CN106003008A - Intelligent motor device of humanoid robot - Google Patents
Intelligent motor device of humanoid robot Download PDFInfo
- Publication number
- CN106003008A CN106003008A CN201610424511.5A CN201610424511A CN106003008A CN 106003008 A CN106003008 A CN 106003008A CN 201610424511 A CN201610424511 A CN 201610424511A CN 106003008 A CN106003008 A CN 106003008A
- Authority
- CN
- China
- Prior art keywords
- train
- motor
- reduction gears
- reducing gear
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
An intelligent motor device of a humanoid robot comprises a first driving motor and reduction gear group, a second driving motor and reduction gear group, a first angle sensor, a second angle sensor and a control circuit, wherein the first driving motor and reduction gear group comprises a first motor and a first reduction mechanism; the first motor is connected with an input gear of the first reduction mechanism; an output shaft of the first reduction mechanism outputs first rotation power; the first angle sensor is arranged at an output shaft of the first driving motor and reduction gear group and is used for sensing the first rotation power output by the corresponding output shaft; the second driving motor and reduction gear group comprises a second motor and a second reduction mechanism; the second motor is connected with an input gear of the second reduction mechanism; an output shaft of the second reduction mechanism outputs second rotation power; and the second angle sensor is arranged at an output shaft of the second driving motor and reduction gear group and is used for sensing the second rotation power output by the corresponding output shaft.
Description
Technical field
The present invention relates to machine field, be specifically related to a kind of humanoid robot intelligent electric machine device, wherein by inside
The control circuit plate and the angular transducer that arrange to be controlled the output angle of both direction respectively so that machine
People's intelligent electric machine device possesses the ability providing two degree of freedom.
Background technology
Humanoid robot is the intelligent robot of resemblance and the ability to act possessing the mankind.Humanoid robot is permissible
Use both legs walking manner, complete some simple functions by the coordination of arm and health, and typically can lead to
Cross simple language and Human communication.Compared with traditional robot, humanoid robot has significant advantage.
The appearance of humanoid robot is the subjects such as control science, sensor technology, artificial intelligence, material science
Technological progress, and the product that the expansion of robot range and mankind's daily life need.Humanoid robot with
Occur with the form of people's approximation, would not feel the strangest for the mankind, also will not produce repulsion psychology,
It is easier to be accepted by the mankind, so humanoid robot will be most important intelligent machine in following daily use
People.
There is heavier machine form in existing robot, its action does not has the smoothness of mankind's attitude and excellent when walking
Refined, therefore.The degree of freedom increasing humanoid robot becomes trend.But, along with the increase of robot degree of freedom,
The quantity of servomotor also increases, the structure of such robot cannot as the mankind well-balanced rationally.Therefore, this
Time problems faced be, it is necessary to research size is little, the output many intelligent electric machine device of degree of freedom.
But, current intelligent electric machine device is all single-degree-of-freedom output.
Therefore, those skilled in the art is devoted to develop a kind of humanoid robot intelligence that can provide two degree of freedom
Can electric machine.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved is to provide a kind robot
People's intelligent electric machine device, the control circuit plate and the angular transducer that are wherein arranged by inside are come respectively to both direction
Output angle be controlled so that intelligent robot electric machine possess provide two degree of freedom ability.
For achieving the above object, the invention provides a kind of humanoid robot intelligent electric machine device, including: tail-hood,
Housing, first drive motor and train of reduction gears, second drive motor and train of reduction gears, the first angular transducer,
Second angular transducer and control circuit；Wherein, first motor and train of reduction gears is driven to include the first electricity
Machine and the first reducing gear, wherein the input gear of the first motor and the first reducing gear engages, the first reducing gear
Output shaft export the first rotary power, the first angular transducer is arranged in the first driving motor and train of reduction gears
Output shaft at, for sensing first driving motor and train of reduction gears output shaft output the first rotary power；
And, second drives motor and train of reduction gears to include the second motor and the second reducing gear, wherein the second motor with
The input gear of the second reducing gear engages, and the output shaft of the second reducing gear exports the second rotary power, and second
Angular transducer is arranged at the output shaft of the second driving motor and train of reduction gears, for sensing the second driving motor
And the second rotary power of the output shaft output of train of reduction gears.
