Power unit for bionic robot, robot joint, and robot

A robot joint comprising a power unit, wherein the power unit comprises a motor shell in which a motor stator is embedded, a motor rotor is embedded in the motor stator, a motor rotor shaft is embedded in the motor rotor, bearings are disposed between the motor rotor shaft and the motor shell, a driving shaft is embedded in a central portion of the motor rotor shaft, a first driving wheel is disposed on the driving shaft, two transmission shafts are disposed in the motor rotor shaft, a first driven wheel and second driving wheels are disposed on each of the transmission shafts, the first driven wheel is engaged with the first driving wheel, a sun gear shaft is further disposed in the motor rotor shaft, the sun gear shaft and the driving shaft are coaxially disposed, a synchronizer and a second driven wheels are disposed on the sun gear shaft, the second driven wheels are engaged with the second driving wheels, and a planetary gear set is further disposed on the sun gear shaft;

• the second driving wheels comprise a first gear driving wheel and a second gear driving wheel, the second driven wheels comprise a first gear driven wheel and a second gear driven wheel, the first gear driving wheel is engaged with the first gear driven wheel, and the second gear driving wheel is engaged with the second gear driven wheel;
• the first gear driving wheel and the second gear driving wheel have different radiuses;
• the synchronizer is disposed in the motor rotor shaft and between the second gear driven wheel and the first gear driven wheel, for selective kinetic connection with the second gear driven wheel or the first gear driven wheel to achieve a synchronous movement with the second gear driven wheel or the first gear driven wheel;
• the synchronizer is in a splined connection with the sun gear shaft;
• the two transmission shafts form two transmission paths for power dividing by the first driven wheel on each of the transmission shafts engaging with the first driving wheel and the second driving wheel on each of the transmission shafts engaging with corresponding second driven wheel, so that power from the driving shaft is transmitted by the two transmission shafts, and then is converged to the sun gear shaft.

A robot comprising a robot joint that comprises a power unit, wherein the power unit comprises a motor shell in which a motor stator is embedded, a motor rotor is embedded in the motor stator, a motor rotor shaft is embedded in the motor rotor, bearings are disposed between the motor rotor shaft and the motor shell, a driving shaft is embedded in a central portion of the motor rotor shaft, a first driving wheel is disposed on the driving shaft, two transmission shafts are disposed in the motor rotor shaft, a first driven wheel and second driving wheels are disposed on each of the transmission shafts, the first driven wheel is engaged with the first driving wheel, a sun gear shaft is further disposed in the motor rotor shaft, the sun gear shaft and the driving shaft are coaxially disposed, a synchronizer and a second driven wheels are disposed on the sun gear shaft, the second driven wheels are engaged with the second driving wheels, and a planetary gear set is further disposed on the sun gear shaft;

• the second driving wheels comprise a first gear driving wheel and a second gear driving wheel, the second driven wheels comprise a first gear driven wheel and a second gear driven wheel, the first gear driving wheel is engaged with the first gear driven wheel, and the second gear driving wheel is engaged with the second gear driven wheel;
• the first gear driving wheel and the second gear driving wheel have different radiuses;
• the synchronizer is disposed in the motor rotor shaft and between the second gear driven wheel and the first gear driven wheel, for selective kinetic connection with the second gear driven wheel or the first gear driven wheel to achieve a synchronous movement with the second gear driven wheel or the first gear driven wheel;
• the synchronizer is in a splined connection with the sun gear shaft;
• the two transmission shafts form two transmission paths for power dividing by the first driven wheel on each of the transmission shafts engaging with the first driving wheel and the second driving wheel on each of the transmission shafts engaging with corresponding second driven wheel, so that power from the driving shaft is transmitted by the two transmission shafts, and then is converged to the sun gear shaft.