Robot joint module based on two-stage planetary speed reduction

Abstract

The invention relates to the technical field of robot joint module structures, in particular to a robot joint module based on two-stage planetary speed reduction, which comprises a shell and an end cover, the shell and the end cover are matched to form an internal mounting cavity, a motor is arranged in the internal mounting cavity, and a rotor of the motor is matched with a first-stage planetary speed reducer and a second-stage planetary speed reducer to transmit torque. The secondary planetary reducer drives the output flange to rotate; a motor end magnetic ring is arranged at the motor rotor, and a motor end encoder is correspondingly arranged at the motor; an output end magnetic ring is arranged at the output flange; and an output end encoder is correspondingly arranged in the internal mounting cavity. Signal detection is carried out at the input end and the output end, so that an input signal and an output signal can be detected to improve the control precision; a two-stage planetary speed reduction structure is arranged, the integration degree of the structure is improved, large-torque output is achieved, meanwhile, torque transmission is enhanced, the overall structure is simplified, the structural size is reduced, and the joint module can be conveniently applied to automatic equipment such as a micro-robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot joint module structures, and in particular to a robot joint module based on two-stage planetary reduction. Background Art

[0002] With the development of robot technology, higher requirements are also put forward for its core components. Joint modules are the core components of robot movement, which can realize rapid production and rapid assembly of robots. Modular, lightweight, high-precision integrated robot joints are the development trend of robot joints.

[0003] Most of the planetary joint modules used in existing robots are based on a primary planetary reducer, which has a relatively small reduction ratio, resulting in a low torque density of the joint output. The joint module generally has an encoder fixed on the motor end, which can only detect and feedback the state of the motor end, but cannot detect the state of the output end, resulting in low control accuracy of the joint output end and the inability to achieve the zero-position memory function. If an output-end encoder assembly is installed, it is necessary to additionally design the installation structure and arrange the cables, resulting in a complex joint module structure and affecting the overall size of the joint. During operation, the planetary joint may experience axial movement of components, affecting the NVH performance and service life of the joint module. At the same time, the planetary gear train has radial and axial size limitations under the trend of miniaturization, and the large number of structural parts and connectors of the secondary planetary gear train make the joint structure complex and difficult to install.

[0004] In addition, the current robot has a low level of integration, which requires external cables when installing joints, which affects the cable life and makes the wiring of the rotary unit complicated, affecting the size and appearance of the robot, and cannot meet the industry's requirements for miniaturized and high-torque output robot joints. Due to its own characteristics, robots require joints to be miniaturized, lightweight, have a high torque-to-weight ratio, high precision, and highly integrated integrated joint modules. With the development of integration technology, the robot joint module is also required to be integrated with drive and control to achieve precise control of the robot's motion trajectory. The joint module is the core power component of the robot and a key factor in determining the robot's motion performance.

[0005] It can be seen that the joint modules used for robots still have many defects, and a more reasonable technical solution needs to be proposed to solve the technical problems existing in the prior art. Summary of the invention

[0006] In order to overcome at least one of the defects mentioned above, the present invention proposes a robot joint module based on two-stage planetary reduction. The two-stage planetary structure reduces speed, which can improve the transmission ratio and enhance the torque transmission. Combined with the dual encoder detection in the reducer, the control accuracy of the joint module can be improved. In addition, combined with the adjustment of related structures, the size of the joint module can be reduced, so that the joint module can be applied to micro robots and other automated equipment, thereby improving the convenience of use.

[0007] In order to achieve the above purpose, the joint module disclosed in the present invention can adopt the following technical solutions:

[0008] A robot joint module based on two-stage planetary reduction comprises a shell and an end cover, wherein the shell and the end cover cooperate to form an internal installation cavity, wherein a motor is arranged in the internal installation cavity, wherein the rotor of the motor cooperates with a primary planetary reducer and a secondary planetary reducer to transmit torque, and the secondary planetary reducer drives an output flange to rotate; a motor end magnetic ring is arranged at the motor rotor, a motor end encoder is arranged correspondingly at the motor and is used to cooperate with the motor end magnetic ring to generate a detection signal; an output end magnetic ring is arranged at the output flange, and an output end encoder is arranged correspondingly in the internal installation cavity and is used to cooperate with the output end magnetic ring to generate a detection signal.

