Driving module for robot and robot thereof

Abstract

The utility model discloses a driving module for a robot. The driving module comprises a motor, a speed reducing mechanism, a box body and a box cover, the speed reducing mechanism comprises a first-stage sun gear, a first-stage planet gear set, a first-stage inner gear ring, a first-stage planet carrier, a second-stage sun gear, a second-stage planet gear set, a second-stage inner gear ring and a second-stage planet carrier. According to the utility model, two stages of independently mounted inner gear rings are adopted, so that larger transmission ratio and torque output can be realized. The radial size of the driving module is remarkably reduced, the overall structure is more compact, the box body and the box cover are adopted for carrying out compact press fitting on the speed reducing mechanism, and the structural stability is remarkably improved. In addition, the first-stage sun gear and the motor output shaft are designed in an integrated mode, and the radial size is further reduced. The motor is small in size, light in weight, large in torque, high in integration degree and wide in application range.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, concretely relates to a drive module for robot and robot including this drive module. BACKGROUND

[0002] Current robot technology is booming, and it promotes the constant expansion of its application range, such as hotel service robot, industrial robot, etc., which makes the consumer's functional requirements of robot also increasing. Among them, the autonomous mobile ability is the key of robot movement ability, and the autonomous movement of robot depends on various drive module to control different parts action.

[0003] At present, the drive module of robot usually adopts the configuration of motor and reducer. The function of reducer is to reduce the high speed of motor and increase the torque transmission to the specific part of robot, so as to drive its movement. However, in the existing drive module, at the output end of the reducer, especially the flange mounting end cover and output flange and other movable parts, two bearings inside and outside the diameter are needed to be installed, and its structure is complex, which brings challenges to the assembly of drive module. SUMMARY

[0004] In order to overcome the defects of the prior art, one of the purposes of the utility model is to provide a drive module for robot, and the second purpose is to provide a robot including the drive module, which can solve the problems of complex structure, large size, and inconvenient assembly of the existing robot drive module.

[0005] The utility model realizes the following technical scheme:

[0006] A driving module for a robot, comprising: a motor, including a rotor assembly and a stator assembly that rotate relatively; a box body and a box cover for installing a reduction mechanism; the reduction mechanism, comprising: a first-stage sun gear, a first-stage planetary gear set, a first-stage inner gear ring, a first-stage planetary carrier, a second-stage sun gear, a second-stage planetary gear set, a second-stage inner gear ring, and a second-stage planetary carrier; the first-stage sun gear is integrally connected to the motor output shaft of the rotor assembly, the first-stage sun gear is simultaneously meshed with the first-stage planetary gear set, the first-stage planetary gear is fixed to the first-stage planetary carrier, and the first-stage planetary gear is meshed in the first-stage inner gear ring; the second-stage sun gear is fixed to the first-stage planetary gear set. On the planetary frame, the secondary sun gear is engaged with the secondary planetary gear set, the secondary planetary gear set is fixedly connected to the secondary planetary frame, and the secondary planetary gear set is engaged with the secondary inner ring gear; the motor is connected to one side of the box cover, and the box body is connected to the other opposite side of the box cover; a primary inner ring gear fixing groove is provided in the box cover; the primary inner ring gear is embedded in the primary inner ring gear fixing groove and is tightly arranged between the motor and the box cover; a secondary inner ring gear fixing groove is provided in the box body; the secondary inner ring gear is embedded in the secondary inner ring gear fixing groove and is tightly arranged between the box cover and the box body.

[0007] Furthermore, the motor also includes a connecting plate, and the box cover is fastened to the connecting plate; the connecting plate has a first stop structure, and the first-stage inner ring gear fixing groove is embedded in the first stop structure; the box cover is provided with a circle of annular ribs on the side away from the first-stage inner ring gear fixing groove, and the box body has a second stop structure, and the annular ribs are embedded in the second stop structure.

[0008] Furthermore, the first-stage sun gear includes a first-stage sun gear body and a hollow gear shaft; a hollow introduction section is provided on the motor output shaft of the rotor assembly, and the hollow gear shaft is pressed into the introduction section, so that the first-stage sun gear and the rotor assembly are pressed into an integrated assembly.

[0009] Furthermore, the box cover is provided with a plurality of box cover weight-reducing holes along its circumferential direction, and the box cover weight-reducing holes are through-hole structures; the box body is provided with a plurality of box body weight-reducing holes along its circumferential direction, and the box body weight-reducing holes are through-hole structures.

