Rotary power unit and robot

Abstract

The utility model discloses a rotary power unit and a robot. The rotary power unit comprises a first-stage planetary gear and a second-stage planetary gear, the first-stage planetary gear comprises a first-stage sun gear, a first-stage planetary gear, a first-stage planetary carrier and a first-stage inner gear ring, the first-stage sun gear is rotationally installed on the first-stage inner gear ring, and the first-stage planetary gear is engaged between the first-stage sun gear and the first-stage inner gear ring; the first-stage inner gear ring is fixedly installed on the first shell. The second-stage planetary gear comprises a second-stage sun gear, a second-stage planetary gear, a second-stage planetary carrier and a second-stage inner gear ring, the second-stage sun gear is rotationally installed on the second-stage planetary carrier, the first-stage planetary carrier is fixedly installed on the second-stage sun gear, so that the first-stage planetary carrier and the second-stage sun gear rotate synchronously, and the second-stage planetary gear is meshed between the second-stage sun gear and the second-stage inner gear ring; the second-stage inner gear ring is fixedly installed on the second shell. Wherein the first shell and the second shell are fixed, the first shell and the first-stage inner gear ring are integrally formed, and the second shell and the second-stage inner gear ring are integrally formed.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a rotary power unit and a robot. Background Art

[0002] As an intelligent robot that mimics the appearance and behavior of natural organisms, bionic robots are widely used in multiple fields. Bionic robots usually have joint and skeleton structures similar to those of organisms, are made of lightweight and high-strength materials, and through precise transmission systems and control systems, can achieve flexible and variable movements and postures, and can accurately simulate various natural behaviors of organisms. To achieve these complex motion functions, as one of the key components of bionic robots, the performance of the rotary power unit directly affects the overall power performance and motion accuracy of the robot.

[0003] The rotary power units in the prior art usually consist of a housing assembly, a motor assembly, a single-stage or multi-stage reducer assembly, an encoder assembly, and a bearing group. Among these components, the reducer assembly is particularly important, which determines the efficiency of power transmission and the accuracy of motion. For example, planetary reducers are applied to rotary power units due to their advantages such as compact structure, strong load-bearing capacity, and high transmission efficiency. The typical structure of a planetary reducer includes a sun gear, planetary gears, a planet carrier, and an internal gear ring, where the internal gear ring is fixed to the housing, the planetary gears are located between the sun gear and the internal gear ring, and power is output through the planet carrier. By adjusting the tooth number ratio of the planetary gears and the sun gear, multi-stage reduction can be achieved to improve the torque output capacity.

[0004] However, in the prior art, there are still some limitations and problems in the design of the planetary reduction mechanism. Specifically, in the planetary reduction mechanism, torque is transmitted between the internal gear ring and the housing through internal and external splines, and mechanical connection means such as glue bonding and bolt fastening are used to achieve a firm combination. This design increases the complexity of the components and the manufacturing cost. In addition, due to the fact that traditional bonding and fastening methods may loosen or fail under high-load or high-frequency usage conditions, the combination of the internal gear ring and the housing becomes unstable, thereby affecting the performance and service life of the entire reducer. Summary of the Utility Model

[0005] To solve the above technical problems, this application provides a rotary power unit and a robot.

[0006] This application first provides a rotary power unit, including:

[0007] A first-stage planetary gear and a second-stage planetary gear;

[0008] The first-stage planetary gear includes a first-stage sun gear, first-stage planet gears, a first-stage planet carrier, and a first-stage internal gear ring. The first-stage sun gear is rotatably installed in the first-stage internal gear ring. The first-stage planet gears are rotatably installed on the first-stage planet carrier with different axes. The first-stage planet gears are meshed between the first-stage sun gear and the first-stage internal gear ring. The first-stage internal gear ring is fixedly installed on the first housing.

[0009] The second-stage planetary gear includes a second-stage sun gear, second-stage planet gears, a second-stage planet carrier, and a second-stage internal gear ring. The second-stage sun gear is rotatably installed on the second-stage planet carrier. The second-stage planet gears are rotatably installed on the second-stage planet carrier with different axes. The first-stage planet carrier is fixedly installed on the second-stage sun gear, such that the first-stage planet carrier rotates synchronously with the second-stage sun gear. The second-stage planet gears are meshed between the second-stage sun gear and the second-stage internal gear ring. The second-stage internal gear ring is fixedly installed on the second housing.

[0010] Wherein, the first housing is fixed to the second housing. The second housing is integrally formed with the second-stage internal gear ring. The first-stage sun gear is rotatably installed at the central position of the first-stage planetary gear through a first-stage sun gear bearing.

[0011] Optionally, an axially recessed accommodating portion is provided on the first housing. The accommodating portion is used to accommodate the second-stage planet carrier.

[0012] Optionally, the first housing includes an outer ring body and an inner ring body. The outer ring body is connected to the inner ring body through a connecting portion. The inner ring body is fixed to the outside of the first-stage internal gear ring. The outer ring body is axially away from the first-stage internal gear ring, and the accommodating portion is formed between the outer ring body and the inner ring body.

[0013] Optionally, an angular velocity transmission member is further included. The angular velocity transmission member is coaxially connected to the second-stage planet carrier, such that the angular velocity transmission member rotates synchronously with the second-stage planet carrier. The angular velocity transmission member extends from one side of the second-stage planetary gear to one side of the first-stage planetary gear.

[0014] Optionally, the angular velocity transmission member passes through the axes of the second-stage sun gear and the first-stage sun gear respectively.

[0015] Optionally, a wire passing channel is provided in the angular velocity transmission member.

[0016] Optionally, an encoder is further included. The encoder is provided on one side of the first-stage planetary gear.

[0017] Optionally, the encoder includes an input-end encoder and an output-end encoder. The input-end encoder is used to detect the rotation information of the first-stage sun gear. The output-end encoder is used to directly detect the rotation information of the angular velocity transmission member.

[0018] Optionally, it further includes a motor rotor and a motor stator, which are arranged on one side of the first-stage planetary gear. The motor rotor is fixedly connected to the first-stage sun gear and transmits torque to the first-stage sun gear.

[0019] Optionally, a hollow structure is provided on the motor rotor, and at least a part of the first-stage planetary gear is located in the hollow structure.

[0020] Optionally, the hollow structure includes a first hollow part and a second hollow part located on both sides of the motor rotor. At least a part of the first-stage planetary gear is located in the first hollow part, and the second hollow part is used to accommodate an encoder.

