Planetary gear motor for humanoid robot

Abstract

The invention relates to the technical field of motors, in particular to a planetary gear motor for a humanoid robot, which comprises a push rod, a motor, a first planetary reducer and a second planetary reducer, the motor is provided with an input shaft; the first planetary reducer comprises a first sun gear and a first planet carrier rotationally arranged outside the first sun gear in a sleeving mode. The second planetary reducer comprises a second sun gear and a second planet carrier rotationally arranged outside the second sun gear in a sleeving mode. The first sun gear is connected with the input shaft; the second sun gear is rotationally connected with the first planet carrier; the push rod is provided with a control rod; the control rod is connected with the input shaft profile; a locking assembly is arranged among the control rod, the first sun gear, the first planet carrier, the second sun gear and the second planet carrier. According to the control rod, transmission or separation among the first sun gear, the first planet carrier, the second sun gear and the second planet carrier can be achieved through the locking assembly, and therefore the planetary gear motor for the humanoid robot can adjust and output different reduction ratios.

Description

Technical Field

[0001] The present invention relates to the technical field of motors, and in particular to a planetary reduction motor for a humanoid robot. Background Art

[0002] With the development of automation technology and artificial intelligence, industrial articulated robots and humanoid robots have been widely used in many fields. Planetary reduction motors are widely used in industrial articulated robots due to their compact structure, large reduction ratio and high transmission efficiency. This type of motor achieves speed reduction and torque increase through a planetary gear mechanism, which can effectively drive the robot's articulated arm to perform precise and complex movements.

[0003] In industrial articulated robots, planetary reduction motors usually face relatively stable heavy load conditions, so their design and application are relatively simple. However, in the field of humanoid robots, the situation is much more complicated. Humanoid robots not only need to imitate human movements, but also need to work under different load conditions, including high-speed rotation under light loads and stable operation under heavy loads. This variable and complex load condition places higher requirements on reduction motors, and existing fixed reduction ratio planetary reduction motors are difficult to meet these requirements.

[0004] Specifically, the main problems existing in current technologies include: Fixed reduction ratio limitation: Traditional planetary reduction motors achieve reduction and torque increase through the series connection of planetary gear mechanisms. Once the motor is designed and manufactured, its reduction ratio is fixed and cannot be adjusted according to actual needs. This limits the performance of the motor under different load conditions.

[0005] Poor adaptability: In humanoid robots, the diversity and complexity of movements require motors to work efficiently under a variety of load conditions. Planetary reduction motors with fixed reduction ratios cannot flexibly respond to these changes, thus affecting the overall performance of the robot.

[0006] Insufficient dynamic response: In the case of rapid load changes, a planetary reduction motor with a fixed reduction ratio may not provide sufficient dynamic response capability, resulting in jerky or unstable movement.

[0007] Energy efficiency issues: Under certain load conditions, a fixed reduction ratio may cause the motor to operate less efficiently, increasing energy consumption and shortening battery life. Summary of the invention

[0008] The purpose of the present invention is to provide a planetary reduction motor for a humanoid robot in view of the above-mentioned deficiencies in the prior art.

[0009] The object of the present invention is achieved by the following technical solution: A planetary reduction motor for a humanoid robot comprises a push rod, a motor, a first planetary reduction gear and a second planetary reduction gear; the motor is provided with an input shaft; The first planetary reducer includes a first sun gear and a first planet carrier rotatably sleeved outside the first sun gear; the second planetary reducer includes a second sun gear and a second planet carrier rotatably sleeved outside the second sun gear; the first sun gear is connected to the input shaft; the second sun gear is rotatably connected to the first planet carrier; A control rod is arranged at the output end of the push rod; the control rod is connected to the input shaft profile; a locking assembly is arranged between the control rod, the first sun gear, the first planet carrier, the second sun gear and the second planet carrier.

