A kind of based on cycloid reducer integrated robot drive joint and robot

Abstract

The application discloses a cycloid reducer integrated robot driving joint and a robot, and relates to the technical field of robots.The joint comprises a shell assembly, a built-in frameless motor assembly and a reducer assembly.The built-in frameless motor assembly is arranged inside the shell assembly, and the reducer assembly is symmetrically arranged on both sides of the built-in frameless motor assembly inside the shell assembly.The reducer assembly and the built-in frameless motor assembly are in transmission connection, so that the rotary motion of the frameless motor assembly is transmitted to the outside of the shell assembly through the reducer assembly to realize speed reduction and torque increase.The motor and the reducer are integrated, and bilateral symmetric synchronous output is adopted, so that the joint structure is lightweight, small and compact, the stability, reliability and universality of robot motion are improved, the overall structure is simple, the joint is convenient to disassemble and assemble, and the joint is practical and convenient.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an integrated robot drive joint and robot based on a cycloidal reducer. Background Technology

[0002] For robots, the drive unit is a core component, directly affecting the robot's motion performance. Due to the limitations of applicable scenarios, the robot's drive unit is required to have a large output torque while also being relatively compact. Most existing robot drive joint structures achieve rotation of the rotating arm by connecting it to a servo motor and reducer. Because standard motors and reducers are used, the drive joints are large, heavy, have low output torque, and slow response, directly affecting the robot's motion performance and accuracy. This hinders the achievement of lightweight, miniaturized, and compact joint designs, and ultimately impacts robot performance improvement. Therefore, integrated robot drive joints are of great significance for intelligent and compact robot design.

[0003] Currently, robot drive joints mainly suffer from the following problems: Traditional integrated motor-reducer drive joints require a series connection between the motor and reducer, resulting in heavy weight, large volume, and insufficient compactness. Traditional motor-reducer drive joints typically only allow input on one side and output on the other, limiting the number of external components and the arrangement of the drive joint. Furthermore, traditional motor-reducer drive joints have complex structures and are cumbersome to assemble.

[0004] Therefore, those skilled in the art are dedicated to developing an integrated robot drive joint and robot based on a cycloidal reducer. Summary of the Invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is how to reduce the weight and volume of the traditional motor reducer series integrated drive joint and improve its structural compactness.

[0006] To achieve the above objectives, the present invention provides an integrated robot drive joint based on a cycloidal reducer, comprising a housing assembly, a built-in frameless motor assembly, and a reducer assembly. The built-in frameless motor assembly is disposed inside the housing assembly, and the reducer assembly is symmetrically disposed on both sides of the built-in frameless motor assembly inside the housing assembly. The reducer assembly and the built-in frameless motor assembly are connected by a transmission connection to transmit the rotational motion of the frameless motor assembly to the outside of the housing assembly through the reducer assembly to achieve deceleration and torque amplification.

[0007] Furthermore, the housing assembly includes a cover and a housing, the housing and the cover being connected by bolts, and holes are evenly distributed along the circumferential direction on the outer end face of the housing.

[0008] Furthermore, the built-in frameless motor assembly includes a drive board and an outer stator. The outer stator is fixedly disposed inside the housing by means of mechanical limiting, and the drive board and the outer stator are fixedly connected by bolts.

[0009] Furthermore, the frameless motor assembly also includes an inner rotor, a built-in bearing housing, and bearings. The inner rotor is spaced inside the outer stator, the built-in bearing housing is connected inside the inner rotor, and the bearings are disposed on both sides of the built-in bearing housing for transmitting the rotational motion of the inner rotor to the reducer assemblies on both sides via the built-in bearing housing.

[0010] Furthermore, the reducer assembly includes cycloidal wheels, which are symmetrically arranged on both sides of the built-in frameless motor assembly and connected to the built-in bearing housing via the bearing.

[0011] Furthermore, the reducer assembly also includes pin teeth, which are evenly distributed circumferentially on the outer end face of the housing and engage with holes evenly distributed circumferentially on the outer end face of the housing. The cycloidal wheel performs planar motion of revolution and rotation under the combined constraint of the inner rotor and the pin teeth.

[0012] Furthermore, the reducer assembly also includes a built-in through pin and a pin bearing. The built-in through pin is completely disposed inside the built-in bearing housing and engages with holes evenly distributed in the circumferential direction on the end face of the cycloidal wheel near the center of the end face of the cycloidal wheel through the pin bearing, so as to transmit the motion of the cycloidal wheel to the built-in through pin.

