Gear motor for exoskeleton robot

Abstract

The invention relates to a gear motor for an exoskeleton robot, belongs to the technical field of exoskeleton robots, and solves the problem of large axial size of a gear motor for an exoskeleton robot in the prior art. The cycloid speed reducer comprises a hollow wire passing shaft, a tail end flange, a shell, a motor assembly and a cycloid speed reducing assembly, wherein the hollow wire passing shaft is sleeved with the tail end flange; the shell comprises a sleeve and a stepped radial partition plate, the stepped radial partition plate divides the sleeve into a motor cavity and a speed reduction cavity, and the motor cavity and the speed reduction cavity are at least partially overlapped in the axial direction; an eccentric input shaft in the cycloid speed reduction assembly is arranged on the hollow wire passing shaft in a sleeved mode, and a motor rotor shaft in the motor assembly is arranged on the eccentric input shaft in a sleeved mode and can drive the eccentric input shaft to rotate. The motor cavity and the speed reduction cavity are at least partially overlapped in the axial direction, and the motor rotor shaft is arranged on the eccentric input shaft in a sleeving manner, so that the size of the speed reduction motor in the axial direction is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of reduction motors, and particularly to a reduction motor for an exoskeleton robot. Background Art

[0002] In harsh environments such as outdoors and mountains, the joint motors of exoskeleton robots, especially load-bearing exoskeletons, need to have high reliability, impact resistance, and the ability to adapt to complex working conditions. Planetary reduction motors and harmonic reduction motors generally have difficulty meeting the requirements in these scenarios, and cycloidal reduction motors with high load-bearing capacity and impact resistance are mostly used.

[0003] The existing cycloidal reduction motors for robots generally include a motor part and a reduction part, which are relatively independently arranged inside the housing, and only the end of the drive shaft of the motor part is connected to the end of the input shaft of the reduction part to transmit power. However, the cycloidal reduction motor with this structure has a large size and can no longer meet the requirements of miniaturization of robot equipment. At the same time, both the motor and the cycloidal pinwheel reducer belong to mature standardized structures with complex structural compositions, and it is difficult to compress their sizes while maintaining their various performance parameters.

[0004] In addition, the existing ordinary cycloidal reducers use a pin tooth pin and a stud mechanism to transmit motion and power, that is, a structure with a sleeve pin shaft is respectively installed in the pin tooth shell and the circular hole of the cycloid gear for transmission. In this way, there is relative sliding directly on the contact surfaces of the pin tooth pin, the sleeve, and the tooth surface of the cycloid disk. Similarly, there is also inevitable relative sliding during the transmission between the contact surfaces of the circular hole of the cycloid gear, the sleeve, and the stud, and the friction coefficient is large, which directly causes serious frictional wear and large noise during the transmission process, thereby reducing the transmission efficiency, service life, and working performance of the cycloidal reducer. Therefore, there is an urgent need to propose a new type of reduction motor to meet the requirements of miniaturization of robot equipment and at the same time reduce wear and noise. Summary of the Invention

[0005] In view of the above analysis, the present invention aims to provide a reduction motor for an exoskeleton robot to solve the problem of the too large size of the existing reduction motors for robots.

[0006] On the one hand, the present invention provides a speed reduction motor for an exoskeleton robot, which includes a tail-end flange, a housing, a motor assembly, a cycloid speed reduction assembly, and a hollow wire passing shaft; wherein, the tail-end flange, the housing, the motor assembly, and the cycloid speed reduction assembly are all sleeved on the hollow wire passing shaft; the housing includes a sleeve and a stepped radial partition plate, and the stepped radial partition plate divides the sleeve into a motor cavity and a speed reduction cavity, and the motor cavity and the speed reduction cavity at least partially overlap axially; the motor assembly is located in the motor cavity, and the tail-end flange is fixedly connected to the end of the sleeve and closes the motor cavity; the cycloid speed reduction assembly is at least partially located in the speed reduction cavity.

[0007] Further, the cycloid speed reduction assembly includes an input module, and the input module includes an eccentric input shaft; the motor assembly includes a motor rotor shaft, and the motor rotor shaft is sleeved on the eccentric input shaft and can drive the eccentric input shaft to rotate.