[0010] The present invention is further configured such that the first planetary reducer includes a first planetary housing provided on the motor, a first outer gear ring provided on the first planetary housing, and a first planetary gear rotatably provided on the first planetary carrier; the first planetary gear is meshed between the first outer gear ring and the first sun gear; the first sun gear is rotatably provided in the middle part of the first planetary carrier; the first planetary gear is rotatably provided on the circumferential surface of the first planetary carrier; and the first planetary carrier is rotatably provided on the first planetary housing.

[0011] The present invention is further configured such that the second planetary reducer includes a second planetary housing arranged on the first planetary housing, a second outer gear ring arranged on the second planetary housing, and second planetary gears rotatably arranged on the second planetary carrier; the second planetary gears are meshingly arranged between the second outer gear ring and the second sun gear; the second sun gear is rotatably arranged in the middle part of the second planetary carrier; the second planetary gears are rotatably arranged on the circumferential surface of the second planetary carrier; and the second planetary carrier is rotatably arranged on the second planetary housing.

[0012] The present invention is further configured such that a spline tooth is provided at the end of the control rod; a first spline wheel matching with the spline tooth is provided in the second sun tooth; and a second spline wheel matching with the spline tooth is provided in the second planet carrier.

[0013] The present invention is further configured as follows: the locking assembly comprises a locking frame, a transmission frame and a pressure ring; the transmission frame is arranged in the first planetary frame; a channel is provided through the second sun gear; the locking frame is arranged in the channel for lifting and lowering; the transmission frame is arranged at the bottom of the channel; a locking spring is arranged between the locking frame and the top of the channel; the pressure ring is arranged on the push rod; the pressure ring abuts against the bottom of the locking frame; the locking frame is connected to the second sun gear profile surface; The locking frame is provided with a locking pin; the transmission frame is provided with a locking groove matched with the locking pin.

[0014] The present invention is further configured as follows: the motor includes a shell and a rotor frame rotatably arranged in the shell; the input shaft is arranged in the middle of the rotor frame; a magnet is arranged on the outer periphery of the rotor frame; the shell is provided with an upper stator frame on the top of the magnet; the shell is provided with a lower stator frame on the top of the magnet; and coils are wound around both the upper stator frame and the lower stator frame.

[0015] The present invention is further configured such that the input shaft is provided with an air passage; an air hole is provided at the top of the pressure ring; a sealing tube is provided at the bottom of the pressure ring; the sealing tube is movably and telescopically arranged in the air passage; the air hole is connected to the air passage through the sealing tube; The motor is provided with a gas compression component for providing gas to the airway.

[0016] The present invention is further configured such that the air compression assembly comprises a body, an air compression chamber provided in the body, a piston movably and retractably provided in the air compression chamber, an air compression spring provided between the piston and the air compression chamber, and a connecting ring provided on the input shaft; A connecting pipe is provided between the connecting ring and the main body; the compressed air chamber is connected to the airway through the connecting pipe; the main body is provided with an air inlet connected to the compressed air chamber; the air inlet is provided with a first valve plate opened toward the compressed air chamber; a second valve plate opened toward the connecting pipe is provided between the compressed air chamber and the connecting pipe.

[0017] The present invention is further configured as follows: a cam is arranged inside the shell; a ball wheel is arranged after the piston extends out of the air compression chamber; and the ball wheel is movably arranged on the cam.

