A robot drive-transmission integrated joint module for assisting center of gravity adjustment

Abstract

The present invention relates to the field of joint modules, and in particular to a robot drive-transmission integrated joint module for assisting center of gravity adjustment, comprising a housing group, a transmission assembly, a drive assembly, and a damping part; the drive assembly is arranged in the housing group, comprising a stator group and a rotor group, and the two form a drive structure similar to a motor; the rotor group has an inner gear ring, an auxiliary end cover is fixed on the inner gear ring, and a sun gear shaft is mounted on the auxiliary end cover; the lower end of the sun gear shaft extends into the center of the inner gear ring and a plurality of planetary gears are meshed with the inner gear ring; the plurality of planetary gears are mounted on an output frame shaft, and the output frame shaft extends from the bottom of the housing group; the upper end of the sun gear shaft is connected to the damping part, and the damping part is fixed on the upper end surface of the housing group, forming a structure in which the sun gear shaft and the auxiliary end cover can adjust the movement along the axial direction. The beneficial effects achieved by the present invention are: the joint module will not be stuck due to the temperature rise of movement and the center of gravity will not shift during movement.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joint modules, and in particular to a robot drive-transmission integrated joint module for assisting center of gravity adjustment. Background Art

[0002] The joint module of this solution refers to the module used for the joints of the robot, which drives the joints to rotate. It is generally required to be light in weight, with the drive built in as much as possible (no external drive motor), and also have a deceleration function (after being powered on, it is decelerated through a certain deceleration mechanism and then output, thereby realizing joint movement).

[0003] For some robots with frequent movements, if the joint moves for a long time, it will cause heat inside the joint module - especially various mechanical transmissions and friction generated by meshing are easy to generate heat. The heat generated causes thermal expansion of various mechanical parts, thereby affecting the transmission effect (for example, it is easy to get stuck).

[0004] In order to prevent the joint module from getting stuck due to high temperature during movement, our company designs some floating transmission structures at the joint module (for example, the speed reduction mechanism is designed to be floating). However, this brings new problems: for example, when a humanoid robot waves its arms, the floating structure inside the joint module of the wrist part will be displaced under the action of inertia, and the center of gravity of the joint module will change. If the robot's movement posture is complex, it is easy to affect the balance of the robot; if the humanoid robot moves too much when waving its arms, it may even cause the floating structure to hit the joint shell, which will not only seriously affect the balance, but also seriously affect the life of the joint.

[0005] To this end, our company has further developed an internal rotor drive transmission integrated joint module, which can not only avoid joint jamming caused by thermal expansion, but also avoid excessive shift of the center of gravity, thereby affecting the balance of the robot. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a robot drive-transmission integrated joint module for assisting center of gravity adjustment, which solves the problem of the joint module being stuck due to high temperature during movement and also solves the problem of the joint module not having excessive center of gravity shift during movement. This solution has the functions of preventing the joint module from being stuck due to temperature rise during movement and preventing the center of gravity of the joint module from shifting during movement.

[0007] The object of the present invention is achieved by the following technical solutions: A robot drive-transmission integrated joint module for assisting center of gravity adjustment, comprising a housing group, a drive assembly, and a damping part;

[0008] The driving assembly is arranged in the housing group, and includes a stator group and a rotor group. A winding is wound on the stator group and a corresponding magnet is arranged on the rotor group, and the two form a driving structure similar to a motor.

[0009] The rotor assembly is provided with an inner gear ring, an auxiliary end cover is fixed on the upper end surface of the inner gear ring, and a sun gear shaft is mounted on the auxiliary end cover via an upper bearing; the lower end of the sun gear shaft extends into the center of the inner gear ring, and a plurality of planetary gears are meshed between the end of the sun gear shaft and the inner gear ring;

[0010] The plurality of planetary gears are mounted on the output frame shaft, the output frame shaft extends from the bottom of the housing assembly and a lower bearing is arranged between the two, forming a structure in which the planetary gears and the output frame shaft are fixed;

