Integrated joint power unit and legged robot using same

Abstract

The present invention relates to the technical field of legged robots, and disclosed are an integrated joint power unit and a legged robot using same. The integrated joint power unit provided by the present invention comprises a base and a speed reducer unit provided in the base; the speed reducer unit comprises a first planet carrier; a mounting seat is coaxially provided in the base; the first planet carrier is sleeved in the mounting seat, and can rotate with respect to the mounting seat; a spacer and an input bearing are provided between the mounting base and the first planet carrier; the first planet carrier is fixed in the mounting seat by means of the spacer; the edge of the spacer extends to the outer side and against the mounting base, so as to form a concave groove for embedding the mounting seat, such that the spacer is fixed in the mounting seat. In the present invention, the spacer of which edge is embedded with the mounting seat is provided between the mounting seat and the first planet carrier, and when the spacer is extruded in the rotation process of the first planet carrier, the spacer can be always engaged with the mounting seat, such that the eccentric run-out of the first planet carrier is reduced.

Description

An integrated joint power unit and a legged robot using the same Technical Field

[0001] The present invention relates to the technical field of foot-type robots, and in particular to an integrated joint power unit and a foot-type robot using the same. Background Art

[0002] The joint power unit is an important component unit of the legged robot, and the reduction gear unit is an important component of the joint power unit, generally including an input planetary carrier and an output planetary carrier.

[0003] A Chinese patent (publication number CN213034612U) discloses a compact rotary power unit and a robot using the same, which includes a motor that provides kinetic energy, a sun gear connected to the motor rotor, a planetary carrier and planetary gears that cooperate with the sun gear. Technical issues

[0004] However, the planet carrier continuously squeezes the base during rotation, causing deformation and wear of the base or the planet carrier, which may cause the planet carrier to lose contact with the base, thereby affecting the rotation accuracy of the reduction gear unit. Technical Solutions

[0005] In order to overcome the deficiencies of the prior art, one object of the present invention is to provide an integrated joint power unit, in which a spacer whose edge is engaged with the mounting seat is provided between the mounting seat and the first planetary carrier, thereby improving the rotation accuracy of the reduction gear unit.

[0006] The second purpose of the present invention is to provide a spacer arranged between the mounting seat and the first planetary carrier to form a composite structure that can offset the extrusion force and impact force of the first planetary carrier; when the spacer is squeezed during the rotation of the first planetary carrier, the spacer can always be in contact with the mounting seat, thereby reducing the eccentric vibration of the first planetary carrier, and improving the overall structural strength of the reduction gear unit, thereby improving the integrated joint power unit with the rotation accuracy of the reduction gear unit.

[0007] The third object of the present invention is to provide a legged robot, which has an integrated joint power unit arranged at its joint, and a spacer whose edge is engaged with the mounting seat is arranged between the mounting seat and the first planetary carrier, thereby improving the rotation accuracy of the reduction gear unit.

[0008] To achieve one of the above purposes, the first technical solution of the present invention is:

[0009] An integrated joint power unit,

[0010] It comprises a base and a reduction gearbox unit arranged in the base, wherein the reduction gearbox unit comprises a first planet carrier;

[0011] A mounting seat is coaxially provided in the base, and the first planet carrier is sleeved in the mounting seat and can rotate relative to the mounting seat;

[0012] A spacer and an input bearing are provided between the mounting seat and the first planet carrier;

[0013] The first planet carrier is assembled in the mounting seat through the input bearing and the spacer;

[0014] The edge of the spacer extends outward and fits the mounting seat to form a concave groove that fits into the thin-walled circumference of the end of the mounting seat, so as to tightly fit the spacer and the thin-walled circumference of the end of the mounting seat.

[0015] As preferred technical measures:

[0016] The reduction gearbox unit includes a second planet carrier and an output bearing coaxial with the base;

[0017] The second planet carrier is sleeved in the base through the output bearing;

[0018] The end surface of the second planet carrier extends radially outward to form a protection portion covering the output bearing and the base, and a movable gap is defined between the protection portion and the end surface of the base.

[0019] The protective portion formed on the end surface of the second planet carrier covers the output bearing and the base. Therefore, when the second planet carrier is subjected to an axial external force, the protective portion will first contact the base, preventing the external force from being further transmitted to the output bearing, thereby preventing damage to the output bearing and its internal components. In other words, when the second planet carrier is subjected to a large external force and moves, the protective portion of the second planet carrier will closely contact the end surface of the base to directly transmit the external force, effectively reducing the impact force of the second planet carrier on the output bearing.

