CN219325262U - Multistage compact type electric drive joint module and robot - Google Patents
Multistage compact type electric drive joint module and robot Download PDFInfo
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- CN219325262U CN219325262U CN202121332203.2U CN202121332203U CN219325262U CN 219325262 U CN219325262 U CN 219325262U CN 202121332203 U CN202121332203 U CN 202121332203U CN 219325262 U CN219325262 U CN 219325262U
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Abstract
The utility model discloses a multistage compact type electric drive joint module and a robot, wherein the electric drive joint module comprises: a stator flange having an accommodation space; a threading tube positioned in the accommodation space; the first-stage output flange and the second-stage output flange are connected with the threading pipe; the first-stage speed reducer is sleeved outside the threading pipe and connected with the first-stage output flange; the secondary speed reducer is sleeved outside the threading pipe and connected with the secondary output flange; the motor rotor is connected with the threading pipe; the motor stator is arranged on the stator flange; wherein the motor stator is arranged around the primary speed reducer, and the motor rotor is arranged around the motor stator; the secondary speed reducer is positioned outside the motor stator. The application adopts the frameless torque external rotor motor to inlay the motor stator with the one-level speed reducer in, reach the volume that reduces the drive joint module, establish ties the second grade speed reducer again at the motor terminal surface simultaneously, reach the increase reduction ratio, thereby reach the torque output of increase module.
Description
Technical Field
The utility model relates to the technical field of motors, in particular to a multistage compact type electric drive joint module and a robot.
Background
At present, after the industrial robots and the cooperative robots are mature and popularized, research institutions and enterprises in large and famous colleges start to research the mobile robots, and great manpower and material resources are input. Mobile robots are mainly divided into two main classes, wheeled robots and foot robots, which have several distinct advantages over wheeled robots:
1. the foot robot or foot carrier may be run on a surface where any wheeled robot cannot work. There are different wheels that adapt to different surfaces, but none of the standards work on any surface. In addition, wheels are designed to work on prepared surfaces such as slippery surfaces, roads, tracks, and the like.
2. The legged robot may jump over or cross an obstacle, while the wheeled robot needs to somehow traverse it or take another path.
3. Wheeled robots need to run in a continuous path, while legged robots can be advanced across separate paths.
The legged robot can avoid an unnecessary foothold that cannot be avoided in the wheeled robot.
In the prior art, many driving joints for foot robots are separated by adopting a motor and a primary speed reducer, and are not integrated together, so that the joint driving structure is large in size. If the size of the joint driving structure is simply reduced, the moment output by the module is smaller, that is, the driving joint module in the prior art cannot have the advantages of small specific volume and large output moment.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The utility model aims to solve the technical problems that aiming at the defects in the prior art, a multi-stage compact type electric drive joint module and a robot are provided, and aims to solve the problems that joint drive cannot achieve the advantages of small specific volume and large output moment in the prior art.
The technical scheme adopted for solving the technical problems is as follows:
a multi-stage compact electrically driven joint module, comprising:
a stator flange having an accommodation space;
a threading tube positioned in the accommodation space;
the first-stage output flange and the second-stage output flange are connected with the threading pipe;
the first-stage speed reducer is sleeved outside the threading pipe and connected with the first-stage output flange;
the secondary speed reducer is sleeved outside the threading pipe and connected with the secondary output flange;
the motor rotor is connected with the threading pipe;
the motor stator is arranged on the stator flange;
wherein the motor stator is arranged around the primary speed reducer, and the motor rotor is arranged around the motor stator; the secondary speed reducer is positioned outside the motor stator.
The multistage compact electric drive joint module, wherein, the stator flange includes:
a cover body;
the outer side wall is connected with the cover body;
an inner sidewall positioned within the outer sidewall;
the two ends of the connecting wall are respectively connected with the outer side wall and the inner side wall;
the motor stator is disposed outside the inner sidewall.
