Planetary power unit and robot

Abstract

The application discloses a planetary power unit and a robot, which are used for realizing lightweight of the overall structure. The planetary power unit comprises a planetary reducer, a shell and a motor. The shell comprises a base provided with a fixed wall and a heat dissipation wall. The planetary reducer is partially accommodated in the inner side of the fixed wall of the shell. The planetary reducer comprises a planetary wheel, a planet carrier and an inner gear ring. The motor comprises a motor stator and a motor rotor. The motor rotor and the motor stator are oppositely arranged. The motor stator is fixedly connected with the shell. The motor stator and the motor rotor are at least partially accommodated in a groove formed by the base, the heat dissipation wall and the fixed wall. The rotor support comprises a rotor fixing ring and a sun wheel fixing ring. The motor rotor is fixedly connected with the rotor fixing ring. The sun wheel fixing ring is fixedly connected with the first end of the sun wheel. The inner gear ring is fixed on the fixed wall. The sun wheel is provided with a sun wheel gear ring. The planetary wheel is respectively meshed between the sun wheel gear ring and the inner gear ring. The planetary wheel is respectively rotatably installed on the planet carrier.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a planetary power unit and a robot. Background Technology

[0002] Bionic robots, as a type of intelligent robot that highly mimics the appearance and behavior of living organisms in nature, possess joint and skeletal structures similar to those of living organisms and are typically manufactured using lightweight, high-strength materials. Through precise transmission and control systems, they achieve motion control, enabling bionic robots to exhibit flexible and varied movements and postures, accurately simulating various natural behaviors of living organisms. Bionic robots have enormous application potential in multiple fields, including scientific research, education, rescue, military, and industrial production.

[0003] The planetary power unit is a key component of biomimetic robots, and its performance directly affects the overall dynamic performance of the robot. The planetary power unit mainly consists of a housing assembly, a motor assembly, a single- or multi-stage reducer assembly, an encoder assembly, and a bearing assembly. In existing technologies, due to the requirement for hollow wiring, planetary power units typically use internal joint wiring, resulting in a hollow shaft. Furthermore, planetary power units often stack the motor and reducer radially. The hollow shaft in most joints is used to prevent wire wear, but its presence leads to a larger overall diameter for the reducer. Therefore, planetary power units often stack the motor and reducer parallel to each other, resulting in a less compact spatial layout.

[0004] As bionic robots become increasingly sophisticated, the requirements for the size of planetary propulsion units are also increasing, resulting in smaller and smaller planetary propulsion units. However, the existing hollow shaft design and the parallel stacking of motors and reducers undoubtedly increase the joint volume of bionic robots significantly, making it impossible to achieve overall structural lightweighting. Utility Model Content

[0005] This application discloses a planetary power unit and robot for achieving lightweighting of the overall structure.

[0006] In a first aspect, embodiments of this application provide a planetary power unit, including a planetary reducer, a housing, and a motor; The housing includes a base, a fixed wall extending in the inner ring of the base and perpendicular to the base direction, and a heat dissipation wall extending in the outer ring of the base and perpendicular to the base direction. The extension height of the heat dissipation wall is greater than the extension height of the fixed wall, and the fixed wall is housed within the heat dissipation wall. The planetary reducer is at least partially housed inside the fixed wall of the housing; A planetary gear reducer consists of planetary gears, a planetary carrier, and an internal gear ring. The motor includes a motor stator and a motor rotor, which are arranged opposite to each other; the motor stator is fixedly connected to the housing; the motor stator and the motor rotor are at least partially housed in a groove formed by the base, the heat dissipation wall, and the fixed wall; The rotor support includes a rotor retaining ring and a sun gear retaining ring. The motor rotor is fixedly connected to the rotor retaining ring, and the sun gear retaining ring is fixedly connected to the first end of the sun gear. The outer edge of the internal gear ring is fixed to the inner edge of the fixed wall. The second end of the sun gear is provided with a sun gear ring. At least three planet gears are respectively meshed between the sun gear ring and the internal gear ring. At least three planet gears are respectively rotatably mounted on the planet carrier. The rotation of at least three planet gears can drive the planet carrier to rotate relative to the shell.

