A planetary deceleration joint module and a robot equipped with the same

Abstract

The application relates to the technical field of robots, in particular to a planetary deceleration joint module and a robot provided with the same, which comprises a motor assembly, a planetary decelerator 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 decelerator assembly comprises an inner ring gear, a sun gear, a planet carrier, a plurality of planetary gear sets, the planetary gear set comprises coaxially fixedly connected first-stage planetary gears and second-stage planetary gears, the inner ring gear is fixedly connected with the shell, the sun gear is coaxial with and fixedly connected with the motor rotating shaft, the planetary gear sets are respectively rotationally connected to the planet carrier, the first-stage planetary gears are engaged with the sun gear, and the second-stage planetary gears are engaged with the inner ring gear; 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, between the shell and the assembly; detection assemblies are respectively arranged on the motor rotating shaft and the planet carrier; the application has the characteristics of compact structure, small volume and light weight.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a planetary deceleration joint module and a robot equipped with the same. BACKGROUND

[0002] A quadruped robot is a kind of bionic leg-foot robot, which is inspired by the structure of animal limbs and the way of walking. The joint module of a quadruped robot is usually composed of a motor, a planetary reducer, a motor driver, various detectors, etc. The planetary reducer is an important part, which is generally installed between the motor and the output shaft of the joint module, and plays a role in reducing the motor speed and increasing the torque, so as to ensure that the joint movement of the robot is flexible and powerful, and the quadruped robot can support its own weight and walk, run and jump stably on various terrains.

[0003] Most of the prior art adopts a NGW type two-stage planetary reducer to make the joint module of a quadruped robot. The NGW type two-stage planetary reducer is composed of two-stage planetary transmission mechanisms. 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 planet gear and a first-stage inner ring gear. The second-stage planetary transmission mechanism includes a second-stage sun gear, a second-stage planet carrier, a second-stage planet gear and a second-stage inner ring gear. The plurality of planet gears in each transmission mechanism are uniformly distributed around the sun gear and meshed with the inner ring gear. The power reduced by the first-stage planetary mechanism is transmitted by the second-stage sun gear sleeved with the first-stage planet carrier, and is subjected to secondary reduction by the second-stage planetary mechanism. The second-stage planet carrier serves as the output end of the secondary reduction, and transmits power to the external load or other transmission components. However, the NGW type two-stage planetary reducer has a large weight and volume, and the overall integration degree of the reducer is low. SUMMARY

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

[0005] To achieve the above purpose, the planetary deceleration joint module adopted by the present application comprises 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 rotating shaft, the motor rotating shaft is rotatably connected to the inside 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 shell, and comprises an inner ring, a sun gear, a planet carrier, and a plurality of planetary gear sets, each of the planetary gear sets comprises coaxially fixedly connected first-stage planetary gears and second-stage planetary gears, the inner ring is fixedly connected with the shell, the sun gear is coaxial with and fixedly connected with the motor shaft, the planetary gear sets are respectively rotationally connected to the planet carrier, and the first-stage planetary gears are in mesh with the sun gear, and the second-stage planetary gears are in mesh with the inner ring.

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

[0009] As a preferred solution, the detection assembly further comprises input end detection devices and output end detection devices, the input end detection devices are fixedly arranged on the motor shaft to detect the state of the input end of the motor assembly, and the output end detection devices are fixedly arranged on the planet carrier to detect the state of the output end of the planetary reducer assembly.

[0010] As a preferred solution, the motor shaft comprises a rotor support and an inner rotor, the rotor support is fixedly connected with the inner rotor, the inner rotor is rotationally connected with the shell, the sun gear is fixedly connected to the rotor support, and the input end detection devices are fixedly arranged on the rotor support.

[0011] As a preferred solution, the input end detection devices comprise magnetic beads and a driving plate, the magnetic beads and the driving plate are arranged at intervals, the magnetic beads are fixedly connected to the rotor support, and the driving plate is fixedly installed on the rear end cover, and is used to obtain the rotational speed and position information of the input end from the magnetic beads.

[0012] The output end detection devices comprise a magnetic ring and an encoder plate, the encoder plate and the magnetic ring are arranged at intervals, the magnetic ring is fixedly connected to the outer circumferential side of the planet carrier, and the encoder plate is fixedly connected to the shell, and is used to obtain the rotational speed and position information of the output end from the magnetic ring.

[0013] As a preferred solution, sealing grooves are respectively arranged between the front end cover and the shell, between the shell and the rotor support, and between the rear end cover and the shell, and each of the sealing grooves is provided with a sealing element.

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

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

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

[0017] As a preferred solution, a motor plug is further included, which is a waterproof motor plug.

[0018] The application further provides a robot comprising the planetary reduction joint module.

