Planetary speed reduction joint module and robot with same

Abstract

The invention relates to the technical field of robots, in particular to a planetary speed reduction joint module and a robot with the same, and the planetary speed reduction joint module comprises a motor assembly, a planetary speed reducer assembly, a front end cover, a rear end cover and an output flange cover plate; wherein the motor assembly comprises a shell and a motor rotating shaft; the planetary reducer assembly comprises an inner gear ring, a sun gear, a planet carrier and a plurality of planet gear sets, each planet gear set comprises a first-stage planet gear and a second-stage planet gear which are coaxially and fixedly connected, the inner gear ring is fixedly connected with the shell, the sun gear is coaxial and fixedly connected with a motor rotating shaft, the planet gear sets are rotationally connected to the planet carrier, the first-stage planet gears are meshed with the sun gears, and the second-stage planet gears are meshed with the second-stage planet gears. The secondary planet gear is meshed with the inner gear ring; the output flange cover plate is rotationally connected to the front end cover and fixedly connected to the planet carrier. Sealing assemblies are arranged between the rotating shaft and the shell as well as between the shell and the assembly; the motor rotating shaft and the planet carrier are respectively provided with a detection assembly. The invention has the characteristics of compact structure, small volume and light weight.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a planetary reduction joint module and a robot equipped with the module. Background Art

[0002] A quadruped robot is a bionic leg-foot robot, whose design is inspired by the structure of the limbs and the way animals walk. The joint module of a quadruped robot is usually composed of a motor, a planetary reducer, a motor driver, and various detectors. The planetary reducer is an important part of it, which is usually installed between the motor and the output shaft of the joint module to reduce the motor speed and increase the torque, ensuring that the robot's joint movement is both flexible and powerful, so that the quadruped robot can support its own weight and walk, run, and jump stably on various terrains.

[0003] Most of the existing technologies use NGW-type two-stage planetary reducers to make joint modules of quadruped robots. The NGW-type two-stage planetary reducer is composed of a two-stage planetary transmission mechanism, wherein the first-stage planetary transmission mechanism includes a first-stage sun gear shaft, a first-stage sun gear, a first-stage planet carrier, a first-stage planetary gear and a first-stage inner gear ring, and the second-stage planetary transmission mechanism includes a second-stage sun gear, a second-stage planet carrier, a second-stage planetary gear and a second-stage inner gear ring. The multiple planetary gears in each transmission mechanism are evenly distributed around the sun gear and mesh with the inner gear ring. The power decelerated by the first-stage planetary mechanism is transmitted by the second-stage sun gear sleeved with the first-stage planet carrier, and is decelerated for the second time by the second-stage planetary mechanism. The second-stage planet carrier serves as the output end of the second deceleration and transmits the power to the external load or other transmission components. However, the weight and volume of the NGW-type two-stage planetary reducer are large, and the overall integration of the reducer is low. Summary of the invention

[0004] The purpose of the present application is to provide a planetary reduction joint module and a robot equipped with the module, which adopts a NW-type two-stage planetary reducer so that the overall structure has the characteristics of high integration, small size and light weight.

[0005] To achieve the above-mentioned purpose, a planetary reduction joint module adopted in the present application includes: a motor assembly, a planetary reducer assembly, a front end cover, a rear end cover and an output flange cover plate;

[0006] The motor assembly comprises: a housing and a motor shaft, wherein the motor shaft is rotatably connected to the interior of the housing, the front end cover is fixedly connected to the front end of the housing, and the rear end cover is fixedly connected to the rear end of the housing;

[0007] The planetary reducer assembly is arranged in the housing, and the planetary reducer assembly includes: an inner ring gear, a sun gear, a planet carrier, and a plurality of planetary gear sets, the planetary gear set includes a primary planetary gear and a secondary planetary gear that are coaxially fixedly connected, the inner ring gear is fixedly connected to the housing, the sun gear is coaxially and fixedly connected to the motor shaft, the planetary gear sets are rotatably connected to the planet carrier, and the primary planetary gear is meshed with the sun gear, and the secondary planetary gear is meshed with the inner ring gear;

[0008] The output flange cover is rotatably connected to the front end cover, and the output flange cover is fixedly connected to the planet carrier.

[0009] As a preferred solution, it also includes a detection component, which includes an input end detection device and an output end detection device. The input end detection device is fixed on the motor shaft and is used to detect the state of the input end of the motor component. The output end detection device is fixed on the planetary carrier and is used to detect the state of the output end of the planetary reducer component.

