A slewing power unit and robot

Abstract

The application discloses a slewing power unit and a robot. The slewing power unit comprises a primary planetary gear and a secondary planetary gear. The primary planetary gear comprises a primary sun gear, a primary planet gear, a primary planet carrier and a primary inner ring gear. The primary sun gear is rotationally installed on the primary inner ring gear. The primary planet gear is engaged between the primary sun gear and the primary inner ring gear. The primary inner ring gear is fixedly installed on a first shell. The secondary planetary gear comprises a secondary sun gear, a secondary planet gear, a secondary planet carrier and a secondary inner ring gear. The secondary sun gear is rotationally installed on the secondary planet carrier. The primary planet carrier is fixedly installed on the secondary sun gear, so that the primary planet carrier synchronously rotates with the secondary sun gear. The secondary planet gear is engaged between the secondary sun gear and the secondary inner ring gear. The secondary inner ring gear is fixedly installed on a second shell. The first shell and the second shell are fixed. The first shell is integrally formed with the primary inner ring gear. The second shell is integrally formed with the secondary inner ring gear.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a rotary power unit and a robot. BACKGROUND

[0002] Bionic robots, as a kind of intelligent robots that imitate the appearance and behavior of creatures in nature, are widely used in many fields. Bionic robots usually have joint and skeleton structures similar to creatures, are made of lightweight high-strength materials, and can achieve flexible and variable movements and postures through precise transmission systems and control systems, and can accurately simulate various natural behaviors of creatures. In order to realize these complex motion functions, the rotary power unit, as one of the key components of the bionic robot, directly affects the overall dynamic performance and motion accuracy of the robot.

[0003] The rotary power unit in the prior art is usually composed of a shell assembly, a motor assembly, a primary or multi-stage reducer assembly, an encoder assembly, and a bearing. Among these components, the reducer assembly is particularly important, as it determines the efficiency of power transmission and the accuracy of motion. For example, planetary reducers are used in rotary power units due to their compact structure, strong load-carrying capacity, and high transmission efficiency. The typical structure of a planetary reducer includes a sun gear, planet gears, a planet carrier, and an inner ring, where the inner ring is fixed to the shell, the planet gears are located between the sun gear and the inner ring, and the power is output through the planet carrier. By adjusting the tooth number ratio of the planet gears and the sun gear, multi-stage reduction can be achieved, and the torque output capability can be improved.

[0004] However, in the prior art, there are still some limitations and problems in the design of the planetary reduction mechanism. Specifically, in the planetary reduction mechanism, the inner ring and the shell transmit torque through inner and outer splines, and use mechanical connection methods such as glue bonding and bolt fastening to achieve stable combination. This design increases the complexity and manufacturing cost of the components. In addition, due to the possibility of loosening or failure of traditional bonding and fastening methods under high load or high frequency use conditions, the combination of the inner ring and the shell becomes unstable, which affects the performance and service life of the entire reducer. SUMMARY

[0005] To solve the above technical problems, the present application provides a rotary power unit and a robot.

[0006] The present application first provides a rotary power unit, comprising:

[0007] a primary planetary gear and a secondary planetary gear;

[0008] The primary planetary gear comprises a primary sun gear, a primary planet gear, a primary planet carrier and a primary inner ring gear, the primary sun gear is rotationally installed on the primary inner ring gear, the primary planet gear is rotationally installed on the primary planet carrier, the primary planet gear is engaged between the primary sun gear and the primary inner ring gear, and the primary inner ring gear is fixedly installed on the first housing.

[0009] The secondary planetary gear comprises a secondary sun gear, a secondary planet gear, a secondary planet carrier and a secondary inner ring gear, the secondary sun gear is rotationally installed on the secondary planet carrier, the secondary planet gear is rotationally installed on the secondary planet carrier, the primary planet carrier is fixedly installed on the secondary sun gear, so that the primary planet carrier rotates synchronously with the secondary sun gear, the secondary planet gear is engaged between the secondary sun gear and the secondary inner ring gear, and the secondary inner ring gear is fixedly installed on the second housing.

[0010] The first housing and the second housing are fixed, the second housing is integrally formed with the secondary inner ring gear, and the primary sun gear is rotationally installed at a central position of the primary planetary gear through a primary sun gear bearing.

[0011] Optionally, the first housing is provided with an axially recessed accommodating portion for accommodating the secondary planet carrier.

[0012] Optionally, the first housing comprises an outer ring body and an inner ring body, the outer ring body is connected with the inner ring body through a connecting portion, the inner ring body is fixed to the outside of the primary inner ring gear, the outer ring body is axially away from the primary inner ring gear, and the accommodating portion is formed between the outer ring body and the inner ring body.

[0013] Optionally, an angular velocity transmission member is further included, the angular velocity transmission member is coaxially connected with the secondary planet carrier, so that the angular velocity transmission member rotates synchronously with the secondary planet carrier, and the angular velocity transmission member extends from one side of the secondary planetary gear to one side of the primary planetary gear.

[0014] Optionally, the angular velocity transmission member respectively passes through the shaft centers of the secondary sun gear and the primary sun gear.

[0015] Optionally, the angular velocity transmission member is provided with a wire passing channel.

[0016] Optionally, an encoder is further included, and the encoder is arranged on one side of the primary planetary gear.

[0017] Optionally, the encoder comprises an input end encoder and an output end encoder, the input end encoder is used for detecting the rotation information of the primary sun gear, and the output end encoder is used for directly detecting the rotation information of the angular velocity transmission member.

[0018] Optionally, a motor rotor and a motor stator are arranged on one side of the primary planetary gear, the motor rotor is fixedly connected with the primary sun gear and transmits torque to the primary sun gear.

[0019] Optionally, the motor rotor is provided with a hollow structure, and the primary planetary gear is at least partially located in the hollow structure.

[0020] Optionally, the hollow structure comprises a first hollow part and a second hollow part arranged on two sides of the motor rotor, the primary planetary gear is at least partially located in the first hollow part, and the second hollow part is used for accommodating an encoder.

[0021] Optionally, a rear end cover is further arranged, and the rear end cover is connected with the side surface of the first housing to form a seal for the end surface of the primary planetary gear.

[0022] Optionally, a seventh static seal ring is arranged between the rear end cover and the first housing.