[0009] The joint module disclosed above performs signal detection through the motor end encoder and the output end encoder, and can detect the input and output rotation speeds, etc. respectively, thereby improving the control accuracy; at the same time, the first-stage reducer and the second-stage planetary reducer are set to continuously reduce speed, thereby improving the transmission ratio of the planetary reducer, which can make the output end have a larger torque output.

[0010] Furthermore, the first-stage planetary reducer is used to transfer torque to the rotor of the motor, and its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the first-stage planetary reducer includes a first-stage sun gear connected and matched with the rotor and rotating synchronously, a plurality of first-stage planetary gears are arranged on the circumferential side of the first-stage sun gear, the first-stage sun gear is coaxially connected to a rotating support that rotates relatively, and the first-stage planetary shaft of the first-stage planetary gear is connected to the rotating support; a fixed inner gear ring is arranged in the internal mounting cavity, and the first-stage planetary gear meshes with the fixed inner gear ring and is used to drive the rotating support to rotate. When the above scheme is adopted, the rotor cooperates with the first-stage sun gear shaft of the first-stage sun gear and directly drives the first-stage sun gear shaft to rotate, thereby realizing a more simplified transmission structure and reducing the connecting parts and matching structures between the rotor and the first-stage sun gear shaft.

[0011] Furthermore, the secondary planetary reducer cooperates with the primary planetary reducer to further increase the transmission ratio and transmit torque. Its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the secondary planetary reducer includes a secondary sun gear that rotates coaxially with the rotating support, and a plurality of secondary planetary gears are arranged on the circumference of the secondary sun gear. The secondary planetary gears mesh with the fixed inner gear ring and drive the secondary planet carrier to rotate. The output flange is located above the secondary planet carrier and rotates synchronously with the secondary planet carrier. When the above scheme is adopted, the rotating support rotates with the primary planetary gear and drives the secondary sun gear to rotate at the same time. This structure avoids many connecting parts and connecting structures, and the overall structure is more streamlined and compact, thereby reducing the structural dimensions of the primary planetary reducer and the secondary planetary reducer. When the secondary planetary gear drives the secondary planet carrier to rotate, it synchronously drives the output flange to rotate, thereby realizing external torque transmission.

[0012] Furthermore, in order to further simplify the structure and improve the compactness of the structure of the entire joint module, the structure of the secondary planetary frame can be adjusted, and its structure is not limited to a single one. Here, it is optimized and one of the feasible options is proposed: the secondary planetary frame includes a cage-shaped body, a mounting hole that cooperates with the secondary sun gear is set through the middle of the cage-shaped body, and a number of planetary shaft holes that cooperate with the secondary planetary shaft of the secondary planetary gear are set around the mounting hole. The side of the cage-shaped body forms a number of open grooves, and the gear teeth of the secondary planetary gear protrude from the open grooves. When the above scheme is adopted, the secondary sun gear and the secondary planetary gear are both located in the cage-shaped body, and the cage-shaped body is rotated and the torque is transmitted outward during the transmission process.

[0013] Furthermore, in order to reduce the overall weight and realize the lightweight of the joint module, the cage-shaped body can be optimized: the cage-shaped body is also provided with a weight-reducing structure. When the above scheme is adopted, the weight-reducing structure can adopt a weight-reducing hole or a weight-reducing groove.

[0014] Furthermore, in some solutions, the secondary planet carrier and the output flange are integrally formed. When the above solution is adopted, the strength of the overall structural component can be improved.

[0015] In some other solutions, the secondary planet carrier may also be separately provided from the output flange and connected and fixed by connecting parts.

[0016] Furthermore, in the present invention, the structure of the rotor can take a variety of forms, and its structure is not limited to a single one. Here, an optimization is performed and one of the feasible options is proposed: the rotor includes a rotor disk, and a plurality of air guide holes are formed on the rotor disk. When the rotor disk rotates, the air guide holes guide the gas flow in the internal installation cavity to form circulating gas for heat dissipation. When the above scheme is adopted, the rotor structure may include a plurality of spokes, the cross-section of the spokes is trapezoidal, and the air guide holes are located between adjacent spokes. When the rotor rotates, the spokes disturb the airflow and form a circulating flow, thereby promoting heat dissipation inside the motor compartment. At the same time, annular cooling fins are arranged at the bottom of the shell. When the rotor rotates, the fluid formed by the turbulence brings heat to the bottom. The contact area with the outside air is increased by the cooperation of the cooling fins, so that the internal heat is quickly dissipated, thereby improving the temperature rise of the entire joint module.

