A robot joint resistant to high impacts

Abstract

The utility model provides a kind of robot joint of high impact resistance, have better impact resistance, torsional capacity, and it is convenient to install and maintain.Motor assembly and planetary gear reducer are installed in joint shell, and motor assembly is connected with planetary gear reducer;Planet carrier and planet carrier support are fixed together;Planet wheel is set on planet carrier and planet carrier support by gear shaft, and planet wheel bearing is set between planet wheel and gear shaft;Inner tooth ring is sleeved on the outside of planet wheel;The planet wheel bearing is at least two, and sequentially set along the axial direction of gear shaft;The front end of inner tooth ring is connected with planet carrier by front inner tooth ring bearing, and rear end is connected with planet carrier support by rear inner tooth ring bearing;Speed reducer positioning groove is set on the outside of inner tooth ring, and stator winding of motor assembly is set with stator positioning groove, and the positioning rod is installed in speed reducer positioning groove and stator positioning groove, and inner tooth ring and stator winding are connected together.

Description

Technical Field

[0001] This utility model relates to a robot joint that is resistant to high impact. Background Technology

[0002] The joints of a robot are mainly composed of motor assemblies, control circuits, and planetary gear reducers. Existing planetary gear reducers typically use a single bearing to support the shaft. Due to the harsh working conditions of robots, the output shaft and transmission shaft may be subjected to high impact forces of uncertain direction, such as external shocks and strong torques. Such impact forces may damage the transmission mechanism and motor assemblies of the joints or affect the service life of the robot. Furthermore, the installation and maintenance of existing planetary gear reducers are relatively troublesome. Utility Model Content

[0003] The purpose of this invention is to overcome the above-mentioned shortcomings in the existing technology and provide a robot joint with a reasonable structural design that is resistant to high impacts, has better impact and torsional resistance, and is easy to install and maintain.

[0004] The technical solution adopted by this utility model to solve the above problems is as follows: a high-impact resistant robot joint, comprising a planetary gear reducer, a motor assembly, and a joint housing. Both the motor assembly and the planetary gear reducer are installed inside the joint housing, and the motor assembly is connected to the planetary gear reducer. The planetary gear reducer includes an internal gear ring, planetary gears, a gear shaft, planetary gear bearings, a planetary carrier, and a planetary carrier support. The planetary carrier and the planetary carrier support are fixed together. The planetary gears are mounted on the planetary carrier and the planetary carrier support via gear shafts, and planetary gear bearings are provided between the planetary gears and the gear shafts. The internal gear ring is fitted onto the planetary gears. The outer side of the wheel; characterized in that: the planetary gear bearings are at least two, arranged sequentially along the axial direction of the gear shaft; the planetary gear reducer also includes a front internal gear ring bearing and a rear internal gear ring bearing, the front end of the internal gear ring is connected to the planet carrier through the front internal gear ring bearing, and the rear end is supported and connected to the planet carrier through the rear internal gear ring bearing; the planetary gear reducer also includes a positioning rod, a reducer positioning groove is opened on the outer side of the internal gear ring, and a stator positioning groove is opened on the stator winding of the motor assembly, the positioning rod is installed in the reducer positioning groove and the stator positioning groove, connecting the internal gear ring and the stator winding together.

[0005] The joint shell of this utility model includes a front shell and a rear end cover, which are fixed together by screws. A joint shell sealing gasket is provided on the connecting surface of the front shell and the rear end cover.

[0006] The outer surface of the joint shell of this invention is provided with heat dissipation fins.

[0007] The heat dissipation fins of this invention are disposed on the outer side of the front housing.

[0008] The rear cover of this utility model is provided with a waterproof cable interface.

[0009] This invention provides wear-resistant plates between the planetary gear and the planet carrier, and between the planetary gear and the planet carrier support, to isolate the planetary gear from the planet carrier and the planet carrier support.