[0023] Optionally, a front end cover is further arranged, the front end cover is fixedly connected with the secondary planetary carrier, and the front end cover is fixed on the first housing.

[0024] Optionally, a first static seal ring and a second static seal ring are arranged between the secondary planetary carrier and the front end cover.

[0025] Optionally, a fixed through hole is arranged on the front end cover, and the first static seal ring and the second static seal ring are arranged on opposite sides of the fixed through hole, respectively.

[0026] Optionally, a bearing pressing plate is arranged on the front end cover, the secondary planetary carrier is installed on the second housing through a secondary planetary carrier bearing, and the front end cover and the bearing pressing plate are sealed by arranging a first dynamic seal ring therebetween.

[0027] Optionally, a third static seal ring and a fourth static seal ring are arranged on left and right sides of the secondary planetary carrier bearing, respectively, the secondary planetary carrier bearing is sealed with the front end cover through the third static seal ring, and is sealed with the second housing through the fourth static seal ring.

[0028] Optionally, the left side of the first housing is sealed with the second housing through a fifth static seal ring.

[0029] Optionally, a rear end cover is further arranged, and a second dynamic seal ring is arranged between the rear end cover and the angular velocity transmission member.

[0030] Optionally, a seventh static seal ring is arranged between the rear end cover and the third housing.

[0031] Optionally, a front end cover is further included, the front end cover is fixedly connected with the secondary planetary carrier, the angular velocity transmission member is fixed to the center of the front end cover.

[0032] Optionally, a sixth static seal ring is arranged at the connection between the angular velocity transmission member and the front end cover.

[0033] Optionally, the first housing and the primary inner ring are integrally formed.

[0034] The second aspect of the present application provides a robot including the rotary power unit of the first aspect or any optional embodiment of the first aspect.

[0035] From the above technical solutions, the present application has the following advantages:

[0036] 1. In the present application, the secondary inner ring and the second housing are integrally formed. This integrated structure reduces the number of parts, simplifies the assembly process, and thus reduces the manufacturing cost and assembly time.

[0037] 2. Since the inner ring and the housing are integrally formed, the risk of looseness or failure due to the connection of multiple parts in traditional design is reduced. The need for additional connecting elements (such as glue, bolts, etc.) to fix the inner ring and the housing is eliminated, improving the mechanical stability and long-term reliability of the entire reduction mechanism.

[0038] 3. The integrally formed design can better resist the intrusion of external factors such as moisture, dust, and other harmful substances. This design reduces the gap at the connection, reducing the risk of moisture and dust intrusion, thereby improving the waterproof and dustproof performance of the rotary power unit, suitable for working in more severe environments.

[0039] 4. Due to the reduction in the number of parts and connection interfaces, less energy is lost during power transmission, improving transmission efficiency. At the same time, the integrated inner ring and housing can maintain higher concentricity and assembly precision, thereby improving the precision and consistency of motion.

[0040] 5. The integrated design reduces the relative movement and friction between parts, reduces wear and tear, and prolongs the service life. This not only reduces the frequency and cost of maintenance, but also reduces downtime, improving the overall availability of the equipment.

[0041] 6. The integrally formed design reduces the need for additional connecting elements and external sealing structures, making the entire system more compact and aesthetically pleasing, suitable for space-limited application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1An embodiment structure diagram of a robot provided in the present application;

[0043] Figure 2 A cross-sectional structure diagram of an embodiment of a slewing power unit provided in the present application;

[0044] Figure 3 An exploded structure diagram of an embodiment of a slewing power unit provided in the present application;

[0045] Figure 4 A structure diagram of an angular power transmission member and a front end cover in a slewing power unit provided in the present application;

[0046] Figure 5 A structure diagram of a third housing and a front end cover in a slewing power unit provided in the present application;

[0047] Figure 6 A structure diagram of a secondary inner ring gear in a slewing power unit provided in the present application;

[0048] Figure 7 A structure diagram of a first housing and a sealing cover in a slewing power unit provided in the present application;

[0049] Figure 8 Another embodiment structure diagram of a connection between an angular velocity transmission member and a front end cover in a slewing power unit provided in the present application;

[0050] Figure 9 Another embodiment structure diagram of a first housing in a slewing power unit provided in the present application;

[0051] Figure 10 Another structure diagram of another embodiment of a first housing in a slewing power unit provided in the present application;

[0052] Figure 11 A cross-sectional structure diagram of another embodiment of a slewing power unit provided in the present application.

[0053] Explanation of Reference Numerals:

[0054] 11: first stage sun gear; 12: first stage planet gear; 13: first stage planet carrier; 14: first stage inner ring gear; 21: second stage sun gear; 22: second stage planet gear; 23: second stage planet carrier; 24: second stage inner ring gear; 31: first housing; 32: second housing; 33: third housing; 34: front end cover; 35: bearing pressing plate; 36: rear end cover; 37: sealing cover; 41: first stage sun gear bearing; 42: second stage planet carrier bearing; 43: second stage sun gear bearing; 44: front end cover bearing; 51: first dynamic seal ring; 52: second dynamic seal ring; 53: first static seal ring; 54: second static seal ring; 55: third static seal ring; 56: fourth static seal ring; 57: fifth static seal ring; 58: sixth static seal ring; 59: seventh static seal ring; 61: input end encoder; 62: output end encoder; 71: motor stator; 72: motor rotor; 73: hollow structure; 730: first hollow part; 732: second hollow part; 231: end cover part; 311: connecting part; 312: weight-reducing hole; 313: outer ring body; 314: inner ring body; 315: accommodating part; 341: fixing through hole; 342: angular velocity transmission member; 371: convex part; 1000: power equipment; 100: slewing unit; 200: torso; 300: foot; 344: eighth static seal ring. DETAILED DESCRIPTION

[0055] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship shown in the drawings, and are used only to illustrate the relative positional relationship between the components or constituent parts, and do not particularly limit the specific installation orientation of the components or constituent parts.

[0056] In addition, the above-mentioned partial terms, in addition to being used to indicate the orientation or positional relationship, can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. Those of ordinary skill in the art can understand the specific meaning of these terms in the present application according to the specific circumstances.

