A new RV deceleration module for multi-degree-of-freedom humanoid robot dexterous hand joint

Abstract

The utility model provides a kind of new RV reduction module for multi-degree-of-freedom humanoid robot dexterous hand joint, it is related to reduction module technical field, including drive motor and RV reduction machine, RV reduction machine includes cycloid wheel, main bearing, eccentric shaft and needle tooth shell one and needle tooth shell two, main bearing is set between two cycloid wheels, needle tooth shell one and needle tooth shell two are engaged with two cycloid wheels by roller pin, drive motor outer connection has fixed flange and the first support flange located at its side away from needle tooth shell one, fixed flange and needle tooth shell one, main bearing outer ring and needle tooth shell two positioning connection;The side of needle tooth shell two away from main bearing outer ring is equipped with the output shaft connected with main bearing inner ring, output flange is connected to the output shaft, fixed flange and output flange are respectively as the fixed end and output end of module;Output encoder is installed on the output shaft, drive motor side away from RV reduction machine is connected with rotating shaft, and input encoder is installed on the rotating shaft.

Description

Technical Field

[0001] This utility model relates to the field of deceleration module technology, and in particular to a novel RV deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot. Background Technology

[0002] As an end effector, the dexterous hand of a humanoid robot needs to have a degree of freedom and load-bearing capacity close to that of a human hand. Meanwhile, with the development of humanoid robots, the requirements for lightweight and miniaturized reduction modules used in the joints of dexterous hands are becoming increasingly stringent. Currently, the RV reduction modules used in dexterous hand joints suffer from problems such as insufficient motor torque, difficulties in manufacturing miniaturized components, and low input / output control precision. To meet the needs of humanoid robot dexterous hands, the structure of the RV reduction module requires further optimization. Utility Model Content

[0003] The purpose of this invention is to provide a novel RV reduction module for the joints of a dexterous hand of a multi-degree-of-freedom humanoid robot. It features small axial dimensions, high motor torque, and ease of manufacturing. Furthermore, it achieves closed-loop control of input and output, effectively improving the module's control accuracy and meeting the miniaturization and high-precision requirements of humanoid robot dexterous hands.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution: A novel RV reduction module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot includes a drive motor and an RV reducer coaxially mounted at the joint. The RV reducer includes two cycloidal wheels, a main bearing, at least two eccentric shafts arranged in a circumferential array, and a first and a second pin tooth housing. The main bearing is located between the two cycloidal wheels. The first and second pin tooth housings correspond to the two cycloidal wheels respectively and are engaged with each other by needle rollers. The first pin tooth housing is close to the drive motor, and the outer ring of the main bearing is located between the first and second pin tooth housings. The eccentric shaft is mounted on the inner ring of the main bearing and the cycloidal wheel, and a true circular support bearing is installed between the true circle of each eccentric shaft and the inner ring of the main bearing. An eccentric circular support bearing is installed between the cam of each eccentric shaft and the two cycloidal wheels respectively. A planetary gear is installed at the end of the eccentric shaft away from the drive motor. The drive motor is connected to an input shaft that passes through its center and the center of the RV reducer. An input gear that meshes synchronously with several planetary gears is provided at the end of the input shaft away from the drive motor. The drive motor includes a motor housing disposed on the side of the pin tooth housing one away from the main bearing. A fixed flange is connected to the side wall of the motor housing, and a first support flange is provided on the side of the motor housing away from the pin tooth housing one. The fixed flange is positioned and connected to the pin tooth housing one, the outer ring of the main bearing, and the pin tooth housing two by pins and screws. The needle-tooth housing is provided with an output shaft on the side away from the outer ring of the main bearing. The output shaft is connected to the inner ring of the main bearing through a connecting pin, and the output shaft is connected to an output flange. The fixed flange and the output flange serve as the fixed end and output end of the module, respectively. The output shaft is also provided with a second support flange connected to the second needle tooth housing on the side away from the second needle tooth housing. An output encoder is installed on the output shaft, and an output encoder reading head that cooperates with the output encoder is installed on the second support flange. The drive motor is connected to a rotating shaft on the side away from the RV reducer. An input encoder is mounted on the rotating shaft. A cover plate is provided on the side of the first support flange away from the fixed flange, and an input encoder reading head that cooperates with the input encoder is mounted on the cover plate. By adopting the above technical solution, the fixed flange and the output flange serve as the fixed end and output end of the module, respectively. The drive motor is directly connected to the RV reducer to drive its rotation. The outer ring of the main bearing and the pin tooth housing one and pin tooth housing two in the RV reducer constitute the pin tooth housing structure in the original RV reducer, and the cycloidal wheels are distributed at both ends of the eccentric shaft, effectively simplifying the structure of the RV reducer. In addition, the split structure facilitates the manufacturing of parts and improves processing efficiency in the case of miniaturization. Furthermore, the input encoder and the output encoder realize closed-loop control of input and output, with fast dynamic response speed and high control accuracy, effectively improving the reliability of the module.

