower planetary carrier is provided with a lower connecting portion, and the upper planetary carrier and the lower planetary carrier are connected through the upper connecting portion and the lower connecting portion; the thrust bearing is abutted between the module housing and the ballast portion.

[0014] Preferably, there are a plurality of the lower connecting portions, which are arranged at intervals around the center line of the sun gear. The lower connecting portion is provided with a mounting portion, and the plurality of mounting portions form a first mounting position. The module housing is provided with a flanging that bends inward. The ring gear and the flanging enclose to form a second mounting position. The planetary carrier bearing is disposed between the first mounting position and the second mounting position.

[0015] Preferably, the module housing includes an upper housing and a lower housing, and the upper housing and the lower housing are screwed together to enclose an installation cavity; the power assembly is disposed in the installation cavity; the flanging is disposed at one end of the upper housing away from the lower housing, and the ring gear is disposed in the upper housing.

[0016] Preferably, the planetary gear includes a first-stage planetary tooth and a second-stage planetary tooth arranged coaxially; the first-stage planetary tooth meshes with the sun gear, the second-stage planetary tooth meshes with the ring gear, and the diameter of the first-stage planetary tooth is larger than that of the second-stage planetary tooth.

[0017] Preferably, the power assembly includes an interacting stator assembly and a rotor assembly. The stator assembly is fixedly disposed on the module housing; the rotor assembly is rotatably disposed on the module housing and / or the planetary carrier; the sun gear is connected to the output end of the rotor assembly.

[0018] Preferably, the stator assembly is provided with a first through hole, the rotor assembly passes through the first through hole, the rotor assembly is provided with a second through hole, the protective cover is provided with a third through hole, the sun gear is provided with a fourth through hole, and the planetary carrier is provided with a fifth through hole. The first through hole, the second through hole, the fourth through hole, and the fifth through hole are all concentrically arranged; one end of the protective cover is connected to the module housing and then passes through the second through hole, the fourth through hole, and the fifth through hole in sequence, and the wire harness passes through the third through hole to penetrate the power module.

[0019] Preferably, the drive board of the power module is disposed on the module housing. The module housing is provided with a sixth through hole, the drive board is provided with a seventh through hole, and the protective cover also passes through the sixth through hole and the seventh through hole. The protective cover includes a fixing portion, and the fixing portion is connected to the module housing and is located on the side of the drive board away from the power assembly.

[0020] Preferably, a cantilever bearing is provided between the protective cover and the planetary bracket.

[0021] On the other hand, the present invention provides a legged robot including the power module in any of the above solutions.

[0022] The beneficial effects of the present invention are as follows:

[0023] The present invention provides a power module, which includes a module housing, a power component and a planetary component disposed in the module housing. Among them, the planetary component and the module housing are connected to the output end of the power component through the planetary component, and a thrust bearing and a planetary bracket bearing are both disposed between the planetary component and the module housing. The axial load capacity and tilting stiffness of the output shaft of the power module are ensured by the thrust bearing, and the radial load capacity of the output shaft of the power module is ensured by the planetary bracket bearing. Compared with the crossed roller bearing, the cost is low and it is easy to manufacture. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural view of the power module in an embodiment of the present invention;

[0025] Figure 2 is an internal structural view of the power module in an embodiment of the present invention;

[0026] Figure 3 is an exploded view of the power module in an embodiment of the present invention Figure 1 ;

[0027] Figure 4 is an exploded view of the power module in an embodiment of the present invention Figure 2 ;

[0028] Figure 5 is an exploded view of the power module in an embodiment of the present invention Figure 3 ;

[0029] Figure 6 is a schematic structural view of the lower planetary bracket in an embodiment of the present invention;

[0030] Figure 7 is a schematic structural view of the protective cover in an embodiment of the present invention.

[0031] In the figure:

[0032] 1, module housing; 11, upper housing; 111, flange; 12, lower housing;

[0033] 2, power component; 21, stator component; 22, rotor component; 221, yoke iron ring; 222, rotor magnet; 23, position generator; 24, first rotor bearing; 25, second rotor bearing;

[0034] 3. Planetary assembly; 31. Upper planetary carrier; 32. Lower planetary carrier; 321. Lower connecting part; 3211. Mounting part; 33. Sun gear; 34. Planet gear; 35. Planet shaft; 36. Ring gear;

[0035] 4. Thrust bearing;

[0036] 5. Planetary carrier bearing;

[0037] 6. Protective cover; 61. Fixed part; 62. Cantilever bearing;

[0038] 7. Driving plate. Detailed implementation mode

[0039] Next, the technical solution of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0040] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicating that the first feature is at a lower horizontal height than the second feature.