[0057] In addition, the terms "mounting", "provision", "provided with", "connection", "connected" should be broadly understood. For example, it can be fixed connection, detachable connection, or integral structure; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or internal communication between two devices, elements or constituent parts. Those of ordinary skill in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0058] In addition, the structures, proportions, sizes, etc. drawn in the drawings attached in the present application are only used to cooperate with the disclosed content, for the understanding and reading of the person skilled in the art, and do not have technical substantial meaning, any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect and the purpose that can be achieved by the present application, still falls within the scope of the disclosed technical content.

[0059] The technical solutions in the present application will be described clearly and completely in combination with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the person skilled in the art without creative labor fall within the scope of the present application.

[0060] Please refer to Figure 1 , the power equipment 1000 of the embodiment of the present application can include the power module 100 of the embodiment of the present application, and the power equipment 1000 can be a quadruped robot, such as a robot dog, a robot horse, etc. Of course, the power equipment 1000 can also be other types of robots, such as a biped robot, a hexapod robot, etc. In addition, the power equipment 1000 is not limited to robots, but can also be other types of equipment, which are not limited here.

[0061] Taking a robot as an example, the rotary unit 100 of the embodiment of the present application can be installed at the joint of the robot, and the rotary unit 100 can be used to drive the joint to rotate. Specifically, the robot can include a trunk 200 and a foot 300, the foot 300 is connected to the trunk 200, and the rotary unit 100 is used to drive the foot 300 to move relative to the trunk 200, for example, the rotary unit 100 can be used to drive the entire foot 300 to move relative to the trunk 200, or can be used to drive the joint of the foot 300 to move.

[0062] Please refer to Figures 2 to 7 :

[0063] The present application first provides an embodiment of a rotary power unit, which comprises:

[0064] a primary planetary gear and a secondary planetary gear;

[0065] The primary planetary gear comprises a primary sun gear 11, a primary planetary gear 12, a primary planetary carrier 13 and a primary inner ring gear 14, the primary sun gear 11 is rotatably installed on the primary inner ring gear 14, the primary planetary gear 12 is rotatably installed on the primary planetary carrier 13, the primary planetary gear 12 is engaged between the primary sun gear 11 and the primary inner ring gear 14, and the primary inner ring gear 14 is fixedly installed on the first housing 31.

[0066] The secondary planetary gear includes a secondary sun gear 21, a secondary planetary gear 22, a secondary planet carrier 23, and a secondary inner ring gear 24. The secondary sun gear 21 is rotationally mounted on the secondary planet carrier 23. The secondary planetary gear 22 is rotationally mounted on the secondary planet carrier 23 in a different axis. The primary planet carrier 13 is fixedly mounted on the secondary sun gear 21, so that the primary planet carrier 13 rotates synchronously with the secondary sun gear 21. The secondary planetary gear 22 is engaged between the secondary sun gear 21 and the secondary inner ring gear 24. The secondary inner ring gear 24 is fixedly mounted on the second housing 32.

[0067] The first housing 31 is fixed to the second housing 32, and the second housing 32 is integrally formed with the secondary inner ring gear 24.

[0068] The present application provides an embodiment of a rotary power unit, which includes a primary planetary gear and a secondary planetary gear, integrated in a housing structure with an integrated design, to achieve efficient and reliable power transmission.

[0069] The main components of the rotary power unit include:

[0070] Primary planetary gear: composed of a primary sun gear 11, a primary planetary gear 12, a primary planet carrier 13, and a primary inner ring gear 14.

[0071] Secondary planetary gear: composed of a secondary sun gear 21, a secondary planetary gear 22, a secondary planet carrier 23, and a secondary inner ring gear 24.

[0072] Housing structure: including a first housing 31 and a second housing 32, which are fixedly connected to form an integrated structure.

[0073] 1. Structure of the primary planetary gear:

[0074] Primary sun gear 11: installed inside the primary inner ring gear 14 and can freely rotate relative to the inner ring gear. The primary sun gear 11 is the key component for power input, which transmits power to the primary planetary gear through connection with an external power source (such as a motor). The primary sun gear 11 can be rotationally mounted at the center of the primary planetary gear through a primary sun gear bearing 41.

[0075] Primary planetary gear 12: multiple primary planetary gears 12 are distributed around the primary sun gear 11 and are mounted on the primary planet carrier 13 in different axes. Each primary planetary gear 12 can freely rotate around its own axis and is engaged with the primary sun gear 11 and the primary inner ring gear 14.

[0076] Primary planet carrier 13: Rotating component that supports the primary planet gears 12. The primary planet carrier 13 is installed in the system in a specific manner and is responsible for converting the rotational motion of the planet gears into the rotational motion of the output shaft.

[0077] Primary inner ring 14: Fixedly installed on the inner wall of the first housing 31, it meshes with the primary planet gears 12 and provides constraints and reaction forces for the primary planet gears 12.

[0078] 2. Structure of the secondary planetary gear:

[0079] Secondary sun gear 21: Installed on the secondary planet carrier 23 and can freely rotate relative to the secondary planet carrier 23. The secondary sun gear 21 is directly connected to the secondary planet carrier 23 through bearings and is driven by the primary planet carrier 13. The secondary sun gear 21 can be installed through the secondary sun gear bearing 43.

[0080] Secondary planet gears 22: Multiple secondary planet gears 22 are evenly distributed and installed on the secondary planet carrier 23. Each secondary planet gear 22 can freely rotate around its own axis and meshes with the secondary sun gear 21 and the secondary inner ring 24.

[0081] Secondary planet carrier 23: Installed inside the second housing 32 and supports the rotation of the secondary planet gears 22. The secondary planet carrier 23 is connected in the system in a specific manner and is responsible for converting the rotational motion of the secondary planet gears 22 into the final power output. The secondary planet carrier 23 can be installed through the secondary planet carrier bearing 42.

[0082] Secondary inner ring 24: Fixedly installed on the inner wall of the second housing 32, it meshes with the secondary planet gears 22 and provides constraints and reaction forces for the secondary planet gears 22.

[0083] In an optional embodiment, the primary inner ring 14 and the first housing 31 can be integrally formed, ensuring the rigidity and reliability of the structure. The first housing 31 serves as the supporting foundation for the entire primary planetary gear and forms an integral whole with the primary inner ring 14, eliminating the need for additional connectors or fasteners, thereby improving the overall structural stability.