[0005] Furthermore, a baffle is provided between the first needle tooth housing and the fixed flange, a baffle is provided between the second needle tooth housing and the output shaft, and an O-ring is provided between the second baffle and the output shaft; the first baffle is connected to the fixed flange and the first needle tooth housing, the second baffle is connected to the second needle tooth housing, and the first baffle and the second baffle cooperate with the two cycloidal wheels and the corresponding needle rollers for axial positioning.

[0006] By adopting the above technical solution, baffle one and baffle two are used to axially limit the ends of the cycloidal wheel and the needle roller, preventing axial movement of the needle roller and affecting the meshing transmission between the cycloidal wheel and the first and second needle tooth housings. The O-ring seals the output end, preventing foreign objects from entering the module and affecting its normal operation.

[0007] Furthermore, a baffle plate is provided on the end faces of the two cycloidal wheels that are far apart from each other. The baffle plate is installed on the end face of the cycloidal wheel that is close to it by screws and presses against the outer ring end face of the eccentric circular support bearing.

[0008] By adopting the above technical solution, the baffle plate presses down on the outer ring of the eccentric circular support bearing to prevent axial movement and ensure the working accuracy of the RV reducer.

[0009] Furthermore, a baffle plate is provided between the inner rings of the two true circular support bearings that are far apart from each other and the inner ring of the corresponding eccentric circular support bearing.

[0010] By adopting the above technical solution, the baffle plate 2 is used to limit the axis of the inner ring of the true circular support bearing, thereby preventing the inner ring of the true circular support bearing from axially shifting.

[0011] Furthermore, the first needle tooth housing, the outer ring of the main bearing, and the second needle tooth housing are integrally formed.

[0012] By adopting the above technical solution, the needle gear housing 1, the outer ring of the main bearing, and the needle gear housing 2 are directly integrally molded and manufactured, which can reduce the precision error caused by assembly and further improve the transmission accuracy of the RV reducer.

[0013] Furthermore, the drive motor includes a stator disposed within the motor housing and a rotor and a back iron disposed within the first support flange. The rotor is located between the stator and the back iron, and the rotating shaft is installed within the back iron and the inner ring of the rotor. The input shaft is installed within the inner hole of the rotating shaft and connected to the rotor via the rotating shaft.

[0014] By adopting the above technical solutions, the torque of the drive motor composed of the stator, rotor and back iron is enhanced, the current is reduced, and it is easier to adapt to the driver.

[0015] Furthermore, motor support bearings are provided between the stator and the input shaft, and between the first support flange and the rotating shaft, and two motor support bearings are arranged side by side along the input shaft axis between the stator and the input shaft.

[0016] By adopting the above technical solution, the stability of the input shaft and rotating shaft rotation is ensured by using the motor support bearing, avoiding axial displacement of the input shaft and ensuring input accuracy.

[0017] Furthermore, the drive motor includes a rotor and two stators located on opposite sides of the rotor, wherein one stator is installed inside the motor housing, the rotor and the other stator are installed inside a first support flange, the rotating shaft is installed inside the inner ring of the rotor, and the input shaft is installed inside the inner hole of the rotating shaft and connected to the rotor via the rotating shaft.

[0018] By adopting the above technical solution, the drive motor is a PCB motor with axial magnetic flux, which effectively reduces the axial dimension of the drive motor and facilitates the miniaturization of the entire module.

[0019] In summary, this utility model has the following beneficial effects: 1. In this utility model, the drive motor and the RV reducer are directly connected, and the resulting module has a small axial length, which meets the miniaturization requirements of the joint module. In addition, the pin tooth housing 1 and pin tooth housing 2 in the RV reducer are separate from the inner ring of the main bearing, which is simple to manufacture and has high processing efficiency. 2. In this utility model, the input encoder and output encoder realize closed-loop control of input and output, which has fast dynamic response speed, high control accuracy, and effectively improves the reliability of the entire joint module. 3. In this utility model, the torque of the drive motor is increased and the current is reduced, making it easier to adapt to components such as the driver. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a novel RV deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot in Embodiment 1; Figure 2 This is a schematic diagram of the structure of a novel RV deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot in Embodiment 2; Figure 3 This is a schematic diagram of the structure of a novel RV deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot in Embodiment 3.

