A planetary joint module and robot

Abstract

This invention discloses a planetary joint module and a robot. The planetary joint module includes a housing, an output shaft, a drive component, and a transmission mechanism. The output shaft rotatably passes through the housing, and the drive component and transmission mechanism are disposed within the inner cavity of the housing. The drive component includes a stator, a rotor located on the inner ring of the stator, and a control mechanism for controlling the rotation of the rotor. The rotor is rotatably mounted on the output shaft via a motor shaft. An input end tray is coaxially fixed to the first end of the motor shaft, an input end encoder is fixed to the inner ring of the input end tray, and a fan blade is fixed to the outer ring of the input end tray. The second end of the motor shaft is coaxially fixedly connected to the output shaft via the transmission mechanism. An output end encoder is provided on the output shaft, located on the inner ring of the input end tray. This invention effectively compresses the axial assembly space of the planetary joint module and connects the fan blade to the rotor. When the planetary joint module operates, the fan blade rotates accordingly to dissipate heat from the stator.

Description

Technical Field

[0001] This invention relates to the field of robot joint drive technology, specifically to a planetary joint module and robot. Background Technology

[0002] Developing joint modules for humanoid robots is highly challenging, placing stringent requirements on overall structural design, heat dissipation, lifespan, and stability. Temperature rise due to the rotational power of these joint modules has long been a difficult problem in engineering.

[0003] Currently, there is no mature heat dissipation solution for humanoid robot joint modules. New energy vehicle electric drives use oil or water cooling. Due to their miniaturization, humanoid robot joint modules in existing technologies mostly rely on direct contact between the motor and the outer casing for heat dissipation, i.e., optimizing heat dissipation performance by machining heat sink fins on the casing surface. This heat dissipation method has poor heat dissipation efficiency, and the joint module occupies a large installation space, failing to meet the requirements of miniaturization.

[0004] Furthermore, when joint modules are applied to the leg joints of humanoid robots, the robot will be subjected to alternating impact loads during walking. The planetary deceleration mechanism in the existing joint modules cannot be effectively buffered, which greatly reduces the lifespan of the joint modules. Summary of the Invention

[0005] This invention proposes a planetary joint module to solve the problems of large installation space occupation and poor heat dissipation of joint modules.

[0006] On one hand, the present invention discloses a planetary joint module, including a housing, an output shaft, a drive component, and a transmission mechanism;

[0007] The output shaft rotatably passes through the housing and extends outside the housing; the drive component and the speed change mechanism are disposed in the inner cavity of the housing and are coaxially arranged with the output shaft;

[0008] The driving component includes a stator fixed to the inner cavity of the housing, a rotor located in the inner ring of the stator, and a control mechanism for controlling the rotation of the rotor;

[0009] The rotor is rotatably mounted on the output shaft via the motor shaft;

[0010] The motor shaft has a first end and a second end arranged opposite to each other. An input end tray is coaxially fixed to the first end. An input end encoder is fixed on the inner ring of the input end tray, and a fan blade is fixed on the outer ring of the input end tray. The fan blade is adapted to exchange air inside and outside the housing through ventilation holes on the housing.

[0011] The speed change mechanism is located at the second end of the motor shaft, with its input end coaxially and fixedly connected to the second end of the motor shaft, and its output end coaxially and fixedly connected to the output shaft; the output shaft is equipped with an output end encoder, which is located on the inner ring of the input end tray.

[0012] The control mechanism is adapted to detect the input and output parameters of the planetary joint module based on the signals from the input encoder and the output encoder. By effectively compressing the axial assembly space of the planetary joint module on the joint, the fan blades are connected to the rotor via the input tray. When the planetary joint module is running, the fan blades rotate accordingly to dissipate heat from the stator and reduce the temperature rise of the planetary joint module.

[0013] Optionally, the inner cavity of the housing is provided with a protective cover, which divides the inner cavity of the housing into an upper cavity and a lower cavity, and the upper cavity and the lower cavity are arranged along the axial direction of the output shaft; both the lower cavity and the upper cavity are provided with ventilation holes so that the lower cavity is connected to the upper cavity, and the lower cavity and the upper cavity are respectively connected to the outside.

[0014] The speed change mechanism, the stator, and the rotor are all located within the upper cavity;

[0015] The motor shaft passes through the protective cover and is connected to the protective cover via a bearing; the first end of the motor shaft is placed in the lower cavity, and the second end is placed in the upper cavity.

[0016] The lower cavity is fitted with a mounting cover at the end away from the protective cover, and the control mechanism is fixed to the inner wall of the mounting cover;

[0017] The input tray and the fan blade are both placed inside the lower cavity and are located between the protective cover and the mounting cover;

[0018] The input encoder and the output encoder are located on the same plane and are both hollow encoders, with the output encoder located on the inner ring of the input encoder. Using this design, the protective cover effectively protects the encoder and control mechanism, and the encoders on the same plane can share a single control circuit board, eliminating the need for additional wiring or additional control circuit boards, thus further ensuring the overall simplicity and structural optimization of the planetary joint module.

