Bionic Robot Power Unit with Nested Planetary Gear Synchronizer
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Solution Overview
Problem
Conventional bionic robots require adjustable speed ratios and lightweight, compact power units to achieve diverse movements like running, jumping, and long endurance walking, but traditional reducers are too large and heavy, with fixed gear ratios and complex shifting mechanisms that are not suitable for bionic robots.
Innovation Solution
A power unit with a motor shell, embedded stator and rotor, bearings, a driving shaft, transmission shafts, and a planetary gear set with a synchronizer for adjustable gear ratios, allowing automatic shifting between different gear states using magnetic units and needle roller bearings for compactness and high efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional reducers with fixed gear ratios are used, then the structure is simple, but the adaptability to different working conditions is poor
Solution Approach 1:
The patent implements a variable gear ratio mechanism where the planetary gear set can dynamically adjust between different gear ratios (first gear ratio when synchronizer engages first driven wheel, second gear ratio when engaging second driven wheel). This dynamic adjustment capability allows the reducer to adapt to different working conditions such as running, jumping, and long endurance walking, resolving the contradiction between adaptability and structural simplicity.
2Adaptability or versatility
If traditional automobile reducers or machining industry gearboxes are used, then the gear ratio can be changed, but the volume and weight are too large for bionic robots
Solution Approach 1:
The patent employs a nested structure where the planetary gear set is integrated within the motor rotor shaft assembly. The sun gear, planetary gears, and ring gear are arranged concentrically, with the planetary gear set nested inside the motor housing. This nested arrangement significantly reduces the overall volume of the power unit, making it suitable for bionic robots while maintaining variable gear ratio capability.
3Adaptability or versatility
If traditional shifting actuators (motor driving, hydraulic driving, or multi-plate clutch type) are used, then gear shifting can be achieved, but the overall weight and volume increase and additional power sources are required
Solution Approach 1:
The patent extracts and eliminates the separate shifting actuator from the system. Instead of using motor driving, hydraulic driving, or multi-plate clutch type actuators that require additional power sources, the invention uses a simplified synchronizer mechanism that directly engages with the driven wheels through conical friction surfaces. This extraction of the shifting actuator reduces overall weight and volume while maintaining gear shifting capability through the integrated synchronizer design.
4Speed
If the synchronizer uses conical friction surfaces for engagement, then the shifting speed is fast and the structure is simple, but the manufacturing precision requirement is high
Solution Approach 1:
The patent applies parameter changes by optimizing the conical friction surface geometry, including the cone angle, friction coefficient, and contact area distribution. By carefully selecting and adjusting these parameters, the design achieves fast shifting speed while reducing the stringency of manufacturing precision requirements. The conical friction surfaces are designed to provide sufficient friction engagement with reasonable tolerance ranges, balancing performance and manufacturability.
Data Source
AI summary
The present disclosure provides a power unit for a bionic robot, a robot joint and a robot. The power unit comprises: a shell, wherein a stator is embedded in the shell, a rotor is embedded in the stator, a rotor shaft is embedded in the rotor, bearings are disposed between the rotor shaft and the shell, a driving shaft is embedded in a central portion of the rotor shaft, a first driving wheel is disposed on the driving shaft, two transmission shafts are disposed in the rotor shaft, a first driven wheel and second driving wheels are disposed on each of the transmission shafts, the first driven wheel is engaged with the first driving wheel, a sun gear shaft is disposed in the rotor shaft, the sun gear shaft and the driving shaft are coaxially disposed, and a synchronizer and second driven wheels are disposed on the sun gear shaft.