Integrated joint power unit and legged robot using same

Abstract

This invention relates to the technical field of legged robots and discloses an integrated joint power unit and a legged robot using the same. The integrated joint power unit provided by this invention includes a base and a reduction gearbox unit installed in the base, the reduction gearbox unit includes a first pinion cage, a mounting base is installed coaxially in the base, the first pinion cage is fitted in the mounting base and can rotate relative to the mounting base, a spacer and an input bearing are installed between the mounting base and the first pinion cage, the first pinion cage is fixed in the mounting base by the spacer, and the edge of the spacer extends outward to be stuck to the mounting base to form a groove that is fitted into the mounting base, thereby fixing the spacer in the mounting base. In this invention, a spacer whose edge is fitted into the mounting base is installed between the mounting base and the first pinion cage, and when the first pinion cage presses the spacer during the rotation process, the spacer can always mesh with the mounting base, and further reduces the eccentricity and runout of the first pinion cage.

Description

[Technical field]

[0001] The present invention relates to the technical field of legged robots, and more particularly to an integrated joint power unit and a legged robot using the same. [Background technology]

[0002] The joint power unit is an important component unit of the legged robot, and as an important component of the joint power unit, the reduction gearbox unit generally includes an input pinion cage and an output pinion cage.

[0003] A Chinese patent (publication number CN213034612U) discloses a rotary power unit with a compact structure and a robot using the same, which includes a motor for providing kinetic energy, a sun gear connected to the motor rotor, a pinion cage engaging with the sun gear, and a planetary gear. Summary of the Invention [Problem to be solved by the invention]

[0004] However, during the rotation process, the pinion cage continuously presses the base, which will cause the base or the pinion cage to become distorted and worn, and even cause the contact between the pinion cage and the base to be released, thus affecting the rotation accuracy of the reduction gearbox unit.

[0005] In order to overcome the deficiencies of the prior art, the present invention aims to provide an integrated joint power unit, in which a spacer is provided between the mounting base and the first pinion cage, the edge of which is fitted into the mounting base, thereby improving the rotation accuracy of the reduction gearbox unit.

[0006] The present invention aims to provide an integrated joint power unit2. A spacer is provided between the mounting base and the first pinion cage to form a composite structure that can cancel the pressing force and impact force of the first pinion cage. Therefore, when the first pinion cage presses the spacer during the rotation process, the spacer can always abut against the mounting base, and the eccentricity and runout of the first pinion cage can be reduced, thereby improving the structural strength of the entire reduction gearbox unit and the rotation accuracy of the reduction gearbox unit.

[0007] The present invention aims to provide a legged robot 3, in which an integrated joint power unit is provided at the joint, and a spacer whose edge is fitted to the mounting base is provided between the mounting base and the first pinion cage, thereby improving the rotational accuracy of the reduction gearbox unit. [Means for solving the problem]

[0008] In order to achieve one of the above objectives, the first technical solution of the present invention is as follows: An integrated joint power unit, a base and a reduction gearbox unit disposed within the base, the reduction gearbox unit including a first pinion cage; a mounting base is coaxially provided within the base, the first pinion cage is fitted within the mounting base and is rotatable relative to the mounting base, a spacer and an input bearing are provided between the mounting base and the first pinion cage; the first pinion cage is mounted within the mount by the input bearing and the spacer; The edges of the spacer extend outwardly so as to be bonded to the mounting base, forming a groove that fits around the thin end wall of the mounting base, thereby tightly engaging and connecting the spacer to the thin end wall of the mounting base.

[0009] The preferred technical solution is The reduction gearbox unit includes a second pinion cage and an output bearing that are coaxially disposed with the base, the second pinion cage is fitted within the base by the output bearing, An end face of the second pinion cage extends radially outward to form a guard covering the output bearing and the base, with an active gap between the guard and the end face of the base.

[0010] The protective part formed from the end face of the second pinion cage covers the output bearing and the base, so that when the second pinion cage is impacted by an axial external force, the protective part first comes into contact with the base, thereby preventing the external force impact from being further transmitted to the output bearing, and further preventing damage to the output bearing and the internal parts connected thereto. That is, when the second pinion cage receives a large external force and moves, the protective part of the second pinion cage and the end face of the base come into close contact with each other and directly transmit the external force, thereby effectively reducing the impact force of the second pinion cage on the output bearing.