[0010] Furthermore, a plurality of first limiting grooves are provided in the fixing groove of the first-stage inner gear ring of the box cover along the circumferential direction, and a plurality of first ribs are provided on the outer periphery of the first-stage inner gear ring; the first ribs are inserted into the first limiting grooves to limit the radial movement of the first-stage inner gear ring.

[0011] Further, a plurality of second limiting grooves are formed in the circumferential direction in the second inner ring fixing groove of the box body, and a plurality of second protruding ribs are protruded on the outer periphery of the second inner ring; the second protruding ribs are inserted into the second limiting grooves to limit the radial transmission of the second inner ring.

[0012] Further, the second sun gear comprises a second sun gear body and a flat shaft end and a round shaft end arranged on both sides of the second sun gear body; a pressing hole is formed at the center position of the first planetary carrier, and the flat shaft end of the second sun gear is installed into the pressing hole of the first planetary gear in an interference manner; the second sun gear body is meshed and connected to the second planetary gear set.

[0013] Further, the first planetary gear set comprises a plurality of first planetary gears in the circumferential direction, and the second planetary gear set comprises a plurality of second planetary gears in the circumferential direction; the first planetary gears and the second planetary gears are interference-pressed with needle roller bearings at the centers.

[0014] Further, the driving module for the robot further comprises a brake device; the brake device is connected to the side of the motor away from the speed reduction mechanism; and a manual operation handle is further arranged on the brake device.

[0015] A robot comprises the driving module for the robot.

[0016] Compared with the prior art, the robot driving module has the beneficial effects that:

[0017] In the working process of the robot driving module, the motor is started, the rotor assembly drives the motor output shaft to output rotary motion, and drives the first sun gear integrally installed on the rotor assembly to rotate; the first sun gear drives the first planetary gear set to revolve in the first inner ring, and the first planetary gear set drives the first planetary carrier to rotate, thereby driving the second sun gear to rotate; the second sun gear drives the second planetary gear to revolve in the second inner ring, and the second planetary gear drives the second planetary carrier to rotate, thereby outputting power.

[0018] Compared with the structure that one inner gear ring is engaged with the first planetary gear set and the second planetary gear set, the utility model adopts the first inner gear ring matched with the first planetary gear set and the second inner gear ring matched with the second planetary gear set, the two-stage inner gear rings are independently installed and respectively have their respective tooth number and radial dimension, and greater transmission ratio and torque output can be realized.

[0019] The utility model discloses volume small, light in weight, big moment of force, high degree of integration, wide range of application, in addition to can apply on robot, still can through using different output flange installation interface on different scene and be widely applied, for example, electric wheelchair, sorting manipulator, industrial robot arm etc. ACCURACY OF DRAWINGS

[0020] Figure 1 Assembled schematic drawing of drive module is shown;

[0021] Figure 2 Assembled schematic drawing of drive module is shown;

[0022] Figure 3 Assembled schematic drawing of drive module is shown;

[0023] Figure 4 Assembled schematic drawing of drive module is shown;

[0024] Figure 5 Assembled schematic drawing of drive module is shown; Figure 4 Assembled schematic drawing of drive module is shown;

[0025] Figure 6 Assembled schematic drawing of drive module is shown;

[0026] Figure 7 Assembled schematic drawing of drive module is shown;

[0027] Figure 8 Assembled schematic drawing of drive module is shown;

[0028] Figure 9 Assembled schematic drawing of drive module is shown;

[0029] Figure 10 Assembled schematic drawing of drive module is shown;

[0030] Figure 11An internal schematic view of the primary inner ring is shown.

[0031] Figure 12 A schematic view of another perspective of the primary inner ring is shown.

[0032] Figure 13 An internal schematic view of the secondary inner ring is shown.

[0033] Figure 14 A schematic view of another perspective of the secondary inner ring is shown.

[0034] Figure 15 An exploded schematic view of the primary planet carrier and the secondary sun gear is shown.

[0035] In the figure: 10, rotor assembly; 11, motor output shaft; 20, stator assembly; 30, connecting plate; 31, first stop structure; 40, box body; 41, secondary inner ring fixing groove; 42, second stop structure; 43, box body lightening hole; 44, second limiting groove; 50, box cover; 51, primary inner ring fixing groove; 52, annular protruding rib; 53, box cover lightening hole; 54, first limiting groove; 60, primary sun gear; 61, primary sun gear body; 62, hollow gear shaft; 70, primary planet gear set; 80, primary inner ring; 81, first protruding rib; 90, primary planet carrier; 100, secondary sun gear; 101, secondary sun gear body; 102, flat shaft end; 103, round shaft end; 110, secondary planet gear set; 120, secondary inner ring; 121, second protruding rib; 130, secondary planet carrier; 140, brake device; 141, manually operated handle. DETAILED DESCRIPTION

[0036] Hereinafter, the present application will be further described in conjunction with the drawings and specific embodiments, it should be noted that the following described embodiments or technical features between each of the or any combination of the new embodiments can be formed under the premise of not conflicting.