[0019] Optionally, the protective cover is T-shaped; the protective cover has a first end and a second end that are disposed opposite to each other;

[0020] The first end of the protective cover is the large-diameter end, which is the end closest to the mounting cover;

[0021] The second end of the protective cover is a small-diameter end, extending to the inner ring of the stator, and the fan blade is located in the inner ring of the stator;

[0022] Ventilation holes are provided on the end face of the large-diameter end to connect the upper cavity with the outside; ventilation holes are provided on the side wall of the small-diameter end and distributed in the inner ring of the stator to connect the lower cavity with the upper cavity. This design achieves better heat dissipation for the stator.

[0023] Optionally, the housing includes a bottom cover, a lower shell, a connector, a secondary internal gear ring, and a top cover connected sequentially along the output shaft axial direction; the bottom cover, the lower shell, the connector, the secondary internal gear ring, and the top cover enclose a receiving cavity;

[0024] The two ends of the output shaft are connected to the bottom cover and the top cover respectively through corresponding bearings;

[0025] The stator is fixed to the inner cavity of the lower shell;

[0026] The connector is a thin-walled structure that can be elastically deformed, and a primary internal gear ring is fixed on the side away from the secondary internal gear ring; the primary internal gear ring is placed in the receiving cavity, and the transmission mechanism is connected to the primary internal gear ring and the secondary internal gear ring respectively.

[0027] A mounting cover is fastened to the inner side of the bottom cover, and the control mechanism is fixed to the inner wall of the mounting cover. Using this design, the connector, through its own elastic deformation, provides a buffer between the primary internal gear ring and the transmission mechanism, thereby extending the overall lifespan of the planetary joint module.

[0028] Optionally, the connector has fan-shaped holes; the fan-shaped holes penetrate the connector along the axial direction of the output shaft and are distributed at equal angles with the axis of the output shaft as the center;

[0029] The primary internal gear ring is made of spring steel. Using the above design, the primary internal gear ring can undergo minute circumferential displacement and floating via the connecting parts, thereby providing cushioning.

[0030] Optionally, the output shaft includes a hollow shaft;

[0031] The hollow shaft passes through the housing, with one end connected to the housing via a bearing, and the other end coaxially fixed with an end cap. The end cap is connected to the housing via a bearing and is fixedly connected to the output end of the transmission mechanism.

[0032] An output tray is coaxially fixed on the hollow shaft, and the output tray is located on the inner ring of the input tray. The output encoder is disposed on the outer edge of the output tray and located between the input encoder and the output tray. Using this design, the inner hole of the hollow shaft can serve as a wiring channel for arranging wire harnesses, further ensuring the overall simplicity and structural optimization of the planetary joint module.

[0033] Optionally, the speed reduction mechanism includes a primary reduction mechanism and a secondary reduction mechanism;

[0034] The input tray, the motor shaft, the first-stage reduction mechanism, and the second-stage reduction mechanism are coaxially mounted on the output shaft in sequence along the axial direction of the output shaft.

[0035] The first-stage reduction mechanism meshes with the first-stage internal gear ring of the housing; the input end of the first-stage reduction mechanism is fixedly connected to the second end of the motor shaft, and the output end of the first-stage reduction mechanism is drively connected to the input end of the second-stage reduction mechanism.

[0036] The secondary reduction mechanism meshes with the secondary internal gear ring of the housing; the output end of the secondary reduction mechanism is fixedly connected to the output shaft.

[0037] Optionally, the first-stage reduction mechanism includes a first-stage sun gear, a first-stage planet carrier, and a first-stage planet gear;

[0038] The primary sun gear is rotatably mounted on the output shaft, and the first end of the primary sun gear is fixedly connected to the second end of the motor shaft;

[0039] The first-stage planetary carrier is rotatably mounted on the first-stage sun gear via bearings;

[0040] The first-stage planetary gear is installed inside the first-stage planetary carrier and meshes between the first-stage sun gear and the first-stage internal gear ring;

[0041] The secondary reduction mechanism includes a secondary sun gear, a secondary planet carrier, and secondary planet gears;

[0042] The secondary sun gear is sleeved on the output shaft, and the first end of the secondary sun gear is connected to the second end of the primary planetary carrier through a transmission pin;

[0043] The outer ring of the secondary planetary carrier is rotatably disposed in the inner cavity of the housing via a bearing, and the axial center hole of the secondary planetary carrier is sleeved on the secondary sun gear via a bearing;

[0044] The secondary planetary gear is installed inside the secondary planetary carrier and meshes between the secondary sun gear and the secondary internal gear ring;

[0045] The output shaft is fixedly connected to the second end of the secondary planetary carrier. Using this design, within a limited space, bearings are provided on both the inner and outer sides of the secondary planetary carrier to support it, thus making the planetary joint module structure more stable and compact.

[0046] Optionally, the second end of the secondary planetary carrier is connected to the secondary sun gear via a fifth bearing; a retaining nut is installed on the output shaft, and the retaining nut abuts against the end face of the second end of the fifth bearing. By adopting the above scheme, the retaining nut provides axial preload to the primary planetary carrier and the secondary sun gear, thereby increasing the meshing stiffness of the entire transmission mechanism and thus improving the overall stiffness of the planetary joint module.

[0047] On the other hand, the present invention also discloses a robot, including a body and the planetary joint module;

[0048] The planetary joint module is mounted on the fuselage.

