Articulated Power Unit Spacer Structure for Planetary Carrier Runout
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Solution Overview
Problem
The constant pressing of the planetary carrier against the base during rotation leads to deformation and wear, potentially causing disengagement and affecting the rotation accuracy of the gearbox unit in legged robots.
Innovation Solution
An integrated articulated power unit with a spacer fastened to a mounting seat between the mounting seat and a first planetary carrier, forming a composite structure that resists pressing and impact forces, reducing eccentricity runout and improving structural strength to enhance rotation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the planetary carrier directly contacts the mounting seat during rotation, then the structure is simple, but deformation and wear occur leading to disengagement and reduced rotation accuracy
Solution Approach 1:
A spacer is introduced as an intermediary component between the planetary carrier and the mounting seat. The spacer prevents direct contact between these two parts during rotation, eliminating deformation and wear of the planetary carrier while maintaining structural simplicity through the addition of this single intermediate element.
2Strength
If the planetary carrier is constrained by the mounting seat, then structural strength is improved, but pressing force causes deformation and wear
Solution Approach 1:
The spacer serves as a mediator that transmits the constraining force from the mounting seat to the planetary carrier without causing direct contact. This maintains the necessary structural strength and positional constraint while preventing the harmful pressing force that causes deformation and wear.
Solution Approach 2:
The spacer acts as a pre-positioned cushioning element between the planetary carrier and mounting seat. It anticipates and prevents the harmful effects of pressing force by providing a protective interface before contact-induced wear can occur.
3Ease of operation
If the planetary carrier rotates freely within the mounting seat, then ease of operation is improved, but eccentricity runout increases reducing rotation accuracy
Solution Approach 1:
The spacer mediates between the free rotation requirement and the precision requirement. It allows the planetary carrier to rotate smoothly within the mounting seat while simultaneously preventing excessive eccentricity runout by providing a precise positioning interface that maintains rotational accuracy.
Data Source
AI summary
The present application, relating to the technical field of legged robots, discloses an integrated articulated power unit and a legged robot using the same. The integrated articulated power unit provided by the present application comprises a base and a gearbox unit disposed within the base, the gearbox unit comprising a first planetary carrier; a mounting seat being coaxially provided within the base, and the first planetary carrier being sleeved within the mounting seat and rotatable relative to the mounting seat; a spacer and an input bearing being provided between the mounting seat and the first planetary carrier, and the first planetary carrier being fixed within the mounting seat by the spacer; and the edge of the spacer extending outward and against the mounting seat to form a concave groove matched with the mounting seat, so as to fix the spacer within the mounting seat. The present application provides a spacer, having an edge matched with the mounting seat, between the mounting seat and the first planetary carrier, so that when the spacer is pressed during rotation of the first planetary carrier, the spacer can always dovetail with the mounting seat, thus reducing the eccentricity runout of the first planetary carrier.