[0037] In the description of the present application, it should be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application.

[0038] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more than two, unless otherwise explicitly specified and limited.

[0039] In the description of the utility model, it should be pointed out that, unless otherwise explicitly specified and limited, the terms "mounting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0040] Referring to Figures 1-5 The utility model discloses a drive module for robot, it includes motor, reduction mechanism, box 40 and box cover 50. Wherein, the motor includes rotatable rotor assembly 10 and stator assembly 20, and box 40 and box cover 50 can be used to accommodate and install reduction mechanism. Reduction mechanism includes: primary sun gear 60, primary planetary gear set 70, primary inner ring gear 80, primary planet carrier 90, secondary sun gear 100, secondary planetary gear set 110, secondary inner ring gear 120 and secondary planet carrier 130. Wherein, referring to Figure 6 Rotor assembly 10 has a motor output shaft 11, and primary sun gear 60 is integrally connected on motor output shaft 11, referring to Figure 11 Primary planet carrier 90 is triangular structure, and primary planetary gear set 70 includes three primary planetary gears in planetary distribution fixed on primary planet carrier 90, and primary sun gear 60 is engaged in transmission with primary planetary gear set 70, and primary planetary gear set 70 is engaged on the internal gear of the inner wall of primary inner ring gear 80. Referring to Figure 12 Secondary sun gear 100 is fixed on primary planet carrier 90 to rotate with primary planet carrier 90, referring to Figures 13-14 Secondary planetary gear set 110 includes three secondary planetary gears in planetary distribution fixed on secondary planet carrier 130, and secondary sun gear 100 is engaged in transmission with secondary planetary gear set 110, and secondary planetary gear set 110 is engaged on the internal gear of the inner wall of secondary inner ring gear 120.

[0041] Motor is connected on one side of box cover 50, and box 40 is connected on the other opposite side of box cover 50. Box 40 and box cover 50 are fixed by welding.

[0042] Referring toFigures 8-9 The box cover 50 is provided with a first inner ring fixing groove 51, which is a disc-shaped groove structure with a depth corresponding to the height of the first inner ring 80. Figures 5-6 The first inner ring 80 is embedded in the first inner ring fixing groove 51 and closely arranged between the motor and the box cover 50. Figure 10 The box body 40 is provided with a second inner ring fixing groove 41, and the second inner ring 120 is a disc-shaped groove structure with a depth corresponding to the height of the second inner ring 120. Figures 5-6 The second inner ring 120 is embedded in the second inner ring fixing groove 41 and closely arranged between the box cover 50 and the box body 40.

[0043] In operation, the motor is started, the rotor assembly 10 drives the motor output shaft 11 to rotate, and the first sun gear 60 integrally installed on the rotor assembly 10 is driven to rotate. The first sun gear 60 drives the first planetary gear set 70 to rotate and revolve in the first inner ring 80, and the first planetary gear set 70 drives the first planet carrier 90 to rotate, thereby driving the second sun gear 100 to rotate. The second sun gear 100 drives the second planetary gear to rotate and revolve in the second inner ring 120, and the second planetary gear drives the second planet carrier 130 to rotate, thereby outputting power.

[0044] Compared with the structure in which one inner ring simultaneously engages and connects the first planetary gear set 70 and the second planetary gear set 110, the utility model adopts the first inner ring 80 cooperating with the first planetary gear set 70 and the second inner ring 120 cooperating with the second planetary gear set 110. The two-stage inner rings are independently installed and have their respective tooth numbers and radial dimensions, which can achieve greater transmission ratio and torque output. At the same time, due to the different radial dimensions of the first inner ring 80 and the second inner ring 120, the first inner ring 80 is embedded in the box cover 50, and the second inner ring 120 is embedded in the box body 40. Therefore, the radial dimension of the drive module can be significantly reduced, the overall structure is more compact, the box body 40 and the box cover 50 are used to compactly press-fit the speed reduction mechanism, and the structural stability is significantly enhanced. In addition, the first sun gear 60 and the motor output shaft 11 are integrated and designed in an integrated manner, which further reduces the radial dimension and the overall volume of the drive module.

[0045] The utility model has small volume, light weight, large torque, high integration degree, wide application range, and can be applied to robots, and can be widely applied in different scenes by using different output flange mounting interfaces, such as electric wheelchairs, sorting mechanical hands, industrial mechanical arms, etc.

