Planetary gearbox and related robot joint and robot
阅读说明:本技术 行星齿轮箱以及相关的机器人关节和机器人 (Planetary gearbox and related robot joint and robot ) 是由 顾颢 杨基博 陶志强 秦健 于 2018-06-28 设计创作,主要内容包括:一种行星齿轮箱(100)包括:壳体(101),沿第一轴线(X1)延伸;内耦合机构(106),被布置在壳体(101)的内表面上;输入部件(102),被布置在壳体(101)内并且与壳体(101)同轴,并且可操作为围绕第一轴线(X1)旋转;啮合机构(103),被布置在壳体(101)中并且被耦合至输入部件(102),啮合机构(103)具有偏离第一轴线(X1)的第二轴线(X2),并且适于由输入部件(102)驱动以在与内耦合机构(106)啮合的同时围绕第二轴线(X2)旋转;以及输出部件(104),被耦合至啮合机构(103)并且适于通过啮合机构(103)的旋转而致动,以围绕第一轴线(X1)旋转;其中内耦合机构(106)的至少啮合表面和输出部件(104)的至少啮合表面由金属和非金属材料中的一种制成,并且啮合机构(103)的至少啮合表面由金属和非金属材料中的另一种制成。(An epicyclic gearbox (100) comprising: a housing (101) extending along a first axis (X1); an inner coupling mechanism (106) arranged on an inner surface of the housing (101); an input member (102) arranged within the housing (101) and coaxial with the housing (101) and operable to rotate about a first axis (X1); an engagement mechanism (103) arranged in the housing (101) and coupled to the input member (102), the engagement mechanism (103) having a second axis (X2) offset from the first axis (X1) and being adapted to be driven by the input member (102) to rotate about the second axis (X2) while engaging with the in-coupling mechanism (106); and an output member (104) coupled to the engagement mechanism (103) and adapted to be actuated by rotation of the engagement mechanism (103) to rotate about a first axis (X1); wherein at least an engagement surface of the in-coupling mechanism (106) and at least an engagement surface of the output member (104) are made of one of a metallic and non-metallic material, and at least an engagement surface of the engagement mechanism (103) is made of the other of a metallic and non-metallic material.)
1. An epicyclic gearbox (100) comprising:
a housing (101) extending along a first axis (X1);
an in-coupling mechanism (106) arranged on an inner surface of the housing (101);
an input member (102) arranged within said housing (101) and coaxial to said housing (101) and operable to rotate about said first axis (X1);
an engagement mechanism (103) arranged in the housing (101) and coupled to the input member (102), the engagement mechanism (103) having a second axis (X2) offset from the first axis (X1) and being adapted to be driven by the input member (102) to rotate about the second axis (X2) while engaging with the in-coupling mechanism (106); and
an output member (104) coupled to said engagement mechanism (103) and adapted to be actuated by said rotation of said engagement mechanism (103) to rotate about said first axis (X1);
wherein at least an engagement surface of the in-coupling mechanism (106) and at least an engagement surface of the output member (104) are made of one of a metallic material and a non-metallic material, and at least an engagement surface of the engagement mechanism (103) is made of the other of the metallic material and the non-metallic material.
2. An epicyclic gearbox according to claim 1, wherein said inner coupling mechanism (106) comprises a plurality of cylindrical pins uniformly arranged and parallel to said first axis (X1), and
a support structure formed with a plurality of recesses (1011), each recess for receiving a respective said cylindrical pin.
3. The planetary gearbox as set forth in claim 2 wherein at least one of said in-coupling mechanism (106) and said output member (104) is made of a metallic material and
wherein at least one of the support structure and the engagement mechanism (103) is made of a non-metallic material.
4. An epicyclic gearbox according to claim 3, wherein at least one of said support structure and said engagement mechanism (103) is integrally formed, respectively.
5. The planetary gearbox of claim 1, wherein the non-metallic material comprises an integrally formable and self-lubricating material.
6. The planetary gearbox of claim 1, wherein the non-metallic material comprises at least one of a plastic and a ceramic.
7. An epicyclic gearbox according to claim 1, wherein said input member (102) comprises an input shaft (1021) extending along said first axis (X1).
8. An epicyclic gearbox according to claim 7, wherein said input shaft (1021) comprises at least one support section (1022) centered on said second axis (X2), and
the engagement mechanism (103) comprises at least one wheel (1033), each wheel (1033) being arranged on a respective support section (1022).