[0084] In this embodiment, the secondary inner ring 24 is integrally formed with the second housing 32. This integrated design of the secondary inner ring 24 and the second housing 32 also simplifies the manufacturing and assembly process, improving the strength and durability of the structure.

[0085] The first housing 31 and the second housing 32 are fixed together through a specific connection method to form a closed structure as a whole. This design ensures the close fit between the parts of the rotary power unit and enhances the dust and water resistance.

[0086] During operation, a power source (e.g. an electric motor) drives the primary sun gear 11 to rotate via an input shaft. The rotation of the primary sun gear 11 drives the primary planet gears 12 engaged therewith to rotate about their own axes and simultaneously rotate around the primary sun gear 11. The rotation of the primary planet gears 12 is transmitted to the secondary sun gear 21 via the primary carrier 13, and the rotation of the secondary sun gear 21 further drives the secondary planet gears 22 to rotate about their own axes and simultaneously revolve around the secondary sun gear 21. Through the continuous transmission and deceleration of the primary and secondary planetary gears, the power is finally outputted.

[0087] The rotary power unit in this embodiment greatly reduces the number of components and installation complexity through integrated design, improves the transmission efficiency and accuracy of the entire system. At the same time, by integrally forming the inner ring gear and the housing, the overall strength and reliability of the system are enhanced, and the maintenance cost is reduced. The integrated housing design also provides good waterproof and dustproof performance, so that the rotary power unit can operate stably in various complex and harsh environments.

[0088] In an optional embodiment, an axially recessed accommodating portion 315 is arranged on the first housing 31, and the accommodating portion 315 is used to accommodate the secondary carrier 23.

[0089] In an optional embodiment of the present application, the structure design of the rotary power unit is further optimized, and the secondary carrier 23 is more compactly accommodated by arranging an axially recessed accommodating portion 315 on the first housing 31, thereby further improving the structural stability and integration of the entire device.

[0090] In this optional embodiment, an axially recessed region, i.e. the accommodating portion 315, is arranged on the inner surface of the first housing 31. The size and shape of the accommodating portion 315 are designed to be able to accommodate the secondary carrier 23 or part of the secondary carrier 23, for example, the end cap portion 311 of the secondary carrier 23, so that the structure is more compact and the torque transmission distance is shortened.

[0091] Part of the secondary carrier 23 is located in the accommodating portion 315 of the first housing 31, thereby forming a more compact layout structure with the primary planetary gears. This design reduces the relative movement space between the components and enhances the structural rigidity.

[0092] In a specific embodiment, the first housing 31 includes an outer ring body 313 and an inner ring body 314, the outer ring body 313 is connected to the inner ring body by a connecting portion 311, the inner ring body 314 is fixed to the outside of the primary inner ring gear 14, the outer ring body 313 is axially away from the inner ring body 314, and the accommodating portion 315 is formed between the outer ring body 313 and the inner ring body 314.

[0093] In one embodiment of the present application, the rotary power unit achieves higher integration and structural stability through the special structure of the first housing 31. In this embodiment, the first housing 31 is composed of an outer ring body 313 and an inner ring body 314, which are connected by a connecting portion 311 to form an axially recessed accommodating portion 315 for accommodating the secondary planetary carrier 23.

[0094] In this embodiment, the first housing 31 is composed of two independent parts, namely the outer ring body 313 and the inner ring body 314. The outer ring body 313 is located at the periphery of the entire device, and the inner ring body 314 is located on the inner side of the device adjacent to the primary inner ring gear 14.

[0095] The outer ring body 313 is fixedly connected to the inner ring body 314 through the connecting portion 311. The design of the connecting portion 311 can ensure the stable connection between the outer ring body 313 and the inner ring body 314, and provide a dedicated mounting position for the secondary planetary carrier 23, i.e. the accommodating portion 315.

[0096] The inner ring body 314 is fixed to the outer side of the primary inner ring gear 14, and the outer ring body 313 is arranged away from the primary inner ring gear 14 in the axial direction, forming a specific axially recessed area between the inner ring body 314, called the accommodating portion 315. This accommodating portion 315 is used to accommodate the secondary planetary carrier 23, making its mounting position more stable.

[0097] Specifically, the connecting portion 311 can be curved to form a recessed accommodating portion. The connecting portion 311 can be a spoke-like structure.

[0098] It is worth noting that the outer ring body 313, the inner ring body 314 and the connecting portion 311 can be integrally formed. This structure can be formed by CNC cutting or milling, etc.

[0099] Referring to Figure 7 In an alternative embodiment, the connecting portion 311 is provided with a weight-reducing hole 312.

[0100] In one alternative embodiment of the present application, a weight-reducing hole 312 is designed on the connecting portion 311, which not only reduces the overall weight of the rotary power unit, but also effectively reduces the material usage cost, while optimizing the mechanical properties of the device without significantly affecting the structural strength.

[0101] A plurality of weight-reducing holes 312 are provided on the connecting portion 311. These weight-reducing holes 312 are evenly distributed on the connecting portion 311 to ensure that the weight is reduced without weakening the structural strength and rigidity of the connecting portion 311.

[0102] In an optional embodiment, a sealing cover 37 is further included, wherein a protrusion 371 is arranged on the sealing cover 37, the protrusion 371 is shaped to match the shape of the lightening hole 312, and when the sealing cover 37 is mounted on the first housing 31, the protrusion 371 is inlaid in the lightening hole 312

[0103] Referring to Figure 2 , 3 , 4, in an optional embodiment, an angular velocity transmission member 342 is further included, the angular velocity transmission member 342 is coaxially connected with the second planetary carrier, so that the angular velocity transmission member 342 rotates synchronously with the second planetary carrier, and the angular velocity transmission member 342 extends from the side of the second planetary gear to the side of the first planetary gear.

[0104] In another optional embodiment of the present application, the angular velocity transmission member 342 is coaxially connected with the second planetary carrier. That is, the angular velocity transmission member 342 shares an axis with the second planetary carrier, so as to ensure that they rotate synchronously. Through the coaxial connection, the angular velocity transmission member 342 can directly receive the transmission of angular velocity from the second planetary carrier and transmit the angular velocity to the side of the first planetary gear. The angular velocity transmission member 342 extends from the side of the second planetary gear to the side of the first planetary gear. This design allows the angular velocity transmission member 342 to span multiple gear levels and efficiently transmit the angular velocity signal between the first and second planetary gears. Thus, the angular velocity of the output end can be conveniently sensed on the side of the first planetary gear.