[0020] As preferred technical measures:

[0021] A motor unit is provided in the base, and the motor unit includes a motor rotor and a motor cable;

[0022] A cover plate and a cover plate fixing seat that cooperate with each other are provided between the side wall of the motor rotor and the side wall of the base;

[0023] An accommodating cavity for accommodating the motor cable is formed between the cover plate, the cover plate fixing seat and the base, so as to prevent the motor cable from interfering with the motor rotor.

[0024] As preferred technical measures:

[0025] The motor unit includes a motor stator and a driving circuit board for driving the motor unit. The motor stator and the driving circuit board are respectively fixed in a base.

[0026] As preferred technical measures:

[0027] A sun gear is coaxially fixed to the motor rotor, and a rotor rear end bearing is provided between the motor rotor and the first planet carrier;

[0028] The motor rotor is rotatably connected to the first planet carrier via a rotor rear end bearing;

[0029] A rotor front end bearing is provided between the motor rotor and the second planet carrier, and the motor rotor is rotatably connected to the second planet carrier through the rotor front end bearing;

[0030] The reduction gearbox unit includes an inner gear ring and planetary gears that cooperate with each other. The outer circumference of the inner gear ring is directly fixed in the mounting seat through concave-convex cooperation with the inner circumference of the mounting seat. The sun gear drives the planetary gears to rotate.

[0031] As preferred technical measures:

[0032] The spacer is a gasket ring in a circular ring shape, which can effectively enhance the structural strength of the mounting seat and has low manufacturing cost.

[0033] To achieve one of the above purposes, the second technical solution of the present invention is:

[0034] An integrated joint power unit comprises a mounting seat having a hollow cavity and a planet carrier rotatably connected to the mounting seat;

[0035] The mounting seat is provided with a spacer on a side opposite to the planet carrier;

[0036] The spacer cooperates with the mounting seat to form a composite structure capable of reducing deformation and wear of the mounting seat and / or the planet carrier.

[0037] After continuous exploration and experimentation, the present invention arranges a spacer between the mounting seat and the planetary carrier to form a composite structure that can offset the extrusion force and impact force of the planetary carrier. When the spacer is squeezed during the rotation of the planetary carrier, the spacer can always be in contact with the mounting seat, thereby reducing the eccentric vibration of the planetary carrier, improving the overall structural strength of the reduction gear unit, and thus improving the rotation accuracy of the reduction gear unit.

[0038] Furthermore, the end edge of the mounting seat is thinner, and the spacer fits against the edge of the mounting seat to form a composite structure, which can effectively prevent the thin wall of the mounting seat from deforming and even being damaged when the planetary carrier is under extreme stress, thereby affecting the service life of the entire reduction gearbox unit.

[0039] Furthermore, when the spacer is made of some elastic or flexible material, it can effectively buffer the impact force of the planet carrier, thereby effectively avoiding deformation and wear of the mounting seat and / or the planet carrier. The solution is simple, practical and feasible.

[0040] As preferred technical measures:

[0041] The spacer is an annular structure, a square structure or a circular structure, which is made of metal, plastic or rubber, and is fitted, embedded or covered on the mounting seat to form a composite structure that can effectively enhance the structural strength of the mounting seat and the planetary carrier.

[0042] As preferred technical measures:

[0043] The planet carrier is connected to the spacer through an input bearing, and the planet carrier is limited in the mounting seat by the input bearing and the spacer.

[0044] The spacer is bent toward the end of the mounting seat to form a concave groove that fits into the end wall of the mounting seat, so that the spacer is matched with the periphery of the end wall of the mounting seat to form a composite reinforcement structure.

[0045] To achieve one of the above purposes, the third technical solution of the present invention is:

[0046] A legged robot comprises the above-mentioned integrated joint power unit. Beneficial effects

[0047] After continuous exploration and experimentation, the present invention arranges a spacer between the mounting seat and the planetary carrier to form a composite structure that can offset the extrusion force and impact force of the planetary carrier. When the spacer is squeezed during the rotation of the planetary carrier, the spacer can always be in contact with the mounting seat, thereby reducing the eccentric vibration of the planetary carrier, improving the overall structural strength of the reduction gear unit, and thus improving the rotation accuracy of the reduction gear unit.