9. An epicyclic gearbox according to claim 8, wherein each wheel (1033) comprises a plurality of through holes (1032) arranged around said second axis (X2), and
wherein the output member (104) comprises a plurality of output pins (1041), each output pin (1041) being arranged in a respective said through hole (1032) and being driven by rotation of the wheel (1033) to rotate the output member (104) together with the wheel (1033).
10. The planetary gearbox of claim 9, wherein the output member (104) further comprises an output flange (1042) and a support ring (1043), the output flange (1042) and the support ring (1043) being secured on both ends of the output pin (1041), respectively, wherein the at least one wheel (1033) is located between the output flange (1042) and the support ring (1043).
11. The planetary gearbox of claim 1, wherein the output member (104) further comprises an output flange (1042) and a support ring (1043), the output flange (1042) and the support ring (1043) being fixed on both ends of an output pin (1041), respectively, and
Wherein each output pin (1041) is hollow and includes an internal thread formed at both ends, and
wherein the output flange (1042) and the support ring (1043) are fixed on the end of the output pin (1041) via bolts.
12. An epicyclic gearbox according to claim 11, wherein said output pin (1041) is made of a metallic material to maintain the pretension and/or the connection strength of said internal thread.
13. The planetary gearbox of claim 1, wherein the output member (104) further comprises an output ring (1044) arranged on an inner surface of the housing (101) and rotatable about the first axis (X1); and
a plurality of outer output pins (1041'), each received in a respective groove uniformly formed in an inner surface of the output ring (1044) for rotation with the output ring (1044).
14. The planetary gearbox as set forth in claim 13 wherein the input member (102) includes a support section (1022) centered on the second axis (X2), and
the engagement mechanism (103) comprises first wheels (1033) fixed to each other and each arranged on the support section (1022) 1) And a second wheel (1033)2),
Wherein the first wheel (1033)1) Is engaged with the in-coupling mechanism (106), and the second wheel (1033)2) Engages the plurality of outer output pins (1041') to drive the output ring (1044) in rotation.
15. The planetary gearbox of claim 14, wherein the output ring (1044) and the first wheel (1033)1) And said second wheel (1033)2) Are made of non-metallic materials and are respectively integrally formed, and
the plurality of outer output pins (1041') are made of a metal material to a standard size.
16. A robot joint comprising at least one planetary gearbox according to any of claims 1-15.
17. A robot comprising at least one robot joint according to claim 16.
Technical Field
Embodiments of the present disclosure generally relate to a planetary gearbox and related robotic joints and robots.
Background
A planetary gearbox is a gear system that includes one or more external gears (i.e., planet gears) that rotate about a sun gear (i.e., sun gear). Typically, the planet gears are mounted on a movable arm or carrier, which itself is rotatable relative to the sun gear. The planetary gearbox also includes the use of an outer ring gear or annulus that meshes with the planet gears. Planetary gear mechanisms are generally classified as either simple planetary gear mechanisms or compound planetary gear mechanisms. Simple planetary gear mechanisms have a sun gear, a ring gear, a carrier and a planetary gear set.
As a special planetary gear box, the cycloidal reducer enables a relatively high transmission ratio to be obtained in a compact size. The input shaft of the cycloidal reducer drives an eccentric bearing, which in turn drives the wheel in an eccentric cycloidal motion. The periphery of the wheel is formed as a fixed gear ring and has a series of output pins or rollers disposed through the wheel face. These output pins directly drive the output shaft as the wheel rotates. The radial motion of the wheel is not transmitted to the output shaft.
The various components used in planetary gearboxes are typically made of metallic materials, resulting in planetary gearboxes that are heavy and do not meet the light weight requirements for robots or robot joints. In addition, metal parts of particularly complex shape, such as gears, wheels, etc., often require extremely high tooling costs. In addition, there are some conventional planetary gearboxes that are all assembled from non-metallic components. However, such non-metallic planetary gearboxes are inefficient in transmission and have poor torque capability, e.g., only up to 5 Nm.
Disclosure of Invention
Embodiments of the present disclosure provide a planetary gearbox that includes a metallic component and a non-metallic component that contact or mesh with each other.
In a first aspect, a planetary gearbox is provided. The planetary gear box includes: a housing extending along a first axis; an inner coupling mechanism disposed on an inner surface of the housing; an input member disposed within and coaxial with the housing and operable to rotate about a first axis; an engagement mechanism disposed in the housing and coupled to the input member, the engagement mechanism having a second axis offset from the first axis and adapted to be driven by the input member to rotate about the second axis while engaged with the in-coupling mechanism; and an output member coupled to the engagement mechanism and adapted to be actuated by rotation of the engagement mechanism to rotate about the first axis; wherein at least the engagement surface of the in-coupling mechanism and at least the engagement surface of the output member are made of one of a metallic material and a non-metallic material, and at least the engagement surface of the engagement mechanism is made of the other of the metallic material and the non-metallic material.