[0011] The preferred technical solution is A motor unit is provided in the base, the motor unit including a motor rotor and a motor cable; a cover plate and a cover plate fixing base that engage with each other are provided between a side wall of the motor rotor and a side wall of the base, An accommodation chamber for accommodating the motor cable is formed between the cover plate, the cover plate fixing base, and the base, thereby preventing interference between the motor cable and the motor rotor.

[0012] The preferred technical solution is: The motor unit includes a motor stator and a drive circuit board that drives the motor unit, and the motor stator and the drive circuit board are fixed in a base.

[0013] The preferred technical solution is: 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 pinion cage. the motor rotor is rotatably connected to the first pinion cage by a rotor rear end bearing; a rotor tip bearing is provided between the motor rotor and the second pinion cage, and the motor rotor is rotatably connected to the second pinion cage by the rotor tip bearing; The reduction gearbox unit includes a ring gear and planetary gears that engage with each other, and the outer ring of the ring gear is directly fixed within the mounting base by engaging with the inner ring of the mounting base in a protruding and recessed manner, and the sun gear drives the planetary gears to rotate.

[0014] The preferred technical solution is: The spacer is a backing ring, which has a circular shape, can effectively increase the structural strength of the mounting base, and has low manufacturing costs.

[0015] In order to achieve one of the above objectives, the second technical solution of the present invention is as follows: An integrated articulated power unit, comprising: a mount having a cavity; and a pinion cage pivotally connected to the mount; a spacer is provided on a side surface of the mounting base facing the pinion cage, The spacer engages the mount to form a composite structure that can reduce deformation and wear on the mount and / or pinion cage.

[0016] As a result of continuous research and experimentation, in this invention, a spacer is provided between the mounting base and the pinion cage, forming a composite structure that can cancel the pressing force and impact force caused by the pinion cage; furthermore, when the pinion cage presses the spacer during the rotation process, the spacer is always in contact with the mounting base, which reduces the eccentricity and runout of the pinion cage, improves the structural strength of the entire reduction gearbox unit, and enhances the rotation accuracy of the reduction gearbox unit.

[0017] Furthermore, the end edges of the mounting base are thin, and the spacer is bonded to the edges of the mounting base to form a composite structure, which effectively prevents the thin walls of the mounting base from being deformed and damaged when the pinion cage is subjected to large forces, thereby affecting the service life of the entire reduction gearbox unit.

[0018] Moreover, adopting some elastic or flexible materials for the spacer can effectively buffer the impact force caused by the pinion cage, and further effectively avoid the deformation and wear of the mounting base and / or the pinion cage, and the solution is simple, practical and feasible.

[0019] The preferred technical solution is The spacer is an annular or rectangular or circular structure, and is made of metal or plastic or rubber, and is laminated, fitted or wrapped around the mounting base to form a composite structure which can effectively enhance the structural strength of the mounting base and the pinion cage.

[0020] The preferred technical solution is The pinion cage is abutted against and connected to a spacer by an input bearing, and is positionally restricted within the mounting base via the input bearing and the spacer; The spacer is bent into the end of the mount to form a recess that fits into the end wall of the mount, thereby engaging the spacer around the periphery of the end wall of the mount to form a composite reinforcing structure.

[0021] In order to achieve one of the above objectives, the third technical solution of the present invention is as follows: A legged robot including the integrated joint power unit described above. Effect of the Invention

[0022] As a result of continuous research and experimentation, in this invention, a spacer is provided between the mounting base and the pinion cage, forming a composite structure that can cancel the pressing force and impact force caused by the pinion cage; furthermore, when the pinion cage presses the spacer during the rotation process, the spacer is always in contact with the mounting base, which reduces the eccentricity and runout of the pinion cage, improves the structural strength of the entire reduction gearbox unit, and enhances the rotation accuracy of the reduction gearbox unit.

[0023] Furthermore, in the integrated joint power unit provided by the present invention, a spacer is provided between the mounting base and the first pinion cage, the edge of which is fitted into the mounting base, so that when the first pinion cage presses the spacer during the rotation process, the spacer can always mesh with the mounting base, which reduces the eccentricity and runout of the first pinion cage, enhances the structural strength of the entire reduction gearbox unit, and improves the rotation accuracy of the reduction gearbox unit. In addition, the first pinion cage and the periphery of the end thin wall of the mounting base are tightly fixed and engaged over the entire periphery, which prevents the thin wall mounting base from deforming and the entire reduction gearbox unit from being damaged when the first pinion cage is subjected to a large force.