[0105] Further, the angular velocity transmission member 342 respectively passes through the axes of the second sun gear 21 and the first sun gear 11.

[0106] In this embodiment, the angular velocity transmission member 342 respectively passes through the axes of the second sun gear 21 and the first sun gear 11. That is, the angular velocity transmission member 342 is not only coaxial with the second planetary carrier, but also passes through the central axes of the two-stage planetary reduction mechanism. Since the angular velocity transmission member 342 passes through the axes of the second sun gear 21 and the first sun gear 11, this design of axis alignment ensures that the angular velocity can be transmitted to all relevant transmission components with minimal deviation. This coaxial and concentric arrangement greatly reduces the rotational error caused by misalignment.

[0107] The angular velocity transmission member 342 passes through the axes of the two-stage sun gears, reducing unnecessary wear and friction caused by misalignment or bearing deviation. This not only prolongs the service life of each component, but also improves the overall transmission efficiency. The design of passing through the same axis provides additional structural support, ensuring that the relative positions between components remain stable under high-speed or high-load conditions, reducing vibration and noise. At the same time, this structure can integrate the angular velocity transmission member 342 into the axis of the gear, making the structure more compact.

[0108] In an optional embodiment, a wire passage is provided in the angular velocity transmission member 342.

[0109] In this embodiment, a wire passage is provided in the angular velocity transmission member 342. This structure further enhances the functionality and integration of the slewing power unit.

[0110] The main function of the wire passage is to provide a safe and orderly channel for sensor cables, power lines or signal lines. The angular velocity transmission member 342 is usually located at the center axis of the transmission system. By providing a wire passage at this location, the available space can be effectively utilized, reducing the complexity of external wiring.

[0111] In high-speed rotating mechanical devices, cable wiring needs to consider avoiding entanglement, wear and tear, etc. By providing a wire passage inside the angular velocity transmission member 342, the cable can be well protected and avoid interference with other moving parts, thereby improving the stability and reliability of signal transmission.

[0112] The wire passage of the angular velocity transmission member 342 is internally opened, so that the cable or optical fiber can be placed in the protection of metal or other solid materials, reducing the influence of external environment on the cable, such as mechanical wear, vibration impact or chemical corrosion. The wire passage not only provides physical protection, but also reduces electromagnetic interference, especially when transmitting high-frequency signals or sensitive data, the metal shielding effect of the wire passage can greatly reduce the influence of external electromagnetic field.

[0113] By integrating the wire passage in the angular velocity transmission member 342, the space near the center axis is fully utilized, reducing the overall size of the structure, and simplifying the wiring and assembly process of the system.

[0114] In the field of robotics, signal sensing and power transmission often need to be integrated in a compact space. The provision of a wire passage can effectively reduce the complexity of cable management.

[0115] In an optional embodiment, an encoder is further included, and the encoder is arranged on one side of the primary planetary gear.

[0116] In this optional embodiment, an encoder is further included, and the encoder is arranged on one side of the primary planetary gear. The encoder is mainly used to measure the angle and speed of the rotating part. In the slewing power unit, the encoder is installed on one side of the primary planetary gear, which can monitor the rotation angle and speed of the sun gear in the primary planetary gear in real time.

[0117] The encoder provides precise position information and speed feedback to the control system, ensuring that the system can move according to the predetermined trajectory and speed. This is especially important for applications that require high precision control, such as bionic robots and automation equipment.

[0118] The encoder is installed on the side of the primary planetary gear, meaning it is directly connected to the output shaft of the primary planetary gear or installed near the output. This can reduce the impact of transmission error on measurement accuracy, ensuring that the feedback data provided by the encoder is more accurate and reliable.

[0119] By installing the encoder on the side of the primary planetary gear, the compactness of the entire rotary power unit can be maintained in the design, without the need for additional space to accommodate the encoder, thereby contributing to the miniaturization of the device.

[0120] The present application provides some possible types of encoders:

[0121] Incremental encoder: an incremental encoder can be selected, which has a simple structure and can provide relative position information, and performs well in high-speed rotation scenarios.

[0122] Absolute encoder: in cases where precise absolute position information is required, an absolute encoder can be used. The absolute encoder can retain position data after power failure, making it suitable for applications that require strict power failure reset.

[0123] Referring to Figure 2 In a further embodiment, the encoder includes an input encoder 61 and an output encoder 62. The input encoder 61 is used to detect the rotation information of the primary sun gear 11, and the output encoder 62 is used to directly detect the rotation information of the angular velocity transmission member 342.

[0124] In this alternative embodiment, the encoder includes an input encoder 61 and an output encoder 62. The input encoder 61 is used to detect the rotation information of the primary sun gear 11, providing real-time monitoring of the input of the primary planetary gear; the output encoder 62 is used to directly detect the rotation information of the angular velocity transmission member 342, providing accurate feedback to the output of the rotary power unit.

[0125] The input encoder 61 is installed on the side of the primary sun gear 11 and can detect the rotation information of the primary sun gear 11 in real time. By monitoring the changes in angle and speed of the input, the input state of the primary planetary gear can be obtained.

[0126] The output encoder 62 directly detects the rotation information of the angular velocity transmission member 342. The angular velocity transmission member 342 is coaxially connected to the secondary planetary carrier and can synchronously reflect the output state of the entire rotary power unit.

[0127] By simultaneously setting the input encoder 61 and the output encoder 62 on the side of the primary planetary gear, the overall volume and complexity of the rotary power unit can be greatly reduced, making the overall system layout more compact and efficient.

[0128] Referring to Figure 2 In an optional embodiment, a motor rotor 72 and a motor stator 71 are also included, which are arranged on the side of the primary planetary gear. The motor rotor 72 is fixedly connected to the primary sun gear 11 and transmits torque to the primary sun gear 11.