[0008] Further, the motor assembly further includes a frameless motor stator and a frameless motor rotor; the axial dimension of the motor rotor shaft is one-third of the axial dimension of the frameless motor rotor, and the motor rotor shaft is connected to the end of the frameless motor rotor adjacent to the input end of the speed reduction motor.

[0009] Further, the motor assembly further includes a motor bearing, and the motor bearing is radially located between the frameless motor rotor and the stepped radial partition plate and axially located in the middle of the frameless motor rotor.

[0010] Further, the motor assembly further includes an integrated drive board and a magnetic ring, and the motor rotor shaft includes an annular accommodation cavity facing the input end of the speed reduction motor, and the integrated drive board and the magnetic ring are located in the annular accommodation cavity.

[0011] Further, the cycloid speed reduction assembly further includes a speed reduction module and an output module; the speed reduction module includes a first cycloid gear, a second cycloid gear, and a pin tooth pin shaft; the output module includes an auxiliary output disc, a main output disc, an output proximal bearing, an output distal bearing, and a rotating pin.

[0012] Further, both ends of the pin tooth pin shaft are fixedly arranged on the housing, and a split shaft sleeve structure is arranged in the middle of the pin tooth pin shaft.

[0013] Further, the split shaft sleeve structure includes a first needle roller bearing of the pin tooth and a second needle roller bearing of the pin tooth. The first needle roller bearing of the pin tooth can be engaged with the external tooth profile of the first cycloid gear, and the second needle roller bearing of the pin tooth can be engaged with the external tooth profile of the second cycloid gear.

[0014] Further, the output distal bearing is arranged on one side of the reduction cavity close to the motor cavity and can support the auxiliary output disk on the stepped radial partition plate; the output proximal bearing is arranged on one side of the reduction cavity close to the output end of the reduction motor and can support the main output disk on the inner peripheral surface of the end of the sleeve.

[0015] Further, one end of the rotating pin is arranged on the auxiliary output disk through the distal pin support bearing, and the other end of the rotating pin is arranged on the main output disk through the proximal pin support bearing.

[0016] Further, the input module further includes a first input bearing and a second input bearing; the eccentric input shaft is sleeved on the hollow wire passing shaft, and one end of the eccentric input shaft is supported on the input end of the reduction motor through the first input bearing, and the other end of the eccentric input shaft is supported on the output end of the reduction motor through the second input bearing.

[0017] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: (1) The present invention discloses a reduction motor for an exoskeleton robot. The space inside the housing is divided into a motor cavity and a reduction cavity by a stepped radial partition plate, and the motor cavity and the reduction cavity at least partially overlap axially, so that the motor assembly and the cycloid reduction assembly can at least partially overlap axially; at the same time, by extending the eccentric input shaft of the cycloid reduction assembly from the input end to the output end of the reduction motor, and sleeving the motor rotor shaft on the eccentric input shaft, the overall structure is more compact and stable, and the axial dimension of the reduction motor is reduced from 70-80 mm in the prior art to 50 mm, reducing the motor size while maintaining the performance of the reduction motor, and meeting the demand of the exoskeleton robot for a miniaturized reduction motor.

[0018] (2) In the present invention, the axial dimension of the motor rotor shaft is one-third of the axial dimension of the frameless motor rotor and is connected to the end of the frameless motor rotor adjacent to the input end of the reduction motor, leaving space for the cycloid reduction assembly; by arranging the integrated drive board and the magnetic ring in the annular accommodation cavity of the motor rotor shaft, the axial dimension of the motor assembly is further reduced.

[0019] (3) By arranging a split shaft sleeve structure on the pin tooth pin shaft and support bearings at both ends of the rotating pin, the present invention simplifies the structural composition of the pin tooth pin shaft and the rotating pin in the prior art, and at the same time converts the sliding friction in the transmission process of the cycloid reduction motor into rolling friction, reducing collision wear, and improving the transmission efficiency and load-bearing capacity of the reduction motor.