[0007] Optionally, the fixed wall of the housing is fixedly connected to the outer ring of the middle cover; the sun gear bearing is sleeved on the sun gear and is rotatably connected to the inner ring of the middle cover, and the sun gear can rotate relative to the middle cover under the rotation of the motor rotor.

[0008] Optionally, the planetary power unit may also include a bearing plate and crossed roller bearings; A crossed roller bearing includes an inner ring and an outer ring. The crossed roller bearing is located between the planetary carrier and the housing, and the inner ring of the crossed roller bearing is fitted onto the planetary carrier. The bearing pressure plate is fixed to the base of the housing, and the bearing pressure plate abuts against the outer ring of the crossed roller bearing in the axial direction so that the outer ring of the crossed roller bearing is fixed relative to the housing.

[0009] Optionally, the planetary power unit may also include oil seals; An oil seal is placed between the planetary carrier and the bearing pressure plate to achieve a seal between them.

[0010] Optionally, the planetary power unit may also include a third static seal; A triangular cavity is formed between the bearing pressure plate, the housing, and the crossed roller bearing; A third static sealing ring is placed inside the triangular cavity to achieve a seal.

[0011] Optionally, the planetary power unit may also include a middle shell and a rear shell; The middle shell is fixedly connected to the heat dissipation wall of the outer shell; The PCB board is mounted on the middle shell; The rear shell is fixed to the middle shell.

[0012] Optionally, the planetary power unit also includes at least one encoder and a PCB board. The encoder is a magnetic encoder, which includes a code disk and a detection read head. The encoder's code disk is mounted on the rotor support; The encoder's corresponding detection head is integrated into the PCB board.

[0013] Optionally, the rotor support includes a rotor retaining ring, a sun gear retaining ring, and at least two connecting rods; The rotor retaining ring and the sun gear retaining ring are fixed together by at least two connecting rods; In the plane containing the central axis of the motor rotor rotation, the projection of the rotor retaining ring perpendicular to the central axis and the projection of the sun gear retaining ring perpendicular to the central axis do not overlap. The connecting rod and the sun gear retaining ring are fixedly connected, and the sun gear retaining ring has a protrusion that protrudes away from the planetary reducer. The protrusion and the connecting rod form an installation space, and the encoder's code disk is located in the installation space.

[0014] Optionally, the planetary power unit may also include end caps; The sun gear is a hollow tubular structure, and the end cap is fixed to the first end of the sun gear to close the tubular opening at the first end of the sun gear.

[0015] Secondly, embodiments of this application provide a robot, comprising: The robot includes a planetary power unit as described in any of the first aspects.

[0016] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: In this application, by selecting and adjusting the motor of the planetary power unit, the axial dimension of the motor is reduced, improving the space utilization of the housing and efficiently utilizing the internal space of the motor. The planetary reducer is at least partially housed inside the housing, and is also embedded inside the motor, further shortening the axial dimension of the rotary joint. Furthermore, this planetary power unit does not require wiring through the output end to the next rotating unit, and does not require a large hollow shaft like traditional power rotary units, further reducing the axial dimension of the motor. By placing the planetary gears outside the housing, there is no overlap in the radial direction, improving space utilization and achieving a lightweight overall structure. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is an overall structural diagram of the planetary power unit of this application; Figure 2 This is an exploded view of the planetary propulsion unit of this application; Figure 3This is a side view of the planetary propulsion unit of this application; Figure 4 This is an AA cross-sectional view of the planetary dynamic unit of this application; Figure 5 This is a structural diagram of the shell of the planetary propulsion unit in this application; Figure 6 This is a structural diagram of the internal gear ring of the planetary propulsion unit in this application; Figure 7 This is a structural diagram of the crossed roller bearing of the planetary power unit in this application. Detailed Implementation

[0019] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0020] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0021] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0022] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0023] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0024] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0025] In existing technologies, as bionic robots become increasingly sophisticated, the requirements for the size of planetary power units are gradually increasing, resulting in smaller and smaller planetary power units. However, the current hollow shaft configuration and the parallel stacking of motors and reducers undoubtedly increase the joint volume of bionic robots significantly, further increasing the axial dimension of the motors.

[0026] Based on this, this application discloses a planetary power unit and a robot for reducing the axial dimension of the motor.