[0048] Furthermore, the present invention provides an integrated joint power unit in which a spacer, whose edge engages with the mounting seat, is disposed between the mounting seat and the first planetary carrier. When the spacer is squeezed during the rotation of the first planetary carrier, the spacer can always be engaged with the mounting seat, thereby reducing the eccentric runout of the first planetary carrier, improving the overall structural strength of the reduction gear unit, and thus enhancing the rotational accuracy of the reduction gear unit. At the same time, the thin-walled circumference of the end of the first planetary carrier and the mounting seat is tightly and fixedly connected throughout the entire circle, preventing deformation of the thin-walled mounting seat when the first planetary carrier is subjected to extreme forces, which could damage the entire reduction gear unit.

[0049] The present invention provides a legged robot with an integrated joint power unit. A spacer, whose edge engages with the mounting seat, is disposed between the mounting seat and the first planetary carrier. When the spacer is squeezed during the rotation of the first planetary carrier, it remains engaged with the mounting seat, thereby reducing the eccentric runout of the first planetary carrier and improving the overall structural strength of the reduction gearbox unit, thereby enhancing the reduction gearbox unit's rotational accuracy. Furthermore, the thin-walled circumference of the first planetary carrier and the mounting seat ensures a tight, full-circle fixed connection, preventing deformation of the thin-walled mounting seat when the first planetary carrier is subjected to extreme forces, which could damage the entire reduction gearbox unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] FIG1 is an exploded view of an integrated joint power unit of the present invention;

[0051] FIG2 is a full cross-sectional view of an integrated joint power unit of the present invention;

[0052] FIG3 is a partially enlarged view of an integrated joint power unit of the present invention.

[0053] In the figure: 1. Base; 2. First planetary carrier; 3. Mounting seat; 4. Spacer; 5. Second planetary carrier; 6. Output bearing; 7. Protective part; 8. Motor rotor; 9. Cover plate; 10. Cover plate fixing seat; 11. Motor stator; 12. Drive circuit board; 13. Sun gear; 14. Internal ring gear; 15. Planetary gear; 16. Protrusion; 17. Recessed part; 18. Input bearing; 19. Rotor rear end bearing; 20. Rotor front end bearing. Modes for Carrying Out the Invention

[0054] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, 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 used to explain the present invention and are not intended to limit the present invention.

[0055] On the contrary, the present invention covers any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention as defined by the claims. Furthermore, to facilitate a better understanding of the present invention, certain specific details are described in detail below in the detailed description of the present invention. Those skilled in the art will be able to fully understand the present invention without these details.

[0056] It should be noted that when two elements are "fixedly connected," "fixedly coupled," or "rotatably connected," the two elements may be directly connected or there may be an intermediate element. In contrast, when an element is referred to as being "directly on" another element, there are no intermediate elements.

[0057] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one skilled in the art to which this invention pertains. The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0058] As shown in Figures 1-3, a preferred embodiment of the integrated joint power unit of the present invention:

[0059] An integrated joint power unit includes a base 1 and a reduction gearbox unit arranged in the base 1, wherein the reduction gearbox unit includes a first planet carrier 2;

[0060] A mounting seat 3 is coaxially provided in the base 1, and the first planet carrier 2 is sleeved in the mounting seat 3 and can rotate relative to the mounting seat 3;

[0061] A spacer 4 and an input bearing 18 are provided between the mounting seat 3 and the first planet carrier 2;

[0062] The first planet carrier 2 is assembled in the mounting seat 3 through the input bearing 18 and the spacer 4;

[0063] The spacer 4 is a gasket made of metal, which can effectively enhance the structural strength of the mounting seat 3 and has low manufacturing cost.

[0064] The edge of the gasket extends outward and fits the mounting seat 3 to form a concave groove that fits into the thin-walled circumference of the end of the mounting seat 3, so as to tightly fit the gasket and the thin-walled circumference of the end of the mounting seat 3.

[0065] The first planet carrier may be an input planet carrier.

[0066] A specific embodiment of the reduction gearbox unit of the present invention:

[0067] The reduction gearbox unit includes a second planet carrier 5 coaxial with the base 1 , an output bearing 6 , an inner ring gear 14 and planetary gears 15 that cooperate with each other.