[0021] In the diagram, 01 is the drive motor; 1 is the motor housing; 11 is the stator; 12 is the rotor; 13 is the back iron; 14 is the motor support bearing; 15 is the rotating shaft; 16 is the fixed flange; 17 is the first support flange; 18 is the input shaft; 19 is the input gear; 02 is the RV reducer; 2 is the cycloidal wheel; 21 is the needle roller; 3 is the main bearing; 31 is the outer ring of the main bearing; 32 is the inner ring of the main bearing; 4 is the eccentric shaft; 41 is the true circular support bearing; 42 is the eccentric circular support bearing; 43 is the planetary gear; 44 is the first baffle; 45 is the second baffle; 5 is the first needle tooth housing; 51 is the first baffle; 6 is the second needle tooth housing; 61 is the second baffle; 7 is the output shaft; 71 is the output flange; 72 is the O-ring; 73 is the connecting pin; 8 is the second support flange; 81 is the output encoder; 82 is the output encoder reading head; 9 is the cover plate; 91 is the input encoder; 92 is the input encoder reading head. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0023] Example 1: A novel RV deceleration module for the dexterous hand joints of a multi-degree-of-freedom humanoid robot, such as Figure 1As shown, the device includes a drive motor 01 and an RV reducer 02 coaxially mounted at the joint. The drive motor 01 includes a motor housing 1, a stator 11, a rotor 12, and a back iron 13. A fixing flange 16 is connected to the outer wall of the motor housing 1. A first support flange 17 is installed on the side of the motor housing 1 away from the RV reducer 02. The stator 11 is installed inside the motor housing 1. The rotor 12 and the back iron 13 are installed inside the first support flange 17, with the rotor 12 located between the stator 11 and the back iron 13. A rotating shaft 15 is installed inside the back iron 13 and the inner ring of the rotor 12. An input shaft 18, coaxial with the rotating shaft 15, is installed in the inner hole of the rotating shaft 15. The rotor 12 drives the input shaft 18 to rotate through the rotating shaft 15. Motor support bearings 14 are provided between the stator 11 and the input shaft 18, and between the first support flange 17 and the rotating shaft 15. Two motor support bearings 14 are arranged side by side along the axial direction of the input shaft 18 between the stator 11 and the input shaft 18.

[0024] like Figure 1 As shown, the RV reducer 02 includes two cycloidal wheels 2, a main bearing 3, at least two eccentric shafts 4 arranged in a circumferential array, and pin tooth housing 5 and pin tooth housing 6. The main bearing 3 is located between the two cycloidal wheels 2. Pin tooth housing 5 and pin tooth housing 6 correspond to the two cycloidal wheels 2 respectively and are meshed with each other by needle rollers 21. Pin tooth housing 5 is close to the drive motor 01, and the outer ring 31 of the main bearing is located between pin tooth housing 5 and pin tooth housing 6. The eccentric shafts 4 are mounted on the inner ring 32 of the main bearing and the cycloidal wheels 2. A true circular support bearing 41 is installed between the true circle of each eccentric shaft 4 and the inner ring 32 of the main bearing. An eccentric circular support bearing 42 is installed between the cam of each eccentric shaft 4 and the two cycloidal wheels 2 respectively. A planetary gear 43 is installed at the end of the eccentric shaft 4 away from the drive motor 01. The end of the input shaft 18 away from the rotating shaft 15 passes through the RV reducer 02 and is provided with an input gear 19 that meshes synchronously with several planetary gears 43.

[0025] like Figure 1 As shown, an output shaft 7 is provided on the side of the needle housing 6 away from the outer ring 31 of the main bearing. The output shaft 7 is connected to the inner ring 32 of the main bearing via a connecting pin 73, and an output flange 71 is connected to the output shaft 7. The fixed flange 16 and the output flange 71 serve as the fixed end and output end of the module, respectively. The fixed flange 16 and the output flange 71 are located on both sides of the axis of the input shaft 18 and extend outwards away from each other. The outwardly extending portions of both have mounting holes that pass through them, facilitating the connection of the fixed flange 16 and the output flange 71 to external structures.