[0041] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0042] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0043] Embodiment 1

[0044] As Figures 1-5 shown, this embodiment provides a power module, which includes a module housing 1, a power assembly 2, a planetary assembly 3, a thrust bearing 4, and a planet carrier bearing 5. Among them, the power assembly 2 is arranged in the module housing 1; the planetary assembly 3 includes a planetary carrier, a sun gear 33, a plurality of planet gears 34, a plurality of ring gears 36, and a planetary shaft 35; the planetary carrier is rotatably arranged in the module housing 1; the ring gear 36 is arranged in the module housing 1, a plurality of planetary shafts 35 are arranged on the planetary carrier, and a plurality of planet gears 34 are correspondingly arranged on a plurality of planetary shafts 35; the sun gear 33 meshes between the plurality of planet gears 34 and is connected to the output end of the power assembly 2; the thrust bearing 4 abuts between the module housing 1 and the planetary carrier. The inner ring of the planet carrier bearing 5 is sleeved on the planetary carrier, and the outer ring of the planet carrier bearing 5 passes through the module housing 1. In other embodiments, optionally, the inner ring of the planet carrier bearing 5 is sleeved on the module housing 1, and the outer ring of the planet carrier bearing 5 passes through the planetary carrier.

[0045] In this embodiment, the axial load capacity and tilting stiffness of the output shaft of the power module are ensured by the thrust bearing 4, and the radial load capacity of the output shaft of the power module is ensured by the planet carrier bearing 5. Compared with cross roller bearings, the cost is low and it is easy to manufacture.

[0046] Regarding the structure of the planetary carrier, in this embodiment, specifically, the planetary carrier includes an upper planetary carrier 31 and a lower planetary carrier 32; the upper planetary carrier 31 is provided with an upper connecting portion and a ballast portion arranged on the outer periphery of the upper connecting portion, the lower planetary carrier 32 is provided with a lower connecting portion 321, and the upper planetary carrier 31 and the lower planetary carrier 32 are connected through the upper connecting portion and the lower connecting portion 321; a plurality of planetary shafts 35 are all arranged between the upper planetary carrier 31 and the lower planetary carrier 32; the thrust bearing 4 abuts between the module housing 1 and the ballast portion. This setting makes the upper planetary carrier 31 and the lower planetary carrier 32 easy to disassemble and assemble, and it is convenient to install the sun gear 33 and the plurality of planet gears 34 between the upper planetary carrier 31 and the lower planetary carrier 32, improving the assembly efficiency.

[0047] Combined with Figure 6As shown, optionally, there are multiple lower connecting parts 321. The multiple lower connecting parts 321 are arranged at intervals around the center line of the sun gear 33. The lower connecting part 321 is provided with a mounting part 3211. The multiple mounting parts 3211 form a first mounting position. The module housing 1 is provided with a flanging 111 that bends inward. The ring gear 36 and the flanging 111 enclose to form a second mounting position. The planet carrier bearing 5 is arranged between the first mounting position and the second mounting position. This setting provides two mounting positions for the planet carrier bearing 5, preventing the planet carrier bearing 5 from axially moving. Specifically, the inner ring of the planet carrier bearing 5 is sleeved on the first mounting position, and the outer ring of the planet carrier bearing 5 is located within the second mounting position. Preferably, the mounting part 3211 includes a sleeving part and an abutting part. The abutting part is located at one end of the sleeving part away from the upper planet carrier 31. The inner ring of the planet carrier bearing 5 is sleeved on the sleeving part and abuts against the abutting part; the end face of the outer ring of the planet carrier bearing 5 away from the abutting part abuts against the flanging 111. The above setting, in cooperation with the thrust bearing 4, fixes the planet carrier to the module housing 1.

[0048] In this embodiment, preferably, the planet carrier bearing 5 can be a tapered roller bearing. While assisting the rotation of the planet carrier, the tapered roller bearing can also bear the resistance when the planet carrier moves away from the module housing 1.

[0049] Preferably, the module housing 1 includes an upper housing 11 and a lower housing 12. The upper housing 11 and the lower housing 12 are screwed together to enclose an installation cavity; the power assembly 2 is arranged in the installation cavity; the flanging 111 is arranged at one end of the upper housing 11 away from the lower housing 12, and the ring gear 36 is arranged inside the upper housing 11. This setting facilitates the installation of the planet assembly 3 and the power assembly 2 in the installation cavity, improving the assembly efficiency of the power module. Preferably, the upper housing 11 and the lower housing 12 are screwed together. Preferably, heat dissipation fins are provided on the outer peripheries of the upper housing 11 and the lower housing 12 for heat dissipation.

