Planetary joint module

Abstract

The application discloses a kind of planetary joint module, it is related to robot technical field, the planetary joint module includes the shell fixed assembly, secondary planetary assembly, shell assembly, primary planetary assembly and drive board support assembly connected in turn, the shell fixed assembly includes shell fixed piece, first bearing, baffle ring, secondary inner gear ring and bearing pressing sheet, the secondary planetary assembly includes wave spring, second bearing, secondary sun gear, secondary planet wheel, secondary planet carrier, third bearing and first pin shaft, and the secondary planetary assembly is connected with the shell fixed piece by first bearing.The application provides buffering stroke by the cooperative limiting structure of baffle ring, bearing pressing sheet and first bearing, cooperates wave spring in secondary planet carrier, can effectively transmit axial alternating impact load to module external structural member, avoid impact directly acting on planetary reduction mechanism, significantly reduce the loss of internal precision gear pair, greatly improve the service life of module.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically a planetary joint module. Background Technology

[0002] In the field of robotics, planetary joint modules, as the core power transmission and motion execution components of humanoid robot leg joints, directly bear the power output, load bearing and posture control functions in various actions such as walking, turning and jumping. Their performance not only directly determines the stability of humanoid robot movement, the agility of response and the accuracy of action, but also profoundly affects the overall operational reliability and service life of the robot.

[0003] When existing planetary joint modules are applied to the leg joints of humanoid robots, they lack an effective buffer structure to deal with the axial alternating impact loads generated during robot walking. The planetary reduction mechanism directly bears the impact, resulting in a significant reduction in lifespan. Furthermore, there is no mature heat dissipation solution in the industry, and the oil cooling and water cooling methods used in new energy vehicles cannot meet the miniaturization requirements of the modules.

[0004] Based on this, a planetary joint module is now provided that can eliminate the drawbacks of existing devices. Summary of the Invention

[0005] The purpose of this invention is to provide a planetary joint module to solve the problem of the lack of an effective buffer structure for the axial alternating impact load generated during robot walking in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A planetary joint module includes a housing fixing assembly, a secondary planetary assembly, a housing assembly, a primary planetary assembly, and a drive plate bracket assembly connected in sequence. The outer casing fixing assembly includes an outer casing fixing member, a first bearing, a retaining ring, a secondary internal gear ring, and a bearing pressure plate. The secondary planetary assembly includes a wave spring, a second bearing, a secondary sun gear, a secondary planet gear, a secondary planet carrier, a third bearing, and a first pin. The secondary planetary assembly is connected to the outer casing fixing member through the first bearing. The housing assembly includes a housing body, a motor stator, a fifth bearing, a first thermally conductive potting compound, a second thermally conductive potting compound, a third thermally conductive potting compound, and a fourth thermally conductive potting compound. The motor stator is fixed inside the housing body by a heat-fitting process. The primary planetary assembly is embedded in the motor stator.

[0007] Based on the above technical solutions, the present invention also provides the following optional technical solutions: In one alternative: the secondary internal gear ring is fixedly connected to the outer casing fixing member, the bearing pressure plate is installed on the secondary internal gear ring, the retaining ring is disposed on the secondary planetary carrier, and together with the bearing pressure plate, it axially limits the first bearing.

[0008] In one alternative embodiment: the primary planetary assembly includes a primary planetary carrier, a primary sun gear, primary planetary gears, a primary internal gear ring, a sixth bearing, a seventh bearing, and a second pin. The primary planetary carrier is supported by the sixth bearing. The primary sun gear and the primary planetary gears mesh with the primary internal gear ring. The primary planetary gears are mounted on the second pin via the seventh bearing, and the second pin mounts the primary planetary gears onto the primary planetary carrier.

[0009] In one alternative: the wave spring is disposed within the secondary planetary carrier; the secondary sun gear, the secondary planetary gears mesh with the secondary internal gear ring; the secondary planetary gears are mounted on the first pin shaft via a seventh bearing; and the first pin shaft mounts the secondary planetary gears onto the secondary planetary carrier.

[0010] In one alternative: the first and second thermally conductive potting compounds are filled between the radial outer surface of the motor stator and the housing body, and the third and fourth thermally conductive potting compounds are filled at the axial end face of the motor stator.

[0011] In one alternative embodiment: the drive board bracket assembly includes an encoder bracket, a fourth bearing, a cable sleeve, a rear cover, a drive board assembly, a rotor magnet cage, a rotor magnet body, a high-row drive gear, a high-row driven gear, a low-row gear, a high-row magnet, and a low-row magnet. The rotor magnet body and the high-row drive gear are fixed to the rotor magnet cage. The high-row drive gear meshes with the high-row driven gear. The high-row driven gear and the low-row gear are coaxially arranged. The high-row magnet and the low-row magnet are respectively disposed on the high-row driven gear and the low-row gear.