[0011] The upper end of the sun gear shaft is connected to the damping part, and the damping part is fixed on the upper end surface of the housing group, forming a structure in which the sun gear shaft and the auxiliary end cover can be adjusted along the axial direction;

[0012] There is an axial distance between the lower end of the sun gear shaft and the output carrier shaft, and there is an axial distance between the upper end surface of the planetary gear and the auxiliary end cover;

[0013] The damping part includes a hydraulic component and a damper. The damper can provide elastic force in the axial direction so that the sun gear shaft can adaptively move in the axial direction. The hydraulic component includes a laser sensor, a telescopic action mechanism A, and a telescopic action mechanism B. The laser sensor can measure the size of the axial displacement of the sun gear shaft. After the telescopic action mechanism A is connected to the damper, it can assist in compensating the position of the sun gear shaft in the axial direction. The telescopic action mechanism B can contact the sun gear shaft to form a structure that prevents the sun gear shaft from excessively moving in the axial direction, so that the sun gear shaft is always in a suitable axial position.

[0014] As a preferred technical solution of the present application, a temperature sensor is provided in the housing group, and the temperature sensor is electrically connected to the control panel.

[0015] As a preferred technical solution of the present application, the damper includes a fixed part, a movable part, and a spring; the movable part is cylindrical and fixed to the upper end of the sun gear shaft; the fixed part is columnar, with its lower end inserted into the movable part and its upper end fixed to the hydraulic assembly; a spring is sleeved on the fixed part, and both ends of the spring are respectively against the fixed part and the hydraulic assembly.

[0016] Furthermore, the hydraulic assembly includes a hydraulic pump A and a piston column A. The hydraulic pump A is fixed on the upper end surface of the housing group. The hydraulic pump A has a piston column A and the piston column A is connected to the damper. The upper end of the sun gear shaft is sleeved and fixed with a hydraulic claw hand. The hydraulic claw hand has a plurality of latch columns. There are corresponding pin holes on the upper end surface of the housing group. The latch columns are inserted into the pin holes to form a structure to prevent the sun gear shaft from rotating. The pin holes are also equipped with corresponding hydraulic cylinders B and piston columns B. When the piston column B is extended, it can abut against the end of the latch column to form a structure to prevent the sun gear shaft from excessive movement. The upper inner wall of the housing group is provided with a laser displacement sensor for detecting the position of the auxiliary end cover. The laser displacement sensor, hydraulic pump A, and hydraulic pump B are all electrically connected to the control panel.

[0017] As a limited technical solution of the present application, the output frame shaft has a shaft portion, and a plurality of legs are provided at the upper end of the shaft portion, and an auxiliary shaft is fixed at each leg; the auxiliary shaft is inserted into the center of the corresponding planetary gear, and the two are locked by a retaining spring A to form a detachable integrated structure.

[0018] As a preferred technical solution of the present application, the shell group includes a shell and an upper end cover; the shell has an inner cavity that is open at the top, and the drive assembly, sun gear shaft, planetary gear, and damping part are all arranged in the inner cavity, and the inner cavity is covered by the upper end cover; the output frame shaft extends from the bottom of the shell, and the damper is fixed on the upper end cover.

[0019] Furthermore, an upper oil seal frame is provided between the sun gear shaft and the auxiliary end cover, the upper oil seal frame is fixed on the sun gear shaft, the upper oil seal frame is located on the outside of the upper bearing and is fixed on the sun gear shaft; a lower oil seal frame is provided between the output frame shaft and the housing.

[0020] Furthermore, the stator assembly includes an annular stator core, a plurality of winding slots are circumferentially opened on the inner ring wall of the stator core, and winding coils are wound in the winding slots. The rotor assembly includes an annular rotor yoke, a plurality of magnet slots are circumferentially opened on the outer ring wall of the rotor yoke, and magnets are embedded in the magnet slots. An inner gear ring is fixed on the inner ring wall of the rotor yoke of the rotor assembly.