The multistage compact electric drive joint module, wherein, the one-level speed reducer includes:
a primary annular gear arranged on the inner side wall;
the first-stage sun wheel is sleeved and connected outside the threading pipe;
the first-stage planetary gear is rotationally connected with the first-stage output flange and is meshed with the first-stage annular gear and the first-stage sun gear respectively.
The multistage compact type electric drive joint module is characterized in that a primary planet carrier is arranged on the primary output flange; the primary planet carrier is provided with a primary planet pin, and the primary planet wheel is rotationally connected with the primary planet pin.
The multi-stage compact type electric drive joint module is characterized in that the motor rotor is connected with the threading pipe through a rotor output shaft; the rotor output shaft is provided with a through hole, and the primary sun gear is positioned in the through hole.
The multi-stage compact electric drive joint module, wherein, the multi-stage compact electric drive joint module still includes:
a support cover provided on the cover body;
an encoder reading head disposed on the support cover;
and the encoder magnetic ring is arranged around the edge of the through hole.
The multi-stage compact electric drive joint module, wherein, the multi-stage compact electric drive joint module still includes:
the encoder cover is connected with the cover body;
the support cap and the encoder read head are both located within the encoder cap.
The multistage compact electric drive joint module, wherein, the second grade speed reducer includes:
the second-stage annular gear is arranged on the outer side wall;
the second-stage sun wheel is sleeved outside the threading pipe;
the second-stage planetary gear is rotationally connected with the second-stage output flange and is meshed with the second-stage annular gear and the second-stage sun gear respectively.
The multistage compact type electric drive joint module is characterized in that the primary output flange is positioned in the inner side wall, the primary output flange rotates in the inner side wall, and the primary output flange is rotationally connected with the inner side wall through a primary flange bearing; and/or
The secondary output flange is positioned in the outer side wall, rotates in the outer side wall and is rotationally connected with the inner side wall through a secondary flange bearing; and/or
The motor stator is arranged outside the inner side wall, a gap is formed between the motor stator and the outer side wall, the motor rotor is located in the gap, and the motor rotor rotates in the gap.
A robot, comprising:
a multi-stage compact electric drive joint module as claimed in any one of the preceding claims.
The beneficial effects are that: the application adopts the frameless torque external rotor motor to inlay the motor stator with the one-level speed reducer in, reach the volume that reduces the drive joint module, establish ties the second grade speed reducer again at the motor terminal surface simultaneously, reach the increase reduction ratio, thereby reach the torque output of increase module.
Drawings
Fig. 1 is a first perspective view of a multi-stage compact electric drive joint module of the present utility model.
Fig. 2 is a second perspective view of the multi-stage compact electric drive joint module of the present utility model.
Fig. 3 is a cross-sectional view of a multi-stage compact electric drive joint module of the present utility model.
Fig. 4 is a first exploded view of a multi-stage compact electric drive joint module of the present utility model.
Fig. 5 is a second exploded view of the multi-stage compact electric drive joint module of the present utility model.
Fig. 6 is a schematic structural view of a first-stage reduction gear in the present utility model.
Fig. 7 is a sectional view of the one-stage reduction gear unit in the present utility model.
Fig. 8 is a third exploded view of the multi-stage compact electric drive joint module of the present utility model.
Fig. 9 is a schematic structural view of a secondary speed reducer in the present utility model.
Fig. 10 is a schematic diagram of the structures of the primary and secondary speed reducers in the present utility model.
Fig. 11 is a first cross-sectional view of the primary and secondary reducers of the present utility model.
Fig. 12 is a second cross-sectional view of the primary and secondary reducers of the present utility model.