[0010] As a preferred solution, the motor shaft includes a rotor support and an inner rotor, the rotor support is fixedly connected to the inner rotor, the inner rotor is rotatably connected to the outer shell, the sun gear is fixedly connected to the rotor support, and the input end detection device is fixedly arranged on the rotor support.

[0011] As a preferred solution, the input end detection device comprises: a magnetic bead and a driving plate, the magnetic bead and the driving plate are arranged at intervals, the magnetic bead is fixedly connected to the rotor bracket, the driving plate is fixedly installed on the rear end cover, and the driving plate is used to obtain the rotation speed and position information of the input end from the magnetic bead;

[0012] The output end detection device includes: a magnetic ring and an encoder plate, the encoder plate and the magnetic ring are spaced apart, the magnetic ring is fixedly connected to the outer peripheral side of the planetary carrier, the encoder plate is fixedly connected to the housing, and the encoder plate is used to obtain the rotation speed and position information of the output end from the magnetic ring.

[0013] As a preferred solution, sealing grooves are respectively provided between the front end cover and the housing, between the housing and the rotor bracket, and between the rear end cover and the housing, and a sealing member is provided in each of the sealing grooves.

[0014] As a preferred solution, it further comprises a dynamic seal, one end of which is rotatably connected to the output flange cover plate, and the other end of which is fixedly connected to the front end cover.

[0015] As a preferred solution, a cross roller bearing is provided between the output flange cover plate and the planet carrier.

[0016] As a preferred solution, it also includes a wire fixing frame, which is arranged on the outer periphery of the front end cover.

[0017] As a preferred solution, it also includes a motor plug, and the motor plug is a waterproof motor plug.

[0018] The present application also proposes a robot, which includes the planetary reduction joint module as described above.

[0019] Compared with the prior art, the planetary reduction joint module in this application has the following beneficial effects:

[0020] 1. Adopt NW type two-stage planetary reducer, whose inner gear ring is fixedly connected with the outer shell, and the sun gear shaft is sleeved with the motor shaft to transmit the power of the motor to the sun gear. The first-stage planetary gear is meshed with the sun gear externally, so that the first-stage planetary gear rotates to complete the first-stage reduction, and drives the second-stage planetary gear coaxially arranged with it to rotate. The second-stage planetary gear is meshed with the inner gear ring internally, so that it can revolve around the inner gear ring to complete the second-stage reduction. The power after the second-stage reduction is output to the output flange cover through the output end of the planet carrier. Compared with the one-stage planetary reducer, this structure can obtain a larger transmission ratio, effectively reduce the speed of the motor, and play a role in increasing the torque;

[0021] 2. Compared with the NGW type two-stage planetary reducer, this structure is simpler, can effectively reduce the weight and volume of the joint module, and improve the integration of the overall device. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application is further described in detail below in conjunction with the accompanying drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be used as a limitation on the scope of the present application. In addition, unless otherwise specified, the drawings are intended only to conceptually represent the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

[0023] Figure 1 is a cross-sectional view of the joint module of the present invention;

[0024] Figure 2 is a schematic diagram of a motor assembly of the present invention;

[0025] Figure 3 is a schematic diagram of a planetary reducer assembly of the present invention;

[0026] Figure 4 is a cross-sectional view of a planetary reducer assembly of the present invention;

[0027] Figure 5 is a schematic diagram of a detection assembly of the present invention;

[0028] Among them: 1. Motor assembly; 11. Housing; 12. Motor shaft; 121. Inner rotor; 122. Rotor bracket; 13. Motor plug; 2. Planetary reducer assembly; 21. Sun gear; 22. Planet carrier; 23. Planetary gear set; 231. Primary planetary gear; 232. Secondary planetary gear; 24. Inner ring gear; 3. Input end detection device; 31. Magnetic beads; 32. Drive board; 4. Output end detection device; 41. Magnetic ring; 42. Encoder board; 5. Front cover; 6. Rear cover; 7. Output flange cover; 8. Sealing groove; 9. Dynamic seal; 10. Wire fixing frame. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0030] In the description of the present application, it should be understood that the terms "front", "rear", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 present application. In addition, in the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0031] See also Figure 1-5 , a planetary reduction joint module provided by an embodiment of the present application, comprising: a motor assembly 1, a planetary reducer assembly 2, a front end cover 5, a rear end cover 6 and an output flange cover plate 7;

