The invention discloses a robot hollow planetary gear rotating mechanism and a rotating control method. The robot hollow planetary gear rotating mechanism comprises a hollow motor, a hollow planetary reducer connected with an output shaft of the hollow motor, a rotating mechanism body connected with the hollow planetary reducer and a shock absorber connected between the rotating mechanism body and robot wheels. The hollow planetary reducer adopts two-stage planetary gear transmission, a first-stage center wheel, a first-stage planetary gear, a planetary carrier part of a first-stage planetary carrier and an inner gear ring on a shell form a first-stage planetary gear train, and a gear part on the first-stage planetary carrier, a second-stage planetary gear, a second-stage planetary carrier and the inner gear ring on the shell form a second-stage planetary gear train. Three requirements of speed reduction and torque increase of the input hollow motor and hollow wiring are met through the hollow planetary reducer. The power consumption of the steering motor is reduced through the hollow planetary gear rotating mechanism, and meanwhile the damping mechanism is arranged to absorb vibration generated by bumping.

    本发明公开一种机器人中空行星齿轮转动机构及转动控制方法,包括中空电机、与中空电机输出轴相连的中空行星减速器、与中空行星减速器相连的转动机构以及连接于转动机构与机器人车轮之间的减震器;中空行星减速器采用两级行星齿轮传动,第一级中心轮、第一级行星轮、第一级行星架的行星架部分、外壳上的内齿圈构成第一级行星轮系,第一级行星架上的齿轮部分、第二级行星轮、第二级行星架、外壳上的内齿圈构成第二级行星轮系,通过中空行星减速器实现了输入中空电机的降速和提高转矩、以及中空走线三项需求。本发明通过中空行星齿轮转动机构减小转向电机的功耗,同时设置减震机构吸收颠簸产生的振动。


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    Title :

    Robot hollow planetary gear rotating mechanism and rotating control method


    Additional title:

    一种机器人中空行星齿轮转动机构及转动控制方法


    Contributors:
    KONG QIANG (author)

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / F16H Getriebe , GEARING / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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