[0049] By adopting the above technical solution, the present invention has the following advantages compared with the prior art:

[0050] The fan blades are connected to the rotor via the input tray. When the planetary joint module is running, the fan blades rotate to dissipate heat from the stator, reduce the temperature rise of the planetary joint module, and extend the life of the planetary joint module.

[0051] By placing the fan blades on the inner ring of the stator, better heat dissipation can be achieved for the stator.

[0052] The positional distribution of the input encoder, output encoder, and fan blades effectively compresses the axial assembly space of the planetary joint module on the joint, reduces the overall thickness of the planetary joint module, and achieves lightweighting, thinning, and miniaturization.

[0053] The elastic deformation of the connector itself provides a buffer between the primary internal gear ring and the transmission mechanism, thereby extending the life of the entire planetary joint module.

[0054] By providing bearings on both the inner and outer sides of the secondary planetary carrier to support it, the structure of the planetary joint module becomes more stable and compact.

[0055] By tightening the nuts, the first-stage planetary carrier and the second-stage sun gear are axially pre-tightened to improve the meshing stiffness of the entire transmission mechanism, thereby improving the overall stiffness of the planetary joint module.

[0056] By setting input and output encoders, the control mechanism's accuracy in controlling the planetary joint module is improved.

[0057] The above description of the disclosure and the following description of the embodiments are intended to demonstrate and explain the spirit and principles of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0058] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0059] Figure 1 This is a cross-sectional view of the planetary joint module in this invention;

[0060] Figure 2 This is a cross-sectional view of a partial structure of the planetary joint module in this invention;

[0061] Figure 3 This is an exploded view of the planetary joint module in this invention;

[0062] Figure 4 This is a cross-sectional schematic diagram of the shell in this invention;

[0063] Figure 5 This is a partial exploded view of the planetary joint module in this invention;

[0064] Figure 6 This is an exploded view of the primary reduction mechanism in this invention;

[0065] Figure 7 This is an exploded view of the two-stage deceleration mechanism in this invention.

[0066] Explanation of icon numbers:

[0067] 1. Housing; 11. Bottom cover; 12. Lower shell; 13. Connector; 131. Sector hole; 14. Secondary internal gear ring; 15. Top cover; 16. Primary internal gear ring; 17. Protective cover; 18. Mounting cover; 19. Cable fixing head;

[0068] 2. Output shaft; 21. Hollow shaft; 22. End cap; 23. Output encoder; 24. Output tray;

[0069] 3. Drive components; 31. Stator; 32. Rotor; 33. Control mechanism; 34. Motor shaft; 35. Input tray; 36. Input encoder; 37. Fan blades;

[0070] 4. First-stage reduction gear; 41. First-stage sun gear; 42. First-stage planetary carrier; 421. First-stage upper carrier; 422. First-stage lower carrier; 43. First-stage planetary gears;

[0071] 5. Secondary reduction gear; 51. Secondary sun gear; 52. Secondary planetary carrier; 521. Secondary upper carrier; 522. Secondary lower carrier; 53. Secondary planetary gear; 54. Clamping nut;

[0072] 61. First bearing; 62. Second bearing; 63. Third bearing; 64. Fourth bearing; 65. Fifth bearing; 66. Sixth bearing. Detailed Implementation

[0073] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the present invention is presented in conjunction with preferred embodiments, this does not mean that the features of the invention are limited to these embodiments. On the contrary, the purpose of describing the invention in conjunction with embodiments is to cover other options or modifications that may be derived based on the claims of the present invention. To provide a deep understanding of the invention, many specific details will be included in the following description. The invention may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of the invention, some specific details will be omitted in the description. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0074] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the invention is usually placed in during use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0075] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0076] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0077] On the one hand, the present invention provides a planetary joint module suitable for application in the joints of humanoid robots.

[0078] Please see Figures 1-3As shown, the planetary joint module includes a housing 1, an output shaft 2, a drive unit 3, and a transmission mechanism. The output shaft 2 rotatably passes through the housing 1 and extends outside the housing 1. The drive unit 3 and the transmission mechanism are disposed within the inner cavity of the housing 1 and are coaxially arranged with the output shaft 2. The drive unit 3 includes a stator 31, a rotor 32, and a control mechanism 33. The stator 31 is fixed to the inner cavity of the housing 1. The output shaft 2 is located within the inner ring of the stator 31. The rotor 32 is rotatably mounted on the output shaft 2 via a motor shaft 34, and the rotor 32 is located within the inner ring of the stator 31. The control mechanism 33 is installed within the inner cavity of the housing 1 and is adapted to control the rotation of the rotor 32.

[0079] The motor shaft 34 has a first end and a second end arranged opposite to each other. An input end tray 35 is coaxially fixed to the first end of the motor shaft 34. An input end encoder 36 is fixed to the inner ring of the input end tray 35, and a fan blade 37 is fixed to the outer ring of the input end tray 35. The rotor 32 drives the fan blade 37 and the input end encoder 36 to rotate via the input end tray 35. The fan blade 37 is adapted to exchange air inside and outside the housing 1 through ventilation holes on the housing 1, thereby dissipating heat from the planetary joint module. In this embodiment, the input end encoder 36 is adapted to record information such as the position, speed, and angle of the rotor 32.