[0010] The rotor module of the motor assembly described in this utility model includes a magnet holder, magnets, and a rotor core; the magnet holder is connected to the sun gear of the planetary gear reducer; a retaining ring is provided on the magnet holder, and the retaining ring is inserted into the rotor core for fixation; the magnets are disposed on the magnet holder and are attracted to the rotor core.

[0011] The retaining ring of this invention is provided with a magnetic steel sheet dividing groove, and the magnetic steel sheet is inserted into the magnetic steel sheet dividing groove.

[0012] Compared with the prior art, this utility model has the following advantages and effects: 1. The planetary gear reducer uses a double-bearing support structure for the planetary gears and internal gear ring, which has better resistance to impact and torsion; 2. The planetary gear reducer adopts a modular design, which facilitates installation and maintenance; 3. The joint motor housing is designed with heat dissipation fins to increase heat dissipation performance and reduce weight. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0014] Figure 2 This is an exploded structural diagram of an embodiment of the present utility model.

[0015] Figure 3 This is a schematic diagram of the structure of the planetary gear reducer according to an embodiment of the present invention.

[0016] Figure 4 This is an exploded structural diagram of the planetary gear reducer according to an embodiment of the present invention.

[0017] Figure 5 This is a cross-sectional structural diagram of the planetary gear reducer according to an embodiment of the present invention. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0019] This utility model embodiment includes a planetary gear reducer 1, a motor assembly 2, and a joint housing. Both the motor assembly 2 and the planetary gear reducer 1 are installed inside the joint housing, and the motor assembly 2 is connected to the planetary gear reducer 1.

[0020] Heat dissipation fins 5 are provided on the outer surface of the joint housing to increase heat dissipation performance and reduce weight. The joint housing includes a front shell 3 and a rear cover 4, which are fixed together by screws. A joint housing sealing gasket 5 is provided on the joint surface of the front shell 3 and the rear cover 4 to provide a seal. The heat dissipation fins 5 are provided on the outer surface of the front shell 3. A waterproof cable interface 41 is provided on the rear cover 4 for transmitting various signals and power.

[0021] The planetary gear reducer 1 includes an internal gear ring 11, a sun gear 12, planet gears 13, a planet carrier 14, a planet carrier support 15, wear-resistant plates 16, a front internal gear ring bearing 17, a rear internal gear ring bearing 18, planet gear bearings 19, a gear shaft 110, and a positioning rod 112.

[0022] The planet carrier 14 and the planet carrier support 15 are fastened together with screws.

[0023] The sun gear 12 is rotatably mounted on the planet carrier 14, and the planet gears 13 are mounted on the planet carrier 14 and the planet carrier support 15 via the gear shaft 110. The sun gear 12 meshes with the planet gears 13. Wear-resistant plates 16 are provided between the planet gears 13 and the planet carrier 14, and between the planet gears 13 and the planet carrier support 15, to isolate the planet gears 13 from the planet carrier 14 and the planet carrier support 15 and prevent the planet gears 13 from contacting the planet carrier 14 and the planet carrier support 15. At least two planet gear bearings 19 are provided between the planet gears 13 and the gear shaft 110, arranged sequentially along the axial direction of the gear shaft 110. The multi-planet gear bearing support structure has better resistance to impact and torsion.

[0024] The internal gear ring 11 is fitted onto the outside of the planetary gear 13. The front end of the internal gear ring 11 is connected to the planetary carrier 14 via the front internal gear ring bearing 17, and the rear end of the internal gear ring 11 is connected to the planetary carrier support 15 via the rear internal gear ring bearing 18. The support structures at both ends of the internal gear ring provide better resistance to impact and torsion. A reducer positioning groove 111 is provided on the outer surface of the internal gear ring 11, and a stator positioning groove 211 is provided on the stator winding 21 of the motor assembly 2. A positioning rod 112 is installed in the reducer positioning groove 111 and the stator positioning groove 211, thus the internal gear ring 11 is positioned on the stator winding 21. Through the structure of the positioning rod 112, the planetary gear reducer 1 can be quickly installed and disassembled.