[0021] Optionally, it further includes a rear end cover, which is connected to the side surface of the first housing to form a seal for the end face of the first-stage planetary gear.

[0022] Optionally, a seventh static seal ring is provided between the rear end cover and the first housing.

[0023] Optionally, it further includes a front end cover, which is fixedly connected to the second-stage planetary carrier and is fixed on the first housing.

[0024] Optionally, a first static seal ring and a second static seal ring are provided between the second-stage planetary carrier and the front end cover.

[0025] Optionally, fixing through holes are provided on the front end cover, and the first static seal ring and the second static seal ring are respectively arranged on opposite sides of the fixing through holes.

[0026] Optionally, a bearing pressing plate is provided on the front end cover. The second-stage planetary carrier is installed on the second housing through a second-stage planetary carrier bearing, and a first dynamic seal ring is provided between the bearing pressing plate and the front end cover to achieve sealing.

[0027] Optionally, a third static seal ring and a fourth static seal ring are respectively arranged on the left and right sides of the second-stage planetary carrier bearing. The second-stage planetary carrier bearing is sealed with the front end cover through the third static seal ring and is sealed with the second housing through the fourth static seal ring.

[0028] Optionally, the left side of the first housing is sealed with the second housing through a fifth static seal ring.

[0029] Optionally, it further includes a rear end cover, and a second dynamic seal ring is provided between the rear end cover and the angular velocity transmission member.

[0030] Optionally, it further includes a third housing fixedly connected to the first housing, at least part of the first-stage planetary gears being surrounded by the third housing, and a seventh static seal ring being provided between the rear end cover and the third housing.

[0031] Optionally, the first-stage sun gear bearing is a deep groove ball bearing or a double-row angular contact ball bearing.

[0032] Optionally, it further includes a front end cover fixedly connected to the second-stage planetary carrier, and the angular velocity transmission member being fixed at the center of the front end cover.

[0033] Optionally, a sixth static seal ring is provided at the connection between the angular velocity transmission member and the front end cover.

[0034] Optionally, the first housing and the first-stage internal gear ring are integrally formed.

[0035] In the second aspect of the present application, a robot is provided, including the slewing power unit according to the first aspect or any optional one in the first aspect.

[0036] It can be seen from the above technical solutions that the present application has the following advantages:

[0037] 1. In the present application, the second-stage internal gear ring and the second housing are integrally formed. This integrated structure reduces the number of components, simplifies the assembly process, thereby reducing the manufacturing cost and assembly time.

[0038] 2. Since the internal gear ring and the housing are integrally formed, the risk of loosening or failure caused by the connection of multiple components in the traditional design is reduced. The need for additional connecting parts (such as glue, bolts, etc.) to fix the internal gear ring and the housing is eliminated, improving the mechanical stability and long-term reliability of the entire reduction mechanism.

[0039] 3. The integrally formed design can better resist the intrusion of external factors, such as harmful substances like moisture and dust. This design method reduces the gaps at the joints, reduces the risk of moisture and dust invading the interior, thereby enhancing the waterproof and dustproof performance of the slewing power unit and making it suitable for working in harsher environments.

[0040] 4. Since the number of components and connection interfaces is reduced, less energy is lost during the power transmission process, improving the transmission efficiency. At the same time, the integrated internal gear ring and housing can maintain higher concentricity and assembly accuracy, thereby improving the accuracy and consistency of movement.

[0041] 5. The integrated design reduces the relative movement and friction between parts, reduces wear, and extends the service life. This not only reduces the frequency and cost of maintenance, but also reduces the downtime and improves the overall availability of the equipment.

[0042] 6. The integrated design reduces the need for additional connectors and external sealing structures, making the entire system more compact and aesthetically pleasing, suitable for application scenarios with limited space. Description of the Drawings

[0043] Figure 1 Schematic structural diagram of an embodiment of the robot provided in this application;

[0044] Figure 2 Schematic cross-sectional structural diagram of an embodiment of the rotary power unit provided in this application;

[0045] Figure 3 Schematic exploded structural diagram of an embodiment of the rotary power unit provided in this application;

[0046] Figure 4 Schematic structural diagram of the angular power transmission member and the front end cover in the rotary power unit provided in this application;

[0047] Figure 5 Schematic structural diagram of the third housing and the front end cover in the rotary power unit provided in this application;

[0048] Figure 6 Schematic structural diagram of the secondary internal gear ring in the rotary power unit provided in this application;

[0049] Figure 7 Schematic structural diagram of the first housing and the sealing cover in the rotary power unit provided in this application;

[0050] Figure 8 Schematic structural diagram of another embodiment of the connection between the angular velocity transmission member and the front end cover in the rotary power unit provided in this application;

[0051] Figure 9 Schematic structural diagram of another embodiment of the first housing in the rotary power unit provided in this application;

[0052] Figure 10 Another schematic structural diagram of another embodiment of the first housing in the rotary power unit provided in this application;

[0053] Figure 11 Schematic cross-sectional structural diagram of another embodiment of the rotary power unit provided in this application.

[0054] Description of the Reference Numerals:

[0055] 11: First-stage sun gear; 12: First-stage planet gear; 13: First-stage planet carrier; 14: First-stage internal gear ring; 21: Second-stage sun gear; 22: Second-stage planet gear; 23: Second-stage planet carrier; 24: Second-stage internal gear ring; 31: First housing; 32: Second housing; 33: Third housing; 34: Front end cover; 35: Bearing pressure plate; 36: Rear end cover; 37: Sealing cover; 41: First-stage sun gear bearing; 42: Second-stage planet carrier bearing; 43: Second-stage sun gear bearing; 44: Front end cover bearing; 51: First dynamic sealing ring; 52: Second dynamic sealing ring; 53: First static sealing ring; 54: Second static sealing ring; 55: Third static sealing ring; 56: Fourth static sealing ring; 57: Fifth static sealing ring; 58: Sixth static sealing ring; 59: Seventh static sealing ring; 61: Input end encoder; 62: Output end encoder; 71: Motor stator; 72: Motor rotor; 73: Hollow structure; 730: First hollow part; 732: Second hollow part; 231: End cover part; 311: Connection part; 312: Weight reduction hole; 313: Outer ring body; 314: Inner ring body; 315: Accommodation part; 341: Fixed through hole; 342: Angular velocity transmission part; 371: Convex part; 1000: Power equipment; 100: Rotary unit; 200: Trunk; 300: Foot; 344: Eighth static sealing ring. Detailed implementation manners

[0056] In this application, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings, and is only used to illustrate the relative positional relationship between each component or component part, and does not particularly limit the specific installation orientation of each component or component part.