[0080] A speed-changing mechanism is located at the second end of the motor shaft 34. The input end of the speed-changing mechanism is coaxially and fixedly connected to the second end of the motor shaft 34, and the output end of the speed-changing mechanism is coaxially and fixedly connected to the output shaft 2. An output encoder 23 is provided on the output shaft 2, and the output encoder 23 is located on the inner ring of the input tray 35. In this embodiment, the output encoder 23 is suitable for recording information such as the position, speed, and angle of the output shaft 2.

[0081] The control mechanism 33 is adapted to detect the input parameters (i.e., the position, speed, angle, etc. of the rotor 32) and output parameters (i.e., the position, speed, angle, etc. of the output shaft 2) of the planetary joint module based on the signal feedback from the input encoder 36 and the output encoder 23, thereby accurately detecting the transmission ratio of the planetary joint module and improving the control accuracy. This dual feedback mechanism can ensure good control performance under complex motion and rapid change conditions.

[0082] The fan blade 37 of this invention is connected to the rotor 32 via the input end tray 35, effectively saving space. When the planetary joint module is in operation, the fan blade 37 rotates accordingly. When the rotor 32 rotates forward, the fan blade 37 draws air from outside the housing 1 into the inner cavity of the housing 1, so as to exchange the air inside and outside the housing 1; when the rotor 32 rotates in reverse, the fan blade 37 expels the air inside the housing 1 to the outside of the housing 1, so as to exchange the air inside and outside the housing 1. That is, both forward and reverse rotation of the rotor 32 can drive the fan blade 37 to form a heat dissipation airflow, thereby quickly transferring the heat generated by the stator 31 to the outside of the housing 1 through the airflow, reducing the temperature rise of the planetary joint module.

[0083] This invention improves the control accuracy of the planetary joint module by setting an input encoder 36 and an output encoder 23. The positional distribution of the input encoder 36, the output encoder 23, and the fan blade 37 effectively compresses the axial assembly space of the planetary joint module on the joint, minimizing the overall thickness of the planetary joint module from a design perspective, thus achieving lightweight and thin design.

[0084] Please see Figures 2-5 As shown, housing 1 is coaxially arranged with output shaft 2. Housing 1 includes a bottom cover 11, a lower shell 12, a connector 13, a secondary internal gear ring 14, and a top cover 15 connected sequentially along the axial direction of output shaft 2. The bottom cover 11, lower shell 12, connector 13, secondary internal gear ring 14, and top cover 15 together form a receiving cavity (i.e., the inner cavity of housing 1). A protective cover 17 is provided between the lower shell 12 and the bottom cover 11. The protective cover 17 divides the receiving cavity into upper and lower cavities, which are arranged along the axial direction of output shaft 2. Ventilation holes are provided in both the lower and upper cavities to connect them, and both cavities are connected to the outside (i.e., the outside of housing 1). Connector 13 is a thin-walled structure capable of elastic deformation. A primary internal gear ring 16 is fixed to the side of connector 13 away from the secondary internal gear ring 14, and the primary internal gear ring 16 is located within the inner cavity of the lower shell 12.

[0085] In this embodiment, the lower cavity is formed by the bottom cover 11 and the protective cover 17. The upper cavity is formed by the protective cover 17, the lower shell 12, the connector 13, the secondary internal gear ring 14, and the top cover 15. Ventilation holes are spaced apart on the protective cover 17 to connect the upper cavity to the lower cavity and the outside, allowing air in the upper cavity to circulate with both the outside air of the shell 1 and the air in the lower cavity. Ventilation holes are also provided on the bottom cover 11 to connect the lower cavity to the outside, allowing air in the lower cavity to circulate with the outside air of the shell 1.

[0086] The output shaft 2 has a first end and a second end that are arranged opposite to each other. The first end of the output shaft 2 is connected to the bottom cover 11 via a bearing. The second end of the output shaft 2 is connected to the top cover 15 via a bearing and extends to the outside of the top cover 15. The transmission mechanism, stator 31, and rotor 32 are all located in the upper cavity. Specifically, the stator 31 and rotor 32 are both located in the inner cavity of the lower housing 12, and the stator 31 is fixed to the inner wall of the lower housing 12. The inner ring of the rotor 32 is fixedly connected to the motor shaft 34. The motor shaft 34 passes through the protective cover 17 and is connected to the protective cover 17 via a bearing. The first end of the motor shaft 34 is located in the lower cavity, and its second end is located in the upper cavity. The transmission mechanism is located between the motor shaft 34 and the top cover 15, and the transmission mechanism is respectively connected to the first-stage internal gear ring 16 and the second-stage internal gear ring 14. The connecting member 13 provides a buffer between the first-stage internal gear ring 16 and the transmission mechanism through its own elastic deformation, so as to extend the life of the entire planetary joint module.

[0087] A mounting cover 18 is fastened to the end of the lower cavity away from the protective cover 17, meaning the mounting cover 18 is fastened to the inside of the bottom cover 11. The control mechanism 33 is fixed to the inner wall of the mounting cover 18. The input tray 35 and the fan blade 37 are both placed in the lower cavity, located between the protective cover 17 and the mounting cover 18. The fan blade 37 exchanges the gas inside and outside the housing 1 through the ventilation holes on the lower cavity, thereby quickly dissipating the heat generated inside the housing 1 and improving the service life of the planetary joint module.