[0018] Beneficial effects of the present invention: The control rod of the present invention can realize transmission or separation between the first sun gear, the first planetary carrier, the second sun gear and the second planetary carrier through the locking assembly, so that the planetary reduction motor for the humanoid robot can adjust the output of different reduction ratios. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The invention is further described using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the invention. A person skilled in the art can obtain other drawings based on the following drawings without creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 is a structural exploded view of the present invention; Figure 3 It is a structural schematic diagram of the motor of the present invention; Figure 4 is a cross-sectional view of the motor of the present invention; Figure 5 yes Figure 4 A partial enlarged view of the middle A area; Figure 6It is a structural schematic diagram of the first planetary reducer of the present invention; Figure 7 is a structural schematic diagram of the first planetary reducer of the present invention from another perspective; Figure 8 It is a structural schematic diagram of the second planetary reducer of the present invention; Fig. 9 is a structural schematic diagram of the second planetary reducer of the present invention from another perspective; Fig.10 is a cross-sectional view of the first state of the present invention; Fig.11 yes Fig.10 A partial enlarged view of the B area; Fig.12 is a cross-sectional view of the second state of the present invention; Fig.13 yes Fig.12 A partial enlarged view of the middle C area; Among them: 1. push rod; 11. control rod; 12. spline teeth; 2. first planet housing; 21. first outer gear ring; 3. first planet carrier; 31. first planet gear; 32. first sun gear; 4. second planet housing; 41. second outer gear ring; 5. second planet carrier; 51. second planet gear; 52. second sun gear; 53. channel; 54. first spline wheel; 55. second spline wheel; 61. locking frame; 62. transmission frame; 63. locking spring; 64. Locking pin; 65. Locking groove; 7. Pressing ring; 71. Air hole; 72. Sealing tube; 8. Housing; 81. Mover frame; 82. Magnet; 83. Upper stator frame; 84. Lower stator frame; 85. Input shaft; 86. Air duct; 87. Cam; 9. Main body; 91. Air pressure chamber; 92. Piston; 93. Air pressure spring; 94. Connecting ring; 95. Connecting tube; 96. Air inlet; 97. First valve plate; 98. Second valve plate; 99. Ball wheel. DETAILED DESCRIPTION

[0021] The present invention is further described in conjunction with the following examples.

[0022] Depend on Figures 1 to 13 It can be seen that the planetary reduction motor for a humanoid robot of this embodiment includes a push rod 1, a motor, a first planetary reduction gear and a second planetary reduction gear; the motor is provided with an input shaft 85; The first planetary reducer includes a first sun gear 32 and a first planet carrier 3 rotatably sleeved outside the first sun gear 32; the second planetary reducer includes a second sun gear 52 and a second planet carrier 5 rotatably sleeved outside the second sun gear 52; the first sun gear 32 is connected to the input shaft 85; the second sun gear 52 is rotatably connected to the first planet carrier 3; A control rod 11 is provided at the output end of the push rod 1; the control rod 11 is surface-connected to the input shaft 85; a locking assembly is provided between the control rod 11, the first sun gear 32, the first planet carrier 3, the second sun gear 52 and the second planet carrier 5.

[0023] Specifically, in the planetary reduction motor for the humanoid robot described in this embodiment, the control rod 11 can realize transmission or separation between the first sun gear 32, the first planetary carrier 3, the second sun gear 52 and the second planetary carrier 5 through the locking assembly, so that the planetary reduction motor for the humanoid robot can adjust the output of different reduction ratios.