Reference numerals illustrate:
1. a motor rotor; 2. a motor stator; 3. a stator flange; 3a, a cover body; 3b, outer side walls; 3b1, a first section; 3b2, a second section; 3b3, third section; 3c, inner side walls; 3d, connecting walls; 4. a primary ring gear; 5. a first-stage planet wheel; 6. a primary planet carrier; 7. a first-stage planetary pin; 8. a primary planet wheel bearing; 9. a primary planet wheel shaft bushing; 10. a first-stage sun gear; 11. an encoder magnetic ring; 12. a first-stage sun gear bearing; 13. a primary planet carrier bearing; 14. a support cover; 15. an encoder reading head; 16. an encoder cover; 17. an output shaft bearing; 19. a rotor output shaft; 19a, through holes; 21. a primary flange bearing; 22. a primary output flange; 24. a secondary ring gear; 26. crossed roller bearing bushings; 27. a crossed roller bearing; 28. a secondary planet carrier; 29. a second-stage planetary gear; 30. a secondary sun gear; 31. a threading tube; 32. a secondary planet wheel bearing; 33. a secondary output flange; 34. a secondary planet wheel shaft bushing; 35. circlips for shafts.
Detailed Description
In order to make the objects, technical solutions and advantages of the present utility model more clear and clear, the present utility model will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model.
Referring to fig. 1-12, embodiments of a multi-stage compact electrically driven joint module are provided.
As shown in fig. 1 to 3, a multi-stage compact electric drive joint module of the present utility model includes:
a stator flange 3 having an accommodation space;
a threading tube 31 located in the accommodation space;
a primary output flange 22 and a secondary output flange 33 connected to the threading pipe 31;
the primary speed reducer is sleeved outside the threading pipe 31 and is connected with the primary output flange 22;
the secondary speed reducer is sleeved outside the threading pipe 31 and is connected with the secondary output flange 33;
a motor rotor 1 connected to the threading pipe 31;
a motor stator 2 provided to the stator flange 3;
wherein the motor stator 2 is arranged around the primary speed reducer, and the motor rotor 1 is arranged around the motor stator 2; the secondary speed reducer is located outside the motor stator 2.
It is worth to say that, this application adopts frameless moment external rotor motor to inlay motor stator 2 with one-level speed reducer in, reach the volume that reduces the drive joint module, establish ties the second grade speed reducer again at the motor terminal surface simultaneously, reach the increase speed reduction ratio, thereby reach the moment output of increase module. Of course, the weight of the driving joint module is reduced, so that the overall weight of the foot-type robot is reduced, and the effect of improving the endurance of the foot-type robot is achieved.
Frameless torque motor: the torque motor adopts the design of a constant reluctance brushless motor, the motor consists of an annular stator and an annular rotor, the stator does not adopt the tooth-shaped lamination design, but consists of smooth cylindrical laminations, and the rotor consists of multipolar rare earth permanent magnet poles and an annular hollow shaft. The torque motor is a special type permanent magnet brushless synchronous motor, and the load is directly connected with the rotor without any transmission piece, so the torque motor belongs to a direct driving technology. The torque motor is also a "frameless" motor. That is to say that the motor has no housing, bearings or measuring system. These components are selected by the machine manufacturer based on the desired performance, or purchased in a kit. Unlike conventional motors, torque motor specifications depend primarily on torque, not power. Further, the maximum torque determines the torque that the motor can actually produce and the continuous torque determines the torque that the motor can continuously provide. The applied duty cycle determines the degree of dependence on maximum torque or continuous torque.
It will be appreciated that the motor stator 2 in this application is an annular stator and the motor rotor 1 is an annular rotor. The threading tube 31 is a hollow tube, and the threading tube 31 can be used for the passage of a line.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 1, 3-5 and 8, the stator flange 3 includes:
a cover 3a;
an outer side wall 3b connected to the cover 3a;
an inner sidewall 3c located within the outer sidewall 3b;
a connecting wall 3d, wherein two ends of the connecting wall 3d are respectively connected with the outer side wall 3b and the inner side wall 3c;
the motor stator 2 is arranged outside the inner side wall.