[0012] In one alternative: both the retaining ring and the bearing plate are made of heat-treated steel.

[0013] In one alternative: the outer surface of the housing body is provided with heat dissipation fins.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention utilizes a coordinated limiting structure of retaining ring, bearing pressure plate, and first bearing, along with a wave spring in the secondary planetary carrier to provide buffer stroke. This effectively transfers axial alternating impact loads to external structural components of the module, preventing direct impact on the planetary reduction mechanism, significantly reducing wear on internal precision gear pairs, and greatly extending the module's service life.

[0015] 2. This invention uses a thermal bonding process to tightly fit the motor stator to the main body of the housing. Combined with a multi-directional thermally conductive potting compound filling design, it maximizes the heat conduction area and reduces thermal resistance. The heat dissipation is accelerated by the heat dissipation fins on the outer surface of the main body of the housing, thereby improving the passive heat dissipation performance. No additional oil cooling / water cooling device is required. While ensuring heat dissipation efficiency, it avoids volume redundancy and meets the requirements of miniaturization design. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall internal structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the exploded structure of the present invention.

[0018] Figure 3 This is a schematic diagram of the retaining ring mounting structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the outer shell fixing assembly of the present invention.

[0020] Figure 5 This is a schematic diagram of the mounting structure of the secondary internal gear ring of the present invention.

[0021] Figure 6 This is a schematic diagram of the motor stator mounting structure of the present invention.

[0022] Figure 7 This is a schematic diagram of the housing assembly structure of the present invention.

[0023] Figure 8 This is a schematic diagram of the drive board bracket assembly structure of the present invention.

[0024] Figure 9 This is a schematic diagram of the exploded structure of the secondary planetary assembly of the present invention.

[0025] Figure 10 This is a cross-sectional view of the secondary planetary assembly of the present invention.

[0026] Figure 11 This is a schematic diagram of the exploded structure of the first-stage planetary assembly of the present invention.

[0027] Figure 12 This is a cross-sectional view of the first-stage planetary assembly of the present invention.

[0028] Figure 13This is a schematic diagram of the mounting structure of the high-profile drive gear of the present invention.

[0029] Figure reference numerals: 111, housing fixing assembly; 1, housing fixing component; 2, first bearing; 3, retaining ring; 9, secondary internal gear ring; 32, bearing pressure plate; 112. Second-stage planetary assembly; 4. Wave spring; 5. Second bearing; 6. Second-stage sun gear; 7. Second-stage planetary gears; 8. Second-stage planetary carrier; 10. Third bearing; 37. First pin; 113. Housing assembly; 12. Housing body; 13. Motor stator; 26. Fifth bearing; 33. First thermally conductive potting compound; 34. Second thermally conductive potting compound; 35. Third thermally conductive potting compound; 36. Fourth thermally conductive potting compound; 114. First-stage planetary assembly; 19. First-stage sun gear; 27. Sixth bearing; 28. First-stage planetary gears; 29. ​​First-stage internal gear ring; 30. Seventh bearing; 31. First-stage planetary carrier; 38. Second pin; 115. Drive board bracket assembly; 11. Rotor magnet body; 14. Rotor magnet cage; 15. Encoder bracket; 16. Fourth bearing; 17. High-speed driven gear; 18. High-speed magnet; 20. High-speed drive gear; 21. Cable sheath; 22. Drive board assembly; 23. Low-speed magnet; 24. Rear cover; 25. Low-speed gear. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0031] In one embodiment, such as Figures 1-13 As shown, a planetary joint module includes a housing fixing assembly 111, a secondary planetary assembly 112, a housing assembly 113, a primary planetary assembly 114, and a drive plate bracket assembly 115 connected in sequence. The housing fixing assembly 111 includes a housing fixing member 1, a first bearing 2, a retaining ring 3, a secondary internal gear ring 9, and a bearing pressure plate 32. The secondary planetary assembly 112 includes a wave spring 4, a second bearing 5, a secondary sun gear 6, a secondary planetary gear 7, a secondary planetary carrier 8, a third bearing 10, and a first pin 37. The secondary planetary assembly 112 is connected to the housing fixing member 1 through the first bearing 2. The housing assembly 113 includes a housing body 12, a motor stator 13, a fifth bearing 26, a first thermally conductive potting compound 33, a second thermally conductive potting compound 34, a third thermally conductive potting compound 35, and a fourth thermally conductive potting compound 36. The motor stator 13 is fixed in the housing body 12 by a heat-fitting process. The primary planetary assembly 114 is embedded in the motor stator 13.

