Swing power unit, two-stage reduction swing power unit and robot

Abstract

This two-stage reduction slewing power unit includes a base (1), a motor unit, and a reduction gear unit mounted within the base. The motor unit includes a motor rotor (41). The reduction gear unit includes a single-stage planetary reduction mechanism (2) and a two-stage planetary reduction mechanism (3). The two-stage planetary reduction mechanism includes a two-stage sun gear (31), a two-stage planetary gear (32), a two-stage planetary carrier (33), and a two-stage ring gear (34). A hollow output angular rotation transmission member (5) is fixedly connected coaxially to the two-stage planetary carrier and extends to the motor rotor. The output angular rotation transmission member is mounted in the slewing power unit, and the status monitoring of the two-stage planetary carrier and the motor rotor is integrated. This slewing power unit simplifies wiring for the electronic control system of the slewing power unit, ensuring high reliability and low cost. The two-stage planetary reduction also provides a high reduction ratio, allowing the output stage speed ratio to be flexibly adjusted according to different usage situations, such as the different usage situations of a robot's hip or knee joint. Additionally, it is involved in swing power units and robots.

Description

[Technical Field]

[0001] The present invention relates to the technical field of robotic equipment, and more particularly to a swing power unit, a two-stage reduction swing power unit, and a robot. [Background technology]

[0002] The swing power unit is a key component of a robot, and its performance directly affects the robot's power performance. However, conventional swing power units generally use a single-stage planetary reduction system, which has a small reduction ratio.

[0003] Chinese patent (disclosure number CN114789761A) discloses an integrated module for an electric drive joint and a three-degree-of-freedom bionic robot joint, in which the electric drive joint includes a housing assembly, a motor assembly, a single-stage reducer assembly, a double-stage reducer assembly, an encoder assembly, and a bearing unit, and the module includes a knee joint unit, a front swing unit, a lateral deployment unit, and a leg unit, the electric drive joint uses an axial magnetic motor, the knee joint unit and the front swing joint unit are arranged in the same direction, and the output axis of the lateral deployment joint unit is arranged perpendicular to the axis of the front swing joint, the encoder assembly includes an encoder and an encoder magnetic pole, the tail end of the output shaft is fixedly connected to the magnet of the magnetic encoder, and an encoder collection board 5.1 is fixed to the housing assembly.

[0004] However, the encoder assembly in the above solution cannot detect and provide feedback on the state of the motor's input end (rotor end), but can only detect and provide feedback on the state of the output end, which affects the control accuracy of the electric drive slewing unit. If the encoder assembly is directly added to the motor's input end, cables must be simultaneously installed at the motor's output end and input end, and two circuit layouts must be designed, which makes the wiring of the electric drive slewing unit complex and less reliable.

[0005] Furthermore, the solutions of both of the above-mentioned reduction gears do not disclose the cable circuit layout method. If the cable is externally connected, it will affect the cable's lifespan. In addition, the wiring of the swivel unit will be complicated. If a conventional hollow circuit layout is adopted, it will pass directly through various components, which will pose a safety risk.

[0006] The information disclosed in this Background of the Invention is merely used to understand the background of the concept of the present invention and may include information that does not constitute prior art. Summary of the Invention [Problem to be solved by the invention]

[0007] To address the above problem or one of the above problems, the present invention aims to provide a swing power unit, which is equipped with an output angular rotation transmission member and integrates the status monitoring of the input and output ends, with the output rotation sensor and input rotation sensor both located at the front or rear end of the swing power unit. Therefore, by simply placing a cable at one end of the swing power unit, status monitoring and feedback of the input and output ends of the swing power unit can be achieved, and the wiring of the electronic control system of the swing power unit is simple, reliable, and low cost.

[0008] To address the above problem or one of the above problems, the present invention aims to provide a two-stage reduction slewing power unit2, which is equipped with an output angle rotation transmission member and integrates status monitoring of the two-stage planetary carrier and the motor rotor. Therefore, by simply placing a cable on the motor rotor, status monitoring and feedback of the input and output of the two-stage reduction slewing power unit can be achieved, and the wiring of the electronic control system of the slewing power unit is simple, reliable, and low cost.