Specifically, the stator flange 3 includes four parts, a cover 3a, an outer side wall 3b, an inner side wall 3c, and a connecting wall 3d. Both ends of the connection wall 3d are connected to the bottom of the outer side wall 3b and the bottom of the inner side wall 3c, respectively. The connecting wall 3d is annular, the outer side wall 3b is connected to the outer side of the annular connecting wall 3d, and the inner side wall 3c is connected to the inner side of the annular connecting wall 3d. The cover body 3a and the outer side wall 3b are detachably connected, the outer side wall 3b is divided into three sections, namely a first section 3b1, a second section 3b2 and a third section 3b3 which are sequentially arranged, the first section 3b1 is connected with the cover body 3a, the second section 3b2 is connected with the first section 3b1, the second section 3b2, the connecting wall 3d and the inner side wall 3c are integrally arranged, and the third section 3b3 is connected with the second section 3b 2.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3 to 7, the first-stage speed reducer includes:
a primary ring gear 4 provided on the inner side wall 3c;
the first-stage sun gear 10 is sleeved and connected outside the threading pipe 31;
the primary planet wheel 5 is rotationally connected with the primary output flange 22, and the primary planet wheel 5 is respectively meshed with the primary annular gear 4 and the primary sun gear 10.
The speed reducer is an independent component consisting of gear transmission, worm transmission and cycloid transmission which are enclosed in a rigid shell, is commonly used as a transmission device between a driving element and a working machine for reducing speed and increasing torque, has the functions of matching rotating speed and transmitting torque between the driving element and the working machine, and is widely applied to modern machinery.
Specifically, the primary ring gear 4 is disposed inside the top of the inner sidewall 3c, and in order to restrict the displacement of the primary ring gear 4, the primary ring gear 4 is prevented from moving, a primary ring gear gland is disposed on the inner sidewall 3c, and the primary ring gear 4 is clamped by the primary ring gear gland and the inner sidewall 3 c. In addition, a plurality of first planar structures are disposed on the outer side of the primary ring gear 4, and a second planar structure is disposed on the inner side wall 3c, and the first planar structures and the second planar structures are in surface-to-surface contact, thereby restricting movement of the primary ring gear 4 in the circumferential direction. The primary sun gear 10 is a wheel positioned at the center of the primary speed reducer, and the primary planet gears 5 are wheels around the primary sun gear 10. Two ends of the primary planet wheel 5 are respectively meshed with the primary annular gear 4 and the primary sun wheel 10. The number of the first-stage planetary gears 5 can be multiple, as shown in fig. 6 and 7, and the stability of the first-stage speed reducer can be improved by adopting 3 first-stage planetary gears 5.
The primary annular gear 4 of the primary speed reducer is arranged on the stator flange 3 in an interference fit, gluing and other modes, and meanwhile, the axial movement of the primary annular gear 4 of the primary speed reducer is limited through a primary annular gear gland, and the primary annular gear gland is fixed on the stator flange 3 through a threaded fastener. The primary sun gear 10 of the primary speed reducer drives the primary planet gears 5 of the primary speed reducer to do rotation motion around the primary planet pins 7 and revolution motion around the primary sun gear 10 of the primary speed reducer in the primary annular gear 4 of the primary speed reducer.
The threading pipe 31 is fixed on the secondary output flange 33 through a threaded fastener, so that a cable is not directly contacted with the primary sun gear 10 of the primary speed reducer running at a high speed when passing through the middle hole, but is contacted with the threading pipe 31 running at a low speed, the effect of reducing the abrasion of the cable is achieved, meanwhile, the threading pipe 31 is made of a material with low abrasion resistance and density, and gaps are reserved between the outer wall of the threading pipe 31 and the inner wall of the primary sun gear 10 of the primary speed reducer, so that abrasion caused by friction between the threading pipe 31 and the primary sun gear 10 of the primary speed reducer is prevented.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3-7, the primary output flange 22 is provided with a primary planet carrier 6; the primary planet carrier 6 is provided with a primary planet pin 7, and the primary planet wheel 5 is rotationally connected with the primary planet pin 7.