[0019] Compared with the prior art, the planetary reduction joint module has the beneficial effects of:

[0020] 1. The NW type secondary planetary reducer is adopted, the inner gear ring is fixedly connected with the outer shell, the sun gear shaft is sleeved with the motor rotating shaft, the power of the motor is transmitted to the sun gear, the primary planetary gear is engaged with the sun gear, the primary planetary gear rotates to complete the primary reduction, and the secondary planetary gear coaxially arranged with the primary planetary gear rotates, the secondary planetary gear is engaged with the inner gear ring, the secondary planetary gear revolves around the inner gear ring to complete the secondary reduction, and the power after the secondary reduction is output to the output flange plate through the output end of the planet carrier. Compared with the primary planetary reducer, the structure can obtain a larger transmission ratio, effectively reduce the rotating speed of the motor, and increase the torque.

[0021] 2. Compared with the NGW type secondary planetary reducer, the structure is simpler, the weight and the volume of the joint module can be effectively reduced, and the integration degree of the overall device is improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] The application will be described in further detail below in connection with the attached drawings and preferred embodiments, but those skilled in the art will appreciate that the drawings are only drawn for the purpose of explaining the preferred embodiments and therefore should not be regarded as limiting the scope of the application. In addition, unless specifically indicated, the drawings are only intended to conceptually represent the composition or structure of the described objects and can include exaggerated displays, and the drawings are not necessarily drawn to scale.

[0023] Figure 1 is a sectional view of the joint module of the application;

[0024] Figure 2 is a schematic view of the motor assembly of the application;

[0025] Figure 3 is a schematic view of the planetary reducer assembly of the application;

[0026] Figure 4 is a sectional view of the planetary reducer assembly of the application;

[0027] Figure 5 is a schematic view of the detection assembly of the application;

[0028] Wherein: 1, motor assembly; 11, shell; 12, motor rotating shaft; 121, inner rotor; 122, rotor support; 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 plate; 4, output end detection device; 41, magnetic ring; 42, encoder plate; 5, front end cover; 6, rear end cover; 7, output flange cover plate; 8, sealing groove; 9, dynamic seal; 10, wire fixing frame. DETAILED DESCRIPTION

[0029] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary, and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0030] In the description of the present application, it should be understood that the terms "front", "back", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. In addition, in the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0031] Please refer to Figures 1-5 A planetary reduction joint module provided by the embodiments of the present application comprises 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 shell 11 and a motor rotating shaft 12, the motor rotating shaft 12 is rotatably connected to the inside of the shell 11, the front end cover 5 is fixedly connected to the front end of the shell 11, and the rear end cover 6 is fixedly connected to the rear end of the shell 11.

[0033] The planetary reducer assembly 2 is arranged in the shell 11, and the planetary reducer assembly 2 comprises 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 comprises a primary planetary gear 231 and a secondary planetary gear 232 which are coaxially and fixedly connected, the inner ring gear 24 is fixedly connected with the shell 11, the sun gear 21 is coaxial with and fixedly connected with the motor shaft 12, the planetary gear set 23 is rotationally connected to the planet carrier 22 respectively, and the primary planetary gear 231 is engaged with the sun gear 21, and the secondary planetary gear 232 is engaged with the inner ring gear 24.

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

[0035] In the embodiment, the planetary reducer assembly 2 is arranged in the motor assembly 1, the planetary reducer assembly 2 comprises the inner ring gear 24 which is fixedly connected with the shell 11, the sun gear 21 which is coaxial with and fixedly connected with the motor shaft 12, and a plurality of planetary gear sets 23 which are uniformly distributed and rotationally connected to the planet carrier 22, each planetary gear set 23 comprises the primary planetary gear 231 and the secondary planetary gear 232 which are coaxial and fixedly connected, the primary planetary gear 231 is engaged with the sun gear 21, and the secondary planetary gear 232 is engaged with the inner ring gear 24; when the motor is started, the motor shaft 12 starts to rotate under the action of the magnetic field, the power is output from the motor shaft 12 to the sun gear 21 shaft, the sun gear 21 is the power input end of the planetary reducer, drives the primary planetary gear 231 engaged therewith to rotate, and the primary planetary gear 231 and the sun gear 21 are different in tooth number, thereby achieving primary reduction; the primary planetary gear 231 drives the secondary planetary gear 232 coaxial therewith to rotate, the secondary planetary gear 232 is engaged with the inner ring gear 24, and thus the secondary planetary gear 232 revolves around the central axis of the inner ring gear 24, that is, the planet carrier 22 rotates, thereby achieving secondary reduction, and the planet carrier 22 is connected with the output flange end plate of the joint module to output the power after secondary reduction; in addition, the front end cover 5 and the rear end cover 6 are fixedly connected to the front and rear ends of the motor shell 11 respectively, so that the whole forms a closed structure, and dust, sundries and the like in the outside are prevented from entering the inside 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, meets the demand of the quadruped robot for low rotation speed and large torque, has a smaller volume and weight compared with the NGW type secondary planetary reducer, and is arranged compactly with the motor assembly 1, so that efficient reduction transmission can be achieved in a limited space.