[0020] In the present invention, the above technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can be made obvious from the description, or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained from the content specifically pointed out in the description and the drawings. Description of the Drawings

[0021] The drawings are only for the purpose of showing specific embodiments, and are not considered as a limitation to the present invention. Throughout the drawings, the same reference signs denote the same components; Figure 1 is a schematic structural view of the reduction motor for an exoskeleton robot of the present invention, where (a) is the perspective view of the input end and (b) is the perspective view of the output end; Figure 2 is an end view of the output end of the reduction motor of the present invention; Figure 3 is along Figure 2 a cross-sectional view taken along the A-A direction in Figure 4 is along Figure 2 a cross-sectional view taken along the B-B direction in Figure 5 is a schematic structural view of the housing of the reduction motor for an exoskeleton robot of the present invention taken along the axial direction; Figure 6 is a schematic structural view of the eccentric input shaft of the reduction motor for an exoskeleton robot of the present invention; Figure 7 is an exploded view of the reduction module and the output module of the cycloid reduction assembly of the reduction motor for an exoskeleton robot of the present invention; Figure 8 is a cross-sectional view of the output module and the cycloid gear of the reduction motor for an exoskeleton robot of the present invention; Figure 9 is Figure 8 a partial enlarged view of the elliptical part in

[0022] Reference Signs: 1 - Housing; 11 - Sleeve; 111 - Input end; 112 - Output end; 113 - First section; 114 - Second section; 115 - Third section; 116 - Fourth section; 117 - Heat dissipation groove; 12 - Step - type radial partition plate; 121 - First radial section; 122 - First axial section; 123 - Second radial section; 124 - Second axial section; 125 - Third radial section; 126 - Third axial section; 13 - Bearing rib; 2 - Motor assembly; 21 - Frameless motor stator; 22 - Frameless motor rotor; 23 - Motor rotor shaft; 24 - Integrated drive board; 25 - Magnetic ring; 26 - Motor bearing; 3 - Cycloid speed - reducing assembly; 311 - Eccentric input shaft; 312 - First input bearing; 313 - Second input bearing; 314 - Cage assembly of the first roller bearing without inner and outer rings; 315 - Cage assembly of the second roller bearing without inner and outer rings; 321 - First cycloid gear; 322 - Second cycloid gear; 323 - Pin tooth pin shaft; 324 - First needle roller bearing of the pin tooth; 325 - Second needle roller bearing of the pin tooth; 331 - Auxiliary output disk; 332 - Main output disk; 3321 - First component of the main output disk; 3322 - Second component of the main output disk; 333 - Output proximal bearing; 334 - Output distal bearing; 335 - Rotating stud; 336 - Proximal support bearing of the stud; 3361 - First needle roller bearing; 3362 - Second needle roller bearing; 337 - Distal support bearing of the stud; 338 - First screw; 339 - Second screw; 4 - Tail flange; 41 - Detection cover plate; 5 - Hollow wire - passing shaft. Detailed implementation mode

[0023] The following combines the accompanying drawings to specifically describe the preferred embodiments of the present invention. Among them, the accompanying drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principle of the present invention, rather than to limit the scope of the present invention.

[0024] Embodiment 1 A specific embodiment of the present invention is as Figure 1 、 Figure 2 shown, which discloses a speed - reducing motor for an exoskeleton robot, including a housing 1, a motor assembly 2, and a cycloid speed - reducing assembly 3. The housing 1 divides the interior of the speed - reducing motor into two cavities, namely a motor cavity and a speed - reducing cavity. The motor assembly 2 is arranged in the motor cavity, and the cycloid speed - reducing assembly 3 is arranged in the speed - reducing cavity. The motor cavity and the speed - reducing cavity partially overlap axially, reducing the axial dimension of the speed - reducing motor.

[0025] The speed - reducing motor for an exoskeleton robot in this embodiment, referring to Figure 3 、 Figure 4, it further includes a tail flange 4 and a hollow wire passing shaft 5. The tail flange 4 is arranged at the input end 111 of the housing 1, and the hollow wire passing shaft 5 runs through the entire speed reduction motor, and its axis coincides with the axis of the speed reduction motor. The housing 1, the motor assembly 2, and the cycloid speed reduction assembly 3 are all sleeved on the hollow wire passing shaft 5.

[0026] See Figure 5 , the housing 1 includes a sleeve 11 and a stepped radial partition plate 12. Among them, the sleeve 11 includes an input end 111 and an output end 112, and the stepped radial partition plate 12 extends radially inwards from the connection between the input end 111 and the output end 112, dividing the interior of the speed reduction motor into two cavities, namely a motor cavity and a speed reduction cavity, as Figure 3 , Figure 4 shown, the left side of the stepped radial partition plate 12 is the motor cavity, and the right side is the speed reduction cavity.