[0088] Furthermore, to improve heat dissipation for the stator 31, the protective cover 17 is T-shaped. Specifically, the protective cover 17 has a first end and a second end that are positioned opposite each other. The first end of the protective cover 17 is the large-diameter end, located near the mounting cover 18. The large-diameter end of the protective cover 17 is positioned between the lower housing 12 and the bottom cover 11. The second end of the protective cover 17 is the small-diameter end, extending into the inner ring of the stator 31, with the fan blade 37 located within the inner ring of the stator 31. Ventilation holes are provided on the large-diameter end to connect the upper cavity to the outside of the housing 1. Ventilation holes are also provided on the sidewall of the small-diameter end, distributed within the inner ring of the stator 31, to connect the lower cavity and the upper cavity.

[0089] When the rotor 32 rotates forward at high speed, i.e., the fan blades 37 rotate forward at high speed, the air outside the housing 1 is drawn into the lower cavity through the ventilation holes on the bottom cover 11 under the action of the fan blades 37, and then into the upper cavity through the ventilation holes on the small diameter end of the protective cover 17, thus forming a cooling airflow. This cooling airflow dissipates the heat generated by the stator 31 to the outside through the ventilation holes on the large diameter end of the protective cover 17. When the rotor 32 rotates in reverse at high speed, i.e., the fan blades 37 rotate in reverse at high speed, the air in the upper cavity is drawn into the lower cavity through the ventilation holes on the small diameter end of the protective cover 17 under the action of the fan blades 37, and then dissipates to the outside of the housing 1 through the ventilation holes on the bottom cover 11, thus forming a cooling airflow. This cooling airflow dissipates the heat generated by the stator 31 to the outside through the ventilation holes on the bottom cover 11.

[0090] In this embodiment, the protective cover 17 and the lower shell 12 are an integral structure.

[0091] Furthermore, both the input encoder 36 and the output encoder 23 are hollow encoders. The input encoder 36 and the output encoder 23 are located on the same plane, with the output encoder 23 located within the inner ring of the input encoder 36. In this embodiment, the control mechanism 33 includes a control circuit board. Since the input encoder 36 and the output encoder 23, located on the same plane, can share a single control circuit board, there is no need to consider additional wiring or adding a new control circuit board, thereby further ensuring the overall simplicity and structural optimization of the planetary joint module. The cooperation between the encoder and the control circuit board is prior art and will not be described in detail.

[0092] Furthermore, a cable fixing head 19 is provided on the bottom cover 11. The control mechanism 33 is adapted to connect to external cables through the cable fixing head 19. The present invention uses the cable fixing head 19 to replace the plug interface provided on the traditional joint module, which can effectively avoid the situation where the external cable is accidentally separated from the plug interface.

[0093] Please see Figure 1 and Figure 3 As shown, the output shaft 2 includes a hollow shaft 21, an end cover 22, an output encoder 23, and an output tray 24. The hollow shaft 21 rotatably penetrates the housing 1. The hollow shaft 21 has a first end and a second end arranged opposite to each other. The first end of the hollow shaft 21 is connected to the bottom cover 11 via a bearing. The second end of the hollow shaft 21 is coaxially fixed to the end cover 22. The end cover 22 is connected to the top cover 15 via a bearing, and extends to the outside of the top cover 15. The end cover 22 has a first end and a second end arranged opposite to each other. The first end of the end cover 22 is fixedly connected to the output end of the transmission mechanism, and the second end of the end cover 22 is adapted to be connected to a power output component. The output tray 24 is coaxially fixed to the hollow shaft 21. The output tray 24 is located within the inner ring of the input tray 35. The output encoder 23 is disposed on the outer edge of the output tray 24, and is located between the input encoder 36 and the output tray 24.

[0094] In this embodiment, the inner hole of the hollow shaft 21 can serve as a wire passage for arranging wire harnesses, thereby improving the aesthetics of the planetary joint module.

[0095] Please see Figure 1 and Figure 3As shown, the speed reduction mechanism includes a primary reduction mechanism 4 and a secondary reduction mechanism 5. The input end tray 35, motor shaft 34, primary reduction mechanism 4, and secondary reduction mechanism 5 are coaxially mounted on the output shaft 2 along its axial direction. The primary reduction mechanism 4 meshes with the primary internal gear ring 16. The input end of the primary reduction mechanism 4 is fixedly connected to the second end of the motor shaft 34, and the output end of the primary reduction mechanism 4 is drively connected to the input end of the secondary reduction mechanism 5. The secondary reduction mechanism 5 meshes with the secondary internal gear ring 14. The output end of the secondary reduction mechanism 5 is fixedly connected to the end cover 22.

[0096] Please see Figure 1 , Figure 2 and Figure 6 As shown, the primary reduction gear 4 includes a primary sun gear 41, a primary planetary carrier 42, and primary planetary gears 43. The primary sun gear 41 is rotatably mounted on the output shaft 2. The primary sun gear 41 has a first end and a second end that are oppositely disposed. The first end of the primary sun gear 41 is fixedly connected to the second end of the motor shaft 34. The primary planetary carrier 42 is rotatably mounted on the primary sun gear 41 via bearings. The primary planetary gears 43 are installed inside the primary planetary carrier 42 and mesh between the primary sun gear 41 and the primary internal gear ring 16.