[0027] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0028] Please see Figures 1 to 7 This application provides a planetary power unit, including a planetary reducer, a housing 4, and a motor; The housing 4 includes a base 23, a fixed wall 25 extending in the inner ring of the base 23 and perpendicular to the base 23, and a heat dissipation wall 24 extending in the outer ring of the base 23 and perpendicular to the base 23. The extension height of the heat dissipation wall 24 is greater than the extension height of the fixed wall 25, and the fixed wall 25 is housed within the heat dissipation wall 24. The planetary reducer is at least partially housed inside the fixed wall 25 of the housing 4; The planetary reducer includes planetary gears 21, a planetary carrier 1, and an internal gear ring 7; The motor includes a motor stator 13 and a motor rotor 14, which are arranged opposite to each other; the motor stator 13 is fixedly connected to the housing 4; the motor stator 13 and the motor rotor 14 are at least partially housed in the groove formed by the base 23, the heat dissipation wall 24 and the fixing wall 25. The rotor support 10 includes a rotor fixing ring 27 and a sun gear fixing ring 28. The motor rotor 14 is fixedly connected to the rotor fixing ring 27, and the sun gear fixing ring 28 is fixedly connected to the first end of the sun gear 20. The outer edge of the internal gear ring 7 is fixed to the inner edge of the fixed wall 25. The second end of the sun gear is provided with a sun gear ring. At least three planet gears 21 are respectively meshed between the sun gear ring 20 and the internal gear ring 7. At least three planet gears 21 are respectively rotatably mounted on the planet carrier 1. The rotation of at least three planet gears 21 can drive the planet carrier 1 to rotate relative to the housing 4.

[0029] In this embodiment, the base 23 of the housing 4 is provided with a heat dissipation wall 24 and a fixing wall 25. Specifically, a fixing wall 25 is provided on the inner ring of the base 23, and the extension direction of the fixing wall 25 is perpendicular to the direction of the base 23. A heat dissipation wall 24 is provided on the outer ring of the base 23, and the extension direction of the heat dissipation wall 24 is also perpendicular to the direction of the base 23. The height of the heat dissipation wall 24 is greater than the height of the fixing wall 25. There are evenly distributed rings on the outward side of the heat dissipation wall 24. The purpose of the rings is to increase the heat dissipation area and improve the heat dissipation efficiency.

[0030] In this embodiment, the motor includes a motor stator 13 and a motor rotor 14, wherein the motor rotor 14 is disposed in the inner ring of the motor stator 13. Specifically, an annular groove is formed between the base 23, the heat dissipation wall 24, and the fixing wall 25, which is U-shaped in cross-section. The annular motor is disposed inside the annular groove, the annular motor stator 13 is located outside the annular groove and fixed in the annular groove, and the annular motor rotor 14 is located in the inner ring of the motor stator 13. The positional relationship between the motor stator 13 and the motor rotor 14, compared with the conventional motor design, can greatly save the axial space of the entire planetary power unit.

[0031] In this embodiment, the middle cover 15 is a circular ring with a hollow center. The inner ring of the middle cover 15 is provided with a fixing structure for fixing the sun gear bearing 19. The outer ring of the middle cover 15 fits the top shape of the fixing wall 25, and the two are fixedly connected in this way. Furthermore, the outer ring of the middle cover 15 is provided with connecting holes, and the top of the fixing wall 25 is also provided with corresponding connecting holes in both position and number, so that the middle cover 15 can be fixed to the upper part of the fixing wall 25 with screws.

[0032] In this embodiment, the rotor support 10 includes a rotor fixing ring 27 and a sun gear fixing ring 28. The sun gear fixing ring 28 has a central circular hole with a diameter equal to that of the sun gear 20. The first end of the sun gear 20 is fixed to the sun gear fixing ring 28 through this circular hole. Specifically, the first end of the outer surface of the sun gear 20 is fixed to the circular hole of the sun gear fixing ring 28. The rotor fixing ring 27 of the rotor support 10 is fixed to the motor rotor 14. Specifically, the rotor fixing ring 27 is located in the annular groove formed by the base 23, the heat dissipation wall 24, and the fixing wall 25. The motor stator 13 is located on the outermost side, the rotor fixing ring 27 is located on the innermost side, and the motor rotor 14 is located between the motor stator 13 and the rotor fixing ring 27. The motor rotor 14 can be fixed to the sun gear 20 by welding the rotor support 10 and the sun gear 20. Specifically, the rotor fixing ring 27 and the sun gear fixing ring 28 respectively fix the motor rotor 14 and the sun gear 20, so that the motor rotor 14 and the sun gear 20 are welded together. The specific structural relationship between the rotor retaining ring 27 and the sun gear retaining ring 28 will be further explained in subsequent embodiments.