[0032] The motor assembly 1 comprises: a housing 11 and a motor shaft 12, wherein the motor shaft 12 is rotatably connected to the interior of the housing 11, the front end cover 5 is fixedly connected to the front end of the housing 11, and the rear end cover 6 is fixedly connected to the rear end of the housing 11;

[0033] The planetary reducer assembly 2 is arranged in the housing 11, and the planetary reducer assembly 2 includes: an inner ring gear 24, a sun gear 21, a planet carrier 22, and a plurality of planetary gear sets 23. The planetary gear set 23 includes a primary planetary gear 231 and a secondary planetary gear 232 that are coaxially and fixedly connected. The inner ring gear 24 is fixedly connected to the housing 11, the sun gear 21 is coaxially and fixedly connected to the motor shaft 12, the planetary gear sets 23 are respectively rotatably connected to the planet carrier 22, and the primary planetary gear 231 is meshed with the sun gear 21, and the secondary planetary gear 232 is meshed with the inner ring gear 24;

[0034] The output flange cover plate 7 is rotatably connected to the front end cover 5 , and the output flange cover plate 7 is fixedly connected to the planet carrier 22 .

[0035] In this embodiment, the planetary reducer assembly 2 is integrated with the motor assembly 1, and the planetary reducer assembly 2 includes an inner gear ring 24 fixedly connected to the housing 11, a sun gear 21 coaxially and fixedly connected to the motor shaft 12, and multiple groups of planetary gear sets 23 evenly distributed and rotatably connected to the planet carrier 22, each group of planetary gear sets 23 includes a primary planetary gear 231 and a secondary planetary gear 232 coaxially and fixedly connected, wherein the primary planetary gear 231 meshes with the sun gear 21, and the secondary planetary gear 232 meshes with the inner gear ring 24; when the motor is started, the motor shaft 12 starts to rotate under the action of the magnetic field, and the power is output by the motor shaft 12 to the sun gear 21 shaft, and the sun gear 21 serves as the planetary reducer The power input end of the speed reducer drives the primary planetary gear 231 meshed with it to rotate, and since the number of teeth of the two is different, a reduction in speed is achieved; the primary planetary gear 231 drives the coaxial secondary planetary gear 232 to rotate, and the secondary planetary gear 232 meshes with the inner gear ring 24, so the secondary planetary gear 232 revolves around the central axis of the inner gear ring 24, that is, the planetary carrier 22 rotates, and the secondary reduction is achieved. The planetary carrier 22 is connected to the output flange end plate of the joint module to output the power after the secondary reduction; in addition, the front cover 5 and the rear cover 6 are respectively fixedly connected to the front and rear ends of the motor housing 11, so that the whole forms a closed structure to prevent external dust, debris, etc. from entering the interior of the joint module. The planetary reducer assembly 2 in the joint module has a simple structure, can significantly increase the output torque of the motor, to meet the needs of the quadruped robot for low speed and high torque, and its volume and weight are smaller than the NGW type secondary planetary reducer, and it is compactly arranged with the motor assembly 1, and can achieve efficient reduction transmission in a limited space.

[0036] It is worth noting that, in this embodiment, the number of the planetary gear set 23 includes but is not limited to at least one set, and the gear ratios of the sun gear 21, the first-stage planetary gear 231 and the second-stage planetary gear 232 can be adjusted according to actual needs.

[0037] Furthermore, it also includes a detection component, which includes an input end detection device 3 and an output end detection device 4. The input end detection device 3 is fixedly arranged on the motor shaft 12, and is used to detect the state of the input end of the motor component 1. The output end detection device 4 is fixedly arranged on the planetary carrier 22, and is used to detect the state of the output end of the planetary reducer component 2. Detection devices are respectively set at the power input and output ends of the planetary reducer component 2 to obtain the operating data of the motor shaft 12 and the planetary carrier 22, specifically including the speed and position information, so as to monitor and control the operating state of the joint module.

[0038] Furthermore, the motor shaft 12 includes a rotor bracket 122 and an inner rotor 121, the rotor bracket 122 is fixedly connected to the inner rotor 121, the inner rotor 121 is rotatably connected to the outer shell 11, the sun gear 21 is fixedly connected to the rotor bracket 122, and the input end detection device 3 is fixedly arranged on the rotor bracket 122. When the motor is started and current is supplied, the stator winding in the inner rotor 121 generates a rotating magnetic field, drives the inner rotor 121 to rotate, and drives the rotor bracket 122 to rotate synchronously, so as to output power to the sun gear 21 thereon. The input end detection device 3 rotates with the rotor bracket 122, and can accurately obtain the rotation speed and position information of the rotor bracket 122, so as to monitor and control the operating status of the input end of the joint module.