[0017] Furthermore, the rotor can be arranged in a variety of ways. Since the rotor is arranged in the internal installation cavity, its structure is not limited to a single one. Here, an optimization is made and one of the feasible options is proposed: a turntable is arranged in the internal installation cavity, the rotor is arranged at the turntable for rotation, a synchronous boss is formed on the rotor, a guide cone is formed on the outer side of the synchronous boss, an oil-slinging groove is arranged at the lower end of the guide cone, and a synchronous shaft hole for connecting the first-stage sun gear is also formed on the synchronous table. When the above scheme is adopted, the turntable is arranged at the inner bottom of the shell, and the rotor can be constructed as an outer rotor structure. When the rotor rotates, it drives the first-stage sun gear to rotate synchronously. When lubricating oil, grease, etc. enters the synchronous shaft hole, it will re-enter the internal installation cavity through the oil-slinging groove under the action of centrifugal force, and cooperate with the lubrication and fixation of the inner gear ring.

[0018] Furthermore, in order to improve the connection stability of the sun gear, its connection and fixing method can be adjusted. Here, optimization is performed and one feasible option is proposed: the first-stage sun gear shaft is connected to the synchronous shaft hole by interference fit and laser welding, and the second-stage sun gear shaft is connected to the rotating support by interference fit and laser welding.

[0019] Furthermore, the inner gear ring is fixedly arranged and cooperates with the structure of the motor to realize the transmission of torque. Its structure is not limited to a single one. It is optimized here and one of the feasible options is proposed: the inner side of the inner gear ring forms a primary meshing tooth that cooperates with the primary planetary reducer, and also forms a secondary meshing tooth that cooperates with the secondary planetary reducer. A stator structure is arranged on the outside of the planetary reducer, and an outer rotor structure is arranged on the outside of the stator.

[0020] Compared with the prior art, some beneficial effects of the technical solution disclosed in the present invention include:

[0021] The present invention achieves simplification of the joint module structure, reduction of size, improvement of control accuracy, and improvement of transmission torque by adjusting the joint module structure. By performing signal detection at the input end and the output end respectively, the input signal and the output signal can be detected at the same time to improve the control accuracy; a two-stage planetary reduction structure is provided and the integration of the structure is improved, which enhances the transmission of torque, simplifies the overall structure, and reduces the structural size, so as to facilitate the application of the joint module in automation equipment such as micro robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only represent some embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the overall internal structure of the joint module.

[0024] Figure 2 This is a schematic diagram of the internal structure of the joint module.

[0025] Figure 3 Schematic diagram of the secondary planet carrier.

[0026] Figure 4 This is a schematic diagram of the rotor structure.

[0027] Figure 5 Schematic diagram of the cross-sectional structure of the rotor.

[0028] Figure 6 Schematic diagram of the bearing settings in the joint module.

[0029] Figure 7 Schematic diagram of the needle bearing setting in the joint module.

[0030] Figure 8 This is a schematic diagram of the setting structure of the secondary planetary carrier.

[0031] Fig. 9 This is a schematic diagram of the overall structure in which a stator is arranged at the inner gear ring.

[0032] Fig.10 It is a schematic diagram of the cross-sectional structure of the inner gear ring.

[0033] Fig.11 This is an overall schematic diagram of the joint module from another perspective.

