Overload-resistant impact-resistant planetary gearbox, robot joints and quadruped robots

Abstract

This invention provides a planetary gearbox that is elastically deformable under impact force, effectively absorbs energy during overload impacts, protects transmission components such as gears, and has a simple and practical structure. [Solution] The overload-resistant planetary gearbox has a tooth surface portion 23 made of a rigid material and an elastically deformable cushioning portion 24. The cushioning portion has a certain rigidity and is made of a material that can be elastically deformed when subjected to impact force. It is fitted coaxially with the tooth surface portion and constitutes a gearbox component that can prevent overload impact. This invention provides an overload-resistant planetary gearbox, a robot joint, and a quadruped robot.

Description

Technical Field

[0001] The present invention relates to an overload impact-resistant planetary reducer, a robot joint, and a quadruped robot, and belongs to the technical fields of planetary reducers, robot joints, and quadruped robots.

Background Art

[0002] Currently, it is inevitable that a legged robot falls during walking or collides with other objects in the external environment. In the above cases, the external impact is transmitted inside the robot joint, and an overload impact occurs on transmission components inside the joint, such as gears, etc., and structurally damaged, resulting in the robot not operating properly. Therefore, an overload impact protection structure that absorbs energy during an overload impact and further protects transmission components such as gears is required.

[0003] In Chinese Patent (Publication No. CN109591045A), a high-integration high-performance robot joint unit is disclosed, which includes a motor assembly and a reducer assembly for driving joint movement. The motor assembly includes a motor rotor and a motor base for outputting torque. A gear ring is provided in the reducer assembly, and the gear ring is connected to the motor base under the action of a friction force generator.

[0004] When the torque transmitted from the output end of the motor rotor or the reducer assembly to the gear ring is greater than the frictional torque between the gear ring and the motor base, the gear ring of the reducer assembly is driven by the output end of the motor rotor or the reducer assembly to resist the frictional torque generated under the action of the friction force generator, relatively rotate the gear ring and the motor base, achieve the frictional slip between the reducer assembly and the motor base, limit the torque to the reducer assembly, and effectively prevent the reducer from being damaged due to the reducer itself receiving a large torque from the motor end or the joint unit output end.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The above solution requires the addition of a friction force generator, which increases the number of parts and thus the manufacturing cost. At the same time, it requires space to mount the friction force generator, resulting in a larger and less compact reduction gear and robot. [Means for solving the problem]

[0006] To overcome the shortcomings of prior art, the first objective of this invention is to provide an overload-resistant planetary gearbox that has a tooth surface made of a rigid material and an elastically deformable cushioning portion to prevent overload shock, and is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears, while also having fewer required parts, lower manufacturing costs, a small footprint, and a compact structure.

[0007] The second objective of this invention is to provide an overload-resistant robot joint that has a tooth surface made of a rigid material and an elastically deformable cushioning portion, which constitutes a reduction gear component capable of preventing overload shock, and is also elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears, while simultaneously having fewer required parts, low manufacturing costs, a small footprint, and a compact structure.

[0008] The third objective of this invention is to provide an overload-resistant four-legged robot that has a tooth surface made of a rigid material and an elastically deformable cushioning part, which constitutes a reduction gear component capable of preventing overload shock, and is also elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears, while simultaneously having fewer required parts, low manufacturing costs, a small footprint, and a compact structure.

[0009] To achieve one of the above objectives, the first technical solution of this utility model is as follows: Overload-resistant, shock-resistant planetary gearboxes are It has a tooth surface made of a rigid material and an elastically deformable cushioning portion, The cushioning portion is made of a material that has a certain rigidity and can be elastically deformed when subjected to impact force, and constitutes a gearbox component that is fitted onto the tooth surface to prevent overload impact.

[0010] In this invention, as a result of continuous exploration and testing, a gearbox component is constructed that prevents overload shock by providing a tooth surface made of a rigid material and an elastically deformable cushioning portion. Furthermore, it is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears.

[0011] Compared to existing overload shock-resistant structures, this invention requires fewer parts, has lower manufacturing costs, occupies less space, has a more compact structure, is simpler and more practical, and is more feasible to implement.