[0068] The second planet carrier 5 is sleeved in the base 1 through the output bearing 6;

[0069] The end surface of the second planet carrier 5 extends radially outward to form a protection portion 7 covering the output bearing 6 and the base 1 , and a movable gap is provided between the protection portion 7 and the end surface of the base 1 .

[0070] The protective portion 7 formed on the end surface of the second planetary carrier 5 covers the output bearing 6 and the base 1. Therefore, when the second planetary carrier 5 is subjected to an axial external force, the protective portion 7 will first contact the base 1, preventing the external force from being further transmitted to the output bearing 6 and thus preventing damage to the output bearing 6 and its internal components. In other words, when the second planetary carrier 5 is subjected to a large external force and moves, the protective portion 7 of the second planetary carrier 5 will closely contact the end surface of the base 1 to directly transmit the external force, thereby effectively reducing the impact force of the second planetary carrier 5 on the output bearing 6.

[0071] The outer circumference of the inner gear ring 14 and the mounting seat 3 are fixed to each other via the protrusion 16 and the recess 17 , and the sun gear 13 drives the planetary gears 15 to rotate.

[0072] The second planet carrier may be an output planet carrier.

[0073] A specific embodiment of the motor unit of the present invention:

[0074] A motor unit is provided in the base 1 , and the motor unit includes a motor rotor 8 , a motor cable, a motor stator 11 , and a driving circuit board 12 for driving the motor unit.

[0075] A cover plate 9 and a cover plate fixing seat 10 that cooperate with each other are provided between the side wall of the motor rotor 8 and the side wall of the base 1;

[0076] An accommodating cavity for accommodating the motor cable is formed between the cover plate 9 , the cover plate fixing seat 10 and the base 1 to prevent the motor cable from interfering with the motor rotor 8 .

[0077] The motor stator 11 and the driving circuit board 12 are respectively fixed in the base 1 .

[0078] A sun gear 13 is coaxially fixed to the motor rotor 8 ; a rotor rear end bearing 19 is provided between the motor rotor 8 and the first planet carrier 2 .

[0079] The motor rotor 8 is rotatably connected to the first planet carrier 2 via a rotor rear end bearing 19;

[0080] A rotor front end bearing 20 is provided between the motor rotor 8 and the second planet carrier 5 , and the motor rotor 8 is rotatably connected to the second planet carrier 5 via the rotor front end bearing 20 ;

[0081] A specific embodiment of the integrated joint power unit of the present invention:

[0082] An integrated joint power unit includes a mounting seat 3 having a hollow cavity and a first planet carrier 2 rotatably connected to the mounting seat 3;

[0083] The mounting seat 3 is provided with a spacer 4 on a side opposite to the first planet carrier 2;

[0084] The spacer 4 cooperates with the mounting seat 3 to form a composite structure capable of reducing deformation and wear of the mounting seat 3 and / or the first planet carrier 2 .

[0085] After continuous exploration and experimentation, the present invention sets a spacer 4 between the mounting seat 3 and the planetary carrier to form a composite structure that can offset the extrusion force and impact force of the planetary carrier. When the spacer 4 is squeezed during the rotation of the planetary carrier, the spacer 4 can always be in contact with the mounting seat 3, thereby reducing the eccentric vibration of the planetary carrier, improving the overall structural strength of the reduction gear unit, and thus improving the rotation accuracy of the reduction gear unit.

[0086] Furthermore, the end edge of the mounting seat 3 is thinner, and the spacer 4 fits against the edge of the mounting seat 3 to form a composite structure, which can effectively prevent the thin wall of the mounting seat 3 from being deformed and even damaged when the planetary carrier is under extreme stress, thereby affecting the service life of the entire reduction gearbox unit.

[0087] Furthermore, when the spacer 4 is made of some elastic or flexible material, it can effectively buffer the impact force of the planet carrier, thereby effectively avoiding deformation and wear of the mounting seat 3 and / or the planet carrier. The solution is simple, practical and feasible.

[0088] Specific embodiment of the spacer 4 of the present invention:

[0089] The spacer 4 is an annular structure, a square structure or a circular structure, which is made of metal, plastic or rubber, and is attached to the mounting seat 3 to form a composite structure that can effectively enhance the structural strength of the mounting seat 3 and the planetary carrier.