[0027] See Figure 5 , the input end 111 includes a first section 113 and a second section 114 extending axially, and the output end 112 includes a third section 115 and a fourth section 116 extending along the axis. From the input end 111 to the output end 112, the diameter decreases step by step.

[0028] The stepped radial partition plate 12 extends radially inwards from the connection between the second section 114 and the third section 115 to form a first radial section 121, then extends axially towards the input end 111 to form a first axial section 122, then extends radially inwards to form a second radial section 123, then extends axially towards the input end 111 to form a second axial section 124, then continues to extend radially inwards to form a third radial section 125, and finally extends axially towards the output end 112 to form a third axial section 126.

[0029] Two rows of holes are arranged on the first radial section 121. The holes on the radially outer side are used to set the ends of the pin teeth pin shafts 323, and the holes on the radially inner side, the holes arranged on the second radial section 123, and the holes arranged on the third radial section 125 are all used for weight reduction.

[0030] The stepped radial partition plate 12 divides the sleeve 11 into two sections, one side forms a motor cavity, and the other side forms a cycloid speed reduction cavity.

[0031] See Figure 3 , Figure 4 , the motor assembly 2 includes a frameless motor stator 21, a frameless motor rotor 22, a motor rotor shaft 23, an integrated drive board 24, a magnetic ring 25, and a motor bearing 26.

[0032] Among them, the frameless motor stator 21 is radially located within the input end 111 of the sleeve 11, axially extends within the first section 113 and the second section 114 of the input end 111, abuts against the tail-end flange 4 on one side, and abuts against the first radial section 121 of the stepped radial partition plate 12 on the other side.

[0033] Furthermore, a plurality of heat dissipation grooves 117 are provided on the outer peripheral surface of the first section 113 of the sleeve 11 to improve the heat dissipation efficiency of the frameless motor stator 21.

[0034] The frameless motor rotor 22 is radially located within the frameless motor stator 21, and axially has the same size as the frameless motor stator 21 and the two are flush. The frameless motor rotor 22 has a rotor radially inner peripheral surface, which sequentially abuts against the motor rotor shaft 23, the motor bearing 26, and the first axial section 122 of the stepped radial partition plate 12 from left to right. Through this setting method, the frameless motor rotor 22 can be stably supported.

[0035] The motor rotor shaft 23 is radially located within the frameless motor rotor 22, and its axial size is approximately one-third of the axial size of the frameless motor rotor 22. The motor rotor shaft 23 includes an inner ring, an outer ring, and a side plate connecting the inner ring and the outer ring. The side plate is located at the right ends of the inner ring and the outer ring, and the inner ring, the outer ring, and the side plate enclose an annular accommodation cavity. The inner ring part on one side of the motor rotor shaft 23 abuts against the end face of the first input bearing 312 in the middle of the tail-end flange 4, and the other side abuts against the motor bearing 26 and the third radial section 125 of the stepped radial partition plate 12. Through this setting method, a part of the space inside the frameless motor rotor 22 in the radial direction can be saved for arranging the cycloid speed reduction assembly 3, thereby reducing the axial size of the speed reduction motor.

[0036] The tail-end flange 4 is fixedly connected to the housing 1 and closes the input end 111 of the housing 1. The integrated drive board 24 is installed on the tail-end flange 4 and placed in the annular accommodation cavity of the motor rotor shaft 23. The magnetic ring 25 is also placed in the annular accommodation cavity of the motor rotor shaft 23 and is located between the integrated drive board 24 and the side plate of the motor rotor shaft 23 and is fixed to the motor rotor shaft 23 and can rotate with the motor rotor shaft 23. With such a setting, the axial size of the speed reduction motor can be further reduced.

[0037] An operation and detection window is left on the tail-end flange 4, and the detection cover plate 41 is sealed. The wires of the integrated drive board 24 and the frameless motor stator 21 pass through the holes on the tail-end flange 4 and are directly connected to the driver. For the convenience of operation, the connection position is selected in the space below the detection cover plate 41.

[0038] The motor bearing 26 is radially located between the frameless motor rotor 22 and the second axial section 124 of the stepped radial partition plate 12, and axially located between the side plate of the motor rotor shaft 23 and the second radial section 123 of the stepped radial partition plate 12.