Specifically, in order to further improve the stability of the rotation of the primary planet wheel 5, a primary planet carrier 6 is disposed on the primary output flange 22, and the primary planet carrier 6 and the primary output flange 22 are respectively located on the upper side and the lower side of the primary planet wheel 5 and are connected through primary planet pins 7. The primary planet wheel 5 is rotationally connected with the primary planet pin 7 through a primary planet wheel bearing 8, and the primary planet wheel bearing 8 has supporting and limiting functions on the primary planet wheel 5 of the primary speed reducer. The number of the first-stage planetary gear bearings 8 is two, a first-stage planetary gear shaft bushing 9 is arranged between the two first-stage planetary gear bearings 8, and the first-stage planetary gear shaft bushing 9 has supporting and limiting functions on the first-stage planetary gear bearings 8. The primary planet carrier bearing 13 is located between the primary planet carrier 6 and the rotor output shaft 19, and the primary planet carrier bearing 13 has supporting and limiting functions on the primary planet carrier 6.
The primary planet pin 7 is arranged on the primary planet carrier 6, and meanwhile, the primary planet carrier 6, the primary planet pin 7 and the primary output flange 22 are connected into a whole through threaded fasteners, so that the revolution motion of the primary planet wheel 5 of the primary speed reducer can be converted into the revolution motion of the primary output flange 22 of the joint module by taking the central shaft as a rotating shaft.
In a preferred implementation of the embodiment of the utility model, as shown in fig. 3-4, the motor rotor 1 is connected to the threading pipe 31 through a rotor output shaft 19; the rotor output shaft 19 is provided with a through hole 19a, and the primary sun gear 10 is positioned in the through hole 19 a.
Specifically, the motor rotor 1 is connected to the threading pipe 31 through the rotor output shaft 19, so that the motor rotor 1 rotates to drive the rotor output shaft 19, the threading pipe 31 and the primary output flange 22 to rotate. The rotor output shaft 19 is provided with a through hole 19a, the primary sun gear 10 is positioned in the through hole 19a, and the rotor output shaft 19 is connected with the threading pipe 31 through the primary sun gear 10.
The rotor output shaft 19 is connected with the motor rotor 1 through a threaded fastener, so that the rotation and the torque of the motor rotor 1 can be transmitted to the rotor output shaft 19; the rotor output shaft 19 is connected with the primary sun gear 10 of the primary speed reducer, so that the rotation and torque of the motor rotor 1 can be transmitted to the primary sun gear 10 of the primary speed reducer through the rotor output shaft 19.
In order to avoid the primary planet carrier 6 from shaking, a primary sun gear bearing 12 is arranged between the primary planet carrier 6 and the primary sun gear 10. And a primary planet carrier bearing 13 is arranged between the primary planet carrier 6 and the rotor output shaft 19, so that the primary planet carrier 6 is limited from the inner side and the outer side.
In order to avoid wobble of the rotor output shaft 19 and the motor rotor 1, an output shaft bearing 17 is provided between the rotor output shaft 19 and the cover 3a, thereby defining the rotor output shaft 19 and the motor rotor 1.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3 to 5, the multi-stage compact electric drive joint module further includes:
a support cover 14 provided on the cover 3a;
an encoder reading head 15 provided on the support cover 14;
the encoder magnet ring 11 is disposed around the edge of the through hole 19 a.
An encoder: an encoder is a device that compiles, converts, or communicates, transmits, and stores signals or data into a signal form. The encoder converts angular displacement, referred to as a code wheel, or linear displacement, referred to as a code scale, into an electrical signal. Encoders can be classified into contact type and non-contact type according to the read-out mode; encoders can be classified into incremental and absolute types according to the operating principle. The incremental encoder converts the displacement into a periodic electric signal, and then converts the electric signal into counting pulses, and the number of the pulses is used for representing the size of the displacement. Each position of the absolute encoder corresponds to a determined digital code, so that its indication is only related to the start and end positions of the measurement, and not to the intermediate course of the measurement.
Specifically, a support cover 14 is provided on the cover body 3a, and an encoder reading head 15 is provided on the support cover 14, and the encoder magnetic ring 11 is provided on the rotor output shaft 19, specifically around the outside of the through hole 19 a. The feed-through tube 31 passes through the support cover 14 and the encoder reading head 15 so that the wires in the feed-through tube 31 can be connected to the encoder reading head 15.