[0026] Among them, such as Figure 1As shown, a baffle 51 is provided between the pin tooth housing 5 and the fixed flange 16, and a baffle 61 is provided between the pin tooth housing 6 and the output shaft 7. The fixed flange 16, baffle 51, pin tooth housing 5, main bearing outer ring 31, and pin tooth housing 6 are positioned by pins and connected to baffle 61 by screws, realizing the connection between the drive motor 01 and the RV reducer 02. The baffle 51 and baffle 61 cooperate with the two cycloidal wheels 2 and the corresponding needle rollers 21 for axial limiting. In addition, an O-ring 72 is provided between baffle 61 and the output shaft 7 to achieve module sealing.

[0027] like Figure 1 As shown, baffles 44 are provided on the opposite end faces of the two cycloidal wheels 2. These baffles 44 are screwed onto the end face of the cycloidal wheel 2 closest to them and press against the outer ring end face of the eccentric circular support bearing 42, thus limiting the axial movement of the outer ring and preventing it from moving axially. Additionally, baffles 45 are provided between the opposite side of the inner rings of the two true circular support bearings 41 and the corresponding inner ring of the eccentric circular support bearing 42 to prevent axial movement of the inner ring of the true circular support bearing 41.

[0028] To achieve closed-loop control of the entire module, such as Figure 1 As shown, a second support flange 8, connected to the pin tooth housing 6, is provided on the side of the output shaft 7 away from the pin tooth housing 6. An output encoder 81 is mounted on the output shaft 7, and an output encoder reading head 82, which mates with the output encoder 81, is mounted on the second support flange 8. An input encoder 91 is mounted on the side of the rotating shaft 15 away from the rotor 12. A cover plate 9 is provided on the side of the first support flange 17 away from the fixed flange 16, and an input encoder reading head 92, which mates with the input encoder 91, is mounted on the cover plate 9. The input encoder 91 and the output encoder 81 achieve closed-loop control, resulting in fast dynamic response, high control accuracy, and effectively improving the reliability of the entire joint module.

[0029] Example 2: A novel RV deceleration module for the dexterous hand joints of a multi-degree-of-freedom humanoid robot, such as Figure 1 and Figure 2 As shown, the difference from Embodiment 1 is that in this embodiment, the needle tooth housing 5, the main bearing outer ring 31, and the needle tooth housing 6 are integrally formed, which can reduce the cumulative assembly error caused by the split structure and improve the overall transmission accuracy of the module.

[0030] Example 3: A novel RV deceleration module for the dexterous hand joints of a multi-degree-of-freedom humanoid robot, such as Figure 2 and Figure 3As shown, the difference from Embodiment 2 is that in this embodiment, the drive motor 01 includes a rotor 12 and two stators 11 located on both sides of the rotor 12. One stator 11 is installed inside the motor housing 1, and the rotor 12 and the other stator 11 are installed inside the first support flange 17. The rotating shaft 15 is installed inside the inner ring of the rotor 12, and the input shaft 18 is installed inside the inner hole of the rotating shaft 15. In this embodiment, the drive motor 01 has a double-stator 11 and single-rotor 12 structure, which can output higher output power and torque in the same volume, that is, its axial thickness can be smaller while meeting the usage requirements. In this case, two motor support bearings 14 are provided between the stator 11 and the input shaft 18 between the rotor 12 and the RV reducer 02, and the stator 11 located inside the first support flange 17 is directly installed on the first support flange 17.