[0033] The planetary reducer includes planetary gears 21, a planetary carrier 1, and an internal gear ring 7, and the planetary reducer is at least partially housed inside the housing 4.

[0034] The planet carrier 1 is provided with at least three planet gears 21. Specifically, the planet gears 21 are provided with different shafts, and the different shafts of the planet gears 21 are rotatably mounted on the planet carrier 1 via pins 18. The planet gears 21 are also located between the internal gear ring 7 and the second end of the sun gear, and the gears of the planet gears 21 mesh with the gears of the internal gear ring 7 and the second end of the sun gear, respectively. In addition, a part of the planet carrier 1 is located inside the reducer cavity. Specifically, several planet gears 21 are arranged between the internal gear ring 7 and the sun gear 20. A cavity is formed between two adjacent planet gears 21, the sun gear 20 and the internal gear ring 7. The planet carrier 1 extends into the reducer cavity through this cavity. The planet carrier 1 extends to the middle cover 15. The side of the planet carrier 1 located inside the reducer cavity has a stepped protrusion, protruding from the outer ring to the inner ring, so that the middle cover 15 and the rotor support 10 also have stepped protrusions to match the protrusions of the planet carrier 1. The protruding part of the planet carrier 1 is closer to the middle cover than the planet gear 21, which makes the planet gear 21 located on both sides of the planet carrier 1. When the pin passes through the off-axis of the planet gear 21, the two sides of the pin are fixed to the planet carrier 1, specifically the inner and outer sides relative to the axial direction of the planet gear 21. In this way, the planet carrier 1 can be better fixed to the planet gear.

[0035] The operating principle of the new power unit is explained below. When the motor stator 13 is running, it causes the motor rotor 14 to rotate at a certain speed. At the same time as the fixed structure connected to the motor rotor rotates, the rotor support 10 and the sun gear 20 are also driven to rotate. Since the gears of the planet gear 21 mesh with the gears of the internal gear ring 7 and the second end of the sun gear respectively, the planet gear 21 rotates and revolves in the cavity formed by the internal gear ring 7 and the sun gear. During the revolution of the planet gear 21, since the planet gear 21 is connected to the planet carrier, the planet carrier rotates and outputs power.

[0036] In this embodiment, by selecting and adjusting the motor of the planetary power unit, the axial dimension of the motor is reduced, improving the space utilization of the housing and efficiently utilizing the internal space of the motor. The planetary reducer is at least partially housed inside the housing, and is also embedded within the motor, further shortening the axial dimension of the rotary joint. Furthermore, this planetary power unit does not require wiring through the output end to the next rotating unit, and unlike traditional power rotary units, it does not require a large hollow shaft, further reducing the axial dimension of the motor. By placing the planetary gears outside the housing, there is no overlap in the radial direction, improving space utilization and achieving a lightweight overall structure.

[0037] Optionally, the fixed wall 25 of the housing 4 is fixedly connected to the outer ring of the middle cover 15; the sun gear bearing 19 is sleeved on the sun gear 20, and the sun gear bearing 19 is rotatably connected to the inner ring of the middle cover 15. The sun gear 20 can rotate relative to the middle cover 15 under the rotation of the motor rotor 14.

[0038] The sun gear bearing 19 is sleeved on the sun gear 20, specifically in the middle of the outer surface of the sun gear 20. The outer side of the sun gear bearing 19 is rotatably connected to the inner ring of the middle cover 15. The inner ring of the middle cover 15 is provided with a fixing structure for fixing the sun gear bearing 19, which can fit the outer shape of the sun gear bearing 19. Since the outer ring of the middle cover 15 is fixedly connected to the fixed wall 25, and the sun gear bearing 19 is limited by the inner ring of the middle cover 15, the vibration of the sun gear 20 can be reduced when it rotates.

