Axially compact impact-resistant robot joint motor

Abstract

The application discloses an axial compact impact-resistant robot joint motor, belongs to the field of robot joints and comprises a shell, a stator arranged in the shell, a rotor and a planetary transmission assembly. A circle of outer teeth is coaxially and fixedly connected to the outer wall of the rotor. The shell is also cylindrical, and coaxially arranged inner teeth one and inner teeth two are fixedly connected to the inner wall of the shell. The planetary transmission assembly comprises a disc-shaped planet carrier and an output disc. A driven gear is fixedly connected to the center of the side of the planet carrier close to the output disc. A planet gear one is rotatably installed on the side of the planet carrier away from the output disc. A planet gear two is rotatably installed on the side of the output disc close to the planet carrier. The planet gear one is engaged with the outer teeth and the inner teeth one at the same time, and drives the planet carrier to rotate. The planet gear two is engaged with the driven gear and the inner teeth two at the same time, and drives the output disc to rotate. The output disc outputs power. The axial length of the driving motor is reduced, and the upper limit of the impact force borne by the gears in the driving motor is improved.

Description

Technical Field

[0001] This invention relates to the field of robot joints, and in particular to an axially compact, impact-resistant robot joint motor. Background Technology

[0002] The development of robots is very rapid now, and there are even robots that can replace people to do some dangerous work and are suitable for various activity scenarios. Therefore, robots need to perform high-speed or jumping movements. Due to the large weight of the robot itself, the joints will be subjected to a large instantaneous torque load impact during the jumping process. If the output stage gear is not strong enough, it is easy to be damaged and break teeth. Summary of the Invention

[0003] This application provides an axially compact, impact-resistant robot joint motor, including a housing, a stator, a rotor, and a planetary transmission assembly disposed inside the housing;

[0004] The stator is cylindrical and located inside the rotor. The rotor is also cylindrical and rotates along its own axis. A ring of external teeth is coaxially fixedly connected to the outer wall of the rotor.

[0005] The outer shell is also cylindrical, and two internal teeth, one coaxially arranged, are fixedly connected to the inner wall of the outer shell;

[0006] The planetary transmission assembly includes a disc-shaped planet carrier and an output disk, with a driven gear fixedly connected to the center of the planet carrier near the output disk.

[0007] Planetary gear one is rotatably mounted on the side of the planetary carrier away from the output disk, and planetary gear two is rotatably mounted on the side of the output disk close to the planetary carrier.

[0008] The planetary gear meshes with both the external and internal gears simultaneously, driving the planet carrier to rotate.

[0009] Planetary gear two meshes with driven gear and internal gear two simultaneously, driving the output disc to rotate;

[0010] The output disc outputs power.

[0011] By adopting the above technical solution, the power generated by the rotor drives planetary gear one to perform circular motion. Planetary gear one drives the planet carrier to rotate, the planet carrier rotates to drive the driven gear to rotate, the driven gear rotates to drive planetary gear two to rotate, and planetary gear two rotates to drive the output disk to rotate, thereby completing the power output. The rotor, as a sun tooth, can reduce the presence of one sun tooth in the planetary transmission assembly, allowing the sun tooth to engage with the rotor and reducing the axial length of the sun tooth. Furthermore, planetary gear two and the planet carrier are both part of the output shaft of the drive motor, further reducing the axial length of the drive motor. Therefore, the footprint of the drive motor can be reduced, and the thickness of the gears in the planetary transmission assembly can also be reduced, allowing the teeth on the gears to withstand greater gravity, thus extending the service life of the drive motor. Because the axial dimensions of the drive motor are very compact, the output stage can withstand instantaneous high torque impacts, making it suitable for robots that require high-speed movement and jumping.

[0012] Optionally, the planetary carrier has a receiving groove on the side near the rotor, which can accommodate the end of the rotor.

[0013] By adopting the above technical solution, the presence of the receiving groove can make the distance between the end of the planetary carrier and the first planetary gear more, reduce the length of the upper shaft of the first planetary gear, and thus further improve the compressive strength of the first planetary gear.

[0014] Optionally, the diameter of the second planetary gear is more than three times the diameter of the first planetary gear.

[0015] By adopting the above technical solution, the diameter of planetary gear two is larger than that of planetary gear one, which can achieve the purpose of deceleration. Moreover, planetary gear two is the gear that bears the most impact force, so increasing the diameter of planetary gear two can also increase the impact resistance of planetary gear two.