[0021] For ease of understanding, the principle of this solution is explained:

[0022] 1. Driving principle: When the winding coil on the stator group is energized, it drives the rotor group to rotate, and the rotor group drives the inner gear ring to rotate. The rotation of the inner gear ring drives the planetary gear to rotate. Since the sun gear shaft does not rotate, the planetary gear can also revolve while rotating. When multiple planetary gears revolve, they can drive the output frame shaft to rotate. The output frame shaft is the rotating shaft of the joint module, thus realizing the movement of the joint module.

[0023] 2. Principles for avoiding joint module jamming: ① During the frequent operation of the joint module, the winding coil generates heat due to power-on, and the inner ring gear, planetary gear, sun gear shaft and corresponding bearings generate heat due to friction, which will cause the temperature inside the housing group to rise. If the temperature rises, the components in the joint module will expand thermally, and the thermal expansion will cause the transmission in the joint module to jam; ② The expansion of components is mainly affected in two ways - one is radial expansion and the other is axial expansion. Since there is a gap in the radial direction between the meshing teeth of the inner ring gear, planetary gear and sun gear shaft (conventional design in machinery) - radial expansion is not easy to jam, and the key lies in axial expansion; ③ In this scheme, an elastic damper is connected to the end of the sun gear shaft, and the damper generates an axial elastic force within a certain temperature range (for example, one for every 20°C). range, within the range of 50℃~70℃), if the sun gear shaft expands along the axial direction, the damper is used to make the sun gear shaft adaptively fine-adjust its position along the axial direction (but when the damper is adaptively adjusted, the damper can adaptively compress the entire part to a small extent, otherwise when the robot is in motion - for example, waving its arms, the joint module at the wrist will have inertia, which will cause the center of gravity of the joint module to shift); ④ When the temperature is high - for example, 70℃~90℃, the damper can not adaptively compress the part enough, so it is retracted through the telescopic adjustment mechanism A, so that the adaptive compression amplitude of the damper reaches the set value (the amount of retraction of the telescopic adjustment mechanism A in the temperature range can be set in advance when the joint module leaves the factory), so that the damper is always in a small and reasonable compression amplitude value under different temperature conditions;

[0024] 3. Avoid serious deviation of the center of gravity in the joint module: ① Since the joint module is set on the robot, for example, at the wrist joint of the contour robot, when the contour robot moves - for example, waving its arms, the sun gear shaft is not fixed along the axial direction - but has a certain displacement amplitude along the axial direction through the damper. Although the sun gear shaft can be adaptively adjusted along the axial direction according to the temperature conditions, waving the arm will also cause the movement amplitude of the sun gear shaft to be much greater than the adaptive adjustment amplitude, which will cause the center of gravity of the entire joint module to change. The change of the center of gravity of the joint module will affect the stability of the contour robot; ② In this scheme, by setting a damper on the sun gear shaft The hydraulic claw is provided with a pin column, and a corresponding socket is opened on the shell group, the pin column is inserted into the socket (there is a distance between the pin column and the bottom of the pin hole), and a telescopic action mechanism B is provided at the bottom of the socket. When the telescopic action mechanism A adjusts the damper to a suitable compression amplitude, the telescopic action mechanism B extends out and rests on the end of the pin column. Even when the robot is waving its arms, the sun gear shaft is affected by the telescopic action mechanism B and moves greatly under inertia, thereby reducing the change of the center of gravity in the joint module, so that the robot has a good balance when waving its arms, which is beneficial for the robot to maintain good stability when performing some complex movements.