[0039] A gear is provided at the second end of the sun gear 20, specifically, a gear is provided on the second end of the outer surface of the sun gear 20. A fixing groove for the internal gear ring 7 is provided on the fixed wall 25 of the housing 4. Specifically, a protruding structure is provided on the inner edge of the fixed wall 25, which forms a fixing groove for the internal gear ring 7 with the fixed wall 25. The internal gear ring is fixed in the fixing groove, so that the internal gear ring 7 and the gear at the second end of the sun gear 20 are on the same plane.

[0040] Optionally, the planetary power unit also includes a bearing plate 3 and a crossed roller bearing 17; The crossed roller bearing 17 includes an inner ring and an outer ring. The crossed roller bearing 17 is disposed between the planetary carrier 1 and the housing 4. The inner ring of the crossed roller bearing 17 is sleeved on the planetary carrier. The bearing pressure plate 3 is fixed on the base 23 of the housing 4, and the bearing pressure plate 3 abuts against the outer ring of the crossed roller bearing 17 in the axial direction so that the outer ring of the crossed roller bearing 17 is fixed relative to the housing 4.

[0041] In this embodiment, the crossed roller bearing 17 is used to prevent lateral vibration of the rotating planetary carrier 1 and to limit the outward sliding of the planetary carrier. The bearing pressure plate 3 abuts against the outer ring of the crossed roller bearing 17 in the axial direction. Specifically, a protrusion is provided on the inner edge of the fixed wall 25, forming a fixing groove between the protrusion and the bearing pressure plate 3 that fits the outer ring of the crossed roller bearing 17. The outer ring of the crossed roller bearing 17 is disposed in this fixing groove, and the inner ring of the crossed roller bearing 17 is fitted onto the planetary carrier 1, effectively limiting the lateral movement of the planetary carrier 1 when it rotates. A portion of the planetary carrier 1 protrudes from the housing 1, and a fixing groove is provided in the portion of the planetary carrier 1 located inside the housing. The shape of this fixing groove is adapted to the crossed roller bearing 17.

[0042] The bearing pressure plate 3 is provided with a region that fits the crossed roller bearing 17. When the bearing pressure plate 3 is fixed to the base 23 of the housing, it can restrict the crossed roller bearing 17 from displacing along the direction of the fixed wall 25, so that the crossed roller bearing 17, the fixed wall 25, the bearing pressure plate 3 and the planetary carrier 1 can form a stable position, and the planetary carrier 1 and the crossed roller bearing 17 will not separate, thus ensuring the stable operation of the planetary power unit.

[0043] Optionally, the planetary power unit also includes an oil seal 2; Oil seal 2 is disposed between planetary carrier 1 and bearing pressure plate 3. Oil seal 2 is used to achieve sealing between planetary carrier 1 and bearing pressure plate 3.

[0044] To prevent oil leakage from the planetary power unit, additional sealing structures are typically added. However, the sealing requirements for planetary power units are becoming increasingly stringent. Furthermore, the existing hollow shaft of the planetary power unit requires additional sealing structures to prevent oil leakage, further increasing the overall size. In this embodiment, the bearing pressure plate 3 is primarily used to fix the crossed roller bearing 17, which creates a gap between the bearing pressure plate 3 and the planetary carrier 1. This gap could potentially lead to oil leakage. In this embodiment, an oil seal is placed between the planetary carrier 1 and the bearing pressure plate 3, effectively preventing oil leakage from this gap.

[0045] In this embodiment, the inner and outer rings of the oil seal 2 have different shapes in their cross-section. The outer ring forms a right-angle shape to fit the inner surface of the base 23. The base 23 and the fixing wall 25 are provided with protrusions for fixing the oil seal 2. The cross-section of the inner ring of the oil seal 2 presents a hook shape. This hook-shaped structure is elastic. Through a built-in elastic constriction component, the hook-shaped structure contacts the planetary gear with the minimum contact area, so that the planetary gear will not be subjected to excessive friction during rotation, and the oil and lubricating oil will not leak out.

[0046] Optionally, the planetary power unit also includes a third static seal 16; A triangular cavity is formed between the bearing pressure plate 3, the housing 4, and the crossed roller bearing 17; The third static sealing ring 16 is placed inside the triangular cavity to achieve a seal.