[0090] A specific embodiment of the integrated joint power unit of the present invention is as follows:

[0091] A legged robot comprises the above-mentioned integrated joint power unit.

[0092] In the present application, the fixed connection method can be screw connection, welding, riveting, plug connection, or connection through a third component, and those skilled in the art can choose according to actual conditions.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An integrated articulated power unit, having a base (1) and a gearbox unit disposed within the base (1), the gearbox unit comprising a first planetary carrier (2), wherein:a mounting seat (3) is coaxially provided within the base (1), and the first planetary carrier (2) is sleeved within the mounting seat (3) and is rotatable relative to the mounting seat (3);a spacer (4) and an input bearing (18) are provided between the mounting seat (3) and the first planetary carrier (2);the first planetary carrier (2) is assembled within the mounting seat (3) by the input bearing (18) and the spacer (4); andthe edge of the spacer (4) extends outward and against the mounting scat (3) to form a concave groove matched with the thin-wall periphery of the end of the mounting seat (3), so as to snugly mate and connect the spacer (4) with the thin-wall periphery of the end of the mounting seat (3).

2. The integrated articulated power unit according to claim 1, wherein,the gearbox unit comprises a second planetary carrier (5) and an output bearing (6) coaxial to the base (1);the second planetary carrier (5) is sleeved within the base (1) by the output bearing (6); andthe end face of the second planetary carrier (5) extends radially outward to form a protective portion (7) covering the output bearing (6) and the base (1), and an operationgap is between the protective portion (7) and the end face of the base (1).

3. The integrated articulated power unit according to claim 2, wherein,a motor unit is provided within the base (1), the motor unit comprising a motor rotor (8) and a motor cable;a cover plate (9) and a cover plate fixing seat (10) mated with each other are provided between the side wall of the motor rotor (8) and the side wall of the base (1);anda receiving cavity receiving the motor cable is formed between the cover plate (9) and the cover plate fixing seat (10), and the base (1) to prevent interference of the motor cable with the motor rotor (8).

4. The integrated articulated power unit according to claim 3, wherein,the motor unit comprises a motor stator (11) and a driving circuit board (12) driving the motor unit which are fixed in the base (1).

5. The integrated articulated power unit according to claim 4, wherein,a sun wheel (13) is coaxially fixed on the motor rotor (8), and a rotor rear bearing (19) is provided between the motor rotor (8) and the first planetary carrier (2);the motor rotor (8) is rotationally connected to the first planetary carrier (2) by the rotor rear bearing (19);a rotor front bearing (20) is provided between the motor rotor (8) and the second planetary carrier (5), and the motor rotor (8) is rotationally connected to the second planetary carrier(5) by the rotor front bearing (20); andthe gearbox unit comprises an inner gear ring (14) and a planetary gear (15) which are mated with each other, the outer periphery of the inner gear ring (14) is fixed directly within the mounting seat (3) by being mated with the inner periphery of the mounting seat (3) in a mutual concave-convex mating mode, and the sun wheel (13) drives rotation of the planetary gear (15).

6. The integrated articulated power unit according to any one of claims 1-5, wherein,the spacer (4) is a cushion ring in the form of a circular ring.

7. An integrated articulated power unit, comprising a mounting seat (3) having a hollow cavity, and a planetary carrier rotationally connected to the mounting seat (3), wherein:a spacer (4) is provided at the side of the mounting scat (3) opposite to the planetary carrier; and the spacer (4) is mated with the mounting seat (3) to form a structure capable of reducing deformation and wear of the mounting seat (3) and / or the planetary carrier.

8. The integrated articulated power unit according to claim 7, wherein,the spacer (4) is an annular structure or a square structure or a circular structure, which is manufactured from metal or plastic or rubber, and abuts against, is embedded in or covers the mounting seat (3).

9. The integrated articulated power unit according to claim 7 or 8, wherein,the planetary carrier is propped to the spacer (4) by the input bearing (18), and is limited within the mounting seat (3) by the input bearing (18) and spacer (4);the spacer (4) bends toward the end of the mounting seat (3) and forms a concave groove 18matched with the end wall of the mounting seat (3) to mate the spacer (4) with the end wall periphery of the mounting seat (3) to form a composite reinforcing structure.

10. A quadruped robot, comprising the integrated articulated power unit according to any one of claims 1-9.

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