[0032] In this embodiment, the structure achieves modular integration and compact layout between components, making the assembly, maintenance and functional partitioning of the entire joint module clearer and more efficient, which is conducive to miniaturization and high torque density.

[0033] The secondary internal gear ring 9 is fixedly connected to the outer casing fixing member 1. The bearing pressure plate 32 is installed on the secondary internal gear ring 9. The retaining ring 3 is set on the secondary planetary carrier 8 and together with the bearing pressure plate 32, it axially limits the first bearing 2. The wave spring 4 is set inside the secondary planetary carrier 8. The secondary sun gear 6 and the secondary planetary gear 7 mesh with the secondary internal gear ring 9. The secondary planetary gear 7 is installed on the first pin shaft 37 through the seventh bearing 30, and the first pin shaft 37 installs the secondary planetary gear 7 on the secondary planetary carrier 8. This structure realizes secondary reduction transmission. Through the buffering of the wave spring 4 and the force transmission path of retaining ring 3-first bearing 2-bearing pressure plate 32-outer casing fixing member 1, the module can effectively cope with axial alternating impact, protect the internal gear system, and improve durability under dynamic load environment.

[0034] The primary planetary assembly 114 includes a primary planetary carrier 31, a primary sun gear 19, primary planetary gears 28, a primary internal gear ring 29, a sixth bearing 27, a seventh bearing 30, and a second pin 38. The primary planetary carrier 31 is supported by the sixth bearing 27. The primary sun gear 19 and the primary planetary gears 28 mesh with the primary internal gear ring 29. The primary planetary gears 28 are mounted on the second pin 38 via the seventh bearing 30, and the second pin 38 mounts the primary planetary gears 28 onto the primary planetary carrier 31. The first thermally conductive potting compound 33 and the second thermally conductive potting compound 34 are filled between the radial outer surface of the motor stator 13 and the housing body 12. The third thermally conductive potting compound 35 and the fourth thermally conductive potting compound 36 are filled at the axial end face of the motor stator 13. The first-stage planetary reduction mechanism achieves efficient power transmission through compact meshing and bearing support. At the same time, the axial and radial potting compound filling further expands the heat dissipation area of ​​the motor stator 13, reduces thermal resistance, and allows heat to be quickly dissipated through the housing body 12, thereby improving the overall heat dissipation efficiency and thermal stability.

[0035] The drive plate bracket assembly 115 includes an encoder bracket 15, a fourth bearing 16, a cable sleeve 21, a rear cover 24, a drive plate assembly 22, a rotor magnet retainer 14, a rotor magnet body 11, a high-speed encoder drive gear 20, a high-speed encoder driven gear 17, a low-speed encoder gear 25, a high-speed encoder magnet 18, and a low-speed encoder magnet 23. The rotor magnet body 11 and the high-speed encoder drive gear 20 are fixed on the rotor magnet retainer 14. The high-speed encoder drive gear 20 meshes with the high-speed encoder driven gear 17. The high-speed encoder driven gear 17 and the low-speed encoder gear 25 are coaxially arranged. The high-speed encoder magnet 18 and the low-speed encoder magnet 23 are respectively arranged on the high-speed encoder driven gear 17 and the low-speed encoder gear 25. The dual encoder system obtains high-resolution and high-precision position feedback through gear transmission, realizing precise closed-loop control of the joint module. The integrated design of the rotor magnet retainer 14 and the high-speed encoder drive gear 20 saves internal space and helps to further miniaturize the module.

[0036] Both the retaining ring 3 and the bearing plate 32 are made of heat-treated steel, and heat dissipation fins are provided on the outer surface of the outer shell body 12.