[0025] The present invention has the following advantages: the joint module will not get stuck due to heat rise during exercise and the center of gravity will not shift during exercise. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a cross-sectional view of the present invention;

[0027] Figure 2 for Figure 1 Enlarged view of AA and BB;

[0028] Figure 3 is a schematic diagram of the structure of the drive component;

[0029] Figure 4 is a schematic diagram of the structure of the transmission component;

[0030] Figure 5 is a schematic diagram of the structure of the damper;

[0031] In the figure: 1-shell assembly, 101-shell, 102-upper end cover, 103-bolt;

[0032] 2-transmission assembly; 21-inner gear ring; 22-planetary gear; 23-sun gear shaft; 24-output frame shaft; 25-circlip A;

[0033] 3-driving assembly, 31-stator assembly, 311-stator core, 312-winding coil, 32-rotor assembly, 321-rotor yoke, 322-magnet;

[0034] 4-damping part, 41-hydraulic assembly, 411-hydraulic pump A, 412-piston column A, 413-hydraulic claw, 42-damper, 421-fixed part, 422-moving part, 423-spring, 5-upper bearing, 6-auxiliary end cover, 7-cylindrical pin, 8-lower bearing, 9-upper oil seal frame, 10-lower oil seal frame. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0036] It should be noted that the orientation or position relationship indicated by "upper" and "lower" etc. is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use, or is the orientation or position relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0037] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0038] like Figure 1~Figure 5 As shown, a robot drive-transmission integrated joint module for assisting center of gravity adjustment includes a shell group 1, a transmission component 2, a drive component 3, and a damping part 4.

[0039] Among them, a driving component 3 is arranged in the shell group 1, and the driving component 3 includes a stator group 31 and a rotor group 32. A winding is wound on the stator group 31, and a corresponding magnet is arranged on the rotor group 32. When the winding on the stator group 31 is energized, a force is generated on the magnet to drive the rotor group 32 to rotate, so that the driving component 3 forms a driving structure similar to a motor.

[0040] Among them, an inner gear ring 21 is provided on the rotor group 32, an auxiliary end cover 6 is fixed on the upper end surface of the inner gear ring 21, and a sun gear shaft 23 is installed on the auxiliary end cover 6 via an upper bearing 5; the upper end of the sun gear shaft 23 extends from the auxiliary end cover 6, and the lower end extends into the center of the inner gear ring 21; a plurality of planetary gears 22 are meshed between this end of the sun gear shaft 23 and the inner gear ring 21; in addition, a plurality of planetary gears 22 are installed on an output carrier shaft 24, the output carrier shaft 24 extends from the bottom of the housing group 1 and a lower bearing 8 is provided between the two, forming a structure in which the planetary gears 22 and the output carrier shaft 24 are fixed; in addition, the upper end of the sun gear shaft 23 is connected to the damping part 4, and the damping part 4 is fixed on the upper end surface of the housing group 1, forming a structure in which the sun gear shaft 23 and the auxiliary end cover 6 can be adjusted in the axial direction.

[0041] It should be noted that the transmission between the inner gear ring 21, the planetary gears 22, the sun gear shaft 23, and the output frame shaft 24 forms a transmission assembly 2, and the transmission assembly 2 plays the role of a transmission and a reducer. When the stator assembly 31 is energized, it drives the rotor assembly 32 to rotate. The rotation of the rotor assembly 32 will drive the inner gear ring 21 to rotate. Since the inner gear ring 21 is meshed with the planetary gears 22, it will drive each planetary gear 22 to rotate. In addition, the upper end of the sun gear shaft 23 is connected to the upper end face of the housing assembly 1 through the damping part 4. The sun gear shaft 23 can only move in an axial direction and cannot rotate. Since the planetary gears 22 are meshed with the sun gear shaft 23, the planetary gears 22 can revolve. When multiple planetary gears 22 revolve synchronously, they will drive the output frame shaft 24 to rotate. The output frame shaft 24 is a rotating part at the joint module, thereby realizing the rotation at the joint.