[0009] To address the above-mentioned problems or one of the above-mentioned problems, the present invention aims to provide a two-stage reduction slewing power unit, which has a compact structure and uses a two-stage planetary reduction to achieve a large reduction ratio.

[0010] The present invention aims to provide a robot with an output angular rotation transmission member, simple wiring for the electronic control system, high reliability, and a large reduction ratio by using a two-stage planetary reduction. [Means for solving the problem]

[0011] In order to achieve one of the above objectives, the first technical solution of the present invention is as follows: A swing power unit, including an input end and an output end, An input rotation sensor is attached to one of the input end and the output end, and an output angular rotation transmission member is fixedly connected to the other end, the output angular rotation transmission member extends to an input rotation sensor; An output rotation sensor is installed at the position of the adjacent input rotation sensor, The output rotation sensor and the output angle rotation transmission member are connected to complete the detection of the states of the input end and the output end at one end of the swing power unit.

[0012] After continuous research and experimentation, the present invention has been found to provide an output angular rotation transmission member and integrate the status monitoring of the input and output ends, with the output rotation sensor and input rotation sensor both located at the front or rear end of the swing power unit. Therefore, by simply placing a cable at one end of the swing power unit, status monitoring and feedback for the input and output ends of the swing power unit can be achieved, and the wiring for the electronic control system of the swing power unit is simple, reliable, and low cost.

[0013] The input rotation sensor and the output rotation sensor are respectively a photoelectric sensor, a Hall effect speed sensor, an encoder, or a laser speed sensor.

[0014] The state monitoring includes position and orientation monitoring, and / or angle monitoring, and / or rotational speed monitoring.

[0015] Suitable technical measures include: The input and output ends have hollow pivot points. The output angle rotation transmission member has a T-shaped structure with a through hole, and its rod portion is drilled into the hollow center of rotation. The cable passes through the through hole of the output angle rotation transmission member, preventing the cable from being attached externally. The output angle rotation transmission member also isolates the cable from the outside, preventing the cable from coming into contact with various components and wearing out, resulting in a high level of safety and a solution that is easily implemented.

[0016] Furthermore, the input end may be the rotor of a motor unit or the input end of a reduction gear unit, and may have a cylindrical structure, a sheet structure, a frame structure, a square structure, or an annular structure.

[0017] Furthermore, the output end may be the output end of a single-stage planetary reduction mechanism or a two-stage planetary reduction mechanism, and may have a cylindrical structure, a sheet structure, a frame structure, a square structure, or an annular structure.

[0018] In order to achieve one of the above objectives, the second technical solution of the present invention is as follows: a swing power unit including a motor unit and a reduction gear unit; The motor unit is provided with a rotating part, The reduction gear unit has an input end and an output end, The input end and the rotating part are fixedly connected, and an input rotation sensor is attached to one of them; An output angle rotation transmission member is fixedly connected to the output end, the output angular rotation transmission member extends from an output end to an input rotation sensor; An output rotation sensor is installed at the position of the adjacent input rotation sensor, The output rotation sensor and the output angular rotation transmission member are connected to complete the state detection of the input end and the output end at the input end.

[0019] When the input rotation sensor is attached to the rotating part of the motor unit, the input rotation sensor is a motor rotor rotation sensor, and when the input rotation sensor is attached to the input end of the reduction gear unit, the input rotation sensor is an input angle rotation sensor.

[0020] After continuous research and experimentation, this invention has found that an output angular rotation transmission member is provided at the output end, and the status monitoring of the output end is consolidated at the input end or electronic rotor, so that the output rotation sensor and the input rotation sensor are both provided at the rear end (input end) of the swing power unit. Therefore, by arranging a cable at the rear end of the swing power unit, status monitoring and feedback of the input and output ends of the swing power unit can be realized, and the wiring of the electronic control system of the swing power unit is simple, reliable, and low cost.