[0039] The frameless motor rotor 22 is fixedly connected to the motor rotor shaft 23 and is supported by the motor bearing 26. The outer side of the housing 1 is provided with heat dissipation grooves 117 to improve the heat dissipation effect of the motor.

[0040] See Figure 3 、 Figure 4 , the cycloid speed reduction assembly 3 includes an input module, a speed reduction module, and an output module. Power is transmitted from the input module to the output module through the cycloid gear.

[0041] Among them, the input module includes an eccentric input shaft 311, a first input bearing 312, and a second input bearing 313.

[0042] The structure of the eccentric input shaft 311 is as Figure 6 shown, including a hollow shaft and an eccentric part provided on the outer peripheral surface of the hollow shaft. The eccentric part of the eccentric input shaft 311 has two eccentric sections that are 180 degrees apart from each other. An inner and outer ringless first roller bearing cage assembly 314 and a second roller bearing cage assembly 315 are installed on the eccentric part of the eccentric input shaft 311.

[0043] See Figure 3 、 Figure 4 , the eccentric input shaft 311 is sleeved outside the hollow wire passing shaft 5 and is supported by the first input bearing 312 and the second input bearing 313. The eccentric input shaft 311 axially extends from the tail end flange 4 to the output end 112 of the reduction motor. The first input bearing 312 is arranged inside the tail end flange 4, and the second input bearing 313 is arranged at the output end 112 of the reduction motor. Through this setting method, the structure of the entire device is compact and stable, and the force is balanced.

[0044] The motor rotor shaft 23 is sleeved outside the eccentric input shaft 311 and is rigidly connected to the eccentric input shaft 311 through a key, driving the eccentric input shaft 311 to rotate. Compared with the prior art in which the motor rotor shaft and the eccentric input shaft are connected by a coupling or other types of connection methods at the end, this setting method can further reduce the axial dimension of the reduction motor and can ensure the stability and reliability of the transmission between the motor rotor shaft 23 and the eccentric input shaft 311.

[0045] See Figure 3 、 Figure 4 , the speed reduction module includes a first cycloid gear 321, a second cycloid gear 322, and a pin tooth pin shaft 323.

[0046] The first cycloid gear 321 and the second cycloid gear 322 are respectively placed on the first roller bearing cage assembly 314 and the second roller bearing cage assembly 315, and swing with the rotation of the eccentric input shaft 311.

[0047] A plurality of pin tooth pin shafts 323 are fixedly arranged within the third section 115 of the sleeve 11 of the housing 1. The pin tooth pin shafts 323 are used to cooperate with the outer tooth profiles of the first cycloid gear 321 and the second cycloid gear 322 to drive the first cycloid gear 321 and the second cycloid gear 322 to rotate.

[0048] In the present invention, referring to Figure 4 , both ends of the pin tooth pin shaft 323 are fixed on the housing 1, and a split shaft sleeve structure is arranged in the middle, that is, a first needle roller bearing 324 and a second needle roller bearing 325 of the pin tooth are sleeved on each pin tooth pin shaft 323, which can respectively engage with the outer tooth profiles of the first cycloid gear 321 and the second cycloid gear 322, reducing the collision of the pin tooth pin shaft 323 during the movement of the two cycloid gears and improving the overall load-bearing capacity.

[0049] Compared with the prior art solution of specially providing a pin tooth installation shell to install the pin tooth pin shaft and simultaneously arranging a pin tooth sleeve on the pin tooth pin shaft, the solution of the present invention has a simple structure, reduces the dedicated pin tooth installation shell, and at the same time reduces the installation difficulty. The split shaft sleeve structure can better withstand the impacts from different directions, angles, and time periods of the two cycloid gears compared with the pin tooth sleeve, thereby reducing wear and extending the service life of the motor.

[0050] Referring to Figure 3 , Figure 4 and Figure 7 , the output module includes an auxiliary output disk 331, a main output disk 332, an output proximal bearing 333, an output distal bearing 334, a rotating pin 335, and a proximal pin support bearing 336 and a distal pin support bearing 337 installed on both sides of the rotating pin 335.