[0046] Specifically, referring to Figures 2-3 , Figure 7The motor further comprises a connecting plate 30 for connecting the motor with the box cover 50 and the speed reduction mechanism. Referring to Figures 4-5 、 Figure 7 The box cover 50 is fastened to the connecting plate 30. The connecting plate 30 is provided with a first stop structure 31, and the primary inner tooth ring 80 is embedded in the first stop structure 31. Referring to Figures 4-5 、 Figures 9-10 The box cover 50 is provided with a ring-shaped protrusion 52 on the side away from the primary inner tooth ring fixing groove 51, and the box body 40 is provided with a second stop structure 42, and the ring-shaped protrusion 52 is embedded in the second stop structure 42. By designing the stop structure at the joint of the box body 40 and the box cover 50 and the joint of the connecting plate 30 and the box cover 50, the axial movement of the inner tooth ring is limited, and the two inner tooth rings are tightly assembled, and the driving module is compact in the radial direction and small in radial size.

[0047] Specifically, referring to Figure 6 The primary sun gear 60 comprises a primary sun gear body 61 and a hollow gear shaft 62. The motor output shaft 11 of the rotor assembly 10 is provided with a hollow lead-in section, and the hollow gear shaft 62 of the primary sun gear 60 is press-fitted into the lead-in section and fixed by laser welding, so that the primary sun gear 60 and the rotor assembly 10 are integrally press-fitted, further reducing the volume and radial size of the driving module. At the same time, the coaxiality of the input end of the driving module is improved, and the vibration and noise during operation are reduced.

[0048] Specifically, referring to Figure 8 The box cover 50 is provided with a plurality of box cover lightening holes 53 along the circumferential direction thereof, and the box cover lightening holes 53 are through holes. Similarly, the box body 40 is provided with a plurality of box body lightening holes 43 along the circumferential direction thereof, and the box body lightening holes 43 are also through holes. By providing a large number of lightening holes, the box cover 50 and the box body 40 are both lightened, which is beneficial to the lightweight of the driving module.

[0049] Specifically, referring to Figures 8-9 The primary inner tooth ring fixing groove 51 of the box cover 50 is provided with a plurality of first limiting grooves 54 along the circumferential direction thereof, and the outer periphery of the primary inner tooth ring 80 is provided with a plurality of first protrusions 81 correspondingly. In this embodiment, the number of the first limiting grooves 54 and the first protrusions 81 is preferably three. The first protrusions 81 are inserted into the first limiting grooves 54, thereby limiting the movement of the primary inner tooth ring 80 in the radial direction and preventing the radial movement of the primary inner tooth ring 80.

[0050] Specifically, referring to Figure 10The plurality of second limiting grooves 44 are arranged in the circumferential direction in the second inner ring fixing groove 41 of the box body 40, and the plurality of second protruding ribs 121 are arranged on the outer periphery of the second inner ring 120.

[0051] By using the physical structure to constrain the first inner ring 80 and the second inner ring 120, the use of fixing bolts is reduced, and the assembly of the gear box is facilitated.

[0052] Specifically, referring to Figure 15 The second sun gear 100 adopts a flat-round shaft structure. The second sun gear 100 specifically includes a second sun gear body 101, a flat shaft end 102 and a round shaft end 103 arranged on both sides of the second sun gear body 101, a pressing hole is arranged at the center position of the first planet carrier 90, the flat shaft end 102 of the second sun gear 100 is installed in the pressing hole of the first planet carrier in an interference fit, and the round shaft end 103 is used for pressing a deep groove ball bearing; the second sun gear body 101 is meshingly connected to the second planet gear set 110. This implementation ensures stable installation and connection between the first planet carrier 90 and the second sun gear 100, and further enhances the compactness of the structure.

[0053] Specifically, the first planet gear set 70 includes a plurality of first planet gears arranged in the circumferential direction, and the second planet gear set 110 includes a plurality of second planet gears arranged in the circumferential direction; in this embodiment, the number of the first planet gears and the second planet gears is preferably three. The first planet gears and the second planet gears are interference-pressed with needle roller bearings at the center positions thereof, and the second planet carrier 130 is pressed with a crossed roller bearing.

[0054] Specifically, in order to meet the application of the robot in a stair or slope scene, referring to Figures 2-3 The motor assembly further internally has a brake device 140 connected to the side of the motor away from the speed reduction mechanism. Meanwhile, the brake device 140 is further provided with a manual operation handle 141, so as to facilitate the braking or movement of the robot after power-off.