[0036] It is worth noting that, in the embodiment, the number of the planetary gear sets 23 includes but is not limited to at least one set, and the gear ratio of the sun gear 21, the primary planetary gear 231 and the secondary planetary gear 232 can be adjusted according to actual requirements.

[0037] Further, the detection assembly is further included, the detection assembly includes input end detection device 3 and output end detection device 4, the input end detection device 3 is fixedly arranged on the motor rotating shaft 12, and the state of the input end of the motor assembly 1 is detected, and the output end detection device 4 is fixedly arranged on the planet carrier 22, and the state of the output end of the planetary reducer assembly 2 is detected. The detection device is arranged at the power input and output end of the planetary reducer assembly 2 respectively, so that the running data of the motor rotating shaft 12 and the planet carrier 22 is obtained, and the rotation speed and position information are specifically included, so that the running state of the joint module is monitored and controlled.

[0038] Further, the motor rotating shaft 12 includes a rotor support 122 and an inner rotor 121, the rotor support 122 is fixedly connected with the inner rotor 121, the inner rotor 121 is rotationally connected with the shell 11, the sun gear 21 is fixedly connected on the rotor support 122, and the input end detection device 3 is fixedly arranged on the rotor support 122. When the motor is started, the stator winding in the inner rotor 121 generates a rotating magnetic field, drives the inner rotor 121 to rotate, and synchronously drives the rotor support 122 to rotate, so as to output power to the sun gear 21 on the rotor support 122. The input end detection device 3 rotates with the rotor support 122, so that the rotation speed and position information of the rotor support 122 can be accurately obtained, so that the running state of the input end of the joint module is monitored and controlled.

[0039] Further, 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 on the rotor support 122, and the driving plate 32 is fixedly installed on the rear end cover 6. 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 and the magnetic ring 41 are arranged at intervals, the magnetic ring 41 is fixedly connected to the outer circumferential side of the planet carrier 22, and the encoder plate is fixedly connected to the shell 11. 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 the present embodiment, when the motor assembly 1 is running, the magnetic beads 31 rotate synchronously with the rotor support 122, and the physical properties such as the magnetic field generated thereby change. The driving plate 32 spaced a certain distance from the magnetic beads 31 can sense these changes in the magnetic beads 31. The sensor chip on the driving plate 32 analyzes the periodic changes in the magnetic field during the rotation of the magnetic beads 31, and accurately calculates the rotational speed value. At the same time, the position of the inner rotor 121 is determined according to the specific state of the magnetic field, i.e., the rotational speed and position information of the input end of the joint module are obtained. At the same time, the magnetic ring 41 rotates synchronously with the planet carrier 22, and its magnetic field changes constantly. The encoder plate 42 spaced a certain distance from the magnetic ring 41 can sense these changes in the magnetic field. The internal encoding and decoding technology is used to process the magnetic field change information transmitted by the magnetic ring 41, so as to obtain the rotational speed and position information of the planet carrier 22, i.e., the rotational speed and position information of the output end of the joint module. Through the above information, the movement speed and position of the quadruped robot joint can be accurately controlled, and high-precision operation can be realized.

[0042] Further, a sealing groove 8 is formed between the front end cover 5 and the housing 11, between the housing 11 and the rotor support 122, and between the rear end cover 6 and the housing 11, respectively, and a sealing element is arranged in each sealing groove 8. A dynamic seal 9 is further 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 the present embodiment, dynamic seals 9 and static seals are arranged according to different connection relationships at the positions connected by these parts, which comprehensively guarantees the sealing performance of the joint module. Not only can the lubrication environment inside the joint module be maintained, reducing the wear of parts due to lack of lubrication or influence of impurities, but also can prevent the leakage of lubricating oil 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 parts of the joint module work in a relatively stable and clean environment, improve the overall reliability and service life of the joint module, and make it run stably and efficiently under various working conditions, meeting the needs of different application scenarios.

[0044] Further, the output flange cover plate 7 and the planet carrier 22 are provided with a cross roller bearing. On the one hand, during the movement of the robot, the joint needs to frequently change the posture and bear complex external forces, for example, when carrying heavy objects, performing high-speed actions or being subjected to external impact, the cross roller bearing at the joint can reliably bear the torque of these external loads, ensuring the normal operation and movement accuracy of the robot joint, thereby ensuring the working stability and reliability of the entire robot. On the other hand, the cross roller bearing has high rigidity, which can ensure that the rotation axis of the joint will not be greatly deviated or deformed due to the bending moment, thereby ensuring the movement accuracy and repeatability of the robot, and improving the working quality and efficiency of the robot.