[0057] Moreover, in addition to being able to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0058] In addition, the terms "installed", "set up", "provided with", "connected", "linked" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, components or component parts. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In addition, the structures, proportions, sizes, etc. depicted in the drawings of the present application are only used in conjunction with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementable conditions of the present application. Therefore, they do not have any substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that the present application can achieve and the purpose that can be accomplished, should still fall within the scope covered by the technical content disclosed in the present application.

[0060] Next, the technical solutions in the present application will be clearly and completely described in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0061] Please refer to Figure 1 , the power device 1000 of the embodiment of the present application may include the power module 100 of the embodiment of the present application. The power device 1000 may be a quadruped robot, such as a robot dog, a robot horse, etc. Of course, the power device 1000 may also be other types of robots, such as a biped robot, a hexapod robot, etc. In addition, the power device 1000 is not limited to robots and may also be other types of devices, which are not specifically limited herein.

[0062] Taking a robot as an example, the slewing unit 100 of the embodiment of the present application may be installed at the joint of the robot, and the slewing unit 100 may be used to drive the joint to rotate. Specifically, the robot may include a torso 200 and feet 300. The feet 300 are connected to the torso 200, and the slewing unit 100 is used to drive the feet 300 to move relative to the torso 200. For example, the slewing unit 100 may be used to drive the entire feet 300 to move relative to the torso 200, or may also be used to drive the joints of the feet 300 to move.

[0063] Please refer to Figures 2 to 7 :

[0064] The present application first provides an embodiment of a slewing power unit, and this embodiment includes:

[0065] a first-stage planetary gear and a second-stage planetary gear;

[0066] The first-stage planetary gear includes a first-stage sun gear 11, first-stage planetary gears 12, a first-stage planetary carrier 13, and a first-stage internal gear ring 14. The first-stage sun gear 11 is rotatably installed in the first-stage internal gear ring 14. The first-stage planetary gears 12 are installed on the first-stage planetary carrier 13 in a non-coaxial and rotatable manner. The first-stage planetary gears 12 are engaged between the first-stage sun gear 11 and the first-stage internal gear ring 14. The first-stage internal gear ring 14 is fixedly installed on the first housing 31;

[0067] The secondary planetary gear includes a secondary sun gear 21, secondary planet gears 22, a secondary planet carrier 23, and a secondary internal gear ring 24. The secondary sun gear 21 is rotatably mounted on the secondary planet carrier 23. The secondary planet gears 22 are rotatably mounted on the secondary planet carrier 23 in a non - coaxial manner. The primary planet carrier 13 is fixedly mounted on the secondary sun gear 21, such that the primary planet carrier 13 rotates synchronously with the secondary sun gear 21. The secondary planet gears 22 are meshed between the secondary sun gear 21 and the secondary internal gear ring 24, and the secondary internal gear ring 24 is fixedly mounted on the second housing 32;

[0068] Wherein, the first housing 31 is fixed to the second housing 32, and the second housing 32 is integrally formed with the secondary internal gear ring 24.

[0069] The present application provides an embodiment of a slewing power unit, which includes a primary planetary gear and a secondary planetary gear, integrated in a housing structure with an integrated design to achieve efficient and reliable power transmission.

[0070] The main components of the slewing power unit include:

[0071] Primary planetary gear: It consists of a primary sun gear 11, primary planet gears 12, a primary planet carrier 13, and a primary internal gear ring 14.

[0072] Secondary planetary gear: It consists of a secondary sun gear 21, secondary planet gears 22, a secondary planet carrier 23, and a secondary internal gear ring 24.

[0073] Housing structure: It includes a first housing 31 and a second housing 32, which are fixedly connected to form an integral structure.

[0074] 1. Structural composition of the primary planetary gear:

[0075] Primary sun gear 11: It is installed inside the primary internal gear ring 14 and can rotate freely relative to the internal gear ring. The primary sun gear 11 is a key component for power input. By connecting to an external power source (such as a motor), it transmits power to the primary planetary gear. The primary sun gear 11 can be rotatably mounted at the center of the primary planetary gear through a primary sun gear bearing 41.

[0076] Primary planet gears 12: A plurality of primary planet gears 12 are distributed around the primary sun gear 11 and are non - coaxial mounted on the primary planet carrier 13. Each primary planet gear 12 can rotate freely about its own axis and is meshed with the primary sun gear 11 and the primary internal gear ring 14.

[0077] First-stage planet carrier 13: A rotating component that supports the rotation of the first-stage planet gears 12. The first-stage planet carrier 13 is installed in the entire system in a specific manner and is responsible for converting the rotational motion of the planet gears into the rotation of the output shaft.

[0078] First-stage internal gear ring 14: Fixedly installed on the inner wall of the first housing 31, meshing with the first-stage planet gears 12, providing restraint and reaction force for the first-stage planet gears 12.

[0079] 2. Structural composition of the second-stage planetary gears:

[0080] Second-stage sun gear 21: Installed on the second-stage planet carrier 23 and capable of freely rotating relative to the second-stage planet carrier 23. The second-stage sun gear 21 is directly connected to the second-stage planet carrier 23 through bearings and is driven by the first-stage planet carrier 13. The second-stage sun gear 21 can be installed through the second-stage sun gear bearing 43.

[0081] Second-stage planet gears 22: Multiple second-stage planet gears 22 are evenly distributed and installed on the second-stage planet carrier 23 with different axes. Each second-stage planet gear 22 can freely rotate around its own axis and meshes with the second-stage sun gear 21 and the second-stage internal gear ring 24.

[0082] Second-stage planet carrier 23: Installed inside the second housing 32 and supporting the rotation of the second-stage planet gears 22. The second-stage planet carrier 23 is connected to the system in a specific manner and is responsible for converting the rotational motion of the second-stage planet gears 22 into the final output power. The second-stage planet carrier 23 can be installed through the second-stage planet carrier bearing 42.

[0083] Second-stage internal gear ring 24: Fixedly installed on the inner wall of the second housing 32, meshing with the second-stage planet gears 22, providing restraint and reaction force for the second-stage planet gears 22.

[0084] In an optional embodiment, the first-stage internal gear ring 14 and the first housing 31 can be integrally formed to ensure the rigidity and reliability of the structure. The first housing 31 serves as the support foundation for the entire first-stage planetary gears and forms an integral body with the first-stage internal gear ring 14 without additional connecting parts or fasteners, thus enhancing the overall structural stability.