[0031] The foregoing description illustrates and describes preferred embodiments of the present invention. As previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or related technical or knowledge. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A novel RV deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot, characterized in that: The device includes a drive motor (01) and an RV reducer (02) coaxially mounted at the joint. The RV reducer (02) includes two cycloidal wheels (2), a main bearing (3), at least two eccentric shafts (4) arranged in a circular array, and a first needle housing (5) and a second needle housing (6). The main bearing (3) is located between the two cycloidal wheels (2). The first needle housing (5) and the second needle housing (6) correspond to the two cycloidal wheels (2) respectively and are meshed with each other by a needle roller (21). The first needle housing (5) is close to the drive motor (01). The main bearing (3) includes a main bearing outer ring (31) and a main bearing inner ring (32). The main bearing outer ring (31) is located between the first needle housing (5) and the second needle housing (6). The eccentric shaft (4) is mounted on the inner ring (32) of the main bearing and the cycloidal wheel (2), and a true circular support bearing (41) is installed between the true circle of each eccentric shaft (4) and the inner ring (32) of the main bearing. An eccentric circular support bearing (42) is installed between the cam of each eccentric shaft (4) and the two cycloidal wheels (2). A planetary gear (43) is installed at the end of the eccentric shaft (4) away from the drive motor (01). The drive motor (01) is connected to an input shaft (18) that passes through its center and the center of the RV reducer (02). An input gear (19) that meshes synchronously with a plurality of planetary gears (43) is provided at the end of the input shaft (18) away from the drive motor (01). The drive motor (01) includes a motor housing (1) disposed on the side of the pin tooth housing (5) away from the main bearing (3). The side wall of the motor housing (1) is connected to a fixing flange (16), and the side of the motor housing (1) away from the pin tooth housing (5) is provided with a first support flange (17). The fixing flange (16) is positioned and connected to the pin tooth housing (5), the outer ring of the main bearing (31), and the pin tooth housing (6) by pins and screws. The needle-tooth housing 2 (6) has an output shaft (7) on the side away from the outer ring (31) of the main bearing. The output shaft (7) is connected to the inner ring (32) of the main bearing through a connecting pin (73), and the output shaft (7) is connected to an output flange (71). The fixed flange (16) and the output flange (71) serve as the fixed end and output end of the module, respectively. The output shaft (7) is provided with a second support flange (8) connected to the needle tooth housing (6) on the side away from the needle tooth housing (6). An output encoder (81) is installed on the output shaft (7), and an output encoder reading head (82) that cooperates with the output encoder (81) is installed on the second support flange (8). The drive motor (01) is connected to a rotating shaft (15) on the side away from the RV reducer (02). An input encoder (91) is installed on the rotating shaft (15). A cover plate (9) is provided on the side of the first support flange (17) away from the fixed flange (16), and an input encoder reading head (92) that cooperates with the input encoder (91) is installed on the cover plate (9).

2. The novel RV deceleration module for the dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 1, characterized in that: A baffle plate (51) is provided between the first needle tooth shell (5) and the fixed flange (16), and a baffle plate (61) is provided between the second needle tooth shell (6) and the output shaft (7). An O-ring (72) is provided between the second baffle plate (61) and the output shaft (7). The first baffle plate (51) is connected to the fixed flange (16) and the first needle tooth shell (5), and the second baffle plate (61) is connected to the second needle tooth shell (6). The first baffle plate (51) and the second baffle plate (61) cooperate with the two cycloidal wheels (2) and the corresponding needle rollers (21) for axial positioning.

3. A novel RV deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 2, characterized in that: A baffle plate (44) is provided on the end face of the two cycloidal wheels (2) that are far apart from each other. The baffle plate (44) is installed on the end face of the cycloidal wheel (2) that is close to it by screws and presses against the outer ring end face of the eccentric circular support bearing (42).

4. A novel RV deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 3, characterized in that: A baffle plate (45) is provided between the inner rings of the two true circular support bearings (41) that are far apart from each other and the inner ring of the corresponding eccentric circular support bearing (42).

5. A novel RV deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 4, characterized in that: The first needle tooth shell (5), the outer ring of the main bearing (31), and the second needle tooth shell (6) are integrally formed.

6. A novel RV deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 1 or 4, characterized in that: The drive motor (01) includes a stator (11) disposed in the motor housing (1) and a rotor (12) and a back iron (13) disposed in the first support flange (17). The rotor (12) is located between the stator (11) and the back iron (13), and the rotating shaft (15) is installed in the inner ring of the back iron (13) and the rotor (12). The input shaft (18) is installed in the inner hole of the rotating shaft (15) and connected to the rotor (12) through the rotating shaft (15).

7. A novel RV deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 6, characterized in that: Motor support bearings (14) are provided between the stator (11) and the input shaft (18) and between the first support flange (17) and the rotating shaft (15), and two motor support bearings (14) between the stator (11) and the input shaft (18) are arranged side by side along the axial direction of the input shaft (18).

8. A novel RV deceleration module for a dexterous hand joint of a multi-degree-of-freedom humanoid robot according to claim 4, characterized in that: The drive motor (01) includes a rotor (12) and two stators (11) located on both sides of the rotor (12). One stator (11) is installed inside the motor housing (1). The rotor (12) and the other stator (11) are installed inside the first support flange (17). The rotating shaft (15) is installed inside the inner ring of the rotor (12). The input shaft (18) is installed inside the inner hole of the rotating shaft (15) and connected to the rotor (12) through the rotating shaft (15).

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