[0042] It should also be noted that, since multiple planetary gears 22 are mounted on the output carrier shaft 24, and the output carrier shaft 24 is mounted on the lower end surface of the housing group 1 via the lower bearing 8, it is equivalent to that multiple planetary gears 22 are arranged on the lower end surface of the housing group 1 via the output carrier shaft 24 - the planetary gears 22 can rotate and revolve. In addition, since the upper end of the sun gear shaft 23 is connected to the upper end surface of the housing group 1 via the damping part 4, it is equivalent to that the sun gear shaft 23 is installed on the upper end surface of the housing group 1 - the sun gear shaft 23 cannot rotate and can only move in a certain range along the axial direction. In addition, since the auxiliary end cover 6 is matched with the sun gear shaft 23 via the upper bearing 5, and the auxiliary end cover 6 is fixedly connected to the inner gear ring 21, and the inner gear ring 21 is also fixedly connected to the rotor group 32, it is equivalent to that the rotor group 32, the inner gear ring 21, and the auxiliary end cover 6 are installed on the upper end surface of the housing group 1 via the sun gear shaft 23 - the rotor group 32, the inner gear ring 21, and the auxiliary end cover 6 can both rotate and move in the axial direction.

[0043] It should be noted that the sun gear shaft 23 has a central axis, and a sun gear is provided on the outer cylindrical surface of the central axis. A short column is processed to form the central axis and the sun gear in an integrated form, and is therefore called the sun gear shaft 23 .

[0044] It should be noted that there is an axial distance between the lower end of the sun gear shaft 23 and the output carrier shaft 24 , and there is an axial distance between the upper end surface of the planetary gear 22 and the auxiliary end cover 6 .

[0045] The damping part 4 includes a hydraulic component 41 and a damper 42 .

[0046] The damper 42 can provide elastic force along the axial direction so that the sun gear shaft 23 can adaptively move along the axial direction. This design has advantages and disadvantages: ① Advantages: a. Since the joint module is used to realize the movement of the robot's joints, when the joint module moves frequently, it is easy to generate heat inside the joint module due to power or friction. This heat will cause the various components inside the joint module to undergo thermal expansion. The matching relationship of the components after thermal expansion changes, which can easily cause the joint module to get stuck; b. The structure in this solution allows the sun gear shaft 23, the auxiliary end cover 6, and the inner gear ring 21 to perform adaptive movement along the axial direction through the damper 42 when thermal expansion occurs in the axial direction, thereby avoiding axial jamming of the components; c. In addition, There is a certain clearance between the inner gear ring 21, the planetary gear 22, and the sun gear shaft 23 in radial matching (this is a conventional design in machinery) - even if thermal expansion occurs, radial jamming is not easy to occur; ② The disadvantage is: since the joint module is arranged at the joint of the robot, for example, at the wrist joint of the contour robot, the elastic design of the damper 42 makes the contour robot swing its arm. Under the action of inertia, the inner gear ring 21, the planetary gear 22, and the sun gear shaft 23 at the wrist joint will perform a certain displacement movement along the axial direction, thereby changing the center of gravity of the joint module, thereby affecting the center of gravity of the entire arm, which is not good for the stability of the contour robot, especially when performing some complex movements.

[0047] The hydraulic assembly 41 solves the problem of unstable center of gravity. The hydraulic assembly 41 includes a laser sensor, a telescopic action mechanism A, and a telescopic action mechanism B. The laser sensor can measure the magnitude of the axial displacement of the sun gear shaft 23. The telescopic action mechanism A can assist in compensating the position of the sun gear shaft 23 along the axial movement after being connected to the damper 42. The telescopic action mechanism B can contact the sun gear shaft 23 to form a structure to prevent the sun gear shaft 23 from excessively moving along the axial direction, so that the sun gear shaft 23 is always in a suitable axial position.

[0048] A temperature sensor is arranged in the housing group 1 and is electrically connected to the control panel.