[0085] In this embodiment, the second-stage internal gear ring 24 and the second housing 32 are integrally formed. This integrated design of the second-stage internal gear ring 24 and the second housing 32 also simplifies the manufacturing and assembly processes and improves the strength and durability of the structure.

[0086] The first housing 31 and the second housing 32 are fixed together through a specific connection method to form an integral closed structure. This design ensures the close cooperation between the various parts of the rotary power unit and enhances the dust and water protection capabilities.

[0087] During the working process, a power source (such as a motor) drives the first-stage sun gear 11 to rotate through the input shaft. The rotation of the first-stage sun gear 11 drives the first-stage planet gears 12 meshing with it to rotate around their own axes and also around the first-stage sun gear 11. The rotation of the first-stage planet gears 12 is transmitted to the second-stage sun gear 21 through the first-stage planet carrier 13, and the rotation of the second-stage sun gear 21 further drives the second-stage planet gears 22 to rotate around their own axes and revolve around the second-stage sun gear 21. Through the continuous transmission and deceleration of the first-stage and second-stage planetary gears, the output of power is finally achieved.

[0088] In this embodiment, the slewing power unit through an integrated design greatly reduces the number of components and the installation complexity, improving the transmission efficiency and accuracy of the entire system. At the same time, by integrally forming the internal gear ring and the housing, the overall strength and reliability of the system are enhanced, and the maintenance cost is reduced. The integrated housing design also provides good waterproof and dustproof performance, enabling the slewing power unit to operate stably in various complex and harsh environments.

[0089] In an alternative embodiment, an axially recessed receiving portion 315 is provided on the first housing 31, and the receiving portion 315 is used to receive the second-stage planet carrier 23.

[0090] In an alternative embodiment of the present application, the structural design of the slewing power unit is further optimized. By providing an axially recessed receiving portion 315 on the first housing 31 to more compactly receive the second-stage planet carrier 23, the structural stability and integration of the entire device are further improved.

[0091] In this alternative embodiment, an axially recessed area, namely the receiving portion 315, is provided on the inner surface of the first housing 31. The size and shape of the receiving portion 315 are designed to be able to receive the second-stage planet carrier 23 or a part of the second-stage planet carrier 23. For example, it can receive the end cover portion 311 of the second-stage planet carrier 23, making the structure more compact and shortening the torque transmission path.

[0092] A part of the second-stage planet carrier 23 is located within the receiving portion 315 of the first housing 31, thus forming a more compact layout structure with the first-stage planetary gears. This design reduces the relative movement space between the various components and enhances the structural rigidity.

[0093] In a specific embodiment, the first housing 31 includes an outer ring body 313 and an inner ring body 314. The outer ring body 313 is connected to the inner ring body through a connecting portion 311. The inner ring body 314 is fixed outside the first-stage internal gear ring 14. The outer ring body 313 is axially away from the first-stage internal gear ring 314, and the receiving portion 315 is formed between the outer ring body 313 and the inner ring body 314.

[0094] In a specific embodiment of the present application, the slewing power unit achieves higher integration and structural stability through the special structure of the first housing 31. In this embodiment, the first housing 31 is composed of an outer ring body 313 and an inner ring body 314, and the two are connected by a connecting portion 311 to form an axially recessed accommodating portion 315 for accommodating the secondary planet carrier 23.

[0095] In this specific embodiment, the first housing 31 is composed of two independent components, namely the outer ring body 313 and the inner ring body 314. The outer ring body 313 is located on the periphery of the entire device, and the inner ring body 314 is located inside the device and adjacent to the first internal gear ring 14.

[0096] The outer ring body is fixedly connected to the inner ring body 314 through the connecting portion 311. The design of the connecting portion 311 can ensure the stable connection between the outer ring body 313 and the inner ring body 314 and provide a dedicated installation position for the secondary planet carrier 23, that is, the accommodating portion 315.

[0097] The inner ring body 314 is fixed to the outside of the first internal gear ring 14, and the outer ring body 313 is arranged at a position axially away from the first internal gear ring 14, forming a specific axially recessed area between it and the inner ring body 314, which is called the accommodating portion 315. This accommodating portion 315 is used to accommodate the secondary planet carrier 23, making its installation position more stable.

[0098] Specifically, the connecting portion 311 can be bent to form a recessed accommodating portion. The connecting portion 311 can be a spoke-like structure.

[0099] It should be noted that the outer ring body 313, the inner ring body 314, and the connecting portion 311 can be integrally formed. This structure can be formed by means such as CNC cutting or milling.

[0100] Refer to Figure 7 , in an alternative embodiment, a weight-reducing hole 312 is provided on the connecting portion 311.

[0101] In an alternative embodiment of the present application, a weight-reducing hole 312 is designed on the connecting portion 311, which not only reduces the overall weight of the slewing power unit, but also effectively reduces the material usage cost, and optimizes the mechanical properties of the device without significantly affecting the structural strength.

[0102] A plurality of weight-reducing holes 312 are provided on the connecting portion 311. These weight-reducing holes 312 are evenly distributed on the connecting portion 311 to ensure that the weight is reduced without weakening the structural strength and rigidity of the connecting portion 311.

[0103] In an alternative embodiment, a sealing cover 37 is further included. A convex portion 371 is provided on the sealing cover 37, and the shape of the convex portion 371 matches the shape of the weight reduction hole 312. When the sealing cover 37 is installed on the first housing 31, the convex portion 371 is embedded in the weight reduction hole 312.

[0104] Refer to Figure 2 , 3 , 4. In an alternative embodiment, an angular velocity transmission member 342 is further included. The angular velocity transmission member 342 is coaxially connected to the secondary planet carrier so that the angular velocity transmission member 342 rotates synchronously with the secondary planet carrier. The angular velocity transmission member 342 extends from one side of the secondary planet gear to one side of the primary planet gear.

[0105] In another alternative embodiment of the present application, the angular velocity transmission member 342 is coaxially connected to the secondary planet carrier. That is, the angular velocity transmission member 342 and the secondary planet carrier share a common axis, thus ensuring that they remain synchronous during rotation. Through the coaxial connection, the angular velocity transmission member 342 can directly receive the transmission of angular velocity from the secondary planet carrier and transmit the angular velocity to one side of the primary planet gear. The angular velocity transmission member 342 extends from one side of the secondary planet gear to one side of the primary planet gear. This design allows the angular velocity transmission member 342 to span multiple gear levels and can efficiently transmit angular velocity signals between the primary and secondary planet gears. Thus, it is convenient to sense the angular velocity of the output end on one side of the primary planet gear.