[0097] In this embodiment, the first-stage sun gear 41 is fitted onto the hollow shaft 21. The second end of the motor shaft 34 is fitted onto the first end of the main shaft of the first-stage sun gear 41, and the motor shaft 34 is fixedly connected to the main shaft of the first-stage sun gear 41. The inner ring of the first end of the motor shaft 34 is fitted onto the output end tray 24 via a first bearing 61. A second bearing 62 is provided between the outer peripheral wall of the motor shaft 34 and the inner wall of the protective cover 17. In addition, to ensure that the fan blade 37 rotates smoothly, a third bearing 63 is provided between the fan blade 37 and the outer peripheral wall of the motor shaft 34.

[0098] In this embodiment, there are three primary planetary gears 43. The primary planetary carrier 42 is formed by connecting a primary upper carrier 421 and a primary lower carrier 422. The primary planetary carrier 42 has a first end and a second end that are arranged opposite to each other. The primary upper carrier 421 is located at the second end of the primary planetary carrier 42, and the primary lower carrier 422 is located at the first end of the primary planetary carrier 42. The axial center hole of the primary upper carrier 421 is connected to the main shaft and the hollow shaft 21 of the primary sun gear 41 through corresponding bearings.

[0099] Please see Figure 1 and Figure 7As shown, the secondary reduction mechanism 5 includes a secondary sun gear 51, a secondary planetary carrier 52, and secondary planetary gears 53. The secondary sun gear 51 is mounted on the hollow shaft 21. The secondary sun gear 51 has a first end and a second end that are opposite to each other. The primary upper carrier 421 also has a first end and a second end that are opposite to each other. The first end of the secondary sun gear 51 is connected to the second end of the primary upper carrier 421 via a drive pin. The outer ring of the secondary planetary carrier 52 is rotatably mounted in the inner cavity of the top cover 15 via a bearing. The axial center hole of the secondary planetary carrier 52 is mounted on the secondary sun gear 51 via a bearing. The secondary planetary gears 53 are installed inside the secondary planetary carrier 52 and mesh between the secondary sun gear 51 and the secondary internal gear ring 14. The end cover 22 is fixedly connected to the second end of the secondary planetary carrier 52.

[0100] In this embodiment, there are five secondary planetary gears 53. The secondary planetary carrier 52 is formed by connecting a secondary upper carrier 521 and a secondary lower carrier 522. The secondary planetary carrier 52 has a first end and a second end that are arranged opposite to each other. The secondary upper carrier 521 is located at the second end of the secondary planetary carrier 52, and the secondary lower carrier 522 is located at the first end of the secondary planetary carrier 52. The end cap 22 is fixed to the end face of the second end of the secondary upper carrier 521. The secondary upper carrier 521 has a first end and a second end that are arranged opposite to each other. The end cap 22 has a first end and a second end that are arranged opposite to each other. The outer ring of the second end of the secondary upper carrier 521 and the outer ring of the first end of the end cap 22 are both connected to the top cover 15 through a fourth bearing 64, and a sealing ring is provided between the second end of the end cap 22 and the top cover 15. The axial center hole of the second end of the secondary upper carrier 521 is sleeved on the spindle of the secondary sun gear 51 through a fifth bearing 65. The axial center hole of the secondary lower carrier 522 is sleeved on the spindle of the secondary sun gear 51 through a sixth bearing 66.

[0101] Within the limited space, the outer ring of the secondary planetary carrier 52 is connected to the top cover 15 via the fourth bearing 64, and the inner ring of the secondary planetary carrier 52 is mounted on the main shaft of the secondary sun gear 51 via the fifth bearing 65 and the sixth bearing 66. Bearings are provided on both the inner and outer sides of the secondary planetary carrier 52 to support the secondary planetary carrier 52, so as to make the structure of the planetary joint module more stable and compact.

[0102] For further details, please refer to Figure 1 As shown, a retaining nut 54 is installed on the hollow shaft 21. The retaining nut 54 abuts against the end face of the second end of the fifth bearing 65. The retaining nut 54 provides axial preload to the primary planetary carrier 42 and the secondary sun gear 51, thereby increasing the meshing stiffness of the entire transmission mechanism and thus improving the overall stiffness of the planetary joint module. Specifically, the retaining nut 54 provides axial preload to the secondary sun gear 51 via the fifth bearing 65, so that the secondary sun gear 51 provides axial preload to the primary planetary carrier 42, thereby enabling the primary planetary gear 43 and the primary sun gear 41 to engage more effectively.

[0103] In this embodiment, the main shafts of the secondary planetary gear 53 and the primary planetary gear 43 are hollow structures to achieve a lightweight transmission mechanism.

[0104] The working principle of the planetary joint module is as follows:

[0105] The rotor 32 drives the fan blades 37 to rotate via the motor shaft 34, so that the fan blades 37 can dissipate heat from the stator 31.

