Robot Joint Unit With Friction Torque Limiting and Hollow Wiring
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Solution Overview
Problem
High-performance robot joint units face damage due to overload and uneven wear from complex terrain and impact loads, and lack a compact structure for hollow wiring, affecting safety and aesthetics.
Innovation Solution
A highly integrated robot joint unit with a motor assembly and reducer assembly featuring a gear ring in frictional connection with a motor base, utilizing a friction force generator for torque limitation and sliding, and incorporating a shaft hole for hollow wiring, along with a wear-resistant annular friction disc and active control unit for dynamic torque adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the robot joint is designed without a central shaft hole to achieve high output torque/weight density and compact structure, then the structural compactness and torque density are improved, but hollow wiring cannot be realized and the cable must be hung outside which affects safety and aesthetics
Solution Approach 1:
The patent implements hollow wiring by nesting the cable routing within the joint unit structure. The cable passes through the motor rotor and reducer assembly internally, embedding the wiring system within the existing mechanical components rather than adding external cable routing. This resolves the contradiction by achieving both compact structure and safe internal wiring integration.
2Force
If the reducer operates under high torque conditions to meet high output torque requirements, then the torque transmission capability is improved, but the gear and joint parts suffer from uneven wear and damage due to overload and impact loads
Solution Approach 1:
The patent applies beforehand cushioning by positioning the friction force generator to create a friction torque that acts as a protective barrier before overload damage occurs. When impact loads or excessive torque are applied, the friction torque limits the maximum torque transmitted to the reducer gears, preventing tooth surface damage and uneven wear. This resolves the contradiction by protecting the reducer while maintaining high torque transmission capability through controlled frictional engagement.
Solution Approach 2:
The patent converts the potentially harmful friction between the gear ring and motor base into a beneficial torque-limiting mechanism. The friction force generator creates controlled friction that protects the reducer from overload damage. By embracing friction as a protective element rather than trying to eliminate it, the system achieves both high torque transmission and enhanced durability, resolving the contradiction between torque capability and reliability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution prevents damage from high torque and impact loads, enables compact and safe hollow wiring, and enhances the joint unit's reliability and service life by allowing frictional sliding and real-time torque control, while maintaining high torque/weight density and attractiveness.
Implementation Method 1
the gear ring is in conflicting connection with the motor base under the action of a friction force generator; when the torque transmitted to the gear ring is greater than the friction torque between the gear ring and the motor base, the gear ring is driven to overcome the friction torque generated under the action of the friction force generator, such that the gear ring and the motor base rotate relatively
Data Source
AI summary
The present application discloses a highly integrated high-performance robot joint unit, belonging to the technical field of robot apparatuses. When a reducer of an existing robot joint is in overload working state, it causes joint parts such as a reducer gear to be damaged, and a meshing tooth surface of each tooth of the reducer is unevenly worn. In the present application, when a torque transmitted to a gear ring by an output end of a motor rotor or a reducer assembly is greater than a friction torque between the gear ring and a motor base, the gear ring of the reducer assembly is driven by the output end of the motor rotor or the reducer assembly to overcome the friction torque generated under the action of a friction force generator, such that the gear ring and the motor base rotate relatively, thus realizing the frictional sliding between the reducer assembly and the motor base, limiting the torque borne by the reducer assembly, and preventing the reducer from being damaged due to the large torque from the motor end or the output end of the joint unit.