[0129] In this embodiment, the motor rotor 72 is fixedly connected to the primary sun gear 11. The torque generated by the rotation of the motor rotor 72 is directly transmitted to the primary sun gear 11 through the fixed connection with the primary sun gear 11. The motor stator 71 is used in cooperation with the motor rotor 72 to provide a rotational torque for the motor rotor 72 through electromagnetic induction principle. The motor stator 71 is fixed on the side of the primary planetary gear and is arranged opposite to the motor rotor 72.

[0130] The fixed connection of the motor rotor 72 and the primary sun gear 11 in this embodiment simplifies the overall structural design of the rotary power unit, which helps to reduce manufacturing and maintenance costs. At the same time, this design can also improve the reliability and durability of the system.

[0131] Referring to Figure 2 In a further embodiment, a hollow structure 73 is provided on the motor rotor 72, and the primary planetary gear is at least partially located in the hollow structure 73.

[0132] In this embodiment, the hollow structure 73 of the motor rotor 72 refers to the formation of a cavity or hollow part in the central region of the motor rotor 72. This hollow part can be cylindrical, conical or other suitable geometric shapes, depending on the design requirements and space limitations.

[0133] The hollow structure 73 can effectively reduce the material usage of the motor rotor 72, thereby reducing its weight, while providing additional internal space for accommodating other components or systems.

[0134] Part of the structure of the primary planetary gear is accommodated in the hollow structure 73 of the motor rotor 72. Specifically, some components of the primary planetary gear (such as gear bodies or shafts) are located in the hollow region, which makes the space utilization between the motor rotor 72 and the primary planetary gear more efficient.

[0135] By arranging part of the primary planetary gear inside the hollow structure 73 of the motor rotor 72, the internal space of the motor rotor 72 can be better utilized, reducing the overall volume of the system, while optimizing the arrangement of components.

[0136] By optimizing the internal space and weight distribution, the hollow structure 73 can improve the rotational balance of the motor rotor 72, reducing vibration and noise. This design is beneficial for integrating multiple functional components, helping to simplify the system structure, reduce manufacturing complexity and cost.

[0137] In one specific implementation, the hollow structure 73 includes a first hollow part 730 and a second hollow part 732 located on both sides of the motor rotor 72, and the primary planetary gear is at least partially located in the first hollow part 730, and the second hollow part 732 is used to accommodate the encoder.

[0138] In this embodiment, the first hollow part 730 is provided on one side of the motor rotor 72, and part of the structure of the primary planetary gear (such as the primary planetary wheel 12 or its related components) is placed in this area. The size and shape of the first hollow part 730 can be matched with the structure of the primary planetary gear, so that the primary planetary wheel 12 is engaged with the primary sun gear 11 and the primary inner ring gear 14.

[0139] The second hollow part 732 is provided on the other side of the motor rotor 72 for accommodating the encoder. Inside the second hollow part 732, the installation of the encoder needs to be adapted to the structure of the motor rotor 72. The installation position and direction of the encoder should ensure that it can accurately detect the rotation information of the motor rotor 72 and other related components.

[0140] Participation Figure 2 And Figure 5 In an optional embodiment, a third housing 33 is further included, which is fixedly connected with the first housing 31, and the primary planetary gear is at least partially surrounded by the third housing 33.

[0141] In this optional embodiment, the third housing 33 is matched with the first housing 31 and the structure of the overall rotary power unit. The third housing 33 can effectively surround and protect the primary planetary gear. Its shape and size are adapted to the outer shape of the primary planetary gear, and it has a certain space inside to avoid motion interference.

[0142] The third housing 33 is connected with the first housing 31 through fixed connection. The connection method can adopt bolts, buckles, welding or other suitable fixing methods. The main role of the third housing 33 surrounding the primary planetary gear is to provide an additional protective layer to prevent external contaminants (such as dust, moisture, etc.) from entering the primary planetary gear area. This can reduce the impact of environmental factors on the planetary gear, improving its service life and reliability.

[0143] By surrounding the primary planetary gear, the third housing 33 helps maintain the gear's operational stability, reducing potential damage to the gear due to vibrations or impacts. This design also reduces noise during gear operation and improves overall mechanical performance.

[0144] Referring to Figure 5 In particular, the third housing 33 can also be uniformly provided with some protrusions and recesses for buffering the impact received when the rotary unit falls, which is particularly effective in the application of robots.

[0145] Referring to Figure 2 In an optional embodiment, a rear end cover 36 is further included, which is connected with the side surface of the third housing 33 to form a seal for the end surface of the primary planetary gear.

[0146] In this embodiment, the main function of the rear end cover 36 is to seal the end surface of the primary planetary gear, preventing external dust, moisture, or other harmful substances from entering the gear area. This sealing can effectively protect the internal components of the gear, reduce wear and tear, and prolong the service life.

[0147] The rear end cover 36 can be connected with the side surface of the third housing 33 in various ways, including bolts, nuts, buckles, welding, or other suitable fixing methods.

[0148] To ensure sealing effect, a sealing washer or sealant can be provided at the connection between the rear end cover 36 and the third housing 33 to prevent air, dust, or moisture from seeping in from the joint.

[0149] The present application also provides some embodiments for achieving sealing between various components, mainly through dynamic and static sealing rings to achieve sealing between components. Specific embodiments are as follows:

[0150] Referring to Figure 2 In an optional embodiment, a seventh static sealing ring 59 is provided between the rear end cover 36 and the third housing 33.

[0151] Static sealing rings are used to achieve sealing in static state to prevent fluid or gas leakage.

[0152] In this embodiment, the seventh static sealing ring 59 is located between the rear end cover 36 and the third housing 33, which can effectively prevent external pollutants from entering and prevent internal lubricating oil or other medium from leaking.

[0153] The seventh static sealing ring 59 can be made of oil-resistant, temperature-resistant, and wear-resistant rubber materials such as fluororubber, silicone rubber, or nitrile rubber to ensure its sealing performance and durability in various working environments.

[0154] The seventh seal ring can be installed in a dedicated sealing groove designed to provide the appropriate compression amount when the assembly is installed, ensuring the sealing effect.

[0155] Referring to Figure 2 In an alternative embodiment, a front cover 34 is further included, which is fixedly connected with the second planetary carrier 23.