[0106] The rotor 32 also drives the first-stage sun gear 41 to rotate via the motor shaft 34. The first-stage sun gear 41, through the engagement of the first-stage internal gear ring 16 and the first-stage planetary gears 43, drives the first-stage planetary carrier 42 to rotate. The first-stage planetary carrier 42 drives the second-stage sun gear 51 to rotate via a transmission pin. The second-stage sun gear 51, through the engagement of the second-stage internal gear ring 14 and the second-stage planetary gears 53, drives the second-stage planetary carrier 52 to rotate. The second-stage planetary carrier 52 is suitable for driving the power output component via the end cover 22.

[0107] When the planetary joint module is subjected to external impact, the impact load is transmitted from the secondary reduction mechanism 5 to the primary planetary carrier 42, and then from the primary planetary carrier 42 to the primary sun gear 41 and the primary internal gear ring 16. The primary internal gear ring 16 can make small circumferential displacements and floats through the thin-walled structure of the connector 13, thereby providing cushioning.

[0108] In this embodiment, please refer to Figure 4 As shown, the connector 13 has a fan-shaped hole 131. The fan-shaped hole 131 passes through the connector 13 along the axial direction of the output shaft 2 and is distributed at equal angles with the axis of the output shaft 2 as the center, so as to form a thin-walled structure that can elastically deform. The fan-shaped holes 131 are distributed between the first-stage internal gear ring 16 and the second-stage internal gear ring 14. The sharp corners of the fan-shaped holes 131 are rounded.

[0109] In this embodiment, the primary internal gear ring 16 is made of high-strength, high-toughness spring steel.

[0110] On the other hand, the present invention also provides a robot, including a body and a planetary joint module. The planetary joint module is mounted on the body. Specifically, the robot is a humanoid robot. The body includes a head, torso, upper limbs, and lower limbs. The shell 1 of the planetary joint module is adapted to be fixed to the torso. The end caps 22 of the planetary joint module are adapted to be connected to the lower limbs to drive the lower limbs to perform tasks.

[0111] In summary, this application provides a planetary joint module and robot that, while effectively compressing the axial assembly space of the planetary joint module on the joint, connects the fan blades to the rotor via an input tray. When the planetary joint module operates, the fan blades rotate accordingly to dissipate heat from the stator, reducing the temperature rise of the planetary joint module. By placing the fan blades on the inner ring of the stator, better heat dissipation is achieved. The elastic deformation of the connecting component itself provides a buffer between the primary internal gear ring and the transmission mechanism, extending the overall lifespan of the planetary joint module. Bearings are provided on both the inner and outer sides of the secondary planetary carrier to support it, making the structure of the planetary joint module more stable and compact. Axial preload is applied to the primary planetary carrier and the secondary sun gear using a tightening nut to improve the meshing stiffness of the entire transmission mechanism, thereby increasing the overall stiffness of the planetary joint module. The inclusion of input and output encoders improves the control accuracy of the control mechanism for the planetary joint module.

[0112] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A planetary joint module, characterized in that, It includes a housing (1), an output shaft (2), a drive unit (3), and a speed change mechanism; The output shaft (2) rotates through the housing (1) and extends to the outside of the housing (1); the drive member (3) and the speed change mechanism are disposed in the inner cavity of the housing (1) and are coaxially disposed with the output shaft (2); The drive unit (3) includes a stator (31) fixed to the inner cavity of the housing (1), a rotor (32) located in the inner ring of the stator (31), and a control mechanism (33) for controlling the rotor (32) to rotate. The rotor (32) is rotatably mounted on the output shaft (2) via the motor shaft (34); The motor shaft (34) has a first end and a second end arranged opposite to each other. An input end tray (35) is coaxially fixed to the first end. An input end encoder (36) is fixed on the inner ring of the input end tray (35), and a fan blade (37) is fixed on the outer ring of the input end tray (35). The fan blade (37) is adapted to exchange air inside and outside the housing (1) through the ventilation holes on the housing (1). The speed change mechanism is located at the second end of the motor shaft (34), with its input end coaxially fixedly connected to the second end of the motor shaft (34) and its output end coaxially fixedly connected to the output shaft (2); the output shaft (2) is provided with an output encoder (23), which is located in the inner ring of the input tray (35); The control mechanism (33) is adapted to detect the input parameters and output parameters of the planetary joint module based on the signals from the input encoder (36) and the output encoder (23).

2. The planetary joint module according to claim 1, characterized in that, The inner cavity of the housing (1) is provided with a protective cover (17), which divides the inner cavity of the housing (1) into an upper cavity and a lower cavity, and the upper cavity and the lower cavity are arranged along the axial direction of the output shaft (2); the lower cavity and the upper cavity are both provided with ventilation holes so that the lower cavity is connected to the upper cavity, and the lower cavity and the upper cavity are respectively connected to the outside. The speed change mechanism, the stator (31) and the rotor (32) are all located in the upper cavity; The motor shaft (34) passes through the protective cover (17) and is connected to the protective cover (17) through a bearing; the first end of the motor shaft (34) is placed in the lower cavity, and the second end is placed in the upper cavity; The lower cavity is fitted with a mounting cover (18) at one end away from the protective cover (17), and the control mechanism (33) is fixed on the inner wall of the mounting cover (18); The input tray (35) and the fan blade (37) are both placed in the lower cavity and are located between the protective cover (17) and the mounting cover (18); The input encoder (36) and the output encoder (23) are located on the same plane and are both hollow encoders. The output encoder (23) is located in the inner circle of the input encoder (36).