[0106] Furthermore, the angular velocity transmission member 342 respectively passes through the axes of the secondary sun gear 21 and the primary sun gear 11.

[0107] In this embodiment, the angular velocity transmission member 342 respectively passes through the axes of the secondary sun gear 21 and the primary sun gear 11. That is, the angular velocity transmission member 342 is not only coaxial with the secondary planet carrier but also passes through the central axes of the two-stage planetary reduction mechanism. Since the angular velocity transmission member 342 passes through the axes of the secondary sun gear 21 and the primary sun gear 11, this axis alignment design ensures that the angular velocity can be transmitted to all relevant transmission components with minimal deviation. This coaxial and concentric arrangement greatly reduces the rotational error caused by misalignment.

[0108] The angular velocity transmission member 342 passes through the axes of the two-stage sun gears, reducing unnecessary wear and friction caused by misalignment or bearing deviation. This not only extends the service life of each component but also improves the overall transmission efficiency. The coaxial passing design provides additional structural support, ensuring that the relative positions between components remain stable under high-speed or high-load conditions, reducing vibration and noise. At the same time, this structure can integrate the angular velocity transmission member 342 into the axis of the gear, making the structure more compact.

[0109] In an alternative embodiment, a wire passing channel is provided in the angular velocity transmission member 342.

[0110] In this embodiment, a wire passing channel is provided in the angular velocity transmission member 342. This structure further enhances the functionality and integration of the slewing power unit.

[0111] The main function of the wire passing channel is to provide a safe and orderly channel for sensor cables, power cables or signal lines. The angular velocity transmission member 342 is usually located at the central axis of the transmission system. By providing a wire passing channel at this position, the existing space can be effectively utilized and the complexity of external wiring can be reduced.

[0112] In a high-speed rotating mechanical device, cable wiring needs to consider avoiding problems such as entanglement and abrasion. By providing a wire passing channel inside the angular velocity transmission member 342, the cables can be well protected and interference with other moving parts can be avoided, thereby improving the stability and reliability of signal transmission.

[0113] The wire passing channel of the angular velocity transmission member 342 is opened internally, so that the cables or optical fibers can be placed under the protection of metal or other solid materials, reducing the influence of the external environment on the cables, such as mechanical abrasion, vibration shock or chemical corrosion. The wire passing channel not only provides physical protection, but also can reduce electromagnetic interference. Especially when transmitting high-frequency signals or sensitive data, the metal shielding effect of the wire passing channel can greatly reduce the influence of external electromagnetic fields.

[0114] Integrating the wire passing channel in the angular velocity transmission member 342 makes full use of the space near the central axis, reduces the overall structure size, and simplifies the wiring and assembly process of the system.

[0115] In the field of robotics, signal sensing and power transmission often need to be integrated in a compact space. The provision of the wire passing channel can effectively reduce the complexity of cable management.

[0116] In an alternative embodiment, an encoder is further included, and the encoder is arranged on one side of the first-stage planetary gear.

[0117] In this alternative embodiment, an encoder is further included, and the encoder is arranged on one side of the first-stage planetary gear. The encoder is mainly used to measure the angle and speed of a rotating component. In the slewing power unit, the encoder is installed on one side of the first-stage planetary gear, and can monitor the rotation angle and speed of the sun gear in the first-stage planetary gear in real time.

[0118] The encoder provides accurate position information and speed feedback to the control system, ensuring that the system can move along a predetermined trajectory and speed. This is particularly important for application scenarios that require high-precision control, such as bionic robots and automated equipment.

[0119] The encoder is set on one side of the first-stage planetary gear, which means it is directly connected to the output shaft of the first-stage planetary gear or installed near the output. This can reduce the influence of transmission errors on the measurement accuracy and ensure that the feedback data provided by the encoder is more accurate and reliable.

[0120] By installing the encoder on one side of the first-stage planetary gear, the design can maintain the compactness of the entire rotary power unit without the need to add extra space to accommodate the encoder, thus contributing to the miniaturization design of the equipment.

[0121] This application provides some possible types of encoders:

[0122] Incremental encoder: An incremental encoder can be selected. This type of encoder has a simple structure, can provide relative position information, and performs well in high-speed rotation scenarios.

[0123] Absolute encoder: In scenarios that require accurate absolute position information, an absolute encoder can be used. The absolute encoder can still retain the position data after power-off and is suitable for application scenarios with strict power-off reset requirements.

[0124] Refer to Figure 2 , in a further embodiment, the encoder includes an input-end encoder 61 and an output-end encoder 62. The input-end encoder 61 is used to detect the rotation information of the first-stage sun gear 11, and the output-end encoder 62 is used to directly detect the rotation information of the angular velocity transmission member 342.

[0125] In this alternative embodiment, the encoder includes an input-end encoder 61 and an output-end encoder 62. The input-end encoder 61 is used to detect the rotation information of the first-stage sun gear 11 to provide real-time monitoring of the input end of the first-stage planetary gear; the output-end encoder 62 is used to directly detect the rotation information of the angular velocity transmission member 342 to provide accurate feedback on the output end of the rotary power unit.

[0126] The input-end encoder 61 is installed on one side of the first-stage sun gear 11 and can detect the rotation information of the first-stage sun gear 11 in real time. By monitoring the angular and speed changes at the input end, the input state of the first-stage planetary gear can be obtained.

[0127] The output-end encoder 62 directly detects the rotation information of the angular velocity transmission member 342. The angular velocity transmission member 342 is coaxially connected to the second-stage planetary carrier and can synchronously reflect the output state of the entire rotary power unit.

[0128] By arranging the input - end encoder 61 and the output - end encoder 62 on one side of the first - stage planetary gear simultaneously, the overall volume and complexity of the rotary power unit can be significantly reduced, making the overall system layout more compact and efficient.

[0129] Refer to Figure 2 , in an alternative embodiment, it further includes a motor rotor 72 and a motor stator 71. The motor rotor 72 and the motor stator 71 are arranged on one side of the first - stage planetary gear. The motor rotor 72 is fixedly connected to the first - stage sun gear 11 and transmits torque to the first - stage sun gear 11.

[0130] In this embodiment, the motor rotor 72 is fixedly connected to the first - stage sun gear 11. The torque generated by the rotation of the motor rotor 72 is directly transmitted to the first - stage sun gear 11 through the fixed connection with the first - stage sun gear 11. The motor stator 71 is used in cooperation with the motor rotor 72 to provide a rotational torque for the motor rotor 72 through the principle of electromagnetic induction. The motor stator 71 is fixed on one side of the first - stage planetary gear and is arranged opposite to the motor rotor 72.