[0039] Furthermore, the input end detection device 3 includes: a magnetic bead 31 and a driving plate 32, the magnetic bead 31 and the driving plate 32 are arranged at intervals, the magnetic bead 31 is fixedly connected to the rotor bracket 122, and the driving plate 32 is fixedly installed on the rear end cover 6, and the driving plate 32 is used to obtain the rotation speed and position information of the input end from the magnetic bead 31.

[0040] The output end detection device 4 includes: a magnetic ring 41 and an encoder plate 42, the encoder plate 42 is spaced apart from the magnetic ring 41, the magnetic ring 41 is fixedly connected to the outer peripheral side of the planetary carrier 22, the encoder plate is fixedly connected to the housing 11, and the encoder plate 42 is used to obtain the rotation speed and position information of the output end from the magnetic ring 41.

[0041] In this embodiment, when the motor assembly 1 is running, the magnetic bead 31 rotates synchronously with the rotor bracket 122, and the magnetic field and other related physical properties generated by it will change, and the driving plate 32 separated from it by a certain distance can sense these changes of the magnetic bead 31, and the sensor chip on the driving plate 32 analyzes the periodic changes of the magnetic field during the rotation of the magnetic bead 31, and then accurately calculates the speed value, and at the same time determines the position of the inner rotor 121 according to the specific state of the magnetic field, that is, obtains the speed and position information of the input end of the joint module; at the same time, the magnetic ring 41 rotates synchronously with the planetary carrier 22, and its magnetic field is constantly changing, and the encoder board 42 separated from it by a certain distance can sense these magnetic field changes, and uses its internal encoding and decoding and other technical means to process the magnetic field change information transmitted by the magnetic ring 41, so as to obtain the speed and position information of the planetary carrier 22, that is, obtain the speed and position information of the output end of the joint module, and the above information can accurately control the movement speed and position of the joint of the quadruped robot to achieve high-precision operation.

[0042] Furthermore, sealing grooves 8 are respectively provided between the front end cover 5 and the housing 11, between the housing 11 and the rotor bracket 122, and between the rear end cover 6 and the housing 11, and sealing members are provided in each of the sealing grooves 8. A dynamic seal 9 is also included, one end of which is rotatably connected to the output flange cover plate 7, and the other end is fixedly connected to the front end cover 5.

[0043] In this embodiment, by correspondingly setting dynamic seals 9 and static seals at the positions where these parts are connected according to different connection relationships, the sealing inside the joint module is fully guaranteed. Not only can it maintain a good lubrication environment inside the joint module and reduce the wear of components due to lack of lubrication or the influence of impurities, but it can also prevent the leakage of lubricating oil and the like inside the motor assembly 1 from polluting the external environment or affecting the overall operation safety of the device. At the same time, good sealing can ensure that the various components of the joint module work in a relatively stable and clean environment, improve the overall reliability and service life of the joint module, and enable it to better operate stably and efficiently under various working conditions to meet the needs of different application scenarios.

[0044] Furthermore, a cross roller bearing is provided between the output flange cover plate 7 and the planetary carrier 22. On the one hand, during the movement of the robot, the joints need to frequently change postures and withstand complex external forces. For example, when carrying heavy objects, performing high-speed movements or being subjected to external impacts, the cross roller bearings at the joints can reliably withstand the torque of these external loads, ensuring the normal operation and motion accuracy of the robot joints, thereby ensuring the working stability and reliability of the entire robot; on the other hand, the cross roller bearings have high rigidity, which can ensure that when the joints are subjected to bending moments, their rotation axis will not be greatly offset or deformed due to the action of the bending moments, thereby ensuring the robot's motion accuracy and repeatability, and improving the robot's working quality and efficiency.

[0045] Furthermore, it also includes a wire fixing frame 10, which is arranged on the outer periphery of the front end cover 5. The wire fixing frame 10 is arranged here to facilitate the arrangement and fixing of various cables.

[0046] Furthermore, it also includes a motor plug 13, which is arranged on the outer periphery of the rear end cover 6. In addition, the present embodiment uses a waterproof motor plug 13, which can better assist the joint module in being used on a quadruped robot for underwater operations.

[0047] The present application also proposes a robot, which includes the planetary reduction joint module as described above. Each joint of the robot can move according to the set requirements, the movement is smooth and accurate, and the movement state of each joint of the robot can be monitored and accurately regulated in real time, improving the accuracy and repeatability of the robot movement. The dynamic seal 9 is combined with the static seal, so that each joint of the robot has a high waterproof performance, and it can adapt to harsh environments such as underwater.