[0024] In the legged robot provided by the present invention, the integrated joint power unit is provided with a spacer between the mounting base and the first pinion cage, the edge of which is fitted to the mounting base, so that when the first pinion cage presses the spacer during rotation, the spacer can always mesh with the mounting base, which reduces the eccentricity and runout of the first pinion cage, improves the structural strength of the entire reduction gearbox unit, and enhances the rotation accuracy of the reduction gearbox unit. In addition, the first pinion cage and the periphery of the end thin wall of the mounting base are tightly fixed and engaged over the entire periphery, which prevents the thin wall mounting base from deforming and the entire reduction gearbox unit from being damaged when the first pinion cage is subjected to a large force. [Brief description of the drawings]

[0025] [Figure 1] FIG. 2 is an exploded view of the integrated joint power unit of the present invention; [Diagram 2] FIG. 2 is a full cross-sectional view of the integrated joint power unit of the present invention. [Diagram 3] FIG. 2 is a partially enlarged view of the integrated joint power unit of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] In order to make the objectives, technical solutions and advantages of the present invention more comprehensible, the present invention will be described in more detail below in conjunction with the drawings and examples. The specific examples described herein do not limit the present invention, but are merely for the purpose of interpreting the present invention.

[0027] On the contrary, the present invention covers any replacement, amendment, equivalent method and solution that is completed within the spirit and scope of the present invention as defined in the claims. Furthermore, in order to allow the public to better understand the present invention, some specific details are described in detail in the following detailed description of the present invention. Those skilled in the art can fully understand the present invention without the description of these details.

[0028] As used herein, when two elements are "fixedly connected," or "fixedly coupled," or "rotatably connected," the two elements may be directly connected, or there may be intermediate elements present. Conversely, when an element is described as being "directly" located "on" another element, there are no intermediate elements present.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. Terms used herein do not limit the present invention, but are merely for describing specific examples. As used herein, the term "and / or" includes any and all combinations of one or more associated items.

[0030] As shown in Figs. 1-3, one optimal embodiment of the integrated joint power unit of the present invention is as follows: An integrated joint power unit, comprising: a base 1; and a reduction gearbox unit disposed in the base 1, the reduction gearbox unit comprising a first pinion cage 2; A mounting base 3 is coaxially provided within the base 1, and the first pinion cage 2 is fitted within the mounting base 3 and is rotatable relative to the mounting base 3. A spacer 4 and an input bearing 18 are provided between the mounting base 3 and the first pinion cage 2. The first pinion cage 2 is mounted in the mounting base 3 by the input bearing 18 and the spacer 4, The spacer 4 is a backing ring made of metal, which can effectively increase the structural strength of the mounting base 3 and has low manufacturing costs.

[0031] The edge of the backing ring extends outwardly so as to be bonded to the mounting base 3, forming a groove that fits around the end thin wall of the mounting base 3, thereby tightly engaging and connecting the backing ring to the end thin wall of the mounting base 3.

[0032] The first pinion cage may be an input pinion cage.

[0033] As a specific embodiment of the reduction gearbox unit of the present invention, The reduction gearbox unit includes a second pinion cage 5 arranged coaxially with the base 1, an output bearing 6, and a ring gear 14 and a planetary gear 15 which engage with each other.

[0034] The second pinion cage 5 is fitted into the base 1 by the output bearing 6, The end face of the second pinion cage 5 extends radially outward to form a protective portion 7 covering the output bearing 6 and the base 1, and there is an active gap between the protective portion 7 and the end face of the base 1.

[0035] Since the protective part 7 formed from the end face of the second pinion cage 5 covers the output bearing 6 and the base 1, when the second pinion cage 5 is impacted by an external force in the axial direction, the protective part 7 first comes into contact with the base 1, thereby preventing the external force impact from being further transmitted to the output bearing 6 and further preventing damage to the output bearing 6 and the internal parts connected thereto. That is, when the second pinion cage 5 receives a large external force and moves, the protective part 7 of the second pinion cage 5 and the end face of the base 1 come into close contact with each other and directly transmit the external force, thereby effectively reducing the impact force of the second pinion cage 5 against the output bearing 6.