[0016] Optionally, the outer casing is cylindrical, with a disk located at one end of the outer casing near the second planetary gear, and a base fixedly connected to the other end of the outer casing. The stator is mounted on the base, and the end of the rotor is rotatably connected to the base.

[0017] By adopting the above technical solution, the stator and rotor are mounted on the base, which facilitates the rotation of the rotor and also makes it easy to remove the rotor and stator from the housing.

[0018] Optionally, the base is hollow inside, and a drive shaft is fixedly connected to the center of the base. The drive shaft passes through the stator, rotor, planetary carrier, driven gear, and output disk and is fixedly connected.

[0019] The drive shaft rotates with the output disc. The end of the drive shaft away from the output disc is located in the cavity of the base and is fixedly connected to a magnet. A magnetic encoder is also fixedly connected to the inner wall of the base.

[0020] By adopting the above technical solution, the rotation of the drive shaft can drive the magnet to rotate, thereby generating a change in the magnetic field. This change in the magnetic field can be detected by the magnetic encoder.

[0021] Optionally, annular guide grooves are provided on the side of the base near planetary gear one and the side of the planet carrier near planetary gear two, and the axis of the guide grooves coincides with the axis of the outer shell.

[0022] The end of the rotating shaft on planetary gear one near the base and the end of the rotating shaft on planetary gear two near the planet carrier are inserted into the guide groove.

[0023] By adopting the above technical solution, planetary gear one and planetary gear two can be supported, enabling them to perform stable circular motion.

[0024] Optionally, a spherical protrusion is fixedly connected to the end of the rotating shaft on planetary gear one near the base and the end of the rotating shaft on planetary gear two near the planet carrier.

[0025] By adopting the above technical solution, the motion trajectory of planetary gear one and planetary gear two is arc-shaped. Therefore, the spherical protrusion can ensure that the arc-shaped motion trajectory of planetary gear one and planetary gear two is not affected.

[0026] Optionally, both internal teeth one and internal teeth two are provided with an adding component, which is used to add lubricating oil;

[0027] The added components include a piston rod and a spring fixedly connected to one end of the piston rod. The inner teeth one and the inner teeth two are provided with through holes for the piston rod to make piston movements.

[0028] The inner teeth 1 and 2 are provided with overflow holes on the side walls near the through hole, and the piston rod is provided with an inlet hole for lubricating oil to enter.

[0029] The piston rod is also provided with a connection hole perpendicular to the piston rod axis, and the connection hole can be misaligned or aligned with the overflow hole.

[0030] By adopting the above technical solution, lubricating oil can be slowly added to the planetary gear transmission assembly, and the lubricating oil is applied to the internal gears and external gears along with planetary gear one and planetary gear two, which can make the lubricating oil application more even.

[0031] Optionally, the output disk and planetary carrier are rotatably connected to the housing via sealed bearings to achieve a fully sealed drive motor.

[0032] By adopting the above technical solution, the sealed bearing can achieve full sealing of the drive motor, thereby enabling the drive motor to be used in underwater environments. Therefore, the drive motor can be used in underwater bionic robots, thus improving the applicability of the drive motor.

[0033] In summary,

[0034] 1. The rotor is a sun tooth, and the output shaft of the drive motor is mostly replaced by planetary gear transmission components. This can reduce the overall length of the drive motor, making it easier to use. It can also reduce the length of each gear in the planetary gear transmission components, so that the planetary gear transmission components can withstand greater impact forces and improve the service life of the drive motor.

[0035] 2. Both the rotating shaft and the rotating shaft are fixedly connected with spherical protrusions, which can make planetary gear two and planetary gear one more stable during the circular motion. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the drive motor in the embodiment.

[0037] Figure 2 This is a cross-sectional view highlighting the internal structure of the drive motor in the embodiment.

[0038] Figure 3 This is a schematic diagram of the planetary drive component in the embodiment.

[0039] Figure 4 This is a diagram highlighting the locations of added components in the embodiment.

[0040] Figure 5 This is a cross-sectional view highlighting the added component structure in the embodiment.