[0049] During operation: (1) The temperature inside the housing group 1 is detected by the temperature sensor, and then the telescopic action mechanism A retracts - no resistance is generated to the sun gear shaft 23, and then the elasticity of the damper 42 is adjusted by the telescopic action mechanism A. The components in the shutdown module expand due to heat, and the sun gear shaft 23 (together with the rotor group 32, the inner ring 21, and the auxiliary end cover 6) press the damper 42 together to perform axial position adaptive adjustment (to adapt to the axial deformation caused by thermal expansion); (2) It should be noted that the movement amplitude of the telescopic action mechanism A is determined according to the temperature inside the housing group 1, and can be tested and adjusted before leaving the factory. The telescopic amplitude of the telescopic action mechanism A can be adjusted according to the temperature conditions. (3) When the adjustment is completed, the telescopic action mechanism B is extended so that the telescopic action mechanism B is against the upper end surface of the sun gear shaft 23, thereby axially limiting the sun gear shaft 23. When the robot moves, the corresponding joint module generates inertia (for example, the wrist joint module when the shape-matching robot swings its arm), which can prevent the internal components from moving due to inertia (for example, preventing the sun gear shaft 23, the rotor assembly 32, the inner gear ring 21, and the auxiliary end cover 6 from moving axially upward), thereby avoiding the change of the center of gravity at the joint of the module to a greater extent, thereby maintaining the overall stability of the robot - so that the robot can better ensure the overall balance during complex movements.

[0050] The damper 42 is further described below.

[0051] The damper 42 includes a fixed part 421, a moving part 422, and a spring 423. The moving part 422 is cylindrical and fixed to the upper end of the sun gear shaft 23. The fixed part 421 is columnar, with its lower end inserted into the moving part 422 and its upper end fixed to the hydraulic assembly 41. The spring 423 is sleeved on the fixed part 421, and the two ends of the spring 423 are respectively against the fixed part 421 and the hydraulic assembly 41.

[0052] The hydraulic assembly 41 is further described below.

[0053] The hydraulic assembly 41 includes a hydraulic pump A411 and a piston column A412. The hydraulic pump A411 is fixed on the upper end surface of the housing assembly 1, and the hydraulic pump A411 has a piston column A412, and the piston column A412 is connected to the damper 42;

[0054] In addition, a hydraulic claw hand 413 is fixedly mounted on the upper end of the sun gear shaft 23. The hydraulic claw hand 413 has a plurality of latch pins. A corresponding pin hole is provided on the upper end surface of the housing assembly 1. The latch pins are inserted into the pin holes to form a structure that prevents the sun gear shaft 23 from rotating. In addition, a corresponding hydraulic cylinder B and a piston column B are also installed in the pin hole. When the piston column B is extended, it can abut against the end of the latch pin, forming a structure that prevents the sun gear shaft 23 from excessive movement.

[0055] In addition, a laser displacement sensor for detecting the position of the auxiliary end cover 6 is provided on the inner wall of the upper end of the shell group 1, and the laser displacement sensor, the hydraulic pump A411, and the hydraulic pump B are all electrically connected to the control panel.

[0056] When the hydraulic assembly 41 is working: the control panel controls the movement of the piston column A412 in the hydraulic pump A411 according to the detected temperature, thereby adjusting the axial position of the fixing part 421 in the damper 42, thereby realizing the elasticity adjustment of the damper 42; when it moves to the appropriate position, the piston column B in the hydraulic pump B abuts against the end of the latch column, so that the hydraulic claw hand 413 cannot move further axially upward - thus limiting the axial upward movement of the sun gear shaft 23.

[0057] The output frame shaft 24 will be further described below.

[0058] The output frame shaft 24 has a shaft portion, and a plurality of legs are provided at the upper end of the shaft portion, and an auxiliary shaft is fixed at each leg; the auxiliary shaft is inserted into the center of the corresponding planetary gear 22 and the two can rotate relative to each other; the end of the auxiliary shaft passes through the planetary gear 22, and a retaining spring A25 is provided at the end of the auxiliary shaft that passes through, so as to prevent the planetary gear 22 from falling off the auxiliary shaft, forming a detachable integrated structure.

[0059] The housing assembly 1 is further described below.