[0025] With the above structure, the planetary gear reducer 1 forms a separate module, which facilitates installation and maintenance.

[0026] The rotor module of motor assembly 2 includes a magnet retainer 22, magnets 23, and a rotor core 24. The magnet retainer 22 is connected to the sun gear 12 of the planetary gear reducer 1 via a coupling structure. A retaining ring 221 is provided on the magnet retainer 22, which is inserted into the rotor core 24 for fixation, thus securing the magnet retainer 22 and the rotor core 24 together. The retaining ring 221 has magnet separating grooves 222, into which the magnets 23 are inserted and attracted to the rotor core 24. Through this structure, the rotor module of motor assembly 2 forms a single module, facilitating installation and maintenance.

[0027] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components. The above description is merely illustrative of the structure of this utility model. All equivalent or simple variations made based on the structure, features, and principles described in this utility model patent concept are included within the protection scope of this utility model patent.

Claims

1. A high-impact resistant robot joint, comprising a planetary gear reducer, a motor assembly, and a joint housing, wherein both the motor assembly and the planetary gear reducer are mounted within the joint housing, and the motor assembly is connected to the planetary gear reducer; the planetary gear reducer comprises an internal gear ring, planetary gears, a gear shaft, planetary gear bearings, a planetary carrier, and a planetary carrier support; the planetary carrier and the planetary carrier support are fixed together; the planetary gears are mounted on the planetary carrier and the planetary carrier support via the gear shaft, and planetary gear bearings are disposed between the planetary gears and the gear shaft; the internal gear ring is fitted around the outer side of the planetary gears; characterized in that: The planetary gear bearings are at least two, arranged sequentially along the axial direction of the gear shaft; the planetary gear reducer also includes a front internal gear ring bearing and a rear internal gear ring bearing, the front end of the internal gear ring is connected to the planet carrier through the front internal gear ring bearing, and the rear end is supported and connected to the planet carrier through the rear internal gear ring bearing; the planetary gear reducer also includes a positioning rod, a reducer positioning groove is formed on the outer surface of the internal gear ring, and a stator positioning groove is formed on the stator winding of the motor assembly, the positioning rod is installed in the reducer positioning groove and the stator positioning groove, connecting the internal gear ring and the stator winding together.

2. The high-impact resistant robot joint according to claim 1, characterized in that: The joint housing includes a front housing and a rear end cover, which are fixed together by screws. A joint housing sealing gasket is provided on the connecting surface of the front housing and the rear end cover.

3. The high-impact resistant robot joint according to claim 2, characterized in that: The outer surface of the joint shell is provided with heat dissipation fins.

4. The high-impact resistant robot joint according to claim 3, characterized in that: The heat dissipation fins are disposed on the outer side of the front housing.

5. The high-impact resistant robot joint according to claim 2, characterized in that: The rear cover is equipped with a waterproof cable interface.

6. The high-impact resistant robot joint according to claim 1, characterized in that: Wear-resistant plates are installed between the planetary gears and the planet carrier, as well as between the planetary gears and the planet carrier support, to isolate the planetary gears from the planet carrier and the planet carrier support.

7. The high-impact resistant robot joint according to claim 1, characterized in that: The rotor module of the motor assembly includes a magnet holder, magnets, and a rotor core; the magnet holder is connected to the sun gear of the planetary gear reducer; a retaining ring is provided on the magnet holder, and the retaining ring is inserted into the rotor core for fixation; the magnets are disposed on the magnet holder and are attracted to the rotor core.

8. The high-impact resistant robot joint according to claim 7, characterized in that: The retaining ring is provided with a magnetic steel sheet dividing groove, and the magnetic steel sheet is inserted into the magnetic steel sheet dividing groove.

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