[0041] Figure 6 yes Figure 5 Enlarged view of section A.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Housing; 11. Internal gear one; 12. Internal gear two; 13. Through hole; 14. Overflow hole; 15. Liquid inlet pipe; 2. Stator; 3. Rotor; 31. External gear; 4. Base; 41. Guide groove; 42. Magnetic encoder; 43. Magnet; 44. Drive shaft; 5. Planetary gear one; 51. Rotating shaft; 52. Protrusion; 6. Planetary carrier; 61. Receiving groove; 62. Driven gear; 7. Planetary gear two; 71. Rotating shaft; 8. Output disk; 9. Adding component; 91. Piston column; 92. Spring; 93. Inlet hole; 94. Connection hole. Detailed Implementation

[0044] This application discloses an axially compact, impact-resistant robot joint motor, with reference to... Figure 1 and Figure 2 It includes a cylindrical outer shell 1, a circular stator 2 located inside the outer shell 1, and a rotor 3; the stator 2 is located at the center, and the rotor 3 is sleeved on the outside of the stator 2. The rotor 3 rotates to realize the operation of the motor.

[0045] The outer casing 1 has a cylindrical structure. A base 4 is installed at one end of the outer casing 1. The stator 2 is fixedly installed on the base 4, and the rotor 3 is rotatably installed on the base 4, so that the stator 2 and the rotor 3 are installed inside the outer casing 1.

[0046] The outer casing 1 is also equipped with a planetary transmission assembly, which includes multiple planetary gears 5 located on the outside of the rotor 3. An external tooth 31 is fixedly connected to the outer wall of the rotor 3, and the external tooth 31 meshes with the planetary gears 5. An internal tooth 11 that can mesh with the planetary gears 5 is fixedly connected to the inner wall of the outer casing 1. The planetary gears 5 mesh with both the external tooth 31 and the internal tooth 11. Therefore, the rotation of the rotor 3 can drive the planetary gears 5 to rotate around the rotor.

[0047] Reference Figure 2 and Figure 3 The rotor 3 has a planetary carrier 6 at the end away from the base 4. The planetary gear 5 is mounted on the planetary carrier 6. The planetary gear 5 is coaxially fixedly connected to a vertical rotating shaft 51. One end of the rotating shaft 51 is rotatably connected to the planetary carrier 6, so that the rotating shaft 51 can rotate along its own axis. The other end of the rotating shaft 51 is slidably connected to the base 4, so that the rotating shaft 51 can slide on the base 4. Thus, when the planetary gear 5 performs circular motion, it can drive the planetary carrier 6 to rotate.

[0048] The planetary carrier 6 has a receiving groove 61 at one end near the rotor 3. The receiving groove 61 can accommodate the end of the rotor 3. The presence of the receiving groove 61 allows the end of the planetary carrier 6 to be closer to the planetary gear 5, reducing the axial length of the rotating shaft 51 and the planetary gear 5, thereby enabling the planetary gear 5 to withstand greater impact forces.

[0049] A driven gear 62 is coaxially fixedly connected to one end of the planetary carrier 6 away from the rotor 3. The driven gear 62 rotates with the planetary carrier 6. Multiple planetary gears 7 are provided around the driven gear 62. The planetary gears 7 mesh with the driven gear 62. An internal gear 12 that can mesh with the planetary gear 7 is fixedly connected inside the outer casing 1. The planetary gears 7 mesh with the driven gear 62 and the internal gear 12 at the same time, so that the planetary gears 7 can make circular motion around the driven gear 62.

[0050] Planetary gear 7 has an output disk 8 at its end furthest from the planet carrier 6. The output disk 8 is located at the end of the outer casing 1 furthest from the base 4, and is rotatably and sealed to the outer casing 1, allowing it to rotate along its own axis. Planetary gear 7 is coaxially fixedly connected to a rotating shaft 71. One end of the rotating shaft 71 is rotatably connected to the output disk 8, allowing it to rotate along its own axis. The other end of the rotating shaft 71 is slidably connected to the planet carrier 6, allowing it to slide on the planet carrier 6 without affecting its circular motion. Because the rotating shaft 71 and the output disk 8 are rotatably connected, and planetary gear 7 performs circular motion, it drives the output disk 8 to rotate. The output disk 8 is the motor's output unit, responsible for outputting power.

[0051] Both the lower ends of rotating shafts 51 and 71 are fixedly connected to spherical protrusions 52. The base 4 and the planetary carrier 6, near the output disk 8, each have an annular guide groove 41. The axis of the guide groove 41 coincides with the axis of the rotor 3. Since the guide groove 41 is annular, the spherical protrusions 52 at the lower ends of rotating shafts 71 and 51 ensure greater stability during their circular motion. The cooperation between the protrusions 52 and the guide grooves 41 supports planetary gears 5 and 7 without affecting their circular motion.