[0012] As a preferred technical solution, The aforementioned reduction gear component is a planetary gear. The tooth surface portion is the outer tooth portion of a planetary gear, The aforementioned buffer portion is a buffer layer attached to the inside of the outer tooth portion. When the external teeth are subjected to an impact force, the buffer layer deforms, causing the external teeth to be displaced relative to the rotation axis of the planetary gear. When the impact force on the external teeth is eliminated, the deformation of the buffer layer ceases, and the external teeth are reset relative to the rotation axis of the planetary gear. The structure is simple and practical, and easy to produce and manufacture.

[0013] As a preferred technical solution, The buffer layer is provided with at least one deformation through-hole that can be deformed upon receiving an impact force. When the deformation through-hole is subjected to an impact force, it can be elastically deformed, further improving the overload impact resistance of the present invention. As a preferred technical solution, The buffer layer is fitted to the inner or outer ring side of the bearing between the planetary gears and their rotating shafts.

[0014] As a preferred technical solution, The buffer layer is made of rubber, silicon, plastic, polyurethane, etc., but is not limited thereto, and those skilled in the art may reasonably select according to the actual situation.

[0015] As a preferred technical solution, the speed reducer part is a gear ring, the tooth surface part is the internal tooth layer of the gear ring, the buffer part is a buffer ring mounted on the outside of the internal tooth layer, When the internal tooth layer receives an impact force, the buffer ring generates deformation in the tangential direction, displacing the internal tooth layer. When the impact force on the internal tooth layer disappears, the deformation of the buffer ring disappears, the internal tooth layer is reset, the structure is simple and practical, and it is easy to produce and manufacture.

[0016] As a preferred technical solution, At least one through hole for deformation that can be deformed by receiving an impact force is provided in the buffer ring. When the through hole for deformation receives an impact force, it can be elastically deformed, and the overload impact resistance ability of the present invention can be further improved.

[0017] As a preferred technical solution, The buffer ring is made of rubber, silicon, plastic, polyurethane, etc., but is not limited thereto.

[0018] To achieve one of the above objects, the second technical solution of the present utility model is as follows.

[0019] The overload impact-resistant planetary speed reducer has a tooth surface part made of a rigid material and a buffer part that can be elastically deformed. The buffer part is fitted into the tooth surface part to form a speed reducer part that can prevent overload impact.

[0020] In this invention, as a result of continuous exploration and testing, a tooth surface portion made of a rigid material and an elastically deformable buffer portion are provided. The buffer portion can be elastically deformed when receiving an impact force, effectively absorb the energy during an overload impact, and protect transmission components such as gears.

[0021] Compared with the existing overload impact-resistant structure, this invention has fewer required components, a lower manufacturing cost, a smaller occupied space, a more compact structure, a simple and practical structure, and is feasible.

[0022] To achieve one of the above objects, the third technical solution of this utility model is as follows.

[0023] The robot joint comprises the above overload impact-resistant planetary reducer and a motor, and the output shaft of the motor is fixedly connected to the sun gear of the planetary reducer.

[0024] In this invention, as a result of continuous exploration and testing, a tooth surface portion made of a rigid material and an elastically deformable buffer portion are provided to form a reducer component capable of preventing overload impact. Furthermore, it can be elastically deformed when receiving an impact force, effectively absorb the energy during an overload impact, and protect transmission components such as gears.

[0025] Compared with the existing overload impact-resistant structure, this invention has fewer required components, a lower manufacturing cost, a smaller occupied space, a more compact structure, a simple and practical structure, and is feasible.

[0026] To achieve one of the above objects, the fourth technical solution of this utility model is as follows.

[0027] The quadruped robot comprises the above overload impact-resistant planetary reducer.

[0028] In this invention, as a result of continuous exploration and testing, a gearbox component is constructed that prevents overload shock by providing a tooth surface made of a rigid material and an elastically deformable cushioning portion. Furthermore, it is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears.