[0021] In order to achieve one of the above objectives, the third technical solution of the present invention is as follows: A two-stage reduction slewing power unit including a base, a motor unit and a reduction gear unit provided in the base, the motor unit includes a motor rotor, and the reduction gear unit includes a single-stage planetary reduction mechanism and a two-stage planetary reduction mechanism; the single-stage planetary reduction mechanism includes a first-stage sun gear, a first-stage planetary gear, a first-stage planetary carrier, and a first-stage ring gear, the first-stage sun gear is fixedly connected to the motor rotor and coaxially with the motor rotor, the first-stage ring gear is fixed within the base, the first-stage planetary gear is meshed between the first-stage sun gear and the first-stage ring gear, and outputs power via the first-stage planetary carrier; the two-stage planetary reduction mechanism includes a two-stage sun gear, a two-stage planetary gear, a two-stage planetary carrier, and a two-stage ring gear, the two-stage sun gear is fixedly connected to the first-stage planetary carrier coaxially, the two-stage ring gear is fixed within the base, the two-stage planetary gear is meshed between the two-stage sun gear and the two-stage ring gear, and outputs power via the two-stage planetary carrier; A hollow output angular rotation transmission member is fixedly connected coaxially with the two-stage planetary carrier, and the output angular rotation transmission member extends to a motor rotor.

[0022] After continuous research and experimentation, this invention has been found to provide an output angle rotation transmission member and integrate the status monitoring of the two-stage planetary carrier and the motor rotor. Therefore, by simply placing a cable on the motor rotor, it is possible to realize the status monitoring and feedback of the input and output of the two-stage reduction slewing power unit. The wiring of the electronic control system of the slewing power unit is simple, reliable, and low cost.

[0023] In addition, the two-stage reduction slewing power unit provided by the present invention uses a two-stage planetary reduction gear unit, which has a high reduction ratio, and the output stage speed ratio can be flexibly adjusted according to different usage situations, such as different usage situations of the hip joint or knee joint of the robot.

[0024] Suitable technical measures include: The motor rotor has a recessed cavity at its rotation center for accommodating the single-stage planetary reduction mechanism, which makes the joint unit compact in structure and reduces its axial size. Furthermore, the rotor also has a cavity for accommodating the single-stage planetary reduction mechanism, which fully utilizes space to make the entire swing power unit more compact and reduce its volume.

[0025] Or / and, the output angle rotation transmission member passes through the second-stage planetary carrier, the second-stage sun gear, the first-stage planetary carrier, the first-stage sun gear, and the motor rotor, thereby making the structure of the swing power unit compact.

[0026] As a preferred technical solution, a support stand is directly fixed in the base, and the first-stage ring gear and the second-stage ring gear are fixed in the base by the support stand, respectively; A buffer protrusion and a buffer recess are provided between the first-stage ring gear and the support base, and between the second-stage ring gear and the support base, and are engaged with each other.

[0027] Suitable technical measures include: a motor rotor rotation sensor for acquiring angular rotation and speed signals of the motor rotor at a side end of the motor rotor; and an output rotation sensor for acquiring rotation and speed signals of an output end, the motor rotor rotation sensor including a motor rotor coding ring and a motor rotor coding PCB board, and the output rotation sensor including an output coding ring and an output rotation coding PCB board; The motor rotor encoding ring is fixedly connected to the first-stage sun gear or the motor rotor and coaxially, the output encoding ring is fixedly connected to the output angular rotation transmission member and coaxially, and the motor rotor encoding PCB board and the output rotation encoding PCB board are fixed within the base, respectively, ensuring that the axis of the joint unit is hollow. In fact, when applied to a robot, various cables can be connected to pass through the hollow axis of the joint unit.

[0028] As a preferred technical solution, the first-stage sun gear is integrally molded with the motor rotor, and the second-stage sun gear is integrally molded with the first-stage planetary carrier, which has a simple structure, high precision, and low cost.

[0029] The motor unit further includes a motor stator, and the motor rotor is an inner rotor, which has a smaller moment of inertia and a higher power density than an outer rotor motor. Alternatively, the first-stage sun gear is rotatably connected to the first-stage planetary carrier by two bearings, which ensures good concentricity between the sun gear and the planetary carrier, a long service life, and a compact structure.