[0037] The above embodiment discloses a planetary joint module, wherein the power transmission and deceleration process begins after the motor stator 13 is energized to drive the rotor assembly to rotate. The assembly includes a rotor magnet body 11, a rotor magnet cage 14, and a first-stage sun gear 19 fixed thereon. The rotating first-stage sun gear 19 meshes and drives the first-stage planetary gear 28. The first-stage planetary gear 28 revolves under the constraint of the first-stage internal gear ring 29, thereby driving the first-stage planetary carrier 31 to output rotation, completing the first stage of deceleration and torque increase. Subsequently, the output of the first-stage planetary carrier 31 drives the second-stage sun gear 6, which in turn meshes and drives the second-stage planetary gear 7. The second-stage planetary gear 7 also revolves under the constraint of the second-stage internal gear ring 9, ultimately driving the second-stage planetary carrier 8 to output, completing the second stage of deceleration, and achieving high torque and low speed power output. The axial impact buffering process is activated when the secondary planetary carrier 8 at the output end is subjected to axial impact. The impact force first acts on the secondary planetary carrier 8, and the wave spring 4 inside it is compressed to absorb energy and provide displacement buffer, effectively isolating the impact from direct damage to the precision gear pair. Subsequently, the remaining impact force is transmitted to the inner ring of the first bearing 2 through the retaining ring 3 fixed on the secondary planetary carrier 8, and then transmitted to the outer ring of the bearing and the bearing pressure plate 32 through the outer ring of the bearing to the outer shell fixing member 1. Finally, the impact force is guided and dispersed to the robot structural components outside the module through the fastening screws on the side of the outer shell fixing member 1, thereby protecting the internal deceleration mechanism. The heat dissipation management process revolves around the main heat source, the motor stator 13. The motor stator 13 achieves tight metal contact with the housing body 12 through a thermal bonding process to reduce thermal resistance. At the same time, a first thermally conductive potting compound 33 and a second thermally conductive potting compound 34 are filled between the radial outer surface of the motor stator 13 and the housing body 12, and a third thermally conductive potting compound 35 and a fourth thermally conductive potting compound 36 are filled at both axial end faces. These potting compounds greatly increase the heat conduction area and path. The heat generated by the stator is efficiently conducted to the housing body 12 through these potting compounds and the thermal bonding interface. Finally, the heat dissipation fins designed on the outer surface of the housing body 12 dissipate the heat into the environment through convection and radiation, thereby improving the passive heat dissipation performance.

[0038] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A planetary joint module, characterized in that, It includes a housing fixing assembly (111), a secondary planetary assembly (112), a housing assembly (113), a primary planetary assembly (114), and a drive board bracket assembly (115) connected in sequence. The outer casing fixing assembly (111) includes an outer casing fixing member (1), a first bearing (2), a retaining ring (3), a secondary internal gear ring (9), and a bearing pressure plate (32). The secondary planetary assembly (112) includes a wave spring (4), a secondary sun gear (6), a secondary planetary gear (7), a secondary planetary carrier (8), and a first pin (37). The secondary planetary assembly (112) is connected to the outer casing fixing member (1) through the first bearing (2). The housing assembly (113) includes a housing body (12), a motor stator (13), a first thermally conductive potting compound (33), a second thermally conductive potting compound (34), a third thermally conductive potting compound (35) and a fourth thermally conductive potting compound (36). The motor stator (13) is fixed inside the housing body (12) by a heat-fitting process. The primary planetary assembly (114) is embedded within the outer shell body (12); The secondary internal gear ring (9) is fixedly connected to the outer shell fixing member (1), the bearing pressure plate (32) is installed on the secondary internal gear ring (9), and the retaining ring (3) is set on the secondary planetary carrier (8), and together with the bearing pressure plate (32), it axially limits the first bearing (2); The primary planetary assembly (114) includes a primary planetary carrier (31), a primary sun gear (19), primary planetary gears (28), a primary internal gear ring (29), a sixth bearing (27), a seventh bearing (30), and a second pin (38). The primary planetary carrier (31) is supported by the sixth bearing (27). The primary sun gear (19) and the primary planetary gears (28) mesh with the primary internal gear ring (29). The primary planetary gears (28) are mounted on the second pin (38) via the seventh bearing (30), and the second pin (38) mounts the primary planetary gears (28) onto the primary planetary carrier (31). The wave spring (4) is disposed in the secondary planetary carrier (8). The secondary sun gear (6), the secondary planetary gear (7) mesh with the secondary internal gear ring (9). The secondary planetary gear (7) is mounted on the first pin (37) through the seventh bearing (30), and the first pin (37) mounts the secondary planetary gear (7) on the secondary planetary carrier (8). The first thermally conductive potting compound (33) and the second thermally conductive potting compound (34) are filled between the radial outer surface of the motor stator (13) and the housing body (12), and the third thermally conductive potting compound (35) and the fourth thermally conductive potting compound (36) are filled at the axial end face of the motor stator (13).

2. A planetary joint module according to claim 1, characterized in that, The drive plate bracket assembly (115) includes: a rotor magnet cage (14), a rotor magnet body (11), a high-stitch drive gear (20), a high-stitch driven gear (17), a low-stitch gear (25), a high-stitch magnet (18), and a low-stitch magnet (23). The rotor magnet body (11) and the high-stitch drive gear (20) are fixed on the rotor magnet cage (14). The high-stitch drive gear (20) meshes with the high-stitch driven gear (17). The high-stitch driven gear (17) and the low-stitch gear (25) are coaxially arranged. The high-stitch magnet (18) and the low-stitch magnet (23) are respectively arranged on the high-stitch driven gear (17) and the low-stitch gear (25).

3. A planetary joint module according to claim 1, characterized in that, Both the retaining ring (3) and the bearing plate (32) are made of heat-treated steel.

4. A planetary joint module according to claim 1, characterized in that, The outer surface of the outer shell body (12) is provided with heat dissipation fins.

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