[0052] The base 4 is hollow inside, and a magnetic encoder 42 is fixedly connected inside the base 4. A magnet 43 is provided at the end of the magnetic encoder 42 near the rotor 3. A drive shaft 44 is fixedly connected to the side of the magnet 43 near the rotor 3. The end of the drive shaft 44 away from the magnet 43 passes through the base 4, rotor 3, planetary carrier 6, driven gear 62 and output disk 8 and is fixedly connected. The drive shaft 44 and output disk 8 are coaxially arranged. The drive shaft 44 can rotate with the output disk 8. The drive shaft 44 is rotatably connected to the stator 2, planetary carrier 6 and driven gear 62, so that the drive shaft 44 can only rotate with the output disk 8. The rotation of the drive shaft 44 can drive the magnet 43 to rotate. Under the action of magnetic induction, the magnetic encoder 42 can receive signals and transmit signals such as the rotation angle and speed of the output disk 8.

[0053] The output disk 8 and the planetary carrier 6 are rotatably connected to the outer shell 1 through sealed bearings, which can achieve full sealing of the drive motor, thus enabling the robot to be used in underwater bionic robots and further increasing the applicability of the drive motor.

[0054] The working principle of an axially compact, impact-resistant robot joint motor according to an embodiment of this application is as follows: The power generated by the rotation of the rotor 3 is transmitted to the first planetary gear 5 through the external teeth 31. The first planetary gear 5 drives the planetary carrier 6 to rotate, and the rotation of the planetary carrier 6 drives the driven gear 62 to rotate. The second planetary gear 7, which is connected to the output disk 8, meshes with the driven gear 62. Therefore, the rotation of the planetary carrier 6 is transmitted to the output disk 8 through the driven gear 62 and the second planetary gear 7, thus completing the power transmission and output. Because the diameter of the first planetary gear 5 is smaller than the diameter of the second planetary gear 7, the rotor... The rotor 3 is fixedly connected to the external gear 31, so both the rotor 3 and the driven gear 62 can be regarded as sun gears. However, the driven gear 62 has a smaller diameter than the rotor 3. Therefore, the rotor 3, planetary gear 5, driven gear 62, and planetary gear 7 constitute a set of planetary reducers, which can reduce the speed of the motor and make full use of the axial length of the rotor 3, reducing the overall axial length of the motor. This makes the axial lengths of the sun gear, planetary gear 5, and planetary gear 7 very short, thus enabling the sun gear, planetary gear 5, and planetary gear 7 to withstand greater impact forces.

[0055] This embodiment also discloses an axially compact, impact-resistant robot joint motor. The difference is that an adding component 9 for adding lubricating oil is added to the outer shell 1. An adding component 9 is provided on both the first internal gear 11 and the second internal gear 12. The adding component 9 can slowly add lubricating oil to lubricate the first planetary gear 5 and the second planetary gear 7 without causing excessive lubricating oil.

[0056] The added component 9 includes a piston rod 91 and a spring 92 fixedly connected to one end of the piston rod 91. Both the first tooth 11 and the second internal tooth 12 are provided with through holes 13 for the piston rod 91 to slide. The piston rod 91 and the through hole 13 are slidably sealed together, so that the piston rod 91 can move along its own axial direction. The spring 92 is located inside the through hole 13 and can apply a force to the piston rod 91 to restore its original shape.

[0057] An overflow hole 14 is provided on the side wall of the inner teeth 11 and 12 near the through hole 13, and the overflow hole 14 is connected to the through hole 13; an inlet hole 93 is provided on the end of the piston rod 91 near the spring 92, and a connecting hole 94 is also provided on the piston rod 91. The axis of the connecting hole 94 is perpendicular to the axis of the piston rod 91. The connecting hole 94 passes through the side wall of the piston rod 91, and the connecting hole 94 is connected to the inlet hole 93; a liquid inlet pipe 15 is fixedly connected to the side wall of the outer shell 1, and the liquid inlet pipe 15 is connected to the through hole 13. When the piston rod 91 protrudes from the through hole 13 away from the spring 92, the connecting hole 94 and the overflow hole 14 are misaligned. When the piston rod 91 is pushed back into the through hole 13, the connecting hole 94 and the overflow hole 14 are aligned. At this time, the lubricating oil sent into the through hole 13 by the inlet pipe 15 enters the overflow hole 14 through the inlet hole 93 and the connecting hole 94, and then flows to the surface of the internal gear 11 and the internal gear 2 12, and then adheres to the surface of the planetary gear 1 5 and the planetary gear 2 7, thus completing the addition of lubricating oil. This prevents too much lubricating oil from being added at once. With the movement of the planetary gear 1 5 and the planetary gear 2 7, the lubricating oil can be spread on the internal gear 11, the internal gear 2 12, the driven gear 62, and the external gear 31, and the lubricating oil can be spread more evenly.