[0047] In this embodiment, since the housing 4 and the bearing pressure plate 3 are fixed to each other, and the crossed roller bearing 17 is located between them, a triangular cavity is formed between the bearing pressure plate 3, the housing 4, and the crossed roller bearing 17. During the operation of the crossed roller bearing 17, the machine oil or lubricating oil of the crossed roller bearing 17 may enter the triangular cavity and seep out from the connection between the bearing pressure plate 3 and the housing 4. To avoid this situation, in this embodiment, a third static sealing ring 16 is set inside the triangular cavity to reduce the possibility of seepage and enhance the sealing performance.

[0048] Optionally, the planetary propulsion unit also includes a middle shell 5 and a rear shell 6; The middle shell 5 is fixedly connected to the heat dissipation wall 24 of the outer shell 4; PCB board 8 is mounted on the middle shell; The rear shell 6 is fixed to the middle shell 5.

[0049] In this embodiment, the middle shell 5 is fixed to the heat dissipation wall 24 of the shell 4. The heat dissipation wall 24 and the middle shell 5 are provided with holes for fixed connection. The two can be fixed by screws or other structures. The rear shell 6 is detachably connected to the middle shell 5. The rear shell 6 and the middle shell 5 are used to provide protection to prevent external impacts from damaging the internal motor and planetary reducer.

[0050] Optionally, the planetary power unit also includes a first sealing ring 11 and a second static sealing ring 12; A chamfer and a tool relief groove are formed between the outer shell 4 and the middle shell 5; The second static sealing ring 12 is located at the chamfer and the tool relief groove formed between the front shell 4 and the middle shell 5; The first static sealing ring 11 is disposed in the cavity formed between the middle shell 5 and the rear shell 6.

[0051] During the connection and fixing process of the housing 4 and the middle housing 5, there is a space where machine oil and lubricating oil can easily seep out. Specifically, a chamfer and a relief groove are formed between the heat dissipation wall 24 of the housing 4 and the middle housing 5. In this embodiment, the second static sealing ring 12 is set at the chamfer and relief groove formed between the front housing 4 and the middle housing 5 to complete the sealing of this connection part.

[0052] Secondly, when the middle shell 5 and the rear shell 6 are connected, a cavity will also be formed between them. In this embodiment, the first static sealing ring 11 is set in the cavity formed between the middle shell 5 and the rear shell 6 to reduce the possibility of oil and lubricating oil seeping out of the cavity.

[0053] Optionally, the planetary propulsion unit also includes an adhesive coating; The rear cover 6 has a cable outlet 26, which is sealed with adhesive.

[0054] In this embodiment, the rear shell 6 is provided with a cable outlet 26 for leading out the internal wiring. This part needs to be sealed with glue to prevent leakage. Glue is chosen here to minimize space while ensuring a good seal.

[0055] In this embodiment and the aforementioned embodiments related to sealing, a complete sealing structure is integrated within the compact space of the planetary power unit, achieving comprehensive and effective waterproof and dustproof functions. This effectively blocks the intrusion of external water, dust, and other impurities, protects internal precision components from corrosion and damage, and ensures stable operation of the equipment in harsh environments.

[0056] Optionally, the planetary power unit also includes an encoder 9, which is a magnetic encoder; The code disk of encoder 9 is mounted on motor rotor bracket 10; The detection head corresponding to encoder 9 is integrated in PCB board 8.

[0057] In this embodiment, the planetary power unit includes a motor-side encoder 9, which is a magnetic encoder. The encoder code disk is mounted on the motor rotor bracket 10, and its corresponding detection read head is integrated into the PCB board 8. The encoder 9 and the PCB board 8 are used to control the operation of the planetary power unit without occupying axial space, effectively reducing the overall axial dimension and avoiding component stacking, making the power unit more concise and compact.