[0045] Further, a wire fixing frame 10 is arranged on the outer periphery of the front end cover 5. Arranging the wire fixing frame 10 here facilitates the arrangement and fixation of various wires and cables.

[0046] Further, a motor plug 13 is arranged on the outer periphery of the rear end cover 6, and a waterproof motor plug 13 is selected in this embodiment, which can better assist the joint module to be used on the underwater robot.

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

[0048] In summary, the planetary reduction joint module and the robot provided in the embodiment tightly arrange the NW type secondary planetary reducer and the motor assembly 1, so that the overall structure is highly integrated, and the detection assembly is arranged to detect the state of the power input end and the output end of the joint module in real time. The control accuracy is effectively improved, the components are well sealed, the joint module has good waterproof performance, and can adapt to underwater operation of the robot.

[0049] The present specification discloses the present application in reference to the drawings and also enables one of ordinary skill in the art to practice the present application, including making and using any devices or systems, employing appropriate materials, and using any incorporated methods. The scope of the present application is defined by the claims, and includes other examples that occur to persons of ordinary skill in the art. Such other examples are deemed to be within the scope of the present application as determined by the claims and equivalents thereof. Such other examples should be considered to be within the scope of the present application as determined by the claims and equivalents thereof whenever such other examples include structural elements not materially different from the literal language of the claims, or include equivalent structural elements to those of the literal language of the claims and are of equivalent function to that of the literal language of the claims.

Claims

1. A planetary reduction joint module, characterized in that, The motor assembly, the planetary reducer assembly, the front end cover, the rear end cover and the output flange cover plate are included. The motor assembly includes a shell and a motor rotating shaft, the motor rotating shaft is rotationally connected to the inside of the shell, the front end cover is fixedly connected to the front end of the shell, and the rear end cover is fixedly connected to the rear end of the shell. The planetary reducer assembly is arranged in the shell, 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 coaxially fixedly connected first-stage planetary gears and second-stage planetary gears, the inner ring gear is fixedly connected to the shell, the sun gear is coaxial with the motor rotating shaft and is fixedly connected to the motor rotating shaft, the planetary gear sets are rotationally connected to the planet carrier respectively, and the first-stage planetary gears are engaged with the sun gear and the second-stage planetary gears are engaged with the inner ring gear. The output flange cover plate is rotationally connected to the front end cover and is fixedly connected to the planet carrier. The detection assembly is further included, the detection assembly includes an input end detection device and an output end detection device, the input end detection device is fixedly arranged on the motor rotating shaft and is used for detecting the state of the input end of the motor assembly, and the output end detection device is fixedly arranged on the planet carrier and is used for detecting the state of the output end of the planetary reducer assembly. The motor rotating shaft includes a rotor support and an inner rotor, the rotor support is fixedly connected to the inner rotor, the inner rotor is rotationally connected to the shell, the sun gear is fixedly connected to the rotor support, and the input end detection device is fixedly arranged on the rotor support. The input end detection device includes magnetic beads and a driving plate, the magnetic beads and the driving plate are arranged at intervals, the magnetic beads are fixedly connected to the rotor support, the driving plate is fixedly mounted on the rear end cover, and the driving plate is used for obtaining the rotating speed and position information of the input end from the magnetic beads. The output end detection device includes a magnetic ring and an encoder plate, the encoder plate and the magnetic ring are arranged at intervals, the magnetic ring is fixedly connected to the outer circumferential side of the planet carrier, the encoder plate is fixedly connected to the shell, and the encoder plate is used for obtaining the rotating speed and position information of the output end from the magnetic ring. Sealing grooves are respectively arranged between the front end cover and the shell, between the shell and the rotor support and between the rear end cover and the shell, and sealing members are arranged in each sealing groove.

2. The planetary reduction joint module of claim 1, wherein, The dynamic seal is rotationally connected to one end of the output flange cover plate and is fixedly connected to the other end of the front end cover.

3. The planetary reduction joint module of claim 2, wherein, A cross roller bearing is arranged between the output flange cover plate and the planet carrier.

4. The planetary reduction joint module of claim 1, wherein, A wire fixing frame is arranged on the outer circumferential side of the front end cover.

5. The planetary reduction joint module of claim 1, wherein, A motor plug is a waterproof motor plug.

6. The planetary reduction joint module of claim 1, wherein, The planetary reduction joint module includes any one of claims 1-6.

7. A robot, characterized in that ​

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