[0034] In the above drawings, the meanings of the symbols are as follows:

[0035] 1. Housing; 2. First rolling bearing; 3. Rotor; 301. Air guide hole; 302. Guide slope; 303. Oil throwing groove; 304. Synchronous shaft hole; 4. Motor end magnetic ring; 5. Motor end encoder; 501. Cable arrangement; 502. Fisheye terminal; 6. Stator structure; 7. Three-phase motor; 8. Fixed inner gear ring; 801. Mounting hole; 802. Weight reduction structure; 803. Wave clamp mounting groove; 9. Connecting screw; 10. End cover; 11. Cross roller fixing ring; 12. Output end magnetic ring Ring; 13. Mounting screws; 14. Output end encoder; 15. Primary sun gear; 16. Primary planetary shaft; 17. Limiting gasket; 18. First needle roller structure; 19. Primary planetary gear; 20. Second rolling bearing; 21. Rotating support; 2122. Laser welding surface; 22. Secondary sun gear; 23. Secondary planetary shaft; 24. Second needle roller bearing; 25. Secondary planetary gear; 26. Cross roller bearing; 27. Third rolling bearing; 28. Output flange; 29. ​​Waterproof breathable valve. DETAILED DESCRIPTION

[0036] The present embodiment is further explained below in conjunction with the accompanying drawings and specific embodiments.

[0037] In view of the fact that the existing joint modules have small transmission torque, large overall size, relatively complex structure and low integration, the following embodiments are optimized and overcome the defects in the prior art.

[0038] Example

[0039] like Figures 1 to 10 As shown, the present embodiment is a robot joint module based on two-stage planetary reduction, including a shell 1 and an end cover 10, the shell 1 and the end cover 10 cooperate to form an internal installation cavity, a motor is arranged in the internal installation cavity, the rotor 3 of the motor cooperates with the first-stage planetary reducer and the second-stage planetary reducer to transmit torque, and the second-stage planetary reducer drives the output flange 28 to rotate; a motor-end magnetic ring 4 is arranged at the motor rotor 3, a motor-end encoder 5 is arranged correspondingly at the motor and is used to cooperate with the motor-end magnetic ring 4 to generate a detection signal; an output-end magnetic ring 12 is arranged at the output flange 28, an output-end encoder 14 is arranged correspondingly in the internal installation cavity and is used to cooperate with the output-end magnetic ring 12 to generate a detection signal.

[0040] The joint module disclosed in the present embodiment performs signal detection through the motor-end encoder 5 and the output-end encoder 14, and can detect the input and output rotation speeds, etc. respectively, thereby improving the control accuracy; at the same time, the first-stage reducer and the second-stage planetary reducer are set to continuously reduce speed, improve the transmission ratio, and transmit greater torque.

[0041] Preferably, a motor-end electric control assembly and an output-end electric control sub-assembly are formed in the internal installation cavity, the output-end electric control sub-assembly is connected to the motor three-phase 7 through the fisheye terminal 502, and the output-end electric control sub-assembly is connected to the motor-end encoder 5 through the flat cable 501. The motor-end electric control assembly and the output-end electric control sub-assembly are circular structures, and the integrated driver and controller are integrated, and the two are connected through the flat cable and the fisheye terminal 502, and the data communication between each node is highly real-time.

[0042] Preferably, the cable 501 in this embodiment adopts a high-performance shielded soft cable, which is arranged between the inner gear ring and the stator. The cable length is greatly shortened by routing inside the motor cabin, avoiding interference problems caused by external routing, while avoiding signal interference with the motor and ensuring the communication quality of the cable.

[0043] Preferably, two encoders for speed measurement, namely, output end encoder 14 and motor end encoder 5; motor end encoder 5 is mounted on the rotor 3 of the motor, and output end encoder 14 is mounted on the output flange 28. The motor end encoder 5 and the output end encoder 14 are connected through a cable 501 to realize signal exchange sharing, and the cable 501 is routed inside the motor cabin to greatly shorten the length of the cable 501, and the output end electronic control assembly is combined and tested to realize real-time and accurate control of the speed.

[0044] Preferably, the present embodiment adopts an integrated single body housing 1 structure, and the first-stage planetary reducer, the second-stage planetary reducer and the output-end electronic control sub-assembly are fixed to the housing 1 by screw connections.

[0045] Preferably, the housing 1 is made of high-strength and lightweight material, such as aviation aluminum alloy, and the housing 1 and the end cover 10 are connected and matched with mounting screws 13.

[0046] Preferably, Fig.11 As shown, the bottom of the housing 1 is opened and a waterproof breathable valve 29 is installed, which can achieve the IP67 waterproof level and ensure the balance of air pressure inside and outside the electrical compartment.