[0030] As a preferred technical solution, the base includes a sensor rear cover, an input end base, and an output end base, which are fixed and sealed in order, an output end cover is fixedly disposed on the outside of the two-stage planetary carrier, an end of the output angle rotation transmission member extends until it penetrates the sensor rear cover, a dynamic sealing means is provided between the output end cover and the output end base, and an oil sealing means or a support bearing is provided between the output angle rotation transmission member and the sensor rear cover, so that the joint has excellent sealing protection performance.

[0031] Alternatively, a through hole for accommodating the output angular rotation transmission member is provided at the rotation center of the output end cover and the rotation center of the two-stage planetary carrier, thereby forming a connecting passage that passes through the sensor rear cover and the output end cover. By providing a connecting passage that passes through the entire swing power unit, cables can be easily routed and the external circuit layout can be reduced. Furthermore, by adopting a two-stage reduction system, the central sun gear is correspondingly larger than that of a single-stage reduction system with the same outer diameter, creating a requirement for a central cavity. Furthermore, since the entire swing power unit has a hollow axis, various cables can easily pass through.

[0032] In order to achieve one of the above objectives, the fourth technical solution of this invention is as follows: A robot includes the above-mentioned turning power unit or the above-mentioned two-stage reduction turning power unit, and the robot is a quadruped robot, a biped robot, or a caster-equipped robot.

[0033] After continuous research and experimentation, the present invention has been found to provide an output angle rotation transmission member that integrates the status monitoring of the input and output ends. Therefore, by simply placing a cable at one end of the swing power unit, status monitoring and feedback of the input and output ends of the swing power unit can be realized. The wiring of the electronic control system of the swing power unit is simple, reliable, and low cost.

[0034] Furthermore, the robot provided by the present invention employs a two-stage reduction slewing power unit, and its reduction gear unit employs a two-stage planetary reduction, which has a high reduction ratio, and the output stage speed ratio can be flexibly adjusted according to different usage situations, such as different usage situations of the hip joint or knee joint of the robot. [Effects of the Invention]

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: After continuous research and experimentation, the present invention has been found to provide an output angular rotation transmission member and integrate the status monitoring of the input and output ends, with the output rotation sensor and input rotation sensor both located at the front or rear end of the swing power unit. Therefore, by simply placing a cable at one end of the swing power unit, status monitoring and feedback for the input and output ends of the swing power unit can be achieved, and the wiring for the electronic control system of the swing power unit is simple, reliable, and low cost.

[0036] Furthermore, after continuous research and experimentation, the present invention has been found to provide an output angle rotation transmission member, which integrates the status monitoring of the two-stage planetary carrier and the motor rotor. Therefore, by simply placing a cable on the motor rotor, it is possible to realize the status monitoring and feedback of the input and output of the two-stage reduction slewing power unit. The wiring of the electronic control system of the slewing power unit is simple, reliable, and low cost.

[0037] Furthermore, in the two-stage reduction slewing power unit provided by the present invention, the reduction gear unit adopts a two-stage planetary reduction, which has a high reduction ratio, and the output stage speed ratio can be flexibly adjusted according to different usage situations, such as different usage situations of the hip joint or knee joint of the robot.

[0038] Furthermore, the robot provided by the present invention employs a two-stage reduction slewing power unit, and its reduction gear unit employs a two-stage planetary reduction, which has a high reduction ratio, and the output stage speed ratio can be flexibly adjusted according to different usage situations, such as different usage situations of the hip joint or knee joint of the robot.

[0039] The present invention will be described in more detail below in conjunction with the drawings and specific embodiments. [Brief explanation of the drawings]

[0040] [Figure 1] 1 is a schematic diagram of the overall structure of the two-stage reduction slewing power unit provided by the present invention. [Figure 2] FIG. 2 is an exploded view of the two-stage reduction slewing power unit provided by the present invention. [Figure 3] FIG. 2 is a side view of the two-stage reduction slewing power unit provided by the present invention. [Figure 4] 2 is a cross-sectional view of the double-reduction swing power unit provided by the present invention; FIG. DETAILED DESCRIPTION OF THE INVENTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more comprehensible, the present invention will be further described in detail below in combination with 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.