[0029] Compared to existing overload shock-resistant structures, this invention requires fewer parts, has lower manufacturing costs, occupies less space, has a more compact structure, is simpler and more practical, and is more feasible to implement. [Effects of the Invention]

[0030] In this invention, as a result of continuous exploration and testing, a gearbox component is constructed that prevents overload shock by providing a tooth surface made of a rigid material and an elastically deformable cushioning portion. Furthermore, it is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears.

[0031] Compared to existing overload shock-resistant structures, this invention requires fewer parts, has lower manufacturing costs, occupies less space, has a more compact structure, is simpler and more practical, and is more feasible to implement. [Brief explanation of the drawing]

[0032] [Figure 1] This is an overall cross-sectional view of the planetary gearbox of the present invention. [Figure 2] This is an exploded view of the planetary gearbox of the present invention. [Figure 3] This is a schematic diagram of the first embodiment of the planetary gear of the present invention. [Figure 4] This is a schematic diagram of a second embodiment of the planetary gear of the present invention. [Explanation of symbols]

[0033] 11 External teeth 14 Through holes for deformation 15. Rotation axis of planetary gears 16 Buffer layer 21 Planetary Gear 22 Outer layer 23 Internal tooth layer 24 cushioning rings 25 Yusei slot [Modes for carrying out the invention]

[0034] To further clarify the purpose, technical solutions, and advantages of this invention, the invention will be described in more detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are used solely for the purpose of interpreting the invention and are not intended to limit it.

[0035] This invention is defined by the scope of the utility model registration and is intended to cover substitutions, modifications, equivalent methods and means made within the spirit and scope of this invention. Furthermore, in order to allow the public to better understand this invention, several specific parts are described in detail in the detailed description of this invention. Those skilled in the art will be able to fully understand this invention without these detailed descriptions.

[0036] As shown in Figures 1 to 4, the overload-resistant planetary gearbox is, It has a tooth surface made of a rigid material and an elastically deformable cushioning portion, The cushioning portion is made of a material that has a certain rigidity and can be elastically deformed when subjected to impact force, and constitutes a gearbox component that is fitted onto the tooth surface to prevent overload impact.

[0037] In this invention, as a result of continuous exploration and testing, a gearbox component is constructed that prevents overload shock by providing a tooth surface made of a rigid material and an elastically deformable cushioning portion. Furthermore, it is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears.

[0038] Compared to existing overload shock-resistant structures, this invention requires fewer parts, has lower manufacturing costs, occupies less space, has a more compact structure, is simpler and more practical, and is more feasible to implement.

[0039] Specific embodiments of the gearbox components of this invention are as follows.

[0040] The aforementioned reduction gear component is a planetary gear 21, The tooth surface portion is the outer tooth portion 11 of the planetary gear 21, The aforementioned buffer portion is a buffer layer 16 attached to the inside of the outer teeth portion 11. When the external teeth 11 are subjected to an impact force, the buffer layer 16 deforms, causing the external teeth 11 to be displaced relative to the rotation axis 15 of the planetary gear. When the impact force on the external teeth 11 is eliminated, the deformation of the buffer layer 16 ceases, and the external teeth 11 are reset relative to the rotation axis of the planetary gear. The structure is simple and practical, and easy to produce and manufacture.

[0041] A specific embodiment of the present invention, in which deformation through-holes 14 are provided in the buffer layer 16, is as follows.

[0042] The buffer layer 16 is provided with a deformation through-hole 14 that can be deformed upon receiving at least one impact force. When the deformation through-hole 14 is subjected to an impact force, it can be elastically deformed, further improving the overload impact resistance of the present invention.

[0043] Specific examples of the mounting position of the buffer layer 16 of this invention are as follows.

[0044] The buffer layer 16 is fitted to the inner or outer ring side of the bearing between the planetary gear 21 and the rotating shaft 15 of the planetary gear.

[0045] The rotation axis 15 of the planetary gear can be a single-axis structure or a planetary frame 25, and those skilled in the art can choose according to the actual situation.

[0046] Specific examples of material selection for the buffer layer 16 of this invention are as follows.

[0047] The buffer layer 16 is made of rubber, silicone, plastic, or polyurethane, but is not limited to these materials, and those skilled in the art may make a reasonable selection depending on the actual situation.