[0048] To sum up, the planetary reduction joint module and the robot equipped with the module provided in this embodiment closely arrange the NW-type two-stage planetary reducer and the motor assembly 1, so that the overall structure is highly integrated, and a detection component is provided to perform real-time detection and feedback on the status of the power input and output ends of the joint module, thereby effectively improving its control accuracy. A good seal is formed between the components, so that the joint module has good waterproof performance and can adapt to the robot's underwater operations.

[0049] This specification discloses the present application with reference to the accompanying drawings, and also enables those skilled in the art to implement the present application, including making and using any device or system, using suitable materials, and using any combined method. The scope of the present application is defined by the technical solution for protection, and includes other examples that occur to those skilled in the art. As long as such other examples include structural elements that are not different from the literal language of the technical solution for protection, or such other examples contain equivalent structural elements that are not substantially different from the literal language of the technical solution for protection, such other examples should be considered to be within the scope of protection determined by the technical solution for protection of the present application.

Claims

1. A planetary reduction joint module, characterized in that: include: Motor assembly, planetary reducer assembly, front cover, rear cover and output flange cover; The motor assembly comprises: a housing and a motor shaft, wherein the motor shaft is rotatably connected to the interior of the housing, the front end cover is fixedly connected to the front end of the housing, and the rear end cover is fixedly connected to the rear end of the housing; The planetary reducer assembly is arranged in the housing, and the planetary reducer assembly includes: an inner ring gear, a sun gear, a planet carrier, and a plurality of planetary gear sets, the planetary gear set includes a primary planetary gear and a secondary planetary gear that are coaxially fixedly connected, the inner ring gear is fixedly connected to the housing, the sun gear is coaxially and fixedly connected to the motor shaft, the planetary gear sets are rotatably connected to the planet carrier, and the primary planetary gear is meshed with the sun gear, and the secondary planetary gear is meshed with the inner ring gear; The output flange cover is rotatably connected to the front end cover, and the output flange cover is fixedly connected to the planet carrier.

2. The planetary reduction joint module according to claim 1, characterized in that: It also includes a detection component, which includes an input end detection device and an output end detection device. The input end detection device is fixedly arranged on the motor shaft and is used to detect the state of the input end of the motor component. The output end detection device is fixedly arranged on the planetary carrier and is used to detect the state of the output end of the planetary reducer component.

3. The planetary reduction joint module according to claim 2, characterized in that: The motor shaft includes a rotor support and an inner rotor, the rotor support is fixedly connected to the inner rotor, the inner rotor is rotatably connected to the outer shell, the sun gear is fixedly connected to the rotor support, and the input end detection device is fixedly arranged on the rotor support.

4. The planetary reduction joint module according to claim 3, characterized in that: The input end detection device comprises: a magnetic bead and a driving plate, the magnetic bead and the driving plate are arranged at intervals, the magnetic bead is fixedly connected to the rotor bracket, the driving plate is fixedly installed on the rear end cover, and the driving plate is used to obtain the rotation speed and position information of the input end from the magnetic bead; The output end detection device includes: a magnetic ring and an encoder plate, the encoder plate and the magnetic ring are spaced apart, the magnetic ring is fixedly connected to the outer peripheral side of the planetary carrier, the encoder plate is fixedly connected to the housing, and the encoder plate is used to obtain the rotation speed and position information of the output end from the magnetic ring.

5. The planetary reduction joint module according to claim 3, characterized in that: Sealing grooves are respectively provided between the front end cover and the housing, between the housing and the rotor support, and between the rear end cover and the housing, and each sealing groove is provided with a sealing member.

6. The planetary reduction joint module according to claim 5, characterized in that: It also includes a dynamic seal, one end of which is rotatably connected to the output flange cover plate, and the other end of which is fixedly connected to the front end cover.

7. The planetary reduction joint module according to claim 1, characterized in that: A cross roller bearing is arranged between the output flange cover plate and the planet carrier.

8. The planetary reduction joint module according to claim 1, characterized in that: It also includes a wire fixing frame, which is arranged on the outer periphery of the front end cover.

9. The planetary reduction joint module according to claim 1, characterized in that: It also includes a motor plug, which is a waterproof motor plug.

10. A robot, characterized in that: Comprising a planetary reduction joint module as described in any one of claims 1-9.

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