[0055] The utility model discloses still a kind of robot, it includes the drive module of any one described above. Any robot using same or substantially same drive module should be within the protection scope of the present application.

[0056] The above-mentioned embodiment is only the preferred embodiment of the utility model, and cannot be used to limit the range of protection of the utility model, and any non-substantial change and replacement made by the person skilled in the art on the basis of the utility model belongs to the range of protection required by the utility model.

Claims

1. A drive module for a robot, characterized in that The utility model relates to a kind of motorized wheel drive mechanism, including: Motor, including relatively rotating rotor assembly and stator assembly; Box body and box cover for installing speed reduction mechanism; Speed reduction mechanism, including: primary sun gear, primary planetary gear set, primary inner ring gear, primary planet carrier, secondary sun gear, secondary planetary gear set, secondary inner ring gear, secondary planet carrier; The primary sun gear is integrally connected on the motor output shaft of the rotor assembly, and the primary sun gear is simultaneously engaged with the primary planetary gear set, the primary planet is fixed to the primary planet carrier, and the primary planet is engaged in the primary inner ring gear;The secondary sun gear is fixed on the primary planet carrier, and the secondary sun gear is engaged with the secondary planetary gear set, and the secondary planetary gear set is fixedly connected to the secondary planet carrier, and the secondary planetary gear set is engaged in the secondary inner ring gear; The motor is connected to one side of the box cover, and the box body is connected to the other opposite side of the box cover; The box cover has a primary inner ring gear fixing groove, the primary inner ring gear is embedded in the primary inner ring gear fixing groove, and is closely arranged between the motor and the box cover;The box body has a secondary inner ring gear fixing groove, and the secondary inner ring gear is embedded in the secondary inner ring gear fixing groove;And it is closely arranged between the box cover and the box body.

2. The drive module for a robot of claim 1, wherein, The motor further includes a connecting plate, and the box cover is fastened to the connecting plate;The connecting plate has a first stop structure, and the primary inner ring gear fixing groove is embedded in the first stop structure;The side of the box cover away from the primary inner ring gear fixing groove is provided with a ring-shaped protruding rib, and the box body has a second stop structure, and the ring-shaped protruding rib is embedded in the second stop structure.

3. The drive module for a robot of claim 1, wherein, The primary sun gear includes a primary sun gear main body and a hollow gear shaft;The motor output shaft of the rotor assembly is provided with a hollow lead-in section, and the hollow gear shaft is press-fitted into the lead-in section, so that the primary sun gear and the rotor assembly are integrally press-fitted.

4. The drive module for a robot of claim 1, wherein, The box cover is provided with a plurality of box cover lightening holes along the circumferential direction, and the box cover lightening hole is a through hole structure;The box body is provided with a plurality of box body lightening holes along the circumferential direction, and the box body lightening hole is a through hole structure.

5. The drive module for a robot of claim 1, wherein, A plurality of first limiting grooves are formed in the primary inner ring gear fixing groove of the box cover along the circumferential direction, and a plurality of first protruding ribs are formed on the outer periphery of the primary inner ring gear;The first protruding rib is inserted into the first limiting groove to limit the radial movement of the primary inner ring gear.

6. The drive module for a robot of claim 1, wherein, A plurality of second limiting grooves are formed in the secondary inner ring gear fixing groove of the box body along the circumferential direction, and a plurality of second protruding ribs are formed on the outer periphery of the secondary inner ring gear;The second protruding rib is inserted into the second limiting groove to limit the radial movement of the secondary inner ring gear.

7. The drive module for a robot of claim 1, wherein, The secondary sun gear includes a secondary sun gear main body and a flat shaft end and a round shaft end on both sides of the secondary sun gear main body;A press-fitting hole is formed at the center of the primary planet carrier, and the flat shaft end of the secondary sun gear is interference-fitted into the press-fitting hole of the primary planet carrier;The secondary sun gear main body is engaged with the secondary planetary gear set.

8. The drive module for a robot of claim 1, wherein, The first planetary gear set comprises a plurality of first planetary gears in the circumferential direction, and the second planetary gear set comprises a plurality of second planetary gears in the circumferential direction; the first planetary gears and the second planetary gears are provided with needle bearings through interference press fitting at the centers.

9. The drive module for a robot of claim 1, wherein, The drive module for the robot further comprises a brake device; the brake device is connected to the side of the motor away from the speed reduction mechanism; the brake device is further provided with a manually operated handle.

10. A robot, characterized in that The drive module for the robot comprises the drive module for the robot as claimed in any one of claims 1 to 9.

Images