[0047] The first-stage planetary reducer is used to cooperate with the rotor 3 of the motor to transmit torque. Its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 2As shown, the primary planetary reducer comprises a primary sun gear 15 connected and matched with the rotor 3 and rotates synchronously, a plurality of primary planetary gears 19 are arranged on the circumferential side of the primary sun gear 15, the primary sun gear 15 is coaxially connected to a relatively rotating support 21, and the primary planetary shaft 16 of the primary planetary gear 19 is connected to the rotating support 21; a fixed inner gear ring 8 is arranged in the internal mounting cavity, and the primary planetary gear 19 meshes with the fixed inner gear ring 8 and is used to drive the rotating support 21 to rotate. When the above scheme is adopted, the rotor 3 cooperates with the primary sun gear 15 shaft of the primary sun gear 15 and directly drives the primary sun gear 15 shaft to rotate, thereby realizing a more simplified transmission structure and reducing the connecting parts and matching structures between the rotor 3 and the primary sun gear 15 shaft.

[0048] Preferably, the fixed inner ring gear 8 is arranged between the housing 1 and the end cover 10, dividing the internal installation cavity into three parts, including an input end electrical compartment for setting the motor, an output end electrical compartment for setting the output flange and the output end encoder, and a reducer compartment for setting the planetary reducer.

[0049] Preferably, Figure 1 As shown, the first-stage planetary gear 19 cooperates with the first-stage planetary shaft 16 through the first needle roller structure 18. A limiting gasket 17 is provided below the first-stage planetary shaft 16. The limiting gasket 17 is provided in contact with the first-stage planetary gear 19 and is used for axial limiting of the second-stage planetary gear. This embodiment eliminates the first-stage planetary carrier design, simplifies the design scheme, and realizes the miniaturization and lightness of the first-stage planetary gear 19 system.

[0050] Due to structural size limitations, the bearing arrangement is cancelled, and a full needle roller arrangement is directly used between the planet pin and the planetary gear to form a first needle roller structure 18, which is used instead of the bearing and simplifies the required size of the complete needle roller bearing arrangement.

[0051] Preferably, in this embodiment, the primary sun gear 15 is directly arranged on the primary sun gear shaft, and the two are integrally formed to form a gear shaft. This arrangement reduces the number of fixings and connecting parts, shortens the length of the output shaft, effectively controls the size of the joint module, and realizes a lightweight design. A second rolling bearing 20 is arranged between the primary sun gear shaft and the secondary planetary reducer.

[0052] Preferably, the end cover 10 and the fixed inner gear ring 8 are connected to the outer casing by screws, and an output end electrical compartment is formed between the end cover 10, the output flange 28 and the fixed inner gear ring 8. The output end electronic control subassembly is installed in the output end electrical compartment to detect and control the output torque of the output end, and the three-phase motor 7 is connected to the output end electronic control assembly through the fisheye terminal 502 through the cable 501 to realize signal exchange, and precise control of the output end is achieved through joint debugging and testing.

[0053] The purpose of the two-stage planetary reducer and the one-stage planetary reducer is to further increase the transmission ratio and transmit torque. The structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 2 As shown, the secondary planetary reducer includes a secondary sun gear 22 coaxially rotating with the rotating support 21, a plurality of secondary planetary gears 25 are arranged on the circumference of the secondary sun gear 22, the secondary planetary gears 25 mesh with the fixed inner gear ring 8 and drive the secondary planetary carrier to rotate, and the output flange 28 is located above the secondary planetary carrier and rotates synchronously with the secondary planetary carrier. When the above scheme is adopted, the rotating support 21 rotates with the primary planetary gear 19 and drives the secondary sun gear 22 to rotate at the same time. This structure avoids many connecting parts and connecting structures, and the overall structure is more streamlined and compact, thereby reducing the structural dimensions of the primary planetary reducer and the secondary planetary reducer. When the secondary planetary gear 25 drives the secondary planetary carrier to rotate, it synchronously drives the output flange 28 to rotate, thereby realizing the torque output at the output end.