[0156] In this embodiment, a front cover 34 is further included, which is used to close and protect the front end of the planetary gear mechanism. It not only protects the internal gear assembly from external dust and debris, but also provides a support structure to mount and secure other components. The front cover 34 can be installed through the front cover bearing 44.

[0157] The front cover 34 is connected with the second planetary carrier 23 through bolts, welding or other mechanical fixing methods. This connection can reduce the relative movement between components and ensure the accurate operation of the planetary gear mechanism.

[0158] Referring to Figure 2 In an alternative embodiment, a first static seal ring 53 and a second static seal ring 54 are provided between the second planetary carrier 23 and the front cover 34.

[0159] In this embodiment, the first and second static seal rings 54 are provided between the second planetary carrier 23 and the front cover 34, which can provide double sealing protection.

[0160] Referring to Figure 2 In a specific embodiment, the front cover 34 is provided with a fixed through hole 341, and the first static seal ring 53 and the second static seal ring 54 are respectively arranged on the opposite sides of the fixed through hole 341.

[0161] In this embodiment, the fixed through hole 341 on the front cover 34 is used to connect the front cover 34 with other transmission components. The through hole is arranged between the first static seal ring 53 and the second static seal ring 54. This means that the fixed through hole 341 will not affect the sealing function of the static seal rings on both sides when installed.

[0162] The fixed through hole 341 is used to fixedly connect the front cover 34 with other transmission components. This fixation can ensure the stable position of the front cover 34 and prevent it from shifting or loosening during the operation of the device.

[0163] The third static seal ring 55 and the fourth static seal ring 56 are respectively arranged on both sides of the second planetary carrier bearing 42. Such a structure ensures the sealing effect on both sides of the bearing, in which the third static seal ring 55 realizes sealing with the bearing pressing plate 3535, and the fourth static seal ring 56 realizes sealing with the second housing 32.

[0164] By setting the static sealing ring on both sides of the bearing, the inner and outer space of the bearing can be effectively utilized, without occupying additional space in the radial direction. In this way, the space inside the bearing outer ring can be maximized, and the overall size of the housing can be reduced.

[0165] Referring to Figure 2 In an alternative embodiment, a bearing pressing plate 35 is provided on the front end cover 34, and the secondary planetary carrier 23 is installed on the second housing 32 through a secondary planetary carrier bearing 42. The bearing pressing plate 35 and the front end cover 34 are sealed by a first dynamic sealing ring 51.

[0166] In this embodiment, the bearing pressing plate 35 on the front end cover 34 is used to fix and support the secondary planetary carrier bearing 42, ensuring that the bearing maintains its position and function under high load conditions.

[0167] The first dynamic sealing ring 51 is located between the bearing pressing plate 35 and the front end cover 34, allowing effective sealing between the relative moving parts.

[0168] Referring to Figure 2 In an alternative embodiment, third and fourth static sealing rings 55 and 56 are provided on the left and right sides of the secondary planetary carrier bearing 42, respectively. The secondary planetary carrier bearing 42 is sealed with the front end cover 34 through the third static sealing ring 55, and with the second housing 32 through the fourth static sealing ring 56.

[0169] In this embodiment, static sealing rings are provided on the left and right sides of the secondary planetary carrier bearing 42 (third and fourth static sealing rings 56 can provide additional sealing protection. The third static sealing ring 55 ensures sealing between the bearing and the front end cover 34, while the fourth static sealing ring 56 ensures sealing between the bearing and the second housing 32.

[0170] This double sealing design can effectively reduce the leakage of lubricant and prevent external contaminants from entering, improving the reliability and durability of the overall system.

[0171] Referring to Figure 2 In an alternative embodiment, the first housing 31 is located between the second housing 32 and the third housing 33. The left side of the first housing 31 is sealed with the second housing 32 through a fifth static sealing ring 57, and the right side of the first housing 31 is sealed with the third housing 33 through a sixth static sealing ring 58.

[0172] In this embodiment, the first housing 31 is located between the second housing 32 and the third housing 33, and is sealed by a fifth static sealing ring 57 and a sixth static sealing ring 58. The fifth static sealing ring 57 is used to seal between the first housing 31 and the second housing 32, while the sixth static sealing ring 58 is used to seal between the first housing 31 and the third housing 33.

[0173] This design ensures that each housing has an independent seal, reducing any possible oil leaks and contaminant ingress, and can isolate different working environments, enhancing the adaptability and reliability of the equipment.

[0174] See Figure 2 and Figure 4 In an optional embodiment, a rear end cover 36 is further included, and a second dynamic sealing ring 52 is provided between the rear end cover 36 and the angular velocity transmission member 342.

[0175] In this optional embodiment, the second dynamic seal ring 52 is located between the rear end cover 36 and the angular velocity transmitter 342, allowing the angular velocity transmitter 342 to maintain an effective seal with the rear end cover 36 during rotation. This is particularly important for high-speed mechanical devices, effectively preventing lubricating oil leakage due to rotational motion.

[0176] The sealing ring can be made of wear-resistant and high-temperature resistant materials to adapt to high-speed rotation environments.

[0177] See Figure 2 In an optional embodiment, a seventh static sealing ring 59 is provided between the rear end cover 36 and the third housing 33.

[0178] In this embodiment, the seventh static seal ring 59 is located between the rear end cover 36 and the third housing 33, effectively preventing leakage of lubricating oil or other working fluids. This is crucial for the internal transmission mechanism of the equipment, as any leakage can lead to insufficient lubrication, resulting in wear and damage.

[0179] See Figures 8 to 11 In an optional embodiment, the primary sun bearing 41 is a deep groove ball bearing or a double-row angular contact ball bearing.

[0180] In an optional embodiment, a front end cover 34 is further included, which is fixedly connected to the secondary planetary carrier 23. The angular velocity transmitter 342 is fixed to the center of the front end cover 34. An eighth static sealing ring 344 is provided at the connection between the angular velocity transmitter 342 and the front end cover 34.

[0181] In one embodiment, it is to be noted that the first housing 31 and the primary inner ring 14 can be integrally formed or not integrally formed in the present application. The present application also provides an embodiment in which the primary inner ring 14 and the first housing 31 are separately formed. Please refer to Figures 8 to 11 :

[0182] The primary inner ring 14 is fixed on the first housing 31, and the first housing 31 extends rearward to form a cylindrical shape, i.e., the third housing 33 mentioned in the foregoing embodiment is integrated with the first housing 31 to form one housing. The advantage of this mode is that it makes the machining and production easier.