[0042] The present invention also covers any replacements, modifications, equivalent methods and solutions that are completed within the spirit and scope of the present invention as defined in the claims. Furthermore, in order to help the public better understand the present invention, certain details are set forth in the following detailed description of the present invention. Those skilled in the art can understand the present invention without these details.

[0043] Herein, when two elements are "fixedly connected," or "rigidly joined," or "pivotally connected," the two elements may be directly connected, or there may be an intermediate element present. Also, when an element is described as being "directly" located "on" another element, there is no intermediate element present. As used herein, terms such as "front," "rear," "above," "below," and similar expressions are used for descriptive purposes only.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by one of ordinary skill in the art. The terms used herein do not limit the invention, but are merely used to describe specific examples. As used herein, the term "or / and" includes any and all combinations of one or more of the associated items.

[0045] The first embodiment of the swing power unit of the present invention is as follows: A swing power unit, including an input end and an output end, A motor rotor rotation sensor (input rotation sensor) is attached to one of the input end and the output end, and an output angle rotation transmission member is fixedly connected to the other end, The output angular rotation transmission member extends to a motor rotor rotation sensor (input rotation sensor), An output rotation sensor is attached to the adjacent motor rotor rotation sensor (input rotation sensor), The output rotation sensor and the output angle rotation transmission member are connected to complete the detection of the states of the input end and the output end at one end of the swing power unit.

[0046] The output angular rotation transmission member is an annular structure, or a rod-shaped structure, or a cage-shaped structure, or a T-shaped structure, or an arc-shaped structure.

[0047] After continuous research and experimentation, it was found that in this invention, an output angle rotation transmission member is provided and the status monitoring of the input and output ends is consolidated, with the output rotation sensor and motor rotor rotation sensor (input rotation sensor) both being located at the front or rear end of the swing power unit. Therefore, by simply placing a cable at one end of the swing power unit, status monitoring and feedback of the input and output ends of the swing power unit can be achieved, and the wiring of the electronic control system of the swing power unit is simple, reliable, and low cost.

[0048] The motor rotor rotation sensor, the input rotation sensor, and the output rotation sensor are respectively photoelectric sensors, or Hall effect speed sensors, or encoders, or laser speed sensors.

[0049] The second specific embodiment of the swing power unit of the present invention is as follows: A swing power unit including a motor unit and a reduction gear unit; The motor unit is provided with a rotating part, The reduction gear unit has an input end and an output end, The input end and the rotating part are fixedly connected, and a motor rotor rotation sensor (input rotation sensor) is attached to one of them. An output angle rotation transmission member is fixedly connected to the output end, the output angular rotation transmission member extends from an output end to a motor rotor rotation sensor; An output rotation sensor is attached to the adjacent motor rotor rotation sensor (input rotation sensor), The output rotation sensor and the output angular rotation transmission member are connected to complete the state detection of the input end and the output end at the input end.

[0050] As shown in Figures 1, 2, 3 and 4, the specific embodiment of the two-stage reduction slewing power unit of the present invention is as follows: A two-stage reduction slewing power unit includes a base 1, a motor unit and a reduction gear unit provided within the base 1, the motor unit includes a motor rotor 41, the reduction gear unit includes a single-stage planetary reduction mechanism 2 and a two-stage planetary reduction mechanism 3, the single-stage planetary reduction mechanism 2 includes a first-stage sun gear 21, a first-stage planetary gear 22, a first-stage planet carrier 23 and a first-stage ring gear 24, the first-stage sun gear 21 is fixed and connected coaxially to the motor rotor 41, the first-stage ring gear 24 is fixed within the base 1, and the first-stage planetary gear 22 is meshed between the first-stage sun gear 21 and the first-stage ring gear 24 and outputs power via the first-stage planetary carrier 23, and the two-stage planetary reduction mechanism 3 includes a two-stage sun gear 31, a two-stage planetary gear 32, a two-stage planetary carrier 33 and a two-stage ring gear 34, the two-stage sun gear 31 is fixedly connected to the first-stage planetary carrier 23 coaxially, the two-stage ring gear 34 is fixed within the base 1, and the two-stage planetary gear 32 is meshed between the two-stage sun gear 31 and the two-stage ring gear 34 and outputs power via the two-stage planetary carrier 33.