[0058] Optionally, the rotor support 10 includes a rotor retaining ring 27, a sun gear retaining ring 28, and at least two connecting rods 29; The rotor retaining ring 27 and the sun gear retaining ring 28 are fixed together by at least two connecting rods 29; In the plane where the central axis of the motor rotor 14 rotates, the projection of the rotor retaining ring 27 perpendicular to the central axis and the projection of the sun gear retaining ring 28 perpendicular to the central axis do not overlap. The connecting rod 29 and the sun gear retaining ring 28 are fixedly connected, and the sun gear retaining ring 28 is provided with a protrusion. The protrusion protrudes in a direction away from the planetary reducer. The protrusion and the connecting rod 29 form an installation space, and the code disk of the encoder 9 is located in the installation space.

[0059] In this embodiment, a circular hole is provided at the center of the sun gear retaining ring 28. The diameter of the circular hole is equal to the outer diameter of the sun gear 20. The first end of the sun gear 20 is fixed to the sun gear retaining ring 28 through the circular hole. Specifically, the first end of the outer surface of the sun gear 20 is fixed to the circular hole of the sun gear retaining ring 28. The rotor retaining ring 27 on the outer ring of the rotor support 10 is fixed to the motor rotor 14.

[0060] Furthermore, the sun gear retaining ring 28 and the rotor retaining ring 27 have different axial positions. Specifically, on the plane where the central axis of the motor rotor 14 rotates, the rotor retaining ring 27 is projected perpendicular to the central axis, and the sun gear retaining ring 28 is also projected perpendicular to the central axis. The two projections do not overlap, meaning that their axial positions are different. The sun gear retaining ring 28 is closer to the encoder 9 than the rotor retaining ring 27.

[0061] Furthermore, the rotor retaining ring 27 and the sun gear retaining ring 28 of the rotor support 10 are connected by at least two connecting rods 29. The connecting rods 29 exhibit a gradient upward trend, with the gradient gradually increasing from the outer rotor retaining ring 27 to the inner sun gear retaining ring 28. The sun gear retaining ring 28 has a protrusion that protrudes away from the planetary reducer. The protrusion and the connecting rods 29 form an installation space, specifically, an encoder mounting groove is formed between the connecting rod 29 on the side closer to the sun gear 20 and the sun gear retaining ring 28. This encoder mounting groove is adapted to the code disk of the encoder 9, and the code disk of the encoder 9 can be fixed on the encoder mounting groove.

[0062] Optionally, the planetary power unit also includes an end cap 22; The sun gear 20 is a hollow tubular structure, and the end cap 22 is fixed to the first end of the sun gear 20 to close the tubular opening at the first end of the sun gear 20.

[0063] In this embodiment, the end cap 22 is located at the first end of the sun gear 20, specifically in the hollow part of the first end of the sun gear. The end cap 22 is provided inside to isolate the reducer cavity and the cavity where the PCB board 8 is located, so as to avoid the reducer grease from affecting the PCB board 8 and the encoder 9.

[0064] In this embodiment, the encoder 9 has a circular hole in its center. The innermost protrusion of the stepped protrusions on the rotor support 10 matches the size of the circular hole in the encoder 9, effectively securing the encoder 9. The end cover 22 fits snugly with the center of the PCB board, forming two cavities. One cavity, also called the PCB board cavity, is formed by the rear shell 6, middle shell 5, outer cover, and sun gear 20. The other cavity is the reducer cavity formed by the motor and end cover 22. The end cover 22 acts as an isolation layer, preventing grease from the reducer from seeping into the PCB board cavity and affecting the PCB board 8 and encoder 9.

Claims

1. A planetary propulsion unit, characterized in that, Includes planetary gearbox, housing, and motor; The housing (4) includes a base (23), a fixed wall (25) extending in the inner circle of the base (23) and perpendicular to the base (23), and a heat dissipation wall (24) extending in the outer circle of the base (23) and perpendicular to the base (23). The extension height of the heat dissipation wall (24) is greater than the extension height of the fixed wall (25), and the fixed wall (25) is housed within the heat dissipation wall (24). The planetary reducer is at least partially housed inside the fixed wall (25) of the housing (4); The planetary reducer includes planetary gears (21), a planetary carrier (1), and an internal gear ring (7). The motor includes a motor stator (13) and a motor rotor (14), the motor rotor (14) and the motor stator (13) being arranged opposite to each other; the motor stator (13) and the housing (4) are fixedly connected; the motor stator (13) and the motor rotor (14) are at least partially housed in a groove formed by the base (23), the heat dissipation wall (24) and the fixing wall (25); The rotor support (10) includes a rotor fixing ring (27) and a sun gear fixing ring (28). The motor rotor (14) is fixedly connected to the rotor fixing ring (27), and the sun gear fixing ring (28) is fixedly connected to the first end of the sun gear (20). The outer edge of the internal gear ring (7) is fixed to the inner edge of the fixed wall (25). The second end of the sun gear is provided with a sun gear ring. At least three planet gears (21) are respectively meshed between the sun gear (20) ring and the internal gear ring (7). The at least three planet gears (21) are respectively rotatably mounted on the planet carrier (1). The rotation of the at least three planet gears (21) can drive the planet carrier (1) to rotate relative to the housing (4).

