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CN-122001145-A - Robot joint motor actuator

CN122001145ACN 122001145 ACN122001145 ACN 122001145ACN-122001145-A

Abstract

The invention discloses a robot joint motor actuator which comprises a shell, a moving unit and a torque multiplication assembly, wherein the torque multiplication assembly is arranged in the shell, the torque multiplication assembly comprises an output unit, the output unit comprises a connecting rod, a first driven gear and a second driven gear are connected to the connecting rod, the first torque multiplication unit is meshed with the first driven gear to amplify torque transmitted from the first torque multiplication unit to the output unit, the second torque multiplication unit is meshed with the second driven gear to amplify torque transmitted from the second torque multiplication unit to the output unit, and the moving unit is simultaneously connected with the connecting rod and the second driven gear in a power transmission mode to drive an external mechanism to move. The invention increases the output torque of the joint motor actuator, can improve the overall transmission efficiency and stability of the robot, optimizes the working efficiency and expands the application range.

Inventors

  • HE XU
  • SONG SHA
  • ZHENG XINYAN

Assignees

  • 常州机电职业技术学院

Dates

Publication Date
20260508
Application Date
20260116

Claims (10)

  1. 1. A robot joint motor actuator, comprising: a housing (1); A movement unit (3) connected to an external mechanism; A torque multiplication assembly (2), the torque multiplication assembly (2) being disposed within the housing (1); The torque multiplication assembly (2) comprises: The output unit (21), the output unit (21) includes the connecting rod (211), connect with the first driven gear (212) and second driven gear (213) on the connecting rod (211); A first torque multiplication unit (22), the first torque multiplication unit (22) being meshed with the first driven gear (212) to amplify torque transmitted from the first torque multiplication unit (22) to the output unit (21); a second torque multiplication unit (23), the second torque multiplication unit (23) being engaged with the second driven gear (213) to amplify the torque transmitted from the second torque multiplication unit (23) to the output unit (21); The motion unit (3) is simultaneously connected with the connecting rod (211) and the second driven gear (213) in a power transmission mode so as to drive an external mechanism to move.
  2. 2. The robotic joint motor actuator of claim 1, wherein the first torque multiplication unit (22) comprises: a first motor (221); The first rotating rod (222), the first rotating rod (222) is connected with the output end of the first motor (221); a harmonic reducer (223), the harmonic reducer (223) being mounted on the first rotating lever (222); A first driving gear (224), the first driving gear (224) being mounted on the harmonic reducer (223) and being meshed with the first driven gear (212); the torque of the first motor (221) is amplified by a harmonic reducer (223), a first driving gear (224) and a first driven gear (212) and then transmitted to the connecting rod (211).
  3. 3. The robotic joint motor actuator according to claim 1, wherein the second torque multiplication unit (23) comprises: a second motor (231); the second rotating rod (232), the second rotating rod (232) is connected with the output end of the second motor (231); A planetary reducer (233), wherein the input end of the planetary reducer (233) is arranged on the second rotating rod (232); a second driving gear (234), the second driving gear (234) being mounted on an input end of the planetary reducer (233) and being meshed with the second driven gear (213); The torque of the second motor (231) is amplified by the planetary reducer (233), the second driving gear (234) and the second driven gear (213) and then transmitted to the connecting rod (211).
  4. 4. A robotic joint motor actuator according to claim 3, wherein the planetary reducer (233) comprises: -a fixed carrier (2331), the carrier (2331) having an annulus gear; A sun gear (2334), the sun gear (2334) being connected to the second rotating rod (232); A plurality of planet gears (2333), a plurality of the planet gears (2333) meshing between the sun gear (2334) and the ring gear; The planet carrier (2332), the bottom surface of planet carrier (2332) has a plurality of dead levers (2335), dead lever (2335) link firmly with corresponding planet wheel (2333), the surface of planet carrier (2332) still has spliced pole (2336), spliced pole (2336) link firmly with second driving gear (234).
  5. 5. The robotic joint motor actuator according to claim 1, wherein the movement unit (3) comprises: the rotating shell (31) is fixedly connected with the first driven gear (212), and the rotating shell (31) extends out of a groove body at the upper end of the shell (1); The connecting plate (32), the said connecting plate (32) links to rotating the shell (31) fixedly; the bevel gear assembly is rotationally connected to the connecting plate (32), the input end of the bevel gear assembly is connected with the connecting rod (211), and the output end of the bevel gear assembly is connected with the connecting part; the first driven gear (212) drives the rotating shell (31) to rotate, and the connecting rod (211) drives the connecting part to rotate through the bevel gear assembly.
  6. 6. The robotic joint motor actuator of claim 5, wherein the bevel gear assembly comprises: A first bevel gear (33), wherein the first bevel gear (33) is fixedly connected with the connecting rod (211); The second bevel gear (34), second bevel gear (34) and first bevel gear (33) are perpendicular to be meshed, second bevel gear (34) rotate and connect on connecting plate (32), connecting portion is connected with second bevel gear (34), drives connecting portion rotation by second bevel gear (34).
  7. 7. The robotic joint motor actuator of claim 6, wherein the connection portion comprises: the U-shaped plate (35), the U-shaped plate (35) is fixedly connected with the second bevel gear (34); The connecting end (36) is arranged on the U-shaped plate (35) and is connected with an external mechanism; And a third motor (37), wherein the third motor (37) is installed on the U-shaped plate (35) and outputs power to an external mechanism.
  8. 8. The robot joint motor actuator of claim 1, wherein a cooling assembly (4) is mounted on an outer surface of the housing (1), the cooling assembly (4) comprising: the air cooling unit comprises a cooling fan (49), wherein the cooling fan (49) is arranged at the bottom of the shell (1), and a gap is formed between the cooling fan (49) and the shell (1); The liquid cooling unit comprises a liquid storage tank (41), and the liquid storage tank (41) is connected with a honeycomb micro-channel (43) of the shell (1) through a liquid conveying pipe (47).
  9. 9. The robot joint motor actuator according to claim 8, wherein the reservoir (41) is further connected with a circulation pipe (42), the circulation pipe (42) passes through a gap between the cooling fan (49) and the housing (1), the circulation pipe (42) is further communicated with the honeycomb micro flow channel (43), and the infusion tube (47) and the circulation pipe (42) are connected with a water pump (48).
  10. 10. The robot joint motor actuator according to claim 9, wherein the housing (1) is further provided with a PLC controller (44) and a temperature sensor (44), and a side surface of the housing (1) is further provided with a heat radiation fin (46).