[0051] In the present invention, the specific embodiment of the additional output angle rotation transmission member 5 is as follows: A hollow output angle rotation transmission member 5 is fixedly connected coaxially to the second-stage planetary carrier 33, and the output angle rotation transmission member 5 passes through the second-stage planetary carrier 33, the second-stage sun gear 31, the first-stage planetary carrier 23, the first-stage sun gear 21, and the motor rotor 41. The output angle rotation transmission member 5 is provided to synchronously transmit the rotation information from the output end of the swing power unit to the input end, and realizes the integration of the motor rotor rotation sensor 6 and the output rotation sensor 7 on one end of the input end, thereby avoiding the need for external cables for controlling the swing power unit's internal structure.

[0052] Specific examples of additional sensor placement in the present invention are as follows: A motor rotor rotation sensor 6 is provided at one end of the motor rotor 41 for acquiring angular rotation and speed signals at the input end, and an output rotation sensor 7 is provided for acquiring angular rotation and speed signals at the output end. The motor rotor rotation sensor 6 includes a motor rotor encoding ring 61 and a motor rotor encoding PCB board 62. The output rotation sensor 7 includes an output encoding ring 71 and an output rotation encoding PCB board 72. The motor rotor encoding ring 61 is fixedly connected to the first-stage sun gear 21 or the motor rotor 41, and the output encoding ring 71 is fixedly connected to the output angular rotation transmission member 5. The motor rotor encoding PCB board 62 and the output rotation encoding PCB board 72 are fixed within the base 1. The provision of the motor rotor rotation sensor 6 and the output rotation sensor 7 allows direct measurement of the angle at the output end of the swing power unit. The output rotation sensor 7 is provided on the same side as the motor rotor rotation sensor 6, resulting in a simple, convenient structure and low cost.

[0053] Specific embodiments of the input terminal structure of the present invention are as follows: The first-stage sun gear 21 is molded integrally with the motor rotor 41, and the second-stage sun gear 31 is molded integrally with the first-stage planetary carrier 23. The motor unit further includes a motor stator 42, and the motor rotor 41 is an inner rotor, and an accommodation cavity 8 for accommodating the single-stage planetary reduction mechanism 2 is formed inward at the rotation center of the motor rotor 41 so as to be recessed inward. The use of an inner-rotor motor has a smaller moment of inertia and a higher power density than an outer-rotor motor, and the provision of an accommodation cavity 8 for accommodating the single-stage planetary reduction mechanism 2 inside the rotor makes full use of space, making the overall structure of the swing power unit more compact and reducing its volume.

[0054] Specific embodiments of the support structure of the present invention are as follows: A support 9 is directly fixed within the base 1, and the first-stage ring gear 24 and the second-stage ring gear 34 are fixed within the base 1 by the support 9, with mutually engaging buffer protrusions 91 and buffer recesses 92 provided between the first-stage ring gear 24 and the support 9 and between the second-stage ring gear 34 and the support 9. Mutually engaging buffer protrusions 91 and buffer recesses 92 are provided between the first-stage ring gear 24 and the support 9 and between the second-stage ring gear 34 and the support 9, so that when an external impact force is transmitted to the inside of the swing power unit during use, the first-stage ring gear 24 and the second-stage ring gear 34 can rotate relative to the support 9 and absorb some of the impact energy, preventing structural damage to the swing power unit components due to the external impact.

[0055] In the present invention, the specific embodiment of the sealing structure is as follows: The base 1 includes a sensor rear cover 11, an input end base 12, and an output end base 13, which are fixed and sealed in sequence. An output end cover 103 is fixedly disposed on the outside of the two-stage planetary carrier 33. The end of the output angle rotation transmission member 5 extends through the sensor rear cover 11. A dynamic seal 10 is disposed between the output end cover 103 and the output end base 131, and an oil seal 101 is disposed between the output angle rotation transmission member 5 and the sensor rear cover 11. The dynamic seal 10 and oil seal 101 are disposed at the connection points, providing the swing power unit with excellent waterproofing. A compactly structured mechanical seal ring is disposed on the output end side of the swing power unit to prevent dust, water, etc. from entering the swing power unit.