Preferably, the axis and second of the direction of motion of the first rotary power of the output shaft output of the first reducing gear
The axis of the direction of motion of the second rotary power of the output shaft output of reducing gear is mutually orthogonal.
Preferably, the first driving motor and train of reduction gears are driving motor and the reduction gearing longitudinally rotating output
Group, the second driving motor and train of reduction gears are driving motor and the train of reduction gears of transverse rotation output.
Preferably, the output shaft envelope shell and second of the first reducing gear of the first driving motor and train of reduction gears drives
The reduction gearing of the second reducing gear of galvanic electricity machine and train of reduction gears is rigidly connected.
Preferably, the output shaft envelope shell and first of the second reducing gear of the second driving motor and train of reduction gears drives
The reduction gearing of the first reducing gear of galvanic electricity machine and train of reduction gears is rigidly connected.
Preferably, the axis of the gear in the axis of the gear in the first reducing gear and the second reducing gear is the most just
Hand over.
Preferably, the second reducing gear includes multiple gears that axis is parallel to each other.
Preferably, the first reducing gear includes multiple gears that axis is parallel to each other.
Preferably, first motor and train of reduction gears, the second driving motor and train of reduction gears, the first angle are driven
Sensor and the second angular transducer are arranged in the chamber surrounded by tail-hood and housing.
Preferably, control circuit is for the first rotation sensed according to the first angular transducer and the second angular transducer
Rotatory force and the second rotary power control the first motor and the second motor.
Thus, the invention provides a kind of humanoid robot intelligent electric machine device, the control wherein arranged by inside
Circuit board and angular transducer to be controlled the output angle of both direction respectively so that intelligent robot motor
Device possesses the ability providing two degree of freedom.And, the humanoid robot intelligent electric machine device of the present invention has simultaneously
There is volume little, the features such as driving force is strong.
Below with reference to accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is described further,
To be fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the cross-sectional view of humanoid robot intelligent electric machine device according to the preferred embodiment of the invention.
Fig. 2 is that the conduct in humanoid robot intelligent electric machine device longitudinally rotates according to the preferred embodiment of the invention
First driving motor and the schematic diagram of train of reduction gears of stereochemical structure.
Fig. 3 be according to the preferred embodiment of the invention in humanoid robot intelligent electric machine device as transverse rotation
Second driving motor and the schematic diagram of train of reduction gears of stereochemical structure.
It should be noted that accompanying drawing is used for illustrating the present invention, and the unrestricted present invention.Note, represent the attached of structure
Figure may be not necessarily drawn to scale.Further, in accompanying drawing, same or like element indicates same or like
Label.
Detailed description of the invention
Fig. 1 is the cross section structure schematic diagram of humanoid robot intelligent electric machine device according to the preferred embodiment of the invention.
As it is shown in figure 1, humanoid robot intelligent electric machine device includes according to the preferred embodiment of the invention: tail-hood
10, housing 20, first drive motor and train of reduction gears 30, second drive motor and train of reduction gears 40, the
One angular transducer the 50, second angular transducer 60 and control circuit 70.
Wherein, first motor and train of reduction gears 30, second is driven to drive motor and train of reduction gears 40, first
Angular transducer 50 and the second angular transducer 60 are arranged in the chamber surrounded by tail-hood 10 and housing 20.
Control circuit 70 may be arranged in the chamber surrounded by tail-hood 10 and housing 20, it is possible to is arranged in by tail-hood
10 and the chamber that surrounds of housing 20 outside.
As in figure 2 it is shown, first drives motor and train of reduction gears 30 to include the first motor 31 and the first reducing gear,
Wherein the first motor 31 engages with the input gear 32 of the first reducing gear, the output shaft 33 of the first reducing gear
Export the first rotary power.