[0060] The housing assembly 1 includes a housing 101 and an upper end cover 102. The housing 101 has an inner cavity that is open at the top, and the open mouth is buckled through the upper end cover 102 and fixed by bolts 103. A driving assembly 3, a sun gear shaft 23, a planetary gear 22, and a damping part 4 are arranged in the inner cavity, wherein the output frame shaft 24 extends from the bottom of the housing 101, and the upper end of the sun gear shaft 23 is mounted on the upper end cover 102 through a damper 42. An upper oil seal frame 9 is arranged between the sun gear shaft 23 and the auxiliary end cover 6, and the upper oil seal frame 9 is fixed on the sun gear shaft 23. The upper oil seal frame 9 is located on the outer side of the upper bearing 5 and the upper oil seal frame 9 is fixed on the sun gear shaft 23; a lower oil seal frame 10 is arranged between the output frame shaft 24 and the housing 101.

[0061] The structure of the entire shell group 1 is not complicated. In this way, the drive is installed in its inner cavity, and the transmission component 2 in the inner cavity plays a retrieval role, making the entire shell group 1 appear small and convenient for use as a joint module of the robot (the joint module of the robot is required to be small and all parts should be arranged inside it as much as possible).

[0062] The auxiliary end cover 6 is further described below.

[0063] The auxiliary end cover 6 is in the shape of a disk, and has a plurality of cylindrical pins 7 in the circumference of the auxiliary end cover 6. A through hole is opened in the circumference of the inner gear ring 21. When the auxiliary end cover 6 is arranged on the upper surface of the inner gear ring 21, the cylindrical pins 7 are inserted into the corresponding through holes and locked with a retaining spring B, so that the auxiliary end cover 6 is fixed on the inner gear ring 21. There is a center hole at the center of the auxiliary end cover 6, and an upper bearing 5 is installed at the center hole.

[0064] The drive component 3 is further described below.

[0065] The stator assembly 31 includes an annular stator core 311, and a plurality of winding slots are circumferentially opened on the inner ring wall of the stator core 311, and winding coils 312 are wound in the winding slots. The rotor assembly 32 includes an annular rotor yoke 321, and a plurality of magnet slots are circumferentially opened on the outer ring wall of the rotor yoke 321, and magnets 322 are embedded in the magnet slots. An inner gear ring 21 is fixed on the inner ring wall of the rotor yoke 321 of the rotor assembly 32.

[0066] The above embodiments only express preferred implementation modes, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Claims