[0024] In the present embodiment, a planetary reduction motor for a humanoid robot, the first planetary reduction gear comprises a first planetary housing 2 provided on the motor, a first outer gear ring 21 provided on the first planetary housing 2, and a first planetary gear 31 rotatably provided on the first planetary carrier 3; the first planetary gear 31 is meshed between the first outer gear ring 21 and the first sun gear 32; the first sun gear 32 is rotatably provided in the middle of the first planetary carrier 3; the first planetary gear 31 is rotatably provided on the circumferential surface of the first planetary carrier 3; the first planetary carrier 3 is rotatably provided on the first planetary housing 2. In the present embodiment, a planetary reduction motor for a humanoid robot, the second planetary reduction gear comprises a second planetary housing 4 provided on the first planetary housing 2, a second outer gear ring 41 provided on the second planetary housing 4, and a second planetary gear 51 rotatably provided on the second planetary carrier 5; the second planetary gear 51 is meshed between the second outer gear ring 41 and the second sun gear 52; the second sun gear 52 is rotatably provided in the middle of the second planetary carrier 5; the second planetary gear 51 is rotatably provided on the circumferential surface of the second planetary carrier 5; the second planetary carrier 5 is rotatably provided on the second planetary housing 4. In the planetary reduction motor for a humanoid robot of this embodiment, a spline tooth 12 is provided at the end of the control rod 11; a first spline wheel 54 cooperating with the spline tooth 12 is provided in the second sun tooth 52; and a second spline wheel 55 cooperating with the spline tooth 12 is provided in the second planet carrier 5. The present embodiment is a planetary reduction motor for a humanoid robot, wherein the locking assembly includes a locking frame 61, a transmission frame 62 and a pressure ring 7; the control rod 11 passes through the locking frame 61; the transmission frame 62 is arranged in the first planetary frame 3; the second sun tooth 52 is penetrated by a channel 53; the locking frame 61 is arranged in the channel 53 for lifting and lowering; the transmission frame 62 is arranged at the bottom of the channel 53; a locking spring 63 is arranged between the locking frame 61 and the top of the channel 53; the pressure ring 7 is arranged on the push rod 1; the pressure ring 7 abuts against the bottom of the locking frame 61; the locking frame 61 is provided with a locking pin 64; the transmission frame 62 is provided with a locking groove 65 cooperating with the locking pin 64; the locking frame 61 is connected to the second sun tooth 52 surface.

[0025] Specifically, the planetary reduction motor for the humanoid robot described in this embodiment has a plurality of outputs with different reduction ratios; when the control rod 11 drives the push rod 1 to descend to the bottom, Fig.11 As shown, under the action of the locking spring 63, the locking frame 61 moves to the bottom of the channel 53, and the locking frame 61 is locked with the transmission frame 62 through the locking pin 64 and the locking groove 65, so that the locking frame 61 and the transmission frame 62 rotate together; at this time, when the motor drives the input shaft 85 to rotate, the first sun gear 32 rotates following the input shaft 85, and during the rotation of the first sun gear 32, since the first sun gear 32, the first planetary gear 31 and the first outer gear ring 21 form a planetary reduction assembly, the first sun gear 32 drives the first planetary carrier 3 to rotate when it rotates, and the transmission frame 62 in the first planetary carrier 3 follows the first planetary carrier 3 Rotate; since the locking frame 61 and the transmission frame 62 are locked at this time, and the locking frame 61 is connected to the channel 53 in the second sun tooth 52, the transmission frame 62 rotates and drives the locking frame 61 and the second sun tooth 52 to rotate. During the rotation of the second sun tooth 52, since the second sun tooth 52, the second planetary gear 51 and the second outer gear ring 41 form a planetary reduction assembly, the second sun tooth 52 drives the second planetary frame 5 to rotate when it rotates; the top of the second planetary frame 5 is used as the reduction output end; that is, in this state, the input shaft 85 of the motor needs to pass through the first planetary reducer and the second planetary reducer for reduction output.

[0026] When the control rod 11 drives the push rod 1 to rise, Fig.13 As shown, when the push rod 1 rises, it drives the pressure ring 7 to move upward together. The pressure ring 7 pushes the locking frame 61 to overcome the action of the locking spring 63 and move upward, so that the locking pin 64 is separated from the locking groove 65. At this time, the locking frame 61 cannot drive the transmission frame 62 to rotate.

[0027] When the end of the push rod 1 rises and moves to the position of the first spline wheel 54, the spline teeth 12 of the push rod 1 mesh with the first spline wheel 54; the motion state at this time is: the motor drives the input shaft 85 to rotate, and under the action of the spline teeth 12 and the first spline wheel 54, the push rod 1 directly drives the second sun tooth 52 to rotate. During the rotation of the second sun tooth 52, since the second sun tooth 52, the second planetary gear 51 and the second outer gear ring 41 form a planetary reduction assembly, the second sun tooth 52 drives the second planetary carrier 5 to rotate when it rotates; the top of the second planetary carrier 5 is used as the reduction output end; that is, in this state, the input shaft 85 of the motor needs to pass through the second planetary reducer for reduction output.