[0183] Please refer to Figure 1 The second aspect of the present application provides a robot comprising the slewing power unit of any one of the foregoing embodiments.

[0184] It is to be noted that the above description of the disclosed embodiments enables those skilled in the art to carry out or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary power unit, characterized in that, include: First-stage planetary gears and second-stage planetary gears; The first-stage planetary gear includes a first-stage sun gear, first-stage planet gears, a first-stage planet carrier, and a first-stage internal gear ring. The first-stage sun gear is rotatably mounted on the first-stage internal gear ring. The first-stage planet gears are off-axis and rotatably mounted on the first-stage planet carrier. The first-stage planet gears mesh between the first-stage sun gear and the first-stage internal gear ring. The first-stage internal gear ring is fixedly mounted on the first housing. The secondary planetary gear includes a secondary sun gear, secondary planet gears, a secondary planet carrier, and a secondary internal gear ring. The secondary sun gear is rotatably mounted on the secondary planet carrier. The secondary planet gears are rotatably mounted on the secondary planet carrier but on opposite axes. The primary planet carrier is fixedly mounted on the secondary sun gear, so that the primary planet carrier and the secondary sun gear rotate synchronously. The secondary planet gears mesh between the secondary sun gear and the secondary internal gear ring. The secondary internal gear ring is fixedly mounted on the second housing. The first housing is fixed to the second housing, and the second housing is integrally formed with the secondary internal gear ring. The first housing has an axially recessed receiving portion for accommodating the secondary planetary carrier. The first housing includes an outer ring body and an inner ring body. The outer ring body is connected to the inner ring body via a connecting portion. The inner ring body is fixed to the outside of the primary internal gear ring. The outer ring body is axially away from the primary internal gear ring, and the receiving portion is formed between the outer ring body and the inner ring body. The primary internal gear ring is integrally formed with the first housing, and the outer ring body, inner ring body, and connecting portion are integrally formed. It also includes a motor rotor and a motor stator, the motor rotor and the motor stator being disposed on one side of the first-stage planetary gear, the motor rotor being fixedly connected to the first-stage sun gear and transmitting torque to the first-stage sun gear; the motor rotor is provided with a hollow structure, the first-stage planetary gear being at least partially located in the hollow structure; the hollow structure includes a first hollow portion and a second hollow portion located on both sides of the motor rotor, the first-stage planetary gear being at least partially located in the first hollow portion, and the second hollow portion being used to accommodate an encoder; It also includes a reducer rear cover, which includes a fixing part, a supporting part, and an abutting part. The supporting part is located between the fixing part and the abutting part. The fixing part is detachably fixed to the first housing. The abutting part contacts the first-stage sun gear bearing. The first-stage sun gear bearing is located between the abutting part and the inner edge of the rotor. Two limiting units are provided on the surface of the inner edge of the rotor that contacts the first-stage sun gear bearing. The two limiting units are used to constrain the first-stage sun gear bearing in the axial direction. The abutting part provides radial constraint on the rotor through the first-stage sun gear bearing.

2. The rotary power unit according to claim 1, characterized in that, It also includes an angular velocity transmitter, which is coaxially connected to the second-stage planetary carrier so that the angular velocity transmitter rotates synchronously with the second-stage planetary carrier. The angular velocity transmitter extends from one side of the second-stage planetary gear to one side of the first-stage planetary gear.

3. The rotary power unit according to claim 2, characterized in that, The angular velocity transmission element passes sequentially through the axes of the second-stage sun gear and the first-stage sun gear.

4. The rotary power unit according to claim 2, characterized in that, The angular velocity transmission component is provided with a wire-passing channel.

5. The rotary power unit according to claim 2, characterized in that, It also includes an encoder, which is disposed on one side of the first-stage planetary gear.

6. The rotary power unit according to claim 5, characterized in that, The encoder includes an input encoder and an output encoder. The input encoder is used to detect the rotation information of the first-stage sun gear, and the output encoder is used to directly detect the rotation information of the angular velocity transmission component.

7. The rotary power unit according to claim 1, characterized in that, It also includes a rear end cover, which is connected to the side of the first housing to form a seal on the end face of the first-stage planetary gear.

8. The rotary power unit according to claim 1, characterized in that, It also includes a front end cover, which is fixedly connected to the secondary planetary carrier and fixed to the first housing.

9. The rotary power unit according to claim 8, characterized in that, A first static sealing ring and a second static sealing ring are provided between the secondary planetary carrier and the front end cover.

10. The rotary power unit according to claim 9, characterized in that, The front end cover is provided with a fixing through hole, and the first static sealing ring and the second static sealing ring are respectively provided on both sides opposite to the fixing through hole.

11. The rotary power unit according to claim 8, characterized in that, A bearing pressure plate is provided on the front end cover, and the secondary planetary carrier is installed on the second housing through the secondary planetary carrier bearing. The bearing pressure plate and the front end cover are sealed by a first dynamic sealing ring.

12. The rotary power unit according to claim 11, characterized in that, The second-stage planetary carrier bearing is provided with a third static seal ring and a fourth static seal ring on its left and right sides, respectively. The second-stage planetary carrier bearing is sealed with the front end cover by the third static seal ring and with the second housing by the fourth static seal ring.

13. The rotary power unit according to claim 1, characterized in that, The left side of the first housing is sealed to the second housing by a fifth static sealing ring.

14. The rotary power unit according to claim 2, characterized in that, It also includes a rear end cover, and a second dynamic sealing ring is provided between the rear end cover and the angular velocity transmission component.

15. The rotary power unit according to claim 7, characterized in that, A seventh static sealing ring is provided between the rear end cover and the third housing.

16. The rotary power unit according to claim 2, characterized in that, It also includes a front cover, which is fixedly connected to the secondary planetary carrier, and the angular velocity transmission component is fixed at the center of the front cover.

17. The rotary power unit according to claim 16, characterized in that, A sixth static sealing ring is provided at the connection between the angular velocity transmitter and the front cover.

18. A robot, characterized in that, Includes the rotary power unit as described in any one of claims 1 to 17.

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