[0054] Preferably, the secondary planetary gear 25 cooperates with the secondary planetary shaft 23 via a second needle roller bearing 24 , and the secondary planetary shaft 23 is also provided with a limiting gasket 17 for axial limiting.

[0055] Preferably, in this embodiment, the secondary sun gear 22 is arranged on the secondary sun gear shaft, and the two are integrally formed to form a gear shaft. This arrangement reduces the number of fixings and connecting parts, shortens the length of the output shaft, effectively controls the size of the joint module, and realizes a lightweight design.

[0056] Preferably, in this embodiment, Figure 6 As shown, a third rolling bearing 27 is provided between the secondary sun gear shaft and the secondary planet carrier.

[0057] In order to further simplify the structure and improve the compactness of the entire joint module, the structure of the secondary planetary frame can be adjusted, and its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 3 As shown, the secondary planet carrier includes a cage-shaped body, a mounting hole 801 matching with the secondary sun gear 22 is provided through the middle of the cage-shaped body, a plurality of planet shaft holes matching with the secondary planet shaft 23 of the secondary planet gear 25 are provided around the mounting hole 801, a plurality of opening grooves are formed on the side of the cage-shaped body, and the gear teeth of the secondary planet gear 25 protrude from the opening grooves. When the above scheme is adopted, the secondary sun gear 22 and the secondary planet gear 25 are both located in the cage-shaped body, and the cage-shaped body is rotated and torque is outputted outward during the transmission process.

[0058] In order to reduce the overall weight and achieve lightweight joint module, the cage-shaped body can be optimized: the cage-shaped body is also provided with a weight-reducing structure 802. When the above solution is adopted, the weight-reducing structure 802 can adopt a weight-reducing hole or a weight-reducing groove.

[0059] In some schemes, the secondary planetary carrier is integrally formed with the output flange 28. When the above scheme is adopted, the integrity of the joint module can be improved, the output flange 28 is installed in the fixed inner gear ring 8 through the cross roller bearing 26 and axially fixed through the flange screw and the corrugated clamp ring, and the secondary planetary gear 25 is connected to the output flange 28 to directly output torque; the output end encoder 14 is installed at the end of the output flange 28, detects and controls the torque output of the output end, and transmits the signal to the input end through wiring.

[0060] In some other solutions, the secondary planet carrier may also be separately provided from the output flange 28 and connected and fixed by a connecting piece.

[0061] Preferably, Figure 3 As shown, the cage-shaped body is provided with a corrugated collar. The output flange 28 is provided with a corrugated collar mounting groove 803, and the relative displacement between the cross roller and the output flange 28 is limited by the elastic deformation of the corrugated collar, thereby ensuring the smooth operation of the planetary joint module.

[0062] Preferably, a cross roller bearing 26 is provided between the secondary planet carrier and the fixed inner gear ring 8, a cross roller fixing ring 11 is provided on the fixed inner gear ring 8, and the cross roller bearing 26 cooperates with the cross roller fixing ring 11 to be connected and fixed. In this embodiment, the cross roller fixing ring 11 is fixed to the secondary planet carrier by connecting screws 9.

[0063] In this embodiment, the structure of the rotor 3 can be in various forms, and its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 4 As shown, the rotor 3 includes a rotor 3 disk, and a plurality of air guide holes 301 are formed on the rotor 3 disk. When the rotor 3 disk rotates, the air guide holes 301 guide the gas flow in the internal installation cavity to form circulating gas for heat dissipation. When the above scheme is adopted, the rotor 3 structure may include a plurality of spokes, the cross section of the spokes is trapezoidal, and the air guide holes 301 are located between adjacent spokes. When the rotor rotates, the spokes disturb the airflow and form a circulating flow, thereby promoting the heat dissipation inside the rotor 3.

[0064] The rotor 3 can be arranged in a variety of ways. Since the rotor 3 is arranged in the internal installation cavity, its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: Figure 5As shown, a turntable is provided in the internal installation cavity, and the rotor 3 is provided at the turntable for rotation. A synchronous boss is formed on the rotor 3, and a guide cone is formed on the outer side of the synchronous boss. An oil-slinging groove 303 is provided at the lower end of the guide cone. A synchronous shaft hole 304 for connecting the primary sun gear 15 is also formed on the synchronous table. When the above scheme is adopted, the turntable is provided at the inner bottom of the housing 1, and the rotor 3 can be constructed as an outer rotor 3 structure. When the rotor 3 rotates, it drives the primary sun gear 15 to rotate synchronously. When lubricating oil, grease, etc. enter the synchronous shaft hole 304, it will re-enter the internal installation cavity through the oil-slinging groove 303 under the action of centrifugal force, and cooperate with the lubrication and fixing of the inner gear ring 8.