[0013] Furthermore, the reducer assembly also includes an output disc, which is connected to the built-in through pin by bolts. The rotational motion of the inner rotor is reduced by the cycloidal wheel and then synchronously transmitted to the output disc, which is symmetrically arranged on both sides of the cycloidal wheel, through the built-in through pin, so as to realize the symmetrical synchronous output of power from both sides.

[0014] Furthermore, the reducer assembly also includes a gland bearing, which is disposed on the output disc and engages with a hole disposed on the end face of the gland along the center line of the gland.

[0015] Furthermore, a robot, including the cycloidal reducer-based integrated robot drive joint, is an industrial robot, an agricultural robot, or a medical robot.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] (1) The present invention can realize the integration of the motor reducer into an integrated joint, which is beneficial to the lightweight design, miniaturization and compact design of the joint structure.

[0018] (2) The present invention can achieve symmetrical synchronous output on both sides, expand the number of external components at the output end of the reducer, and the design of the built-in through pin connecting the output disks on both sides makes the output at both ends synchronized, avoids deviation in output speed and torque on both sides, and increases the stability, reliability and universal applicability of robot movement.

[0019] (3) The present invention has a simple overall structure, is easy to assemble and disassemble, and has better practicality and convenience.

[0020] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0021] Figure 1 This is an exploded view of the overall structure of an embodiment of the present invention;

[0022] Figure 2 This is a schematic cross-sectional view of an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the gear tooth relationship structure in an embodiment of the present invention.

[0024] Wherein: 1-Gland, 2-Outer shell, 3-Pin tooth, 4-Gland bearing, 5-Output disc, 6-Cycloidal wheel, 7-Pin bearing, 8-Bearing, 9-Built-in through pin, 10-Built-in bearing seat, 11-Drive plate, 12-Outer stator, 13-Inner rotor. Detailed Implementation

[0025] The preferred embodiments of the present invention are described below with reference to the accompanying drawings to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0026] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0027] like Figure 1-3The diagram shows a schematic representation of an embodiment of an integrated robot drive joint based on a cycloidal reducer according to the present invention. The drive joint includes: a housing assembly, a built-in frameless motor assembly, and a reducer assembly. The built-in frameless motor assembly is disposed inside the housing assembly, and the reducer assembly is symmetrically disposed on both sides of the built-in frameless motor assembly inside the housing assembly. The reducer assembly and the built-in frameless motor assembly are connected by a transmission connection to transmit the rotational motion of the frameless motor assembly to the outside of the housing assembly through the reducer assembly to achieve deceleration and torque amplification.

[0028] The housing assembly includes a pressure cap 1 and a housing 2. The housing 2 and the pressure cap 1 are connected by bolts. Holes are evenly distributed along the circumferential direction on the outer end face of the housing 2 to provide space for the assembly of the needle teeth 3.

[0029] The built-in frameless motor assembly includes a drive plate 11, an outer stator 12, an inner rotor 13, a built-in bearing housing 10, and bearings 8. The outer stator 12 is fixed inside the housing 2 by mechanical limiting. The drive plate 11 is fixedly connected to the outer stator 12 by bolts. The inner rotor 13 is located inside the outer stator 12 with a gap between them. The built-in bearing housing 10 is arranged inside the inner rotor 13 and connected to the inner rotor 13 to transmit the rotation of the built-in frameless motor. The bearings 8 are arranged on both sides of the built-in bearing housing 10 to effectively transmit the rotation received by the built-in bearing housing 10 to the reducer assemblies on both sides.

[0030] The reducer assembly includes pin teeth 3, output discs 5, cycloidal wheels 6, built-in through pins 9, pressure bearings 4, and pin bearings 7. One cycloidal wheel 6 is arranged on each side of the built-in frameless motor assembly, connected to the built-in bearing seat 10 via bearings 8. Pin teeth 3 are evenly distributed inside the housing 2. Under the combined constraint of the built-in frameless motor and the pin teeth 3, the cycloidal wheels 6 perform planar motion involving both revolution and rotation. The built-in through pins 9 completely penetrate the interior of the built-in frameless motor. The pin bearings 7 engage with evenly distributed holes on the circumference of the cycloidal wheels 6, allowing the motion of the cycloidal wheels 6 to be transmitted to the built-in through pins 9. The output discs 5 are connected to the built-in through pins 9 via bolts. The built-in through pins receive the drive after reduction by the cycloidal wheels 6 and synchronously transmit the reduced drive input to the output discs 5 on both sides, achieving symmetrical synchronous power output from both sides. This expands the number of external components at the reducer output end and improves the smoothness, reliability, and versatility of the integrated joint's movement. The pressure plate bearing 4 is arranged on the output plate 5 and connected to the pressure plate 1 to avoid collision and friction between the output plate 5 and the pressure plate 1, thereby reducing power loss.