[0056] Specific examples of hollow circuit layouts of the present invention are as follows: The rotation center of the output end cover 103 and the rotation center of the two-stage planetary carrier 33 are both provided with through-holes communicating with the output angular rotation transmission member 5, and a connecting passage 102 is also formed through the sensor rear cover 11 and the output end cover 103. The provision of the connecting passage 102 that passes through the entire swing power unit allows cables to pass easily and reduces the external circuit layout. In addition, the adoption of a two-stage reduction system requires a central sun gear that is correspondingly larger than a single-stage reduction system with the same outer diameter, creating conditions for a central cavity. In addition, the entire swing power unit has a hollow axis, allowing various cables to pass through easily.

[0057] Specific embodiments of the robot of the present invention are as follows: A robot including the above-mentioned double reduction turning power unit.

[0058] In this application, the fixed or fixed connection method may be screwing, welding, caulking, insertion, or connection using a third member, and those skilled in the art may select it according to the actual situation.

[0059] Finally, the above examples are used for illustration purposes only, rather than for limiting the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above examples, those skilled in the art will understand that amendments or equivalent replacements may still be made to the specific embodiments of the present invention, and any amendments or equivalent replacements 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]

[0060] 1 ··· base; 11 ···Sensor rear cover; 12 ··· input end base; 13 ···Output end base; 2 ···Single-stage planetary reduction mechanism; 21 ···Single-stage sun gear; 22 ···Single-stage planetary gear; 23 ···Single-stage planetary carrier; 24 ···Single-stage ring gear; 3 ···Two-stage planetary reduction mechanism; 31 ···Two-stage sun gear; 32 ···Two-stage planetary gear; 33 ···Two-stage planetary carrier; 34 ···Two-stage ring gear; 41 ···Motor rotor; 42 ···Motor stator; 5. Output angle rotation transmission member; 6 ···Motor rotor rotation sensor; 61 ···Motor rotor coding ring; 62 ···Motor rotor coding PCB board; 7 ···Output rotation sensor; 71 ···Output coding ring; 72 ···Output rotation coding PCB board; 8 ···Accommodation cavity; 9...Support stand; 91...Buffer protrusion; 92 ···Buffer recess; 10 ···Dynamic sealing means; 101 ···Oil seal means; 102 ···Connecting passage; 103 Output end cover.

Claims

1. A swing power unit, including an input end and an output end, An input rotation sensor is attached to one of the input end and the output end, and an output angular rotation transmission member (5) is fixedly connected to the other end; The output angular rotation transmission member (5) extends to the input rotation sensor, An output rotation sensor is attached to the position of the adjacent input rotation sensor, The output rotation sensor and the output angle rotation transmission member (5) are connected to complete the detection of the states of the input end and the output end at one end of the swing power unit.

2. The input end and the output end have hollow pivot points, 2. The swing power unit according to claim 1, wherein the output angle rotation transmission member (5) has a T-shaped structure with a through hole, and its rod portion is drilled into the hollow swing center.

3. a swing power unit including a motor unit and a reduction gear unit; The motor unit is provided with a rotating part, The reduction gear unit has an input end and an output end, The input end and the rotating part are fixedly connected, and an input rotation sensor is attached to one of them; An output angle rotation transmission member (5) is fixedly connected to the output end, The output angular rotation transmission member (5) extends from the output end to the input rotation sensor, An output rotation sensor is attached to the position of the adjacent input rotation sensor, The output rotation sensor and the output angle rotation transmission member (5) are connected to each other, so that the input end completes the detection of the states of the input end and the output end.