By making at least the meshing surfaces of the components that mesh with each other in the planetary gear box using a non-metal instead of a metal material, the overall weight of the planetary gear box is reduced. In addition, some parts having complex shapes may be integrally formed by molding a non-metallic material to reduce the difficulty of processing. Furthermore, wear and stress between metal and non-metal can be significantly reduced compared to wear and stress between the same materials. In addition, by engaging the metal member with the non-metal member, the heat treatment of the metal member can be reduced.
In some embodiments, the in-coupling mechanism includes a plurality of cylindrical pins uniformly arranged and parallel to the first axis, and a support structure formed with a plurality of grooves, each groove for receiving a respective cylindrical pin. For cycloidal planetary gearboxes, the use of certain components made of non-metals may further increase the life of the planetary gearbox while maintaining a light weight, since there is no bending between the teeth and only rolling contact between the pin and the meshing mechanism.
In some embodiments, at least one of the in-coupling mechanism and the output member is made of a metallic material, and at least one of the support structure and the engagement mechanism is made of a non-metallic material. In this way, the manufacturing difficulty and cost can be significantly reduced, and therefore the accuracy can be improved, as compared with the case and the engagement mechanism made of metal.
In some embodiments, at least one of the support structure and the engagement mechanism are each integrally formed. Therefore, manufacturing efficiency can be significantly improved.
In some embodiments, the non-metallic material comprises a material that can be integrally formed and that can be self-lubricating. By this arrangement, the tribological characteristics between the components in contact with each other are enhanced, and the cost for manufacturing the planetary gear box is reduced.
In some embodiments, the non-metallic material comprises at least one of a plastic and a ceramic. The use of common non-metallic materials can further reduce costs.
In some embodiments, the input member includes an input shaft extending along the first axis. The use of the input shaft as an input member allows the planetary gearbox to be used in a variety of applications. Thus, the versatility of the planetary gear box is improved.
In some embodiments, the input shaft includes at least one support segment centered on the second axis, and the engagement mechanism includes at least one wheel, each wheel being disposed on a respective support segment. The cycloidal planetary gear box is formed by the eccentric supporting section and the wheels arranged on the supporting section, so that the assembling difficulty can be reduced.
In some embodiments, each wheel includes a plurality of through holes arranged about the second axis, and wherein the output member includes a plurality of output pins, each output pin being disposed in a respective through hole and driven by rotation of the wheel to rotate the output member with the wheel. In this way, transmission noise can be reduced.
In some embodiments, the output member further comprises an output flange and a support ring, the output flange and the support ring being secured to both ends of the output pin, respectively, wherein the at least one wheel is located between the output flange and the support ring. Thereby, the difficulty of assembling the output member can be further reduced.
In some embodiments, each output pin is hollow and includes internal threads formed at both ends, and wherein the output flange and the support ring are secured on the ends of the output pins via bolts. The use of a hollow output pin further reduces the overall weight of the planetary gearbox.
In some embodiments, the output pin is made of a metallic material to maintain the preload and/or connection strength of the internal threads. Thus, the connection strength of the output member is enhanced.
In some embodiments, the output member further comprises an output ring disposed on an inner surface of the housing and rotatable about the first axis; a plurality of outer output pins, each outer output pin received in a respective groove uniformly formed in an inner surface of the output ring for rotation with the output ring.
In some embodiments, the input member includes a support section centered on the second axis, and the engagement mechanism includes a first wheel and a second wheel fixed to each other and each disposed on the support section, wherein the first wheel is engaged with the inner coupling mechanism and the second wheel is engaged with the plurality of outer output pins to drive the output ring to rotate.
In some embodiments, the output ring and the first and second wheels are made of a non-metallic material and are each integrally formed, and the plurality of outer output pins are made of a metallic material to a standard size.
In a second aspect, a robot joint is provided, comprising at least one of the planetary gearboxes described above.
In a third aspect, a robot is provided comprising at least one of the above robot joints.
It should be understood that this summary is not intended to identify key or essential features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The foregoing and other objects, features and advantages of the disclosure will be apparent from the following more particular descriptions of exemplary embodiments of the disclosure as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the disclosure.