[0050] To achieve the purpose of speed change, in this embodiment, preferably, the planet gear 34 includes a first-stage planet gear and a second-stage planet gear arranged coaxially; the first-stage planet gear meshes with the sun gear 33, the second-stage planet gear meshes with the ring gear 36, and the diameter of the first-stage planet gear is larger than that of the second-stage planet gear. With the above setting, the deceleration effect of the power assembly 2 can be achieved. The ratio of the diameter of the first-stage planet gear to the diameter of the second-stage planet gear can be set according to requirements to decelerate the rotational speed of the output shaft of the power assembly 2.

[0051] Optionally, the power assembly 2 includes an interacting stator assembly 21 and a rotor assembly 22. The stator assembly 21 is fixedly arranged on the module housing 1; the rotor assembly 22 is rotatably arranged on the module housing 1 and / or the planet carrier; the sun gear 33 is connected to the output end of the rotor assembly 22.

[0052] In this embodiment, specifically, the stator assembly 21 includes a coil and a stator bracket. The stator bracket is disposed on the module housing 1, and the coil is wound around the stator bracket. The rotor assembly 22 includes a yoke ring 221 and rotor magnets 222 that are circumferentially spaced along the yoke ring 221. The yoke ring 221 is rotatably connected to the module housing 1 and / or the planetary bracket by at least two bearings. Preferably, the rotor assembly 22 is rotatably disposed on the lower housing 12 of the module housing 1 and the lower planetary bracket 32 of the planetary bracket. Specifically, the lower housing 12 is provided with a first rotor mounting position, the lower planetary bracket 32 is provided with a second rotor mounting position, the yoke ring 221 is provided with a third rotor mounting position and a fourth rotor mounting position. The first rotor bearing 24 is disposed between the first rotor mounting position and the third rotor mounting position and sleeved on the third rotor mounting position. The second rotor bearing 25 is disposed between the second rotor mounting position and the fourth rotor mounting position and sleeved on the fourth rotor mounting position.

[0053] In this embodiment, preferably, the stator assembly 21 is provided with a first through hole, the rotor assembly 22 is disposed through the first through hole, the rotor assembly 22 is provided with a second through hole, the protective cover 6 is provided with a third through hole, the third through hole is preferably a circular hole, the sun gear 33 is provided with a fourth through hole, the planetary bracket is provided with a fifth through hole, and the first through hole, the second through hole, the fourth through hole and the fifth through hole are concentrically arranged. One end of the protective cover 6 is connected to the module housing 1 and then sequentially passes through the second through hole, the fourth through hole and the fifth through hole. The wire harness passes through the third through hole to penetrate the power module. This setting enables the wire harness to pass through the power module without rubbing against the rotating parts, so that it will not be worn. In addition, the protective cover 6 does not occupy extra space, making the structure of the power module compact. Optionally, the second through hole is disposed on the yoke ring 221. Of course, in other embodiments, the stator assembly 21 can be disposed inside the rotor assembly 22.

[0054] Combined with Figure 7 As shown, optionally, the drive board 7 of the power module is disposed on the module housing 1. The module housing 1 is provided with a sixth through hole, the drive board 7 is provided with a seventh through hole, and the protective cover 6 also passes through the sixth through hole and the seventh through hole. The protective cover 6 includes a fixing portion 61. The fixing portion 61 is connected to the module housing 1 and is located on the side of the drive board 7 away from the power assembly 2. Specifically, the lower housing 12 of the module housing 1 is provided with a sixth lower housing through hole; the upper housing 11 is provided with a sixth upper housing through hole, the upper planetary bracket 31 of the planetary bracket is provided with a fifth upper through hole, and the lower planetary bracket 32 is provided with a fifth lower through hole. The upper planetary bracket 31 passes through the sixth upper housing through hole, the sun gear 33 passes through the fifth lower through hole, the protective cover 6 passes through the sixth lower housing through hole and then sequentially passes through the seventh through hole, the second through hole, the fourth through hole and the fifth upper through hole, and the fixing portion 61 passes through and is fixedly connected to the side wall of the sixth lower housing through hole. Preferably, the fixing portion 61 can be screwed or inserted into the side wall of the sixth lower housing through hole. With the above setting, the drive board 7 can be protected. Of course, in other embodiments, the power module can be controlled by an external drive board 7.

[0055] The yoke iron ring 221 is installed with a position generator 23. The position generator 23 is preferably a magnetic ring, and the position generator 23 can also be a magnet or an optical code disk. The position receiver is integrated on the drive board 7.

[0056] To improve the strength of the protective cover 6, a cantilever bearing 62 is provided between the protective cover 6 and the planetary support. Preferably, a cantilever bearing 62 is provided between the protective cover 6 and the upper planetary carrier 31. The above setting avoids the situation that the protective cover 6 has a cantilever.