[0048] The following is a specific example of how the inner ring portion is added in this invention.

[0049] An inner ring portion having a shaft coupling hole is attached to the side of the buffer layer 16 away from the outer teeth portion 11. The inner ring portion is made of a rigid material. When the outer teeth 11 is subjected to an overload impact, the buffer layer 16 deforms, causing the outer teeth 11 and the inner ring to rotate and / or be displaced relative to each other. When the overload impact on the external teeth 11 is removed, the deformation of the buffer layer 16 is eliminated, and the external teeth 11 and the inner ring are reset to the positions they would be in if no relative rotation and / or relative displacement occurred.

[0050] The rigidity of the outer teeth 11 and the inner ring portion is greater than the rigidity of the buffer layer 16. The buffer layer 16 is screwed into the outer teeth portion 11 and the inner ring portion, respectively, and bonded or engaged with them.

[0051] The aforementioned outer teeth portion 11 and inner ring portion are made of forged steel, cast steel, or cast iron. The buffer layer 16 is made of polyurethane.

[0052] Another specific embodiment of the gearbox component of the present invention is as follows:

[0053] The aforementioned reduction gear component is a gearing, The tooth surface portion is the inner tooth layer 23 of the gearing. The aforementioned buffer is a buffer ring 24 attached to the outside of the inner tooth layer 23. When the internal tooth layer 23 is subjected to an impact force, the cushioning ring 24 deforms tangentially, causing the internal tooth layer 23 to displace. When the impact force on the internal tooth layer 23 is eliminated, the deformation of the cushioning ring 24 ceases, and the internal tooth layer 23 is reset. The structure is simple and practical, and easy to produce and manufacture.

[0054] A specific embodiment of the cushioning ring 24 of this invention, in which a deformation through-hole 14 is provided, is as follows. The cushioning ring 24 is provided with a deformation through hole 14 that can be deformed upon receiving at least one impact force. When the deformation through-hole 14 is subjected to an impact force, it can be elastically deformed, further improving the overload impact resistance of the present invention.

[0055] Specific examples of material selection for the buffer ring 24 of this invention are as follows.

[0056] The cushioning ring 24 is made of rubber, silicone, plastic, polyurethane, etc., but is not limited to these materials.

[0057] The following is a specific example of how the outer layer 22 is added in this invention.

[0058] The outer layer portion 22 is attached to the side of the buffer ring 24 that is away from the inner tooth layer 23. The outer layer 22 is made of a rigid material, When the inner tooth layer 23 is subjected to an overload impact, the cushioning ring 24 deforms in the tangential direction, causing the inner tooth layer 23 to rotate relative to the outer layer 22. When the overload impact on the inner tooth layer 23 is eliminated, the deformation of the cushioning ring 24 ceases, and the inner tooth layer 23 and the outer layer 22 are reset to their relative positions as if no relative rotation had occurred.

[0059] The rigidity of the outer layer 22 and the inner tooth layer 23 is greater than the rigidity of the buffer ring 24. The buffer rings 24 are screwed into the outer layer 22 and the inner tooth layer 23, and are bonded or engaged with them respectively. The outer layer 22 and inner tooth layer 23 are made of forged steel, cast steel, or cast iron. The aforementioned cushioning ring 24 is made of polyurethane.

[0060] Specific examples of how the planetary gearbox of this invention is applied are as follows.

[0061] Robot joints are The system comprises the above-described overload-resistant impact-type planetary gearbox and a motor, the output shaft of the motor being fixedly connected to the sun gear of the planetary gearbox.

[0062] In this invention, as a result of continuous exploration and testing, a gearbox component is constructed that prevents overload shock by providing a tooth surface made of a rigid material and an elastically deformable cushioning portion. Furthermore, it is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears.

[0063] Compared to existing overload shock-resistant structures, this invention requires fewer parts, has lower manufacturing costs, occupies less space, has a more compact structure, is simpler and more practical, and is more feasible to implement.