The encoder magnetic ring 11 is fixed on the rotor output shaft 19 in an interference fit, glue coating and other modes, so that the rotation of the motor rotor 1 can be transmitted to the encoder magnetic ring 11 through the rotor output shaft 19;
the cover body 3a is connected with the stator flange 3 through a threaded fastener, interference fit, gluing and the like, the encoder reading head 15 is provided with the supporting cover 14 and is connected with the cover body 3a through a threaded fastener, interference fit, gluing and the like, and the encoder reading head 15 is connected with the encoder reading head 15 and is provided with the supporting cover 14 through a threaded fastener, interference fit, gluing and the like; the encoder reading head 15 can read the rotation position of the encoder magnetic ring 11, and further servo position control is performed on the joint module.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3 to 5, the multi-stage compact electric drive joint module further includes:
an encoder cover 16 connected to the cover 3a;
the support cover 14 and the encoder reading head 15 are both located within the encoder cover 16.
Specifically, in order to protect the encoder reading head 15, an encoder cover 16 is provided on the cover body 3a, and the support cover 14 and the encoder reading head 15 are housed inside to protect the encoder reading head 15. The encoder cover 16 is connected with the cover body 3a through a threaded fastener, interference fit, gluing and other modes, and has the functions of dust prevention and water prevention on the joint module.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3 and 7, the primary output flange 22 is located in the inner sidewall 3c, the primary output flange 22 rotates in the inner sidewall 3c, and the primary output flange 22 is rotatably connected to the inner sidewall 3c through a primary flange bearing 21.
Specifically, the primary output flange 22 is located within the inner sidewall 3c and is rotatable within the inner sidewall 3 c. The primary output flange 22 is rotatably connected to the inner side of the inner side wall 3c through a primary flange bearing 21. That is, a primary flange bearing 21 is arranged between the stator flange 3 and the primary output flange 22, and has supporting and limiting functions on the primary output flange 22. There are two primary flange bearings 21, and a primary output flange bearing bushing is arranged between the two primary flange bearings 21. The joint module primary output flange bearing bush is arranged between the two primary flange bearings 21, and has supporting and limiting functions on the joint module primary output flange bearing. In order to restrict the displacement of the primary flange bearing 21, a bearing cover is provided at the bottom of the inner side wall 3c, and the primary flange bearing 21 is held by the inner side wall 3c and the bearing cover.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3, 6 and 7, the motor stator 2 is disposed outside the inner sidewall 3c, a gap is provided between the motor stator 2 and the outer sidewall 3b, the motor rotor 1 is located in the gap, and the motor rotor 1 rotates in the gap.
Specifically, the motor stator 2 is disposed around the outside of the inner side wall 3c with a gap between the motor stator 2 and the outer side wall 3b, and the motor rotor 1 is located in the gap and rotatable therein. The motor stator 2 is fixed on the stator flange 3 by interference fit, gluing and other modes; the motor rotor 1 belongs to an outer rotor, is arranged on the outer ring of the motor stator 2, and a gap is formed between the motor rotor 1 and the motor stator 2, so that the motor rotor 1 can rotate freely relative to the motor stator 2.
Braking band-type brake: the braking band-type brake is in a hugging state before the motor is electrified, so that the motor cannot rotate, and the braking band-type brake is released after the motor is electrified, so that the motor can be controlled to rotate. The main function of the brake is to stop the machine from running when the machine is suddenly powered off due to failure, and no accident is caused by continuous running due to factors such as inertia, gravity and the like.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 2, 3, 7, 11 and 12, the secondary output flange 33 is located in the outer side wall 3b, the secondary output flange 33 rotates in the outer side wall 3b, and the secondary output flange 33 is rotatably connected to the outer side wall 3b through a secondary flange bearing.