[0028] When the end of the push rod 1 rises and moves to the position of the second spline wheel 55, the spline teeth 12 of the push rod 1 mesh with the second spline wheel 55; the motion state at this time is: the motor drives the input shaft 85 to rotate, and under the action of the spline teeth 12 and the second spline wheel 55, the push rod 1 directly drives the second spline wheel 55 and the second planetary carrier 5 to rotate, and the top of the second planetary carrier 5 is used as the reduction output end; that is, in this state, the input shaft 85 of the motor can directly perform reduction output.

[0029] The present embodiment is a planetary reduction motor for a humanoid robot, the motor comprising a housing 8 and a mover frame 81 rotatably arranged in the housing 8; the input shaft 85 is arranged in the middle of the mover frame 81; a magnet 82 is arranged on the periphery of the mover frame 81; the housing 8 is provided with an upper stator frame 83 on the top of the magnet 82; the housing 8 is provided with a lower stator frame 84 on the top of the magnet 82; the upper stator frame 83 and the lower stator frame 84 are both wound with coils.

[0030] Specifically, in this embodiment, an alternating current is passed through the coil, thereby driving the mover frame 81 and the input shaft 85 to rotate with the cooperation of the magnet 82 .

[0031] In the planetary reduction motor for a humanoid robot of the present embodiment, the input shaft 85 is provided with an air passage 86; an air hole 71 is provided at the top of the pressure ring 7; a sealing tube 72 is provided at the bottom of the pressure ring 7; the sealing tube 72 is movably and telescopically arranged in the air passage 86; the air hole 71 is connected with the air passage 86 via the sealing tube 72; and a compressed air component for supplying gas to the air passage 86 is provided in the motor. In the present embodiment, a planetary reduction motor for a humanoid robot is provided. The compressed air assembly comprises a body 9, a compressed air chamber 91 provided on the body 9, a piston 92 movably and retractably provided on the compressed air chamber 91, a compressed air spring 93 provided between the piston 92 and the compressed air chamber 91, and a connecting ring 94 provided on the input shaft 85; the body 9 is provided on the mover frame 81; a connecting pipe 95 is provided between the connecting ring 94 and the body 9; the compressed air chamber 91 is connected to the air passage 86 through the connecting pipe 95; the body 9 is provided with an air inlet 96 connected to the compressed air chamber 91; the air inlet 96 is provided with a first valve plate 97 opened toward the compressed air chamber 91; a second valve plate 98 opened toward the connecting pipe 95 is provided between the compressed air chamber 91 and the connecting pipe 95. In the present embodiment, a planetary reduction motor for a humanoid robot is provided. A cam 87 is provided in the housing 8; a ball wheel 99 is provided after the piston 92 extends out of the compressed air chamber 91; the ball wheel 99 is movably provided on the cam 87.

[0032] Specifically, in the planetary reduction motor for the humanoid robot described in this embodiment, during the rotation of the mover frame 81, the mover frame 81 drives the main body 9 to rotate, so that the ball wheel 99 rotates along the cam 87. Under the action of the cam 87, the mover frame 81 drives the main body 9 to rotate, so that the piston 92 continuously retracts and contracts in the air pressure chamber 91. During the extension and contraction of the piston 92, external gas can be drawn into the air pressure chamber 91, and the gas in the air pressure chamber 91 can be transmitted to the connecting pipe 95, so that the gas in the connecting pipe 95 flows to the air hole 71 through the air channel 86 and the sealing tube 72, so that the air hole 71 can spray, thereby reducing the friction between the pressure ring 7 and the locking frame 61, and preventing the two from wearing due to relative rotation.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. A planetary reduction motor for a humanoid robot, characterized in that: It includes a push rod, a motor, a first planetary reducer and a second planetary reducer; the motor is provided with an input shaft; The first planetary reducer includes a first sun gear and a first planet carrier rotatably sleeved outside the first sun gear; the second planetary reducer includes a second sun gear and a second planet carrier rotatably sleeved outside the second sun gear; the first sun gear is connected to the input shaft; the second sun gear is rotatably connected to the first planet carrier; A control rod is provided at the output end of the push rod; the control rod is connected to the input shaft profile; a locking assembly is provided between the control rod, the first sun gear, the first planet carrier, the second sun gear and the second planet carrier; The locking assembly comprises a locking frame, a transmission frame and a pressure ring; the transmission frame is arranged in the first planetary frame; a channel is provided through the second sun gear; the locking frame is arranged in the channel for lifting and lowering; the transmission frame is arranged at the bottom of the channel; a locking spring is arranged between the locking frame and the top of the channel; the pressure ring is arranged on the push rod; the pressure ring abuts against the bottom of the locking frame; the locking frame is connected to the second sun gear profile surface; The locking frame is provided with a locking pin; the transmission frame is provided with a locking groove matched with the locking pin.