1. A robot drive-transmission integrated joint module for assisting center of gravity adjustment, characterized in that: It comprises a housing assembly (1), a driving assembly (3), and a damping part (4); The drive assembly (3) is arranged in the housing assembly (1), and comprises a stator assembly (31) and a rotor assembly (32); a winding is wound on the stator assembly (31) and a corresponding magnet is arranged on the rotor assembly (32); the two together form a drive structure similar to a motor; The rotor assembly (32) has an inner gear ring (21), an auxiliary end cover (6) is fixed to the upper end surface of the inner gear ring (21), and a sun gear shaft (23) is mounted on the auxiliary end cover (6) via an upper bearing (5); the lower end of the sun gear shaft (23) extends into the center of the inner gear ring (21), and a plurality of planetary gears (22) are meshed between this end of the sun gear shaft (23) and the inner gear ring (21); The plurality of planetary gears (22) are mounted on an output frame shaft (24), the output frame shaft (24) extends from below the housing assembly (1) and a lower bearing (8) is provided between the two, forming a structure in which the planetary gears (22) and the output frame shaft (24) are fixed; The upper end of the sun gear shaft (23) is connected to the damping part (4), and the damping part (4) is fixed to the upper end surface of the housing assembly (1), forming a structure in which the sun gear shaft (23) and the auxiliary end cover (6) can be adjusted in an axial direction; There is an axial distance between the lower end of the sun gear shaft (23) and the output frame shaft (24), and there is an axial distance between the upper end surface of the planetary gear (22) and the auxiliary end cover (6); The damping part (4) comprises a hydraulic component (41) and a damper (42); the damper (42) can provide an elastic force in the axial direction so as to allow the sun gear shaft (23) to adaptively move in the axial direction; the hydraulic component (41) comprises a laser sensor, a telescopic action mechanism A, and a telescopic action mechanism B; the laser sensor can measure the magnitude of the axial displacement of the sun gear shaft (23); the telescopic action mechanism A can assist in compensating the position of the sun gear shaft (23) in the axial direction after being connected to the damper (42); the telescopic action mechanism B can contact the sun gear shaft (23) to form a structure that prevents the sun gear shaft (23) from excessively moving in the axial direction; A temperature sensor is arranged in the housing assembly (1); The damper (42) comprises a fixed part (421), a movable part (422), and a spring (423); the movable part (422) is cylindrical and fixed to the upper end of the sun gear shaft (23); the fixed part (421) is columnar, with its lower end inserted into the movable part (422) and its upper end fixed to the hydraulic component (41); the spring (423) is sleeved on the fixed part (421), and two ends of the spring (423) respectively abut against the fixed part (421) and the hydraulic component (41); The hydraulic assembly (41) comprises a hydraulic pump A (411) and a piston column A (412), wherein the hydraulic pump A (411) is fixed on the upper end surface of the housing assembly (1), the hydraulic pump A (411) has a piston column A (412), and the piston column A (412) is connected to the damper (42); The upper end of the sun gear shaft (23) is sleeved with a hydraulic claw hand (413) fixed thereto, the hydraulic claw hand (413) having a plurality of latching pins, and corresponding pin holes on the upper end surface of the housing assembly (1), the latching pins being inserted into the pin holes to form a structure that prevents the sun gear shaft (23) from rotating; A corresponding hydraulic cylinder B and a piston column B are also installed in the pin hole. When the piston column B is extended, it can abut against the end of the pin column, forming a structure to prevent excessive movement of the sun gear shaft (23); A laser displacement sensor for detecting the position of the auxiliary end cover (6) is provided on the inner wall of the upper end of the housing group (1); the laser displacement sensor, the hydraulic pump A (411), and the hydraulic pump B are all electrically connected to the control panel.

2. A robot drive-transmission integrated joint module for assisting center of gravity adjustment according to claim 1, characterized in that: The output frame shaft (24) has a shaft portion, and a plurality of legs are provided at the upper end of the shaft portion, and an auxiliary shaft is fixed at each leg; the auxiliary shaft is inserted into the center of the corresponding planetary gear (22), and the two are locked by a retaining spring A (25) to form a detachable integrated structure.

3. The robot driving and transmission integrated joint module for assisting center of gravity adjustment according to claim 1, characterized in that: The housing assembly (1) comprises a housing (101) and an upper end cover (102); The housing (101) has an inner cavity which is open at the top, and the drive assembly (3), the sun gear shaft (23), the planetary gear (22), and the damping part (4) are all arranged in the inner cavity, and the inner cavity is covered by an upper end cover (102); The output frame shaft (24) extends from the bottom of the housing (101), and the damping part (4) is fixed on the upper end cover (102).

4. A robot driving and transmission integrated joint module for assisting center of gravity adjustment according to claim 3, characterized in that: An upper oil seal frame (9) is provided between the sun gear shaft (23) and the auxiliary end cover (6), the upper oil seal frame (9) is fixed on the sun gear shaft (23), the upper oil seal frame (9) is located on the outside of the upper bearing (5) and the upper oil seal frame (9) is fixed on the sun gear shaft (23); A lower oil seal frame (10) is provided between the output frame shaft (24) and the housing (101).

5. A robot drive-transmission integrated joint module for assisting center of gravity adjustment according to claim 1 or 3, characterized in that: The stator assembly (31) comprises an annular stator core (311), a plurality of winding slots are circumferentially opened on the inner ring wall of the stator core (311), and winding coils (312) are wound in the winding slots; The rotor assembly (32) comprises an annular rotor yoke (321), a plurality of magnet slots are circumferentially opened on the outer ring wall of the rotor yoke (321), and magnets (322) are embedded in the magnet slots; An inner gear ring (21) is fixed on the inner ring wall of the rotor yoke (321) of the rotor assembly (32).

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