Specifically, the secondary output flange 33 is located within the outer sidewall 3b (specifically within the third section 3b 3) and is rotatable within the outer sidewall 3 b. The secondary output flange 33 is rotatably connected to the inside of the outer sidewall 3b by a cross roller bearing 27. That is, the crossed roller bearing 27 is arranged between the stator flange 3 and the secondary output flange 33, and has supporting and limiting functions on the secondary output flange 33. The cross roller bearing 27 is provided with a cross roller bearing bush 26 on the upper side and a circlip 35 for a shaft on the lower side, and has supporting and limiting functions on the cross roller bearing 27. In order to limit the displacement of the cross roller bearing 27.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3, 3 and 9-12, the two-stage speed reducer includes:
a secondary ring gear 24 provided on the outer side wall 3b;
the secondary sun gear 30 is sleeved outside the threading pipe;
the secondary planet wheel 29 is rotatably connected with the secondary output flange 33, and the secondary planet wheel 29 is meshed with the secondary annular gear 24 and the secondary sun gear 30 respectively.
Specifically, the secondary ring gear 24 is provided inside the outer side wall 3b (specifically, inside the second segment 3b 2), and in order to restrict the displacement of the secondary ring gear 24, the movement of the secondary ring gear 24 is prevented, and the secondary ring gear 24 is held by the cross roller bearing bush 26 on the lower side of the secondary ring gear 24, and the cross roller bearing bush and the outer side wall 3b are sandwiched. Furthermore, a plurality of third planar structures are provided on the outer side of the secondary ring gear 24, and a fourth planar structure is provided on the outer side wall 3b, the third planar structures and the fourth planar structures being in surface-to-surface contact, thereby restricting movement of the secondary ring gear 24 in the circumferential direction. The secondary sun gear 30 is a wheel located at the center of the secondary speed reducer, and the secondary planet gears 29 are wheels around the secondary sun gear 30. Two ends of the secondary planet wheel 29 are respectively meshed with the secondary annular gear 24 and the secondary sun wheel 30. The number of the secondary planet gears 29 can be multiple, as shown in fig. 3 and 7, and the stability of the secondary speed reducer can be improved by adopting 3 secondary planet gears 29.
The secondary sun gear 30 is clamped with the primary output flange 22, that is, the primary output flange 22 can rotate to drive the secondary sun gear to rotate.
The secondary annular gear 24 of the secondary speed reducer is mounted on the stator flange 3 in an interference fit, glue coating and other modes, meanwhile, the axial movement of the secondary annular gear 24 of the secondary speed reducer is limited through a crossed roller bearing bush 26, and the crossed roller bearing bush 26 is fixed on the stator flange 3 through a threaded fastener. The secondary sun gear 30 of the secondary speed reducer drives the secondary planet gears 29 of the secondary speed reducer to do rotation motion around the secondary planet pins and revolution motion around the secondary sun gear 30 of the secondary speed reducer inside the secondary annular gear 24 of the secondary speed reducer.
In a preferred implementation of the embodiment of the present utility model, as shown in fig. 3, 7, and 9-12, the secondary output flange 33 is provided with a secondary planet carrier 28; the secondary planet carrier 28 is provided with a secondary planet pin, and the secondary planet wheel 29 is rotatably connected with the secondary planet pin.
Specifically, in order to further improve the stability of rotation of the secondary planet gear 29, the secondary planet carrier 28 is disposed on the secondary output flange 33, and the secondary planet carrier 28 and the secondary output flange 33 are respectively located on the upper side and the lower side of the secondary planet gear 29 and are connected through secondary planet pins. The second-stage planetary gear 29 is rotationally connected with the second-stage planetary pin through a second-stage planetary gear bearing 32, and the second-stage planetary gear bearing 32 has supporting and limiting functions on the second-stage planetary gear 29 of the second-stage speed reducer. Two secondary planet wheel bearings 32 are arranged, a secondary planet wheel shaft bushing 34 is arranged between the two secondary planet wheel bearings 32, and the secondary planet wheel shaft bushing 34 has supporting and limiting functions on the secondary planet wheel bearings 32.
The secondary planet pin is arranged on the secondary planet carrier 28, and meanwhile, the secondary planet carrier 28, the secondary planet pin and the secondary output flange 33 are connected into a whole through a threaded fastener, so that the revolution motion of the secondary planet wheel 29 of the secondary speed reducer can be converted into the revolution motion of the joint module secondary output flange 33 by taking the central shaft as a rotating shaft.