[0031] This invention, through the integration of a frameless motor, symmetrical cycloidal wheels on both sides, and a built-in through-pin, allows for the compact integration of a cycloidal reducer and a motor into a single unit. Compared to traditional integrated motor-reducer drive joints, this invention changes the series connection between the motor and reducer, achieving integrated motor-reducer joint design. This facilitates lightweight, miniaturized, and compact joint structure design. The invention transforms the traditional "one-end input, one-end output" reducer mode into an "internal input, symmetrical output on both sides" mode. Compared to traditional cycloidal pinwheel reducers, this achieves symmetrical synchronous output on both sides, expanding the number of external components that can be connected to the reducer's output end. Furthermore, the built-in through-pin connecting the output discs on both sides ensures synchronized output at both ends, preventing deviations in output speed and torque, and increasing the robot's stability, reliability, and versatility. Compared to typical integrated reducer-motor drive joints, this invention has a simpler overall structure, is easier to install and disassemble, and offers better practicality and convenience.

[0032] The drive joint of this invention can be applied to industrial robots, agricultural robots, medical robots and other fields.

[0033] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. An integrated robot drive joint based on a cycloidal reducer, characterized in that, The device includes a housing assembly, a built-in frameless motor assembly, and a reducer assembly. The built-in frameless motor assembly is disposed inside the housing assembly, and the reducer assembly is symmetrically disposed on both sides of the built-in frameless motor assembly inside the housing assembly. The reducer assembly and the built-in frameless motor assembly are connected by a transmission to transmit the rotational motion of the frameless motor assembly to the outside of the housing assembly through the reducer assembly to achieve speed reduction and torque increase. The housing assembly includes a cover and a housing, the housing and the cover are connected by bolts, and holes are evenly distributed along the circumferential direction on the outer end face of the housing. The built-in frameless motor assembly includes a drive plate, an outer stator, an inner rotor, a built-in bearing housing, and bearings. The outer stator is fixed inside the housing by mechanical limiting. The drive plate is fixedly connected to the outer stator by bolts. The inner rotor is spaced inside the outer stator. The built-in bearing housing is connected inside the inner rotor. The bearings are located on both sides of the built-in bearing housing and are used to transmit the rotational motion of the inner rotor to the reducer assemblies on both sides via the built-in bearing housing. The reducer assembly includes a cycloidal wheel, pin teeth, an internal through pin, a pin bearing, and an output disc. The cycloidal wheel is symmetrically arranged on both sides of the built-in frameless motor assembly and is connected to the internal bearing housing via the bearing. The pin teeth are evenly distributed circumferentially on the outer end face of the housing and engage with holes evenly distributed circumferentially on the outer end face of the housing. The cycloidal wheel performs planar motion of revolution and rotation under the drive of the inner rotor and the combined constraint of the pin teeth. The internal through pin is completely inserted into the internal bearing housing and engages with holes evenly distributed circumferentially near the center of the cycloidal wheel end face via the pin bearing, which transmits the motion of the cycloidal wheel to the internal through pin. The output disc is connected to the internal through pin via bolts. The rotational motion of the inner rotor, after being decelerated by the cycloidal wheel, is synchronously transmitted to the output discs symmetrically arranged on both sides of the cycloidal wheel via the internal through pin, thereby achieving symmetrical synchronous output of power from both sides.

2. The integrated robot drive joint based on a cycloidal reducer as described in claim 1, characterized in that, The reducer assembly also includes a cover bearing, which is disposed on the output disc and mates with a hole disposed on the end face of the cover along the center line of the cover.

3. A robot, characterized in that, The robot includes the integrated robot drive joint based on a cycloidal reducer as described in any one of claims 1-2, wherein the robot is an industrial robot, an agricultural robot, or a medical robot.

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