[0065] Preferably, Figure 6 As shown, a first rolling bearing 2 is arranged between the turntable and the rotor 3, the height of all guide cones is 1.5 mm, and the inclination of the guide cones is 60°.

[0066] In order to improve the connection stability of the sun gear, the connection and fixing method can be adjusted. This embodiment is optimized and adopts one of the feasible options: Figure 8 As shown, the first-stage sun gear 15 shaft is connected to the synchronous shaft hole 304 by interference fit and laser welding, and the second-stage sun gear 22 shaft is connected to the rotating support 21 by interference fit and laser welding. A laser welding surface 2122 is formed between the second-stage sun gear 22 and the rotating support 21, and the second-stage sun gear 22 is connected to the rotating support 21 by laser welding.

[0067] The inner gear ring is fixedly arranged and cooperates with the structure of the motor to realize the transmission of torque. Its structure is not limited to a single one. This embodiment is optimized and adopts one of the feasible options: the inner side of the inner gear ring forms a primary meshing tooth that cooperates with the primary planetary reducer, and also forms a secondary meshing tooth that cooperates with the secondary planetary reducer. A stator structure 6 is arranged on the outside of the planetary reducer, and an outer rotor 3 structure is arranged on the outside of the stator.

[0068] Preferably, the fixed inner gear ring 8 is designed as an integrated structural component, which includes the tooth shapes of the first-stage planetary gear 19 inner gear ring and the second-stage planetary gear 25 inner gear ring, which simplifies the structural connectors and fixings of the split inner gear ring and greatly reduces the size of the joint module.

[0069] Preferably, Fig. 9 , Fig.10 As shown, the stator structure 6 is fixedly arranged on the outer side of the inner gear ring, and is fixed on the fixed inner gear ring 8 by interference fitting and gluing.

[0070] According to the joint module obtained in the above embodiment, the parameters are as follows:

[0071] Reduction ratio: 26.85

[0072] model Rated input speed Rated output torque Peak output torque Reducer efficiency Maximum speed at input 400 1500rpm 175Nm 400Nm 90％ 2000rpm

[0073] When the above scheme is adopted, the following effects can be achieved:

[0074] 1. This embodiment realizes a high transmission ratio and a large torque output based on the meshing transmission of a two-stage planetary reducer. In a specific implementation example of this embodiment, the transmission ratio is 26.85, and the output peak torque can reach 400Nm.

[0075] 2. In this embodiment, the motor input encoder and the torque output encoder are connected through wiring, and the output encoder and the three-phase motor are connected through fisheye terminals to achieve signal exchange sharing, and real-time and precise control of the output speed is achieved through joint debugging and testing.

[0076] 3. Through NVH verification, corrugated clamps are installed at the input rotor end and the output flange end to adjust the axial movement of the planetary joint during operation, ensuring the smooth operation of the planetary joint module.

[0077] 4. The planetary reduction joint module involved in this embodiment is highly integrated with components such as motors, reducers and encoders. At the same time, the planetary reducer joint module involved in this application adopts a large number of integrated design parts. The integrated design of the first-stage sun gear and the input shaft reduces structural fixings and connecting parts, thereby achieving miniaturization and lightweight of the large torque output joint module, and realizing the rapid assembly and layout of the robot.

[0078] The above are the implementation methods listed in this embodiment, but this embodiment is not limited to the above optional implementation methods. Those skilled in the art can arbitrarily combine the above methods to obtain other various implementation methods. Anyone can derive other various implementation methods under the inspiration of this embodiment. The above specific implementation methods should not be understood as limiting the protection scope of this embodiment. The protection scope of this embodiment should be based on the definition in the claims.

