The invention relates to the technical field of foot type robots, and discloses an integrated joint power unit and a foot type robot applying the same. The invention provides an integrated joint power unit which comprises a base and a reduction gearbox unit arranged in the base, and the reduction gearbox unit comprises a first planet carrier; a mounting base is coaxially arranged in the base, and the first planet carrier is arranged in the mounting base in a sleeved mode and can rotate relative to the mounting base. A spacer and an input bearing are arranged between the mounting seat and the first planet carrier, and the first planet carrier is fixed in the mounting seat through the spacer; and the edge of the spacer extends towards the outer side and is attached to the mounting seat to form a concave groove for embedding the mounting seat, so that the spacer is fixed in the mounting seat. The distance piece with the edge embedded with the mounting base is arranged between the mounting base and the first planet carrier, when the distance piece is extruded in the rotation process of the first planet carrier, the distance piece can be engaged with the mounting base all the time, and then eccentric run-out of the first planet carrier is reduced.
本发明涉及足式机器人技术领域,公开了一种集成关节动力单元及应用其的足式机器人。本发明提供的一种集成关节动力单元,包括基座和设于基座内的减速箱单元,减速箱单元包括第一行星架;基座内同轴心设有安装座,第一行星架套设于安装座内,并能相对安装座旋转;安装座与第一行星架之间设有间隔件和输入轴承,第一行星架通过间隔件固定于安装座内;间隔件边缘向外侧并贴合安装座延伸,形成嵌合安装座的凹形槽,以将间隔件固定于安装座内。本发明在安装座与第一行星架之间设置边缘与安装座嵌合的间隔件,在第一行星架回转过程中挤压间隔件时,间隔件能始终与安装座咬合在一起,进而使第一行星架的偏心跳动降低。
Integrated joint power unit and foot type robot applying same
一种集成关节动力单元及应用其的足式机器人
2022-07-15
Patent
Electronic Resource
Chinese
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