[0051] Among them, the auxiliary output disk 331 and the main output disk 332 are fixedly connected by a first screw 338 passing through the first cycloid gear 321 and the second cycloid gear 322. The middle part of the rotating pin 335 sequentially passes through the pin holes of the first cycloid gear 321 and the second cycloid gear 322. One end of the rotating pin 335 facing the input end 111 is arranged in the pin hole provided on the auxiliary output disk 331 through the distal pin support bearing 337, and one end of the rotating pin 335 facing the output end 112 is arranged in the pin hole provided on the main output disk 332 through the proximal pin support bearing 336.

[0052] When the first cycloid gear 321 and the second cycloid gear 322 rotate under the action of the eccentric input shaft 311 and the pin tooth pin shaft 323, the rotating stud 335 is driven to rotate synchronously, and then the auxiliary output disk 331 and the main output disk 332 are driven to rotate synchronously, realizing power output.

[0053] By using the stud proximal support bearing 336 and the stud distal support bearing 337 to support the rotating stud 335, the rotating stud 335 can rotate about its own axis relative to the first cycloid gear 321, the second cycloid gear 322, the auxiliary output disk 331 and the main output disk 332, so that the sliding friction between the first cycloid gear 321, the second cycloid gear 322 and the rotating stud 335 becomes rolling friction, which can greatly reduce wear and reduce noise.

[0054] See Figure 3 、 Figure 4 As shown in FIGS. and, the output distal bearing 334 is arranged on one side of the reduction cavity close to the motor cavity, and is radially located between the third axial section 126 of the stepped radial partition plate 12 and the axial protruding end of the auxiliary output disk 331, and the axial protruding end is radially located within the second axial section 124 of the stepped radial partition plate 12. The output proximal bearing 333 is arranged on one side of the reduction cavity close to the output end 112 of the reduction motor, and is radially located between the main output disk 332 and the fourth section 116 of the sleeve 11 of the housing 1, and axially located between the radial step surface at the end of the fourth section 116 of the housing 1 and the bearing edge 13 arranged at the output end 112 of the sleeve 11 and the main output disk 332. The bearing edge 13 is fixedly connected to the output end 112 of the housing 1 by screws, as shown in FIGS. and. In this way of setting, the output distal bearing 334 and the output proximal bearing 333 support the output module on the housing 1 from the two ends of the output module, which can ensure the stable support of the output module to the greatest extent. Figure 1 、 Figure 2 Shown. By this setting method, the output distal bearing 334 and the output proximal bearing 333 support the output module on the housing 1 from the two ends of the output module, which can ensure the stable support of the output module to the greatest extent.

[0055] Furthermore, the output proximal bearing 333 is a crossed roller bearing, and the output distal bearing 334 is a deep groove ball bearing. The two bearings cooperate with each other to support the output assembly, improving the load-bearing capacity and reducing the space.

[0056] In some preferred solutions, see Figure 8 As shown in FIGS., the main output disk 332 includes a main output disk assembly one 3321 and a main output disk assembly two 3322. The output proximal bearing 333 is sandwiched between them and is fixedly connected into one body by the second screw 339 (see Figure 7 ). Correspondingly, the stud proximal support bearing 336 includes a first needle roller bearing 3361 and a second needle roller bearing 3362, which are respectively located within the main output disk assembly one 3321 and the main output disk assembly two 3322, as shown in FIGS. and. Figure 8 、 Figure 9 Shown.

[0057] During the operation process, the housing 1 and the pin tooth pin shaft 323 thereon are fixed, the motor rotor shaft 23 rotates to drive the eccentric input shaft 311 to rotate, the rotation of the eccentric input shaft 311 drives the swing of the cycloid gear, the cycloid gear rotates under the action of the pin tooth pin shaft 323, and the rotation of the cycloid gear drives the rotation of the output module, so as to achieve the purpose of reducing speed and increasing torque.

[0058] In the present invention, three measures are taken to reduce the collision friction during the transmission process and improve the transmission efficiency. First, a first roller bearing cage assembly 314 and a second roller bearing cage assembly 315 without inner and outer rings are installed on the eccentric input shaft 311, changing the sliding friction between the eccentric input shaft 311 and the cycloid gear into rolling friction; second, a pin proximal support bearing 336 and a pin distal support bearing 337 are installed at both ends of the rotating pin 335, changing the sliding friction between the cycloid gear and the rotating pin 335 into rolling friction; third, a pin tooth first needle roller bearing 324 and a pin tooth second needle roller bearing 325 are sleeved on the pin tooth pin shaft 323, changing the sliding friction between the cycloid gear tooth profile and the pin tooth pin shaft 323 into rolling friction, and at the same time reducing the collision of the cycloid gear reverse movement against the pin tooth pin shaft 323. These three measures cooperate closely with each other and jointly achieve the effect of reducing collision wear, improving the transmission efficiency and load-bearing capacity of the reduction motor.