[0131] In this embodiment, the fixed connection between the motor rotor 72 and the first - stage sun gear 11 simplifies the overall structural design of the rotary power unit, helps to reduce the manufacturing and maintenance costs. At the same time, this design can also improve the reliability and durability of the system.

[0132] Refer to Figure 2 , in a further embodiment, the motor rotor 72 is provided with a hollow structure 73, and at least a part of the first - stage planetary gear is located in the hollow structure 73.

[0133] In this embodiment, the hollow structure 73 of the motor rotor 72 means that a cavity or a hollow part is formed in the central region of the motor rotor 72. This hollow part can be cylindrical, conical or other suitable geometric shapes, and the specific shape depends on the design requirements and space limitations.

[0134] The hollow structure 73 can effectively reduce the material usage of the motor rotor 72, thereby reducing its weight, and at the same time providing additional internal space for arranging other components or systems.

[0135] A part of the structure of the first - stage planetary gear is arranged in the hollow structure 73 of the motor rotor 72. Specifically, some components (such as the gear body or the shaft) of the first - stage planetary gear are located in the hollow area, which makes the space utilization between the motor rotor 72 and the first - stage planetary gear more efficient.

[0136] By arranging a part of the first - stage planetary gear in the hollow structure 73 of the motor rotor 72, the internal space of the motor rotor 72 can be better utilized, the volume of the overall system can be reduced, and at the same time, the layout of the components can be optimized.

[0137] By optimizing the internal space and weight distribution, the hollow structure 73 can improve the rotational balance of the motor rotor 72, reducing vibration and noise. This design is beneficial for integrating multiple functional components, helping to simplify the system structure and reduce manufacturing complexity and costs.

[0138] In a specific implementation, the hollow structure 73 includes a first hollow portion 730 and a second hollow portion 732 located on both sides of the motor rotor 72. At least part of the first-stage planetary gear is located in the first hollow portion 730, and the second hollow portion 732 is used to accommodate the encoder.

[0139] In this embodiment, the first hollow portion 730 is provided on one side of the motor rotor 72, and part of the structure of the first-stage planetary gear (such as the first-stage planetary gear 12 or its related components) is arranged in this area. The size and shape of the first hollow portion 730 can match the structure of the first-stage planetary gear so that the first-stage planetary gear 12 can mesh with the first-stage sun gear 11 and the first-stage internal gear ring 14.

[0140] The second hollow portion 732 is provided on the other side of the motor rotor 72 and is used to accommodate the encoder. Inside the second hollow portion 732, the installation of the encoder needs to be adapted to the structure of the motor rotor 72. The installation position and direction of the encoder should ensure that it can accurately detect the rotation information of the motor rotor 72 and other related components.

[0141] Participate Figure 2 and Figure 5 , in an alternative embodiment, it further includes a third housing 33. The third housing 33 is fixedly connected to the first housing 31, and at least part of the first-stage planetary gear is surrounded by the third housing 33.

[0142] In this alternative embodiment, the third housing 33 is matched with the structure of the first housing 31 and the overall rotary power unit. The third housing 33 can effectively surround and protect the first-stage planetary gear. Its shape and size are adapted to the outer shape of the first-stage planetary gear, and there is also a certain space inside to avoid movement interference.

[0143] The third housing 33 is connected to the first housing 31 by a fixed connection. The connection method can adopt bolts, buckles, welding or other suitable fixing methods. The main function of the third housing 33 surrounding the first-stage planetary gear is to provide an additional protective layer to prevent external contaminants (such as dust, moisture, etc.) from entering the area of the first-stage planetary gear. This can reduce the influence of environmental factors on the planetary gear and improve its service life and reliability.

[0144] By surrounding the first-stage planetary gear, the third housing 33 helps to maintain the running stability of the gear, reducing potential damage to the gear due to vibration or impact. This design can also reduce the noise during gear operation and improve the overall mechanical performance.

[0145] Refer to Figure 5 , specifically, the third housing 33 can also be evenly provided with some protrusions and recesses for buffering the impact received when the rotary unit drops, which is particularly effective in the application of robots.

[0146] Refer to Figure 2 , in an alternative embodiment, it further includes a rear end cover 36, and the rear end cover 36 is connected to the side surface of the third housing 33 to form a seal for the end face of the first-stage planetary gear.

[0147] In this embodiment, the main function of the rear end cover 36 is to seal the end face of the first-stage planetary gear, preventing external dust, moisture or other harmful substances from invading the gear area. This seal can effectively protect the internal components of the gear, reduce wear and extend the service life.

[0148] The rear end cover 36 can be connected to the side surface of the third housing 33 in various ways, including bolts, nuts, buckles, welding or other suitable fixing methods.

[0149] To ensure the sealing effect, a sealing washer or sealant can be provided at the connection between the rear end cover 36 and the third housing 33 to prevent air, dust or moisture from seeping in through the joint.

[0150] This application also provides some embodiments for achieving sealing between various components. The main implementation method is to achieve sealing between components through dynamic seals and static seals. The specific embodiments are as follows:

[0151] Refer to Figure 2 , in an alternative embodiment, a seventh static seal ring 59 is provided between the rear end cover 36 and the third housing 33.

[0152] The static seal ring is used to achieve sealing in a static state, preventing fluid or gas leakage.

[0153] In this embodiment, the seventh static seal ring 59 is located between the rear end cover 36 and the third housing 33, which can effectively prevent external pollutants from entering and prevent the leakage of internal lubricating oil or other media.

[0154] The seventh static seal ring 59 can be made of oil-resistant, temperature-resistant and wear-resistant rubber materials, such as fluororubber, silicone rubber or nitrile rubber, to ensure its sealing performance and durability in various working environments.

[0155] The seventh sealing ring can be installed in a dedicated sealing groove, which is designed to provide an appropriate amount of compression during the installation of the component to ensure the sealing effect.

[0156] Refer to Figure 2 , in an alternative embodiment, it further includes a front end cover 34, and the front end cover 34 is fixedly connected to the secondary planet carrier 23.

[0157] In this embodiment, it further includes a front end cover 34, which is used to enclose and protect the front end of the planetary gear mechanism. It not only protects the internal gear components from external dust and debris, but also provides a support structure for installing and fixing other components. The front end cover 34 can be installed through the front end cover bearing 44.