[0036] The outer ring of the ring gear 14 and the mounting base 3 are fixed to each other by projections 16 and recesses 17, and the sun gear 13 drives the planetary gears 15 to rotate.

[0037] The second pinion cage may be an output pinion cage.

[0038] As a specific embodiment of the motor unit of the present invention, A motor unit is provided within the base 1, and the motor unit includes a motor rotor 8, a motor cable, a motor stator 11, and a drive circuit board 12 that drives the motor unit.

[0039] A cover plate 9 and a cover plate fixing base 10 are provided between a side wall of the motor rotor 8 and a side wall of the base 1, and are engaged with each other. An accommodation chamber for accommodating the motor cable is formed between the cover plate 9, the cover plate fixing base 10 and the base 1, thereby preventing interference between the motor cable and the motor rotor 8.

[0040] The motor stator 11 and the drive circuit board 12 are fixed within the base 1 .

[0041] A sun gear 13 is coaxially fixed to the motor rotor 8 , and a rotor rear end bearing 19 is provided between the motor rotor 8 and the first pinion cage 2 .

[0042] The motor rotor 8 is rotatably connected to the first pinion cage 2 by a rotor rear end bearing 19, A rotor end bearing 20 is provided between the motor rotor 8 and the second pinion cage 5 , and the motor rotor 8 is rotatably connected to the second pinion cage 5 by the rotor end bearing 20 .

[0043] As a specific embodiment of the integrated joint power unit of the present invention, An integrated joint power unit, comprising: a mounting base (3) having a cavity; and a first pinion cage (2) pivotably connected to the mounting base (3); A spacer 4 is provided on a side surface of the mounting base 3 facing the first pinion cage 2, The spacer 4 engages with the mounting base 3 to form a composite structure that can reduce deformation and wear of the mounting base 3 and / or the first pinion cage 2 .

[0044] As a result of continuous research and experimentation, in this invention, a spacer 4 is provided between the mounting base 3 and the pinion cage, forming a composite structure that can cancel the pressing force and impact force caused by the pinion cage; further, when the pinion cage presses the spacer 4 during the rotation process, the spacer 4 is always in contact with the mounting base 3, which further reduces the eccentricity and runout of the pinion cage, improves the structural strength of the entire reduction gearbox unit, and enhances the rotation accuracy of the reduction gearbox unit.

[0045] Furthermore, the end edge of the mounting base 3 is thin, and the spacer 4 is bonded to the edge of the mounting base 3 to form a composite structure, which effectively prevents the thin wall of the mounting base 3 from being deformed and damaged when the pinion cage is subjected to large force, thereby affecting the service life of the entire reduction gearbox unit.

[0046] In addition, adopting some elastic or flexible materials for the spacer 4 can effectively buffer the impact force caused by the pinion cage, and further effectively avoid the deformation and wear of the mounting base 3 and / or the pinion cage, and the solution is simple, practical and feasible.

[0047] As a specific example of the spacer 4 of the present invention, The spacer 4 is an annular or rectangular or circular structure, and is made of metal, plastic or rubber, and is bonded to the mounting base 3 to form a composite structure, which can effectively enhance the structural strength of the mounting base 3 and the pinion cage.

[0048] As a specific embodiment of the integrated joint power unit of the present invention, A legged robot including the integrated joint power unit described above.

[0049] In this application, the manner of fixed connection or fixed connection may be screwing, welding, riveting, inserting, or connecting with a third member, which can be selected by those skilled in the art according to the actual situation.

[0050] Finally, the above examples do not limit the technical solution of the present invention, but are merely for illustrative purposes. Although the present invention has been described in detail with reference to the above examples, those skilled in the art can understand that amendments or equivalent substitutions may still be made to the specific embodiments of the present invention, and any amendments or equivalent substitutions that do not depart from the spirit and scope of the present invention shall fall within the protection scope of the claims of the present invention. [Explanation of symbols]

[0051] 1···base; 2 ···First pinion cage; 3 ···Mounting base; 4 ···Spacer; 5 ···Second pinion cage; 6···Output bearing; 7...Protection Department; 8 ···Motor rotor; 9...Lid plate; 10...Lid plate fixing base; 11 ···Motor stator; 12 Drive circuit board; 13 ···Sun gear; 14 ···Ring gear; 15 ···Planetary gear; 16...protrusion; 17 ···Recessed part; 18 ···Input bearing; 19 ···Rotor rear end bearing; 20 Rotor tip bearing.