And, as it is shown in figure 1, the first angular transducer 50 is arranged in the first driving motor and train of reduction gears 30
Output shaft at, dynamic for the first rotation of sensing the first driving motor and the output shaft output of train of reduction gears 30
Power.
Similarly, as it is shown on figure 3, second drives motor and train of reduction gears 40 to include the second motor 41 and second
Reducing gear, wherein the second motor 41 engages with the input gear 42 of the second reducing gear, the second reducing gear
Output shaft 43 exports the second rotary power.
And, as it is shown on figure 3, when implementing, it is multiple that the second reducing gear can include that axis is parallel to each other
Gear.And it practice, similarly, the first reducing gear may also comprise multiple gears that axis is parallel to each other.But
It is that the axis of the gear in the axis of the gear in the first reducing gear and the second reducing gear is mutually orthogonal.
And, as it is shown in figure 1, the second angular transducer 60 is arranged in the second driving motor and train of reduction gears 40
Output shaft at, dynamic for the second rotation of sensing the second driving motor and the output shaft output of train of reduction gears 40
Power.
And wherein, the axis of the direction of motion of the first rotary power of output shaft 33 output of the first reducing gear
Mutually orthogonal with the axis of the direction of motion of the second rotary power of the output shaft 43 of the second reducing gear output, as
Shown in two rotation arrows of Fig. 1.
Such as, as shown in the rotation arrows of Fig. 2, the first driving motor and train of reduction gears 30 are that longitudinally rotation is defeated
The driving motor gone out and train of reduction gears.Such as, as shown in the rotation arrows of Fig. 3, second drives motor and deceleration
Gear train 40 is driving motor and the train of reduction gears of transverse rotation output.
Wherein it is preferred to, as it is shown in figure 1, first drives motor and the first reducing gear of train of reduction gears 30
Output shaft envelope shell and second drive the reduction gearing rigidity of the second reducing gear of motor and train of reduction gears 40
Connect.Or alternatively, in other implementation, second drives motor and the second of train of reduction gears 40
The output shaft envelope shell of reducing gear and first drives the deceleration of the first reducing gear of motor and train of reduction gears 30
Gear is rigidly connected.
According to above-mentioned machinery and circuit arrangement, control circuit 70 can be according to the first angular transducer 50 and the second angle
The first rotary power and the second rotary power that sensor 60 senses control the first motor and second adaptively
Motor, thus respectively the output angle in two crossing directions is controlled.
Thus, in humanoid robot intelligent electric machine device according to the preferred embodiment of the invention, there are two mutually
Individual motor omnidirectional distribution passes through device case middle gear reducing gear, the rotary motion of output both direction, and rotation
The axis that transhipment is moved is mutually orthogonal.Therefore, the humanoid robot intelligent electric machine device of the present invention can be orthogonal to two
Direction output closed-loop rotary motion simultaneously.
The present invention is by built-in two motors of same housing, by gear reduction built-in in housing, and will be dynamic
Power exports to two orthogonal directions simultaneously；Can be respectively to two sides by built-in control circuit plate and angular transducer
To output angle be controlled so that a kind of intelligent robot electric machine is provided with two different directions degree of freedom
Ability.
It is an advantage of the present invention that in the dimensional space of original single output motor, output 2 is to orthogonal rotation simultaneously
Transhipment is dynamic, improves the degree of freedom of humanoid robot.
Thus, the invention provides a kind of humanoid robot intelligent electric machine device, the control wherein arranged by inside
Circuit board and angular transducer to be controlled the output angle of both direction respectively so that intelligent robot motor
Device possesses the ability providing two degree of freedom.And, the humanoid robot intelligent electric machine device of the present invention has simultaneously
There is volume little, the features such as driving force is strong.