2. The planetary reduction motor for a humanoid robot according to claim 1, characterized in that: The first planetary reducer includes a first planetary housing provided on the motor, a first outer gear ring provided on the first planetary housing, and a first planetary gear rotatably provided on the first planetary carrier; the first planetary gear is meshed between the first outer gear ring and the first sun gear; the first sun gear is rotatably provided in the middle part of the first planetary carrier; the first planetary gear is rotatably provided on the circumferential surface of the first planetary carrier; the first planetary carrier is rotatably provided on the first planetary housing.

3. The planetary reduction motor for a humanoid robot according to claim 2, characterized in that: The second planetary reducer includes a second planetary housing arranged on the first planetary housing, a second outer gear ring arranged on the second planetary housing, and second planetary gears rotatably arranged on the second planetary carrier; the second planetary gears are meshed between the second outer gear ring and the second sun gear; the second sun gear is rotatably arranged in the middle part of the second planetary carrier; the second planetary gears are rotatably arranged on the circumferential surface of the second planetary carrier; and the second planetary carrier is rotatably arranged on the second planetary housing.

4. The planetary reduction motor for a humanoid robot according to claim 1, characterized in that: The end of the control rod is provided with spline teeth; the second sun gear is provided with a first spline wheel matched with the spline teeth; the second planet carrier is provided with a second spline wheel matched with the spline teeth.

5. The planetary reduction motor for a humanoid robot according to claim 1, characterized in that: The motor includes a shell and a rotor frame rotatably arranged in the shell; the input shaft is arranged in the middle of the rotor frame; a magnet is arranged on the outer periphery of the rotor frame; the shell is provided with an upper stator frame on the top of the magnet; the shell is provided with a lower stator frame on the top of the magnet; and coils are wound around the upper stator frame and the lower stator frame.

6. The planetary reduction motor for a humanoid robot according to claim 5, characterized in that: The input shaft is provided with an air passage; the top of the pressure ring is provided with an air hole; the bottom of the pressure ring is provided with a sealing tube; the sealing tube is movably and telescopically arranged in the air passage; the air hole is connected with the air passage through the sealing tube; The motor is provided with a gas compression component for providing gas to the airway.

7. The planetary reduction motor for a humanoid robot according to claim 6, characterized in that: The air compression assembly comprises a body, an air compression chamber arranged in the body, a piston movably arranged in the air compression chamber, an air compression spring arranged between the piston and the air compression chamber, and a connecting ring arranged on the input shaft; A connecting pipe is provided between the connecting ring and the main body; the compressed air chamber is connected to the airway through the connecting pipe; the main body is provided with an air inlet connected to the compressed air chamber; the air inlet is provided with a first valve plate opened toward the compressed air chamber; a second valve plate opened toward the connecting pipe is provided between the compressed air chamber and the connecting pipe.

8. The planetary reduction motor for a humanoid robot according to claim 7, characterized in that: A cam is arranged inside the shell; a ball wheel is arranged after the piston extends out of the air compression chamber; and the ball wheel is movably arranged on the cam.

Images