2. The planetary propulsion unit according to claim 1, characterized in that, The fixed wall (25) of the housing (4) is fixedly connected to the outer ring of the middle cover (15); the sun gear bearing (19) is sleeved on the sun gear (20), and the sun gear bearing (19) is rotatably connected to the inner ring of the middle cover (15). The sun gear (20) can rotate relative to the middle cover (15) under the rotation drive of the motor rotor (14).

3. The planetary propulsion unit according to claim 1, characterized in that, The planetary power unit also includes a bearing plate (3) and a crossed roller bearing (17). The crossed roller bearing (17) includes an inner ring and an outer ring. The crossed roller bearing (17) is disposed between the planetary carrier (1) and the housing (4). The inner ring of the crossed roller bearing (17) is sleeved on the planetary carrier. The bearing pressure plate (3) is fixed on the base (23) of the housing (4), and the bearing pressure plate (3) abuts against the outer ring of the crossed roller bearing (17) in the axial direction so that the outer ring of the crossed roller bearing (17) is fixed relative to the housing (4).

4. The planetary propulsion unit according to claim 3, characterized in that, The planetary power unit also includes an oil seal (2); The oil seal (2) is disposed between the planetary carrier (1) and the bearing pressure plate (3), and the oil seal (2) is used to achieve a seal between the planetary carrier (1) and the bearing pressure plate (3).

5. The planetary propulsion unit according to claim 3, characterized in that, The planetary power unit also includes a third static seal (16). A triangular cavity is formed between the bearing pressure plate (3), the housing (4), and the crossed roller bearing (17); The third static sealing ring (16) is placed inside the triangular cavity to seal the triangular cavity.

6. The planetary propulsion unit according to claim 3, characterized in that, The planetary propulsion unit also includes a middle shell (5) and a rear shell (6). The middle shell (5) is fixedly connected to the heat dissipation wall (24) of the shell (4); The PCB board (8) is mounted on the middle shell; The rear shell (6) is fixed to the middle shell (5).

7. The planetary propulsion unit according to claim 1, characterized in that, The planetary power unit also includes at least one encoder (9), which is a magnetic encoder and includes a code disk and a detection read head; The encoder (9) has its code disk mounted on the rotor bracket (10); The detection head corresponding to the encoder (9) is integrated in the PCB board (8).

8. The planetary propulsion unit according to claim 7, characterized in that, The rotor support (10) includes a rotor retaining ring (27), a sun gear retaining ring (28), and at least two connecting rods (29). The rotor fixing ring (27) and the sun gear fixing ring (28) are fixed together by at least two connecting rods (29); In the plane where the central axis of the motor rotor (14) rotates, the projection of the rotor fixing ring (27) perpendicular to the central axis and the projection of the sun gear fixing ring (28) perpendicular to the central axis do not overlap; The connecting rod (29) and the sun gear fixing ring (28) are fixedly connected, and the sun gear fixing ring (28) is provided with a protrusion. The protrusion protrudes in a direction away from the planetary reducer. The protrusion and the connecting rod (29) form an installation space, and the code disk of the encoder (9) is located in the installation space.

9. The planetary propulsion unit according to claim 8, characterized in that, The planetary power unit also includes an end cap (22); The sun gear (20) is a hollow tubular structure, and the end cap (22) is fixed to the first end of the sun gear (20) to close the tubular opening at the first end of the sun gear (20).

10. A robot, characterized in that, The robot includes a planetary power unit as described in any one of claims 1 to 9.

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