Described above illustrate and describes the preferred embodiments of the present invention, as previously mentioned, it should be understood that the present invention is not
It is confined to form disclosed herein, is not to be taken as the eliminating to other embodiments, and can be used for other groups various
Close, amendment and environment, and can be in invention contemplated scope described herein, by above-mentioned teaching or association area
Technology or knowledge are modified.And the change that those skilled in the art are carried out and change are without departing from the spirit of the present invention and model
Enclose, the most all should be in the protection domain of claims of the present invention.
Claims (10)
1. a humanoid robot intelligent electric machine device, it is characterised in that including: tail-hood, housing, the first driving electricity
Machine and train of reduction gears, the second driving motor and train of reduction gears, the first angular transducer, the second angle
Sensor and control circuit；Wherein, first drive motor and train of reduction gears include the first motor and
First reducing gear, wherein the input gear of the first motor and the first reducing gear engages, the first reductor
The output shaft of structure exports the first rotary power, and the first angular transducer is arranged in the first driving motor and deceleration
At the output shaft of gear train, for sensing the first driving motor and the of the output shaft output of train of reduction gears
One rotary power；And, second drives motor and train of reduction gears to include the second motor and the second reductor
Structure, wherein the input gear of the second motor and the second reducing gear engages, the output shaft of the second reducing gear
Exporting the second rotary power, the second angular transducer is arranged in the defeated of the second driving motor and train of reduction gears
At shaft, dynamic for the second rotation of sensing the second driving motor and the output shaft output of train of reduction gears
Power.
2. humanoid robot intelligent electric machine device as claimed in claim 1, it is characterised in that the first reducing gear
The axis of the direction of motion of the first rotary power of output shaft output and the output shaft of the second reducing gear
The axis of the direction of motion of the second rotary power of output is mutually orthogonal.
3. humanoid robot intelligent electric machine device as claimed in claim 2, it is characterised in that first drives motor
And train of reduction gears is driving motor and the train of reduction gears longitudinally rotating output, second drives motor and subtracts
Speed gear train is driving motor and the train of reduction gears of transverse rotation output.
4. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that first
The output shaft envelope shell and second driving the first reducing gear of motor and train of reduction gears drive motor and
The reduction gearing of the second reducing gear of train of reduction gears is rigidly connected.
5. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that second
The output shaft envelope shell and first driving the second reducing gear of motor and train of reduction gears drive motor and
The reduction gearing of the first reducing gear of train of reduction gears is rigidly connected.
6. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that first
The axis of the gear in the axis of the gear in reducing gear and the second reducing gear is mutually orthogonal.
7. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that second
Reducing gear includes multiple gears that axis is parallel to each other.
8. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that first
Reducing gear includes multiple gears that axis is parallel to each other.
9. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that first
Drive motor and train of reduction gears, second drive motor and train of reduction gears, the first angular transducer and the
Two angular transducers are arranged in the chamber surrounded by tail-hood and housing.
10. the humanoid robot intelligent electric machine device as described in one of claims 1 to 3, it is characterised in that control
Circuit for the first rotary power of sensing according to the first angular transducer and the second angular transducer and
Second rotary power controls the first motor and the second motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424511.5A CN106003008A (en) | 2016-06-15 | 2016-06-15 | Intelligent motor device of humanoid robot |
| PCT/CN2017/079517 WO2017215325A1 (en) | 2016-06-15 | 2017-04-06 | Humanoid robot intelligent motor apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610424511.5A CN106003008A (en) | 2016-06-15 | 2016-06-15 | Intelligent motor device of humanoid robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106003008A true CN106003008A (en) | 2016-10-12 |
Family
ID=57087848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610424511.5A Pending CN106003008A (en) | 2016-06-15 | 2016-06-15 | Intelligent motor device of humanoid robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106003008A (en) |
| WO (1) | WO2017215325A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106335055A (en) * | 2016-10-31 | 2017-01-18 | 上海未来伙伴机器人有限公司 | Robot steering engine assembly and robot |
| CN106863347A (en) * | 2017-03-07 | 2017-06-20 | 江苏安格尔机器人有限公司 | A kind of modularization Two dimension of freedom robot joint |
| WO2017215