Claims

1. An integrated joint power unit, The present invention includes a base (1) and a reduction gearbox unit provided in the base (1), the reduction gearbox unit including a first pinion cage (2); A mounting base (3) is coaxially provided within the base (1), and the first pinion cage (2) is fitted within the mounting base (3) and is rotatable relative to the mounting base (3); A spacer (4) and an input bearing (18) are provided between the mounting base (3) and the first pinion cage (2). The first pinion cage (2) is mounted in the mounting base (3) by the input bearing (18) and the spacer (4); The edge of the spacer (4) is attached to the mounting base (3) and extends outward to form a groove that fits around the end thin wall of the mounting base (3), thereby tightly engaging and connecting the spacer (4) and the end thin wall of the mounting base (3).

2. The reduction gearbox unit includes a second pinion cage (5) and an output bearing (6) that are arranged coaxially with the base (1); The second pinion cage (5) is fitted within the base (1) by the output bearing (6), 2. The integrated articulated power unit according to claim 1, characterized in that an end surface of the second pinion cage (5) extends radially outward to form a protective portion (7) covering the output bearing (6) and the base (1), and there is an active gap between the protective portion (7) and the end surface of the base (1).

3. A motor unit is provided in the base (1), and the motor unit includes a motor rotor (8) and a motor cable; A cover plate (9) and a cover plate fixing base (10) are provided between a side wall of the motor rotor (8) and a side wall of the base (1) and engage with each other.

3. The integrated joint power unit according to claim 2, characterized in that a chamber for accommodating the motor cable is formed between the cover plate (9), the cover plate fixing base (10) and the base (1), thereby preventing interference between the motor cable and the motor rotor (8).

4. The integrated joint power unit according to claim 3, characterized in that the motor unit includes a motor stator (11) and a drive circuit board (12) for driving the motor unit, and the motor stator (11) and the drive circuit board (12) are fixed in a base (1), respectively.

5. A sun gear (13) is coaxially fixed to the motor rotor (8), and a rotor rear end bearing (19) is provided between the motor rotor (8) and the first pinion cage (2). The motor rotor (8) is rotatably connected to the first pinion cage (2) by a rotor rear end bearing (19); A rotor tip bearing (20) is provided between the motor rotor (8) and the second pinion cage (5), and the motor rotor (8) is rotatably connected to the second pinion cage (5) by the rotor tip bearing (20); The integrated articulated power unit according to claim 4, characterized in that the reduction gearbox unit includes a ring gear (14) and a planetary gear (15) which engage with each other, an outer peripheral ring of the ring gear (14) is directly fixed in the mounting base (3) by being engaged with an inner peripheral ring of the mounting base (3) in a protruding and recessed manner, and the sun gear (13) drives the planetary gear (15) to rotate.

6. The integrated joint power unit according to any one of claims 1 to 5, characterized in that the spacer (4) is a backing ring and has a circular ring shape.

7. An integrated joint power unit, The present invention includes a mounting base (3) having a cavity, and a pinion cage rotatably connected to the mounting base (3), A spacer (4) is provided on a side surface of the mounting base (3) facing the pinion cage, The spacer (4) engages with the mounting base (3) to form a composite structure that can reduce deformation and wear of the mounting base (3) and / or the pinion cage.

8. The integrated articulated power unit according to claim 7, characterized in that the spacer (4) is annular, rectangular or circular, made of metal, plastic or rubber, and is bonded, fitted or wrapped around the mounting base (3).

9. The pinion cage is abutted against and connected to the spacer (4) by an input bearing (18), and is positionally restricted within the mounting base (3) via the input bearing (18) and the spacer (4); The integrated articulated power unit according to claim 7 or 8, characterized in that the spacer (4) is bent toward the end of the mounting base (3) to form a groove that fits into the end wall of the mounting base (3), thereby engaging the spacer (4) with the periphery of the end wall of the mounting base (3) to form a composite reinforcing structure.

10. A legged robot, comprising an integrated joint power unit according to any one of claims 1 to 9.

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