3. The planetary joint module according to claim 2, characterized in that, The protective cover (17) is T-shaped; the protective cover (17) has a first end and a second end that are disposed opposite to each other; The first end of the protective cover (17) is the large-diameter end, which is the end close to the mounting cover (18); The second end of the protective cover (17) is a small diameter end, extending to the inner ring of the stator (31), and the fan blade (37) is located in the inner ring of the stator (31); Ventilation holes are provided on the end face of the large diameter end to connect the upper cavity with the outside; ventilation holes are provided on the side wall of the small diameter end and distributed in the inner ring of the stator (31) to connect the lower cavity with the upper cavity.

4. The planetary joint module according to claim 1, characterized in that, The housing (1) includes a bottom cover (11), a lower shell (12), a connector (13), a secondary internal gear ring (14), and a top cover (15) connected sequentially along the output shaft (2); the bottom cover (11), the lower shell (12), the connector (13), the secondary internal gear ring (14), and the top cover (15) together form a receiving cavity; The two ends of the output shaft (2) are connected to the bottom cover (11) and the top cover (15) respectively through corresponding bearings; The stator (31) is fixed to the inner cavity of the lower shell (12); The connector (13) is a thin-walled structure that can be elastically deformed, and a primary internal gear ring (16) is fixed on the side away from the secondary internal gear ring (14); the primary internal gear ring (16) is placed in the receiving cavity, and the speed change mechanism is connected to the primary internal gear ring (16) and the secondary internal gear ring (14) respectively. The bottom cover (11) is fitted with a mounting cover (18) on its inner side, and the control mechanism (33) is fixed on the inner wall of the mounting cover (18).

5. The planetary joint module according to claim 4, characterized in that, The connector (13) has a fan-shaped hole (131); the fan-shaped hole (131) passes through the connector (13) along the axial direction of the output shaft (2) and is distributed at equal angles with the axis of the output shaft (2) as the center; The primary internal gear ring (16) is made of spring steel.

6. The planetary joint module according to claim 1, characterized in that, The output shaft (2) includes a hollow shaft (21); The hollow shaft (21) passes through the housing (1), one end of which is connected to the housing (1) via a bearing, and the other end is coaxially fixed with an end cap (22). The end cap (22) is connected to the housing (1) via a bearing and is fixedly connected to the output end of the speed change mechanism. An output tray (24) is coaxially fixed on the hollow shaft (21), and the output tray (24) is located on the inner ring of the input tray (35); the output encoder (23) is disposed on the outer edge of the output tray (24) and is located between the input encoder (36) and the output tray (24).

7. The planetary joint module according to claim 1, characterized in that, The speed reduction mechanism includes a first-stage reduction mechanism (4) and a second-stage reduction mechanism (5). The input end tray (35), the motor shaft (34), the first-stage reduction mechanism (4) and the second-stage reduction mechanism (5) are coaxially mounted on the output shaft (2) in sequence along the axial direction of the output shaft (2); The first-stage reduction mechanism (4) meshes with the first-stage internal gear ring (16) of the housing (1); the input end of the first-stage reduction mechanism (4) is fixedly connected to the second end of the motor shaft (34), and the output end of the first-stage reduction mechanism (4) is connected to the input end of the second-stage reduction mechanism (5). The secondary reduction mechanism (5) meshes with the secondary internal gear ring (14) of the housing (1); the output end of the secondary reduction mechanism (5) is fixedly connected to the output shaft (2).

8. The planetary joint module according to claim 7, characterized in that, The first-stage reduction mechanism (4) includes a first-stage sun gear (41), a first-stage planet carrier (42), and a first-stage planet gear (43). The first-stage sun gear (41) is rotatably mounted on the output shaft (2), and the first end of the first-stage sun gear (41) is fixedly connected to the second end of the motor shaft (34); The first-stage planetary carrier (42) is rotatably mounted on the first-stage sun gear (41) via bearings; The first-stage planetary gear (43) is installed inside the first-stage planetary carrier (42) and meshes between the first-stage sun gear (41) and the first-stage internal gear ring (16); The secondary reduction mechanism (5) includes a secondary sun gear (51), a secondary planet carrier (52), and a secondary planet gear (53). The secondary sun gear (51) is sleeved on the output shaft (2), and the first end of the secondary sun gear (51) is connected to the second end of the primary planetary carrier (42) through a transmission pin; The outer ring of the secondary planetary carrier (52) is rotatably disposed in the inner cavity of the housing (1) via a bearing, and the axial center hole of the secondary planetary carrier (52) is sleeved on the secondary sun gear (51) via a bearing. The secondary planetary gear (53) is installed inside the secondary planetary carrier (52) and meshes between the secondary sun gear (51) and the secondary internal gear ring (14); The output shaft (2) is fixedly connected to the second end of the secondary planetary carrier (52).

9. The planetary joint module according to claim 8, characterized in that, The second end of the secondary planetary carrier (52) is connected to the secondary sun gear (51) via the fifth bearing (65); a clamping nut (54) is installed on the output shaft (2), and the clamping nut (54) abuts against the end face of the second end of the fifth bearing (65).

10. A robot, characterized in that, Includes the fuselage and the planetary joint module as described in any one of claims 1 to 9; The planetary joint module is mounted on the fuselage.

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