FIG. 1 shows a schematic view of a planetary gearbox according to an embodiment of the present disclosure;
FIGS. 2A and 2B illustrate cross-sectional views of two embodiments of a cycloidal planetary gearbox according to embodiments of the present disclosure;
FIG. 3 illustrates a cross-sectional side view of an embodiment of a cycloidal planetary gearbox according to an embodiment of the present disclosure; and is
FIG. 4 illustrates a perspective view of the wheel and output member of a cycloidal planetary gearbox according to an embodiment of the present disclosure;
throughout the drawings, the same or similar reference numerals are used to designate the same or similar elements.
Detailed Description
The present disclosure will now be discussed in connection with several exemplary embodiments. It should be understood that these examples are discussed only for the purpose of enabling those skilled in the art to better understand and to further carry out the disclosure, and do not imply any limitations on the scope of the claims.
As used herein, the term "include" and variations thereof are to be understood as open-ended terms, meaning "including, but not limited to. The term "based on" is to be understood as "based at least in part on". The terms "one embodiment" and "an embodiment" should be understood as "at least one embodiment". The term "another embodiment" should be understood as "at least one other embodiment". The terms "first," "second," and the like may refer to different or the same object. Other explicit and implicit definitions may be included below. The definitions of the terms are consistent throughout the specification unless the context clearly dictates otherwise.
In conventional solutions, the robot joint usually employs a planetary gearbox, in particular a cycloidal planetary gearbox (i.e. a cycloidal drive or cycloidal reducer), as a reduction and transmission means. The various components used in planetary gearboxes are typically made of metallic materials, resulting in planetary gearboxes that are heavy and do not meet the light weight requirements for robots or robot joints.
In addition, metal parts of particularly complex shape, such as gears, wheels, etc., often require extremely high tooling costs. Furthermore, the precision of metal parts machined in this manner is often difficult to meet operational requirements.
To address, or at least partially address, the above issues, embodiments of the present disclosure provide a planetary gearbox. Some exemplary embodiments will now be described with reference to fig. 1-4.
FIG. 1 shows a schematic view of a
The in-
The
In some embodiments, the
When the
In contrast to conventional planetary gearboxes, in the
By using non-metals instead of metallic materials to make the meshing surfaces of the components (such as the meshing mechanism 103) that mesh or contact each other in the
Further, according to embodiments of the present disclosure, the components in the
In some embodiments, the in-
In some embodiments, the
In some embodiments,
Further, in view of the complex shape of the support structure having the plurality of arc-shaped
It should be understood that the use of plastic as the non-metallic material in the above embodiments is illustrative only and does not imply any limitation on the scope of the disclosure. Any other suitable non-metallic material that can be integrally formed and that can be self-lubricating is also possible. For example, the non-metallic material may be ceramic or the like.
In some embodiments, some suitable material, such as carbon fiber, glass fiber, Polytetrafluoroethylene (PTFE), etc., may be filled in a non-metallic material, such as plastic. In this way, the performance of the plastic may be further enhanced and the planetary gearbox may be made more durable.
In some embodiments, as shown in fig. 2A and 2B, the
It should be understood that the use of a metallic material as the material of construction of the
In some embodiments, the at least one
A cycloid gear profile in this context refers to the curve formed by points on the rim of a circular wheel when the wheel rolls along the inner rim of a straight or larger diameter circular wheel without slipping. As such, when the
In these embodiments, the wheel 1033 may be integrally formed by molding a non-metallic material such as plastic, in view of the complex cycloid gear profile formed in the circumferential direction of the wheel 1033. Thus, the manufacturing difficulty and cost can be significantly reduced and the accuracy can be improved as compared with a wheel made of metal.
It should be understood that the
In some embodiments, the cycloidal wheel 1033 may be disposed on the
In some embodiments, the at least one wheel 1033 can include two or more wheels 1033. In this case, the number of the at least one supporting
In some embodiments, as shown in fig. 2A, 3, and 4, the wheel 1033 may be formed with a plurality of through
In some embodiments, the
Further, in some embodiments, the
In some embodiments, the
It should be understood that the above-described embodiments with respect to the
For example, in some embodiments, as shown in fig. 2B, the
The
In some embodiments, each of the circumferential directions of the first and
In some embodiments, the
In some embodiments, the
The
It is to be understood that the above detailed embodiments of the disclosure are merely illustrative of or explaining the principles of the disclosure and are not intended to limit the disclosure. Therefore, any modification, equivalent replacement, and improvement, etc. should be included within the protection scope of the present disclosure without departing from the spirit and scope of the present disclosure. Also, it is intended that the appended claims cover all such modifications and variations as fall within the scope and range of equivalents of the claims.
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