[0059] The tail flange 4 of the reduction motor in this embodiment is sealed and dust-proof, provided with a hollow wire passing hole, the motor drives internal wiring and a detection window is opened, the appearance is streamlined, and the motor assembly, cycloid reduction component, drive component and other components are integrally designed inside. Multiple bearings are arranged in an embedded manner, greatly compressing the axial dimension of the joint, the overall structure is more compact, occupies less space, and has a high degree of integration.

[0060] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A reduction motor for an exoskeleton robot, characterized in that, It includes a tail flange, a housing, a motor assembly, a cycloid reduction assembly, and a hollow wire passing shaft; wherein, the tail flange, the housing, the motor assembly, and the cycloid reduction assembly are all sleeved on the hollow wire passing shaft; the housing includes a sleeve and a stepped radial partition plate, and the stepped radial partition plate divides the sleeve into a motor cavity and a reduction cavity, and the motor cavity and the reduction cavity at least partially overlap axially; the motor assembly is located in the motor cavity, and the tail flange is fixedly connected to the end of the sleeve and closes the motor cavity; the cycloid reduction assembly is at least partially located in the reduction cavity.

2. The reduction motor for an exoskeleton robot according to claim 1, characterized in that, The cycloid reduction assembly includes an input module, and the input module includes an eccentric input shaft; the motor assembly includes a motor rotor shaft, and the motor rotor shaft is sleeved on the eccentric input shaft and can drive the eccentric input shaft to rotate.

3. The speed reduction motor for an exoskeleton robot according to claim 2, characterized in that, The motor assembly includes a frameless motor stator and a frameless motor rotor; the axial dimension of the motor rotor shaft is one-third of the axial dimension of the frameless motor rotor, and the motor rotor shaft is connected to the end of the frameless motor rotor adjacent to the input end of the reduction motor.

4. The reduction motor for an exoskeleton robot according to claim 3, characterized in that, The motor assembly further includes a motor bearing, and the motor bearing is radially located between the frameless motor rotor and the stepped radial partition plate and axially located in the middle of the frameless motor rotor.

5. The speed reduction motor for an exoskeleton robot according to claim 4, characterized in that, The motor assembly further includes an integrated drive board and a magnetic ring, and the motor rotor shaft includes an annular accommodation cavity facing the input end of the reduction motor, and the integrated drive board and the magnetic ring are located in the annular accommodation cavity.

6. The reduction motor for an exoskeleton robot according to claim 2, wherein, The cycloid reduction assembly further includes a reduction module and an output module; the reduction module includes a first cycloid gear, a second cycloid gear, and a pin tooth pin shaft; the output module includes an auxiliary output disk, a main output disk, an output proximal bearing, an output distal bearing, and a rotating pin.

7. The deceleration motor for an exoskeleton robot according to claim 6, wherein Both ends of the pin tooth pin shaft are fixedly arranged on the housing, and a split shaft sleeve structure is arranged in the middle of the pin tooth pin shaft.

8. The speed reduction motor for an exoskeleton robot according to claim 7, characterized in that, The split shaft sleeve structure includes a first needle roller bearing for the pin tooth and a second needle roller bearing for the pin tooth. The first needle roller bearing for the pin tooth can engage with the outer tooth profile of the first cycloid gear, and the second needle roller bearing for the pin tooth can engage with the outer tooth profile of the second cycloid gear.

9. The reduction motor for an exoskeleton robot according to claim 6, wherein, The output distal bearing is arranged on the side of the reduction cavity close to the motor cavity and can support the auxiliary output disk on the stepped radial partition plate; the output proximal bearing is arranged on the side of the reduction cavity close to the output end of the reduction motor and can support the main output disk on the inner peripheral surface of the end of the sleeve.

10. The reduction motor for an exoskeleton robot according to claim 9, characterized in that, One end of the rotating pin is arranged on the auxiliary output disk through the distal support bearing for the pin, and the other end of the rotating pin is arranged on the main output disk through the proximal support bearing for the pin.

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