Description

Robot joint motor actuator Technical Field The invention relates to the technical field of robots, in particular to a robot joint motor actuator. Background The robot joint motor actuator plays an indispensable role as a power heart of a robot motion system in modern technology application, drives a mechanical arm to finish high-speed and repeated actions in the industrial manufacturing field, and can accurately weld automobile parts to precise assembly of electronic products by means of excellent dynamic response capability, so that efficient and stable operation of each production link is ensured, and the product percent of pass and the production efficiency are greatly improved. However, the existing robot joint motor actuator has the following defects: When the rotation speed of the motor rises, the number of winding turns is reduced or the magnetic flux is reduced, so that the counter electromotive force of the motor is reduced, the strength of a magnetic field generated by current is weakened, the electromagnetic force is reduced under the condition of unchanged current, the final output torque is reduced, and further, when the robot faces complex tasks and large loads, the action cannot be completed due to insufficient torque, so that the working efficiency and the application range of the robot are limited, and the overall transmission efficiency of the robot is reduced, and the stability of the robot is affected. Disclosure of Invention The invention aims to solve the technical problem of insufficient torque of a robot joint motor actuator in the prior art, and provides the robot joint motor actuator which can improve the overall transmission efficiency and stability of a robot, optimize the working efficiency and enlarge the application range by increasing the output torque of the joint motor actuator. The technical scheme adopted by the invention for solving the technical problems is that the robot joint motor actuator comprises: A housing; A movement unit connected to an external mechanism; a torque multiplication assembly disposed within the housing; the torque multiplication assembly includes: The output unit comprises a connecting rod, and a first driven gear and a second driven gear are connected to the connecting rod; a first torque multiplication unit engaged with the first driven gear to amplify the torque transmitted from the first torque multiplication unit to the output unit; a second torque multiplication unit engaged with the second driven gear to amplify the torque transmitted from the second torque multiplication unit to the output unit; The motion unit is connected with the connecting rod and the second driven gear in a power transmission mode at the same time so as to drive the external mechanism to move. According to the robot joint motor actuator, the output torque of the motion unit is increased by utilizing the first torque multiplication unit and the second torque multiplication unit, so that the situation that the robot cannot finish actions due to insufficient torque when facing complex tasks and heavy loads is avoided, the transmission efficiency is improved, and the stability of the robot is also ensured. Further, in order to increase the output torque of the connecting rod, the first torque multiplication unit includes: A first motor; the first rotating rod is connected with the output end of the first motor; the harmonic speed reducer is arranged on the first rotating rod; the first driving gear is arranged on the harmonic reducer and meshed with the first driven gear; The torque of the first motor is amplified by the harmonic reducer, the first driving gear and the first driven gear and then transmitted to the connecting rod. Further, in order to increase the output torque of the second driven gear and the connecting rod, the second torque multiplying unit includes: A second motor; the second rotating rod is connected with the output end of the second motor; the input end of the planetary reducer is arranged on the second rotating rod; A second driving gear installed on an input end of the planetary reducer and meshed with the second driven gear; the torque of the second motor is amplified by the planetary reducer, the second driving gear and the second driven gear and then transmitted to the connecting rod. Further, in order to achieve a large transmission ratio, the planetary reducer includes: a stationary carrier having an annulus gear; the sun gear is connected to the second rotating rod; A plurality of planet gears, wherein the planet gears are meshed between the sun gear and the inner gear ring; the planet carrier, the bottom surface of planet carrier has a plurality of dead levers, the dead lever links firmly with the planet wheel that corresponds, the surface of planet carrier still has the spliced pole, the spliced pole links firmly with the second driving gear. Further, in order for the movement unit to receive power input of the second driven gear and the c