Claims

1. A robot joint module based on two-stage planetary reduction, characterized in that: The invention comprises a shell (1) and an end cover (10), wherein the shell (1) and the end cover (10) cooperate to form an internal installation cavity, wherein a motor is arranged in the internal installation cavity, wherein a rotor (3) of the motor cooperates with a primary planetary reducer and a secondary planetary reducer to transmit torque, and the secondary planetary reducer drives an output flange (28) to rotate; a motor end magnetic ring (4) is arranged at the motor rotor (3), and a motor end encoder (5) is arranged at the motor correspondingly and is used to cooperate with the motor end magnetic ring (4) to generate a detection signal; an output end magnetic ring (12) is arranged at the output flange (28), and an output end encoder (14) is arranged in the internal installation cavity correspondingly and is used to cooperate with the output end magnetic ring (12) to generate a detection signal.

2. The robot joint module based on two-stage planetary reduction according to claim 1 is characterized in that: The first-stage planetary reducer comprises a first-stage sun gear (15) connected to and cooperating with the rotor (3) and rotating synchronously, a plurality of first-stage planetary gears (19) are arranged on the circumferential side of the first-stage sun gear (15), the first-stage sun gear (15) is coaxially connected to a relatively rotating support (21), and the first-stage planetary shaft (16) of the first-stage planetary gear (19) is connected to the rotating support (21); a fixed inner gear ring (8) is arranged in the internal mounting cavity, and the first-stage planetary gear (19) is meshed with the fixed inner gear ring (8) and is used to drive the rotating support (21) to rotate.

3. The robot joint module based on two-stage planetary reduction according to claim 2 is characterized in that: The secondary planetary reducer comprises a secondary sun gear (22) coaxially rotating with a rotating support (21), a plurality of secondary planetary gears (25) are arranged on the circumference of the secondary sun gear (22), the secondary planetary gears (25) mesh with a fixed inner gear ring (8) and drive the secondary planetary carrier to rotate, and the output flange (28) is located above the secondary planetary carrier and rotates synchronously with the secondary planetary carrier.

4. The robot joint module based on two-stage planetary reduction according to claim 3 is characterized in that: The secondary planet carrier comprises a cage-shaped body, a mounting hole (801) matching with the secondary sun gear (22) is provided through the middle of the cage-shaped body, a plurality of planet shaft holes matching with the secondary planet shaft (23) of the secondary planet gear (25) are provided around the mounting hole (801), a plurality of open grooves are formed on the side of the cage-shaped body, and the gear teeth of the secondary planet gear (25) protrude from the open grooves.

5. The robot joint module based on two-stage planetary reduction according to claim 4 is characterized in that: The cage-shaped body is also provided with a weight-reducing structure (802).

6. The robot joint module based on two-stage planetary reduction according to any one of claims 3 to 5, characterized in that: The secondary planet carrier and the output flange (28) are integrally formed.

7. The robot joint module based on two-stage planetary reduction according to claim 2 is characterized in that: The rotor (3) comprises a rotor (3) disk, on which a plurality of air guide holes (301) are formed. When the rotor (3) disk rotates, the air guide holes (301) guide the flow of gas in the internal installation cavity to form circulating gas for heat dissipation.

8. The robot joint module based on two-stage planetary reduction according to claim 2 or 7, characterized in that: A turntable is arranged in the internal installation cavity, and the rotor (3) is arranged on the turntable for rotation. A synchronous boss is formed on the rotor (3), and a guide cone surface is formed on the outer side of the synchronous boss. An oil throwing groove (303) is arranged at the lower end of the guide cone surface. A synchronous shaft hole (304) for connecting to a primary sun gear (15) is also formed on the synchronous boss.

9. The robot joint module based on two-stage planetary reduction according to claim 1, characterized in that: The inner side of the inner gear ring forms primary meshing teeth that cooperate with the primary planetary reducer, and also forms secondary meshing teeth that cooperate with the secondary planetary reducer. A stator structure (6) is arranged on the outer side of the planetary reducer, and an outer rotor (3) structure is arranged on the outer side of the stator structure (6).

10. The robot joint module based on a two-stage planetary reducer according to claim 1, characterized in that: A cable (501) is arranged between the fixed inner gear ring and the stator, and the cable connects the motor end electronic control assembly and the output end electronic control assembly.

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