Based on the multi-stage compact electric drive joint module according to any one of the above embodiments, the present utility model further provides a preferred embodiment of a robot:
the robot of the embodiment of the utility model comprises:
the multi-stage compact electric drive joint module according to any of the above embodiments.
It is to be understood that the utility model is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.
Claims (10)
1. A multi-stage compact electric drive joint module, comprising:
a stator flange having an accommodation space;
a threading tube positioned in the accommodation space;
the first-stage output flange and the second-stage output flange are connected with the threading pipe;
the first-stage speed reducer is sleeved outside the threading pipe and connected with the first-stage output flange;
the secondary speed reducer is sleeved outside the threading pipe and connected with the secondary output flange;
the motor rotor is connected with the threading pipe;
the motor stator is arranged on the stator flange;
wherein the motor stator is arranged around the primary speed reducer, and the motor rotor is arranged around the motor stator; the secondary speed reducer is positioned outside the motor stator.
2. The multi-stage compact electric drive joint module of claim 1, wherein the stator flange comprises:
a cover body;
the outer side wall is connected with the cover body;
an inner sidewall positioned within the outer sidewall;
the two ends of the connecting wall are respectively connected with the outer side wall and the inner side wall;
the motor stator is disposed outside the inner sidewall.
3. The multi-stage compact electric drive joint module of claim 2, wherein the one-stage reducer comprises:
a primary annular gear arranged on the inner side wall;
the first-stage sun wheel is sleeved and connected outside the threading pipe;
the first-stage planetary gear is rotationally connected with the first-stage output flange and is meshed with the first-stage annular gear and the first-stage sun gear respectively.
4. The multi-stage compact electric drive joint module of claim 3, wherein the primary output flange is provided with a primary planet carrier; the primary planet carrier is provided with a primary planet pin, and the primary planet wheel is rotationally connected with the primary planet pin.
5. The multi-stage compact electric drive joint module of claim 3, wherein the motor rotor is connected to the threading tube through a rotor output shaft; the rotor output shaft is provided with a through hole, and the primary sun gear is positioned in the through hole.
6. The multi-stage compact electric drive joint module of claim 5, further comprising:
a support cover provided on the cover body;
an encoder reading head disposed on the support cover;
and the encoder magnetic ring is arranged around the edge of the through hole.
7. The multi-stage compact electric drive joint module of claim 6, further comprising:
the encoder cover is connected with the cover body;
the support cap and the encoder read head are both located within the encoder cap.
8. The multi-stage compact electric drive joint module of claim 2, wherein the secondary speed reducer comprises:
the second-stage annular gear is arranged on the outer side wall;
the second-stage sun wheel is sleeved outside the threading pipe;
the second-stage planetary gear is rotationally connected with the second-stage output flange and is meshed with the second-stage annular gear and the second-stage sun gear respectively.
9. The multi-stage compact electric drive joint module of claim 2, wherein the primary output flange is located within the inner sidewall, the primary output flange rotates within the inner sidewall, the primary output flange and the inner sidewall are rotatably connected by a primary flange bearing; and/or
The secondary output flange is positioned in the outer side wall, rotates in the outer side wall and is rotationally connected with the inner side wall through a secondary flange bearing; and/or
The motor stator is arranged outside the inner side wall, a gap is formed between the motor stator and the outer side wall, the motor rotor is located in the gap, and the motor rotor rotates in the gap.
10. A robot, comprising:
a multi-stage compact electrically driven joint module as claimed in any one of claims 1 to 9.
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| CN202121332203.2U CN219325262U (en) | 2021-06-15 | 2021-06-15 | Multistage compact type electric drive joint module and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276157A (en) * | 2021-06-15 | 2021-08-20 | 南方科技大学 | Multistage compact type electrically-driven joint module and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276157A (en) * | 2021-06-15 | 2021-08-20 | 南方科技大学 | Multistage compact type electrically-driven joint module and robot |
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