[0158] The front end cover 34 is connected to the secondary planet carrier 23 by bolts, welding or other mechanical fixing methods. This connection method can reduce the relative movement between components and ensure the precise operation of the planetary gear mechanism.

[0159] Refer to Figure 2 , in an alternative embodiment, a first static sealing ring 53 and a second static sealing ring 54 are provided between the secondary planet carrier 23 and the front end cover 34.

[0160] In this embodiment, by providing the first and second static sealing rings 54 between the secondary planet carrier 23 and the front end cover 34, double sealing protection can be provided.

[0161] Refer to Figure 2 , in a specific embodiment, a fixing through hole 341 is provided on the front end cover 34, and the first static sealing ring 53 and the second static sealing ring 54 are respectively arranged on opposite sides of the fixing through hole 341.

[0162] In this embodiment, the fixing through hole 341 on the front end cover 34 is used to connect the front end cover 34 to other transmission components. The through hole is arranged between the first static sealing ring 53 and the second static sealing ring 54. This means that the fixing through hole 341 will not affect the sealing function of the static sealing rings on both sides during installation.

[0163] The fixing through hole 341 is used to fixedly connect the front end cover 34 to other transmission components. This fixation can ensure the stable position of the front end cover 34 and prevent it from shifting or loosening during the operation of the equipment.

[0164] On both sides of the secondary planet carrier bearing 42, a third static sealing ring 55 and a fourth static sealing ring 56 are respectively provided. Such a structure ensures the sealing effect on both sides of the bearing. Among them, the third static sealing ring 55 realizes the sealing with the bearing pressing plate 3535, while the fourth static sealing ring 56 realizes the sealing with the second housing 32.

[0165] By providing static sealing rings on both sides of the bearing, the inner and outer spaces of the bearing can be effectively utilized, and no additional space needs to be occupied in the radial direction. In this way, the space inside the outer ring of the bearing can be maximally utilized, reducing the overall size of the housing.

[0166] Refer to Figure 2 , in an alternative embodiment, a bearing pressure plate 35 is provided on the front end cover 34. The secondary planet carrier 23 is mounted on the second housing 32 through a secondary planet carrier bearing 42. A first dynamic sealing ring 51 is provided between the bearing pressure plate 35 and the front end cover 34 to achieve sealing.

[0167] In this embodiment, the bearing pressure plate 35 on the front end cover 34 is used to fix and support the secondary planet carrier bearing 42, ensuring that the bearing maintains its position and function under high load conditions.

[0168] The first dynamic sealing ring 51 is located between the bearing pressure plate 35 and the front end cover 34, allowing effective sealing between relatively moving components.

[0169] Refer to Figure 2 , in an alternative embodiment, a third static sealing ring 55 and a fourth static sealing ring 56 are respectively provided on the left and right sides of the secondary planet carrier bearing 42. The secondary planet carrier bearing 42 is sealed with the front end cover 34 through the third static sealing ring 55 and sealed with the second housing 32 through the fourth static sealing ring 56.

[0170] In this embodiment, static sealing rings (the third and fourth static sealing rings 56) are provided on the left and right sides of the secondary planet carrier bearing 42, which can provide additional sealing protection. The third static sealing ring 55 ensures the sealing between the bearing and the front end cover 34, while the fourth static sealing ring 56 ensures the sealing between the bearing and the second housing 32.

[0171] This double-sealing design can effectively reduce lubricant leakage and prevent external contaminants from entering, improving the reliability and durability of the overall system.

[0172] Refer to Figure 2 , in an alternative embodiment, the first housing 31 is located between the second housing 32 and the third housing 33. The left side of the first housing 31 is sealed with the second housing 32 through a fifth static sealing ring 57, and the right side of the first housing 31 is sealed with the third housing 33 through a sixth static sealing ring 58.

[0173] In this embodiment, the first housing 31 is located between the second housing 32 and the third housing 33, and sealing is achieved through the fifth static seal ring 57 and the sixth static seal ring 58. The fifth static seal ring 57 is used for sealing between the first housing 31 and the second housing 32, while the sixth static seal ring 58 is used for sealing between the first housing 31 and the third housing 33.

[0174] This design ensures independent sealing protection between each housing, reduces any possible oil leakage and the entry of contaminants, and can isolate different working environments, enhancing the adaptability and reliability of the equipment.

[0175] Refer to Figure 2 and Figure 4 In an alternative embodiment, a rear end cover 36 is further included, and a second dynamic seal ring 52 is provided between the rear end cover 36 and the angular velocity transmission member 342.

[0176] In this alternative embodiment, the second dynamic seal ring 52 is located between the rear end cover 36 and the angular velocity transmission member 342, allowing the angular velocity transmission member 342 to maintain an effective seal with the rear end cover 36 during rotation. This is particularly important for high-speed rotating mechanical devices and can effectively prevent lubricating oil leakage caused by rotational motion.

[0177] The material of the seal ring can be selected from wear-resistant and high-temperature-resistant materials to adapt to the high-speed rotating environment.

[0178] Refer to Figure 2 In an alternative embodiment, a seventh static seal ring 59 is provided between the rear end cover 36 and the third housing 33.

[0179] In this embodiment, the seventh static seal ring 59 is located between the rear end cover 36 and the third housing 33, and can effectively prevent the leakage of lubricating oil or other working fluids. This is very important for the transmission mechanism inside the equipment, because any leakage may lead to insufficient lubrication, and then cause wear and damage.

[0180] Refer to Figures 8 to 11 In an alternative embodiment, the first-stage sun gear bearing 41 is a deep groove ball bearing or a double-row angular contact ball bearing.

[0181] In an alternative embodiment, a front end cover 34 is further included. The front end cover 34 is fixedly connected to the second-stage planet carrier 23, and the angular velocity transmission member 342 is fixed to the center of the front end cover 34. An eighth static seal ring 344 is provided at the connection between the angular velocity transmission member 342 and the front end cover 34.

[0182] In this embodiment, the angular velocity transmission member 342 is connected to the front end cover 34.

[0183] In one embodiment, it should be noted that in the present application, the first housing 31 and the first-stage internal gear ring 14 may or may not be integrally formed. The present application also provides an embodiment in which the first-stage internal gear ring 14 and the first housing 31 are separately formed. Refer to Figures 8 to 11 :

[0184] The first-stage internal gear 14 is fixed on the first housing 31, and the first housing 31 extends rearward to form a cylindrical shape, that is, the third housing 33 and the first housing 31 mentioned in the foregoing embodiment are integrated into one housing. The advantage of this method is that it makes the processing and production easier.