[0064] Another specific embodiment to which the planetary gearbox of the present invention is applied is as follows:

[0065] The quadruped robot is equipped with the above-mentioned overload-resistant, shock-resistant planetary gearbox.

[0066] In this invention, as a result of continuous exploration and testing, a gearbox component is constructed that prevents overload shock by providing a tooth surface made of a rigid material and an elastically deformable cushioning portion. Furthermore, it is elastically deformable when subjected to impact force, effectively absorbing energy during overload shock and protecting transmission components such as gears.

[0067] Compared to existing overload shock-resistant structures, this invention requires fewer parts, has lower manufacturing costs, occupies less space, has a more compact structure, is simpler and more practical, and is more feasible to implement.

[0068] Although preferred embodiments of the present invention have been described above, this does not limit the present invention, and any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should all be included within the scope of protection of the present invention. [Prior art documents] [Patent Documents]

[0069] [Patent Document 1] Chinese Patent Application Publication No. 109591045 Specification

Claims

1. It has a tooth surface made of a rigid material and an elastically deformable cushioning portion, The overload-resistant planetary gearbox is characterized in that the buffer portion is made of a material that has a certain rigidity and can be elastically deformed when subjected to impact force, and is fitted onto the tooth surface to constitute a gearbox component that can prevent overload impact.

2. The aforementioned reduction gear component is a planetary gear (21), The tooth surface portion is the outer tooth portion (11) of the planetary gear (21), The aforementioned buffer portion is a buffer layer (16) attached to the inside of the external tooth portion (11). When the external teeth (11) are subjected to an impact force, the buffer layer (16) deforms, causing the external teeth (11) to be displaced relative to the rotation axis (15) of the planetary gear. The overload-resistant impact-type planetary gear reducer according to claim 1, characterized in that when the impact force on the external teeth (11) is eliminated, the deformation of the buffer layer (16) ceases, and the external teeth (11) is reset relative to the rotation axis (15) of the planetary gear.

3. The buffer layer (16) is provided with at least one deformable through-hole (14) that can be deformed upon receiving an impact force. The overload-resistant impact-type planetary gearbox according to claim 2, characterized in that the deformation through hole (14) is elastically deformable when subjected to an impact force.

4. The overload-resistant impact-resistant planetary gear reducer according to claim 3, characterized in that the buffer layer (16) is fitted to the inner ring side or outer ring side of the bearing between the planetary gear (21) and the rotating shaft (15) of the planetary gear.

5. The buffer layer (16) is made of rubber, silicone, plastic, or polyurethane, but is not limited thereto, as described in claim 4, characterized in that it is an overload-resistant, shock-resistant planetary gearbox.

6. The aforementioned reduction gear component is a gearing, The tooth surface portion is the inner tooth layer (23) of the gearing, The aforementioned buffer portion is a buffer ring (24) attached to the outside of the inner tooth layer (23). When the internal tooth layer (23) is subjected to an impact force, the cushioning ring (24) deforms tangentially, causing the internal tooth layer (23) to displace. The overload-resistant impact-type planetary gearbox according to claim 1, characterized in that when the impact force on the internal tooth layer (23) is eliminated, the deformation of the buffer ring (24) ceases and the internal tooth layer (23) is reset.

7. The cushioning ring (24) is provided with a deformable through-hole (14) that can be deformed upon receiving at least one impact force. When the deformation through hole (14) is subjected to an impact force, it is elastically deformable, The buffer ring (24) is made of rubber, silicone, plastic, or polyurethane, but is not limited thereto, as described in claim 6, characterized in that it is an overload-resistant, shock-resistant planetary gearbox.

8. It has a tooth surface made of a rigid material and an elastically deformable cushioning portion, An overload-shock resistant planetary gearbox, characterized in that the buffer portion is fitted onto the tooth surface to constitute a gearbox component capable of preventing overload shock.

9. A robot joint comprising an overload-resistant impact-type planetary gearbox according to any one of claims 1 to 8, and a motor, wherein the output shaft of the motor is fixedly connected to the sun gear of the planetary gearbox.

10. A four-legged robot characterized by comprising an overload-resistant, impact-resistant planetary gearbox as described in any one of claims 1 to 8.

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