[0057] Preferably, the protective cover 6 is made of carbon fiber or steel. In this embodiment, the cantilever bearing 62 may not be provided between the protective cover 6 and the planetary support.

[0058] Embodiment 2

[0059] This embodiment provides a legged robot, which includes the power module in any of the above embodiments.

[0060] Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A power module, characterized in that, Comprising: Module housing (1); Power assembly (2), disposed within the module housing (1); Planetary assembly (3), the planetary assembly (3) includes a planetary carrier, a sun gear (33), a plurality of planetary gears (34), a ring gear (36) and a plurality of planetary shafts (35); the planetary carrier is rotatably disposed within the module housing (1); the ring gear (36) is disposed within the module housing (1), the plurality of planetary shafts (35) are disposed on the planetary carrier, and the plurality of planetary gears (34) are respectively disposed on the plurality of planetary shafts (35); the sun gear (33) is meshed between the plurality of planetary gears (34) and connected to the output end of the power assembly (2); Thrust bearing (4), abutted between the module housing (1) and the planetary carrier; Planetary carrier bearing (5), the inner ring of the planetary carrier bearing (5) is sleeved on the planetary carrier, the outer ring of the planetary carrier bearing (5) passes through the module housing (1), or The inner ring of the planetary carrier bearing (5) is sleeved on the module housing (1), and the outer ring of the planetary carrier bearing (5) passes through the planetary carrier; The planetary carrier includes an upper planetary carrier (31) and a lower planetary carrier (32); the upper planetary carrier (31) is provided with an upper connection portion and a ballast portion disposed on the outer periphery of the upper connection portion, the lower planetary carrier (32) is provided with a lower connection portion (321), and the upper planetary carrier (31) and the lower planetary carrier (32) are connected by the upper connection portion and the lower connection portion (321); the thrust bearing (4) is abutted between the module housing (1) and the ballast portion; The planetary gear (34) includes a first-stage planetary tooth and a second-stage planetary tooth arranged coaxially; the first-stage planetary tooth is meshed with the sun gear (33), the second-stage planetary tooth is meshed with the ring gear (36), and the diameter of the first-stage planetary tooth is greater than the diameter of the second-stage planetary tooth.

2. The power module according to claim 1, characterized in that, There are a plurality of the lower connection portions (321), which are arranged at intervals around the center line of the sun gear (33). The lower connection portion (321) is provided with an installation portion (3211), and the plurality of installation portions (3211) form a first installation position. The module housing (1) is provided with a flanging (111) that bends inward. The ring gear (36) and the flanging (111) enclose to form a second installation position, and the planetary carrier bearing (5) is disposed between the first installation position and the second installation position.

3. The power module according to claim 2, wherein The module housing (1) includes an upper housing (11) and a lower housing (12). The upper housing (11) and the lower housing (12) are screwed together to enclose an installation cavity; the power assembly (2) is disposed within the installation cavity; the flanging (111) is disposed at one end of the upper housing (11) away from the lower housing (12), and the ring gear (36) is disposed within the upper housing (11).

4. The power module according to any one of claims 1 to 3, characterized in that, The power assembly (2) includes a stator assembly (21) and a rotor assembly (22) that interact with each other. The stator assembly (21) is fixedly arranged on the module housing (1); the rotor assembly (22) is rotatably arranged on the module housing (1) and / or the planetary carrier; the sun gear (33) is connected to the output end of the rotor assembly (22).

5. The power module according to claim 4, characterized in that, The stator assembly (21) is provided with a first through hole, the rotor assembly (22) is disposed through the first through hole, the rotor assembly (22) is provided with a second through hole, the protective cover (6) is provided with a third through hole, the sun gear (33) is provided with a fourth through hole, and the planetary carrier is provided with a fifth through hole. The first through hole, the second through hole, the fourth through hole, and the fifth through hole are concentrically arranged; one end of the protective cover (6) is connected to the module housing (1) and then sequentially passes through the second through hole, the fourth through hole, and the fifth through hole, and the wire harness passes through the third through hole to penetrate the power module.

6. The power module according to claim 5, characterized in that The drive board (7) of the power module is arranged on the module housing (1). The module housing (1) is provided with a sixth through hole, the drive board (7) is provided with a seventh through hole, and the protective cover (6) also passes through the sixth through hole and the seventh through hole. The protective cover (6) includes a fixing portion (61), and the fixing portion (61) is connected to the module housing (1) and is located on the side of the drive board (7) away from the power assembly (2).

7. The power module according to claim 6, wherein, A cantilever bearing (62) is provided between the protective cover (6) and the planetary carrier.

8. A legged robot, characterized in that, It includes the power module according to any one of claims 1-7.

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