[0185] Refer to Figure 1 , the second aspect of the present application provides a robot including the slewing power unit in any of the foregoing embodiments.

[0186] It should be noted that the above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rotary power unit, characterized in that, Comprising: A first-stage planetary gear and a second-stage planetary gear; The first-stage planetary gear includes a first-stage sun gear, first-stage planet gears, a first-stage planet carrier, and a first-stage internal gear ring. The first-stage sun gear is rotatably installed in the first-stage internal gear ring. The first-stage planet gears are installed on the first-stage planet carrier in a non-collinear and rotatable manner. The first-stage planet gears are meshed between the first-stage sun gear and the first-stage internal gear ring. The first-stage internal gear ring is fixedly installed on a first housing; The second-stage planetary gear includes a second-stage sun gear, second-stage planet gears, a second-stage planet carrier, and a second-stage internal gear ring. The second-stage sun gear is rotatably installed in the second-stage planet carrier. The second-stage planet gears are installed on the second-stage planet carrier in a non-collinear and rotatable manner. The first-stage planet carrier is fixedly installed on the second-stage sun gear, such that the first-stage planet carrier rotates synchronously with the second-stage sun gear. The second-stage planet gears are meshed between the second-stage sun gear and the second-stage internal gear ring. The second-stage internal gear ring is fixedly installed on a second housing; Wherein, the first housing is fixed to the second housing. The second housing is integrally formed with the second-stage internal gear ring. The first-stage sun gear is rotatably installed at the central position of the first-stage planetary gear through a first-stage sun gear bearing.

2. The rotary power unit according to claim 1, characterized in that, An axially recessed receiving portion is provided on the first housing. The receiving portion is used for receiving the second-stage planet carrier.

3. The rotary power unit according to claim 2, wherein, The first housing includes an outer ring body and an inner ring body. The outer ring body is connected to the inner ring body through a connecting portion. The inner ring body is fixed to the outside of the first-stage internal gear ring. The outer ring body is axially away from the first-stage internal gear ring, and the receiving portion is formed between the outer ring body and the inner ring body.

4. The rotary power unit according to claim 1, characterized in that, Also included is an angular velocity transmission member. The angular velocity transmission member is coaxially connected to the second-stage planet carrier, such that the angular velocity transmission member rotates synchronously with the second-stage planet carrier. The angular velocity transmission member extends from one side of the second-stage planetary gear to one side of the first-stage planetary gear.

5. The rotary power unit according to claim 4, wherein, The angular velocity transmission member passes through the axes of the second-stage sun gear and the first-stage sun gear respectively.

6. The rotary power unit according to claim 4, characterized in that, A wire passing channel is provided in the angular velocity transmission member.

7. The rotary power unit according to claim 4, characterized in that, Also included is an encoder. The encoder is provided on one side of the first-stage planetary gear.

8. The rotary power unit according to claim 7, characterized in that, The encoder includes an input-end encoder and an output-end encoder. The input-end encoder is used for detecting the rotation information of the first-stage sun gear. The output-end encoder is used for directly detecting the rotation information of the angular velocity transmission member.

9. The rotary power unit according to claim 1, wherein Also included are a motor rotor and a motor stator. The motor rotor and the motor stator are provided on one side of the first-stage planetary gear. The motor rotor is fixedly connected to the first-stage sun gear and transmits torque to the first-stage sun gear.

10. The rotary power unit according to claim 9, characterized in that, A hollow structure is provided on the motor rotor. At least a part of the first-stage planetary gear is located in the hollow structure.

11. The rotary power unit according to claim 10, wherein, The hollow structure includes a first hollow portion and a second hollow portion located on both sides of the motor rotor. At least a part of the first-stage planetary gear is located in the first hollow portion. The second hollow portion is used for accommodating the encoder.

12. The rotary power unit according to claim 1, characterized in that, Also included is a rear end cover. The rear end cover is connected to the side surface of the first housing to form a seal for the end face of the first-stage planetary gear.

13. The rotary power unit according to claim 12, characterized in that, A seventh static sealing ring is provided between the rear end cover and the first housing.

14. The rotary power unit according to claim 1, characterized in that, It further includes a front end cover, which is fixedly connected to the secondary planet carrier, and the front end cover is fixed on the first housing.

15. The rotary power unit according to claim 14, characterized in that, A first static sealing ring and a second static sealing ring are provided between the secondary planet carrier and the front end cover.

16. The rotary power unit according to claim 15, characterized in that, The front end cover is provided with a fixing through hole, and the first static sealing ring and the second static sealing ring are respectively arranged on opposite sides of the fixing through hole.

17. The rotary power unit according to claim 14, characterized in that, The front end cover is provided with a bearing pressing plate. The secondary planet carrier is installed on the second housing through a secondary planet carrier bearing, and sealing between the bearing pressing plate and the front end cover is achieved by providing a first dynamic sealing ring.

18. The rotary power unit according to claim 17, characterized in that, A third static sealing ring and a fourth static sealing ring are respectively arranged on the left and right sides of the secondary planet carrier bearing. The secondary planet carrier bearing is sealed with the front end cover through the third static sealing ring and sealed with the second housing through the fourth static sealing ring.

19. The rotary power unit according to claim 1, wherein Sealing between the first housing and the second housing is achieved through a fifth static sealing ring on the left side of the first housing.

20. The rotary power unit according to claim 4, characterized in that, It further includes a rear end cover, and a second dynamic sealing ring is provided between the rear end cover and the angular velocity transmission member.

21. The rotary power unit according to claim 12, characterized in that, It further includes a third housing, which is fixedly connected to the first housing. At least part of the first-stage planetary gear is surrounded by the third housing, and a seventh static sealing ring is provided between the rear end cover and the third housing.

22. The rotary power unit according to claim 1, characterized in that, The first-stage sun gear bearing is a deep groove ball bearing or a double-row angular contact ball bearing.

23. The rotary power unit according to claim 4, characterized in that, It further includes a front end cover, which is fixedly connected to the secondary planet carrier, and the angular velocity transmission member is fixed at the center of the front end cover.

24. The rotary power unit according to claim 23, characterized in that, A sixth static sealing ring is provided at the connection between the angular velocity transmission member and the front end cover.

25. The rotary power unit according to claim 1, characterized in that, The first housing and the first-stage internal gear ring are integrally formed.

26. A robot, characterized in that, It includes a rotary power unit according to any one of claims 1 to 25.

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