[0058] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An axially compact, impact-resistant robot joint motor, characterized in that: The system includes a housing (1), a stator (2) located inside the housing (1), a rotor (3), and a planetary transmission assembly. The stator (2) is cylindrical and located inside the rotor (3). The rotor (3) is also cylindrical and rotates along its own axis. A ring of external teeth (31) is coaxially fixedly connected to the outer wall of the rotor (3). The housing (1) is also cylindrical, and a coaxially arranged internal tooth 1 (11) and internal tooth 2 (12) are fixedly connected to the inner wall of the housing (1). The planetary transmission assembly includes a disc-shaped planet carrier (6) and an output disk (8). A driven gear (62) is fixedly connected to the center of the planet carrier (6) near the output disk (8). A planetary gear 1 (5) is rotatably mounted on the side of the planet carrier (6) away from the output disk (8), and a planetary gear 2 (7) is rotatably mounted on the side of the output disk (8) near the planet carrier (6). Planetary gear one (5) meshes with external gear (31) and internal gear one (11) at the same time, driving the planet carrier (6) to rotate; Planetary gear two (7) meshes with driven gear (62) and internal gear two (12) at the same time, driving the output disk (8) to rotate; The output disk (8) outputs power; The planetary carrier (6) has a receiving groove (61) on the side near the rotor (3), and the receiving groove (61) can accommodate the end of the rotor (3); The diameter of planetary gear 2 (7) is more than three times the diameter of planetary gear 1 (5); An annular guide groove (41) is provided on the side of the base (4) near the first planetary gear (5) and on the side of the planet carrier (6) near the second planetary gear (7). The axis of the guide groove (41) coincides with the axis of the outer shell (1). The end of the rotating shaft (51) on the first planetary gear (5) near the base (4) and the end of the rotating shaft (71) on the second planetary gear (7) near the planet carrier (6) are inserted into the guide groove (41). The rotating shaft (51) on planetary gear one (5) near the base (4) and the rotating shaft (71) on planetary gear two (7) near the planet carrier (6) are both fixedly connected with spherical protrusions (52). Both the first internal gear (11) and the second internal gear (12) are provided with an adding component (9), which is used to add lubricating oil. The adding component (9) includes a piston rod (91) and a spring (92) fixedly connected to one end of the piston rod (91). The first internal gear (11) and the second internal gear (12) are provided with a through hole (13) for the piston rod (91) to make piston movement. The side wall of the first internal gear (11) and the second internal gear (12) near the through hole (13) is provided with an overflow hole (14) communicating with the through hole (13). The piston rod (91) is provided with an inlet hole (93) for lubricating oil to enter. The piston rod (91) is also provided with a connecting hole (94) perpendicular to the axis of the piston rod (91). The connecting hole (94) can be misaligned or aligned with the overflow hole (14).

2. The axially compact, impact-resistant robot joint motor according to claim 1, characterized in that: The outer shell (1) is cylindrical, with a disc located at one end of the outer shell (1) near the planetary gear (7). The other end of the outer shell (1) is fixedly connected to a base (4), the stator (2) is mounted on the base (4), and the end of the rotor (3) is rotatably connected to the base (4).

3. The axially compact, impact-resistant robot joint motor according to claim 2, characterized in that: The base (4) is hollow inside. A drive shaft (44) is fixedly connected to the center of the base (4). The drive shaft (44) passes through the stator (2), rotor (3), planetary carrier (6), driven gear (62), and output disk (8) and is fixedly connected. The drive shaft (44) rotates with the output disk (8). The end of the drive shaft (44) away from the output disk (8) is located in the cavity of the base (4) and is fixedly connected to a magnet (43). A magnetic encoder (42) is also fixedly connected to the inner wall of the base (4).

4. The axially compact, impact-resistant robot joint motor according to claim 1, characterized in that: The output disk (8) and planetary carrier (6) are rotatably connected to the housing (1) through sealed bearings to achieve full sealing of the drive motor.

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