4. A two-stage reduction slewing power unit, comprising: a base (1); a motor unit and a reduction gear unit provided within the base (1); The motor unit includes a motor rotor (41), and the reduction gear unit includes a single-stage planetary reduction mechanism (2) and a two-stage planetary reduction mechanism (3), The single-stage planetary reduction mechanism (2) includes a first-stage sun gear (21), a first-stage planetary gear (22), a first-stage planetary carrier (23), and a first-stage ring gear (24), the first-stage sun gear (21) is fixedly connected coaxially with the motor rotor (41), the first-stage ring gear (24) is fixed within the base (1), the first-stage planetary gear (22) is meshed between the first-stage sun gear (21) and the first-stage ring gear (24), and outputs power via the first-stage planetary carrier (23). The two-stage planetary reduction mechanism (3) includes a two-stage sun gear (31), a two-stage planetary gear (32), a two-stage planetary carrier (33), and a two-stage ring gear (34), wherein the two-stage sun gear (31) is fixedly connected coaxially to the first-stage planetary carrier (23), the two-stage ring gear (34) is fixed within the base (1), the two-stage planetary gear (32) is meshed between the two-stage sun gear (31) and the two-stage ring gear (34), and outputs power via the two-stage planetary carrier (33); A two-stage reduction slewing power unit characterized in that a hollow output angle rotation transmission member (5) is fixedly connected coaxially with the two-stage planetary carrier (33), and the output angle rotation transmission member (5) extends to the motor rotor (41).

5. A housing cavity (8) for housing the single-stage planetary reduction mechanism (2) is formed inwardly at the rotation center of the motor rotor (41), or / and the output angular rotation transmission member (5) passes through the second-stage planetary carrier (33), the second-stage sun gear (31), the first-stage planetary carrier (23), the first-stage sun gear (21) and the motor rotor (41); The two-stage reduction slewing power unit according to claim 4, wherein the output angular rotation transmission member (5) is an annular structure, a rod-shaped structure, a cage-shaped structure, a T-shaped structure, or an arc-shaped structure.

6. A support base (9) is directly fixed in the base (1), and the first-stage ring gear (24) and the second-stage ring gear (34) are fixed in the base (1) by the support base (9), The two-stage reduction slewing power unit according to claim 5, characterized in that a buffer protrusion (91) and a buffer recess (92) that engage with each other are provided between the first-stage ring gear (24) and the support base (9), and between the second-stage ring gear (34) and the support base (9).

7. A motor rotor rotation sensor (6) is provided at a side end of the motor rotor (41) to acquire angular rotation and speed signals of the motor rotor (41), and an output rotation sensor (7) is provided to acquire rotation and speed signals of an output end, the motor rotor rotation sensor (6) including a motor rotor encoding ring (61) and a motor rotor encoding PCB board (62), and the output rotation sensor (7) including an output encoding ring (71) and an output rotation encoding PCB board (72); The two-stage reduction slewing power unit according to claim 4, characterized in that the motor rotor encoding ring (61) is fixedly connected coaxially to the first-stage sun gear (21) or the motor rotor (41), the output encoding ring (71) is fixedly connected coaxially to the output angular rotation transmission member (5), and the motor rotor encoding PCB board (62) and the output rotation encoding PCB board (72) are respectively fixed within the base (1).

8. The first-stage sun gear (21) is integrally formed with the motor rotor (41), and the second-stage sun gear (31) is integrally formed with the first-stage planetary carrier (23). The motor unit further includes a motor stator (42), and the motor rotor (41) is an inner rotor; Or / and, the first-stage sun gear (21) is rotatably connected to the first-stage planetary carrier (23) by two bearings. A two-stage reduction slewing power unit as described in any one of claims 4 to 7.

9. The base (1) includes a sensor rear cover (11), an input end base (12), and an output end base (13) which are fixed and sealed in this order, an output end cover (103) is fixedly disposed on the outside of the two-stage planetary carrier (33), an end of the output angular rotation transmission member (5) extends until it penetrates the sensor rear cover (11), a dynamic seal means (10) is provided between the output end cover (103) and the output end base (13), and an oil seal means (101) or a support bearing is provided between the output angular rotation transmission member (5) and the sensor rear cover (11). Or / and, a through hole for accommodating the output angle rotation transmission member (5) is provided at the rotation center of the output end cover (103) and the rotation center of the two-stage planetary carrier (33), thereby forming a connecting passage (102) passing through the sensor rear cover (11) and the output end cover (103), as described in claim 8.

10. A robot comprising the turning power unit according to any one of claims 1 to 3 or the two-stage reduction turning power unit according to any one of claims 4 to 9, wherein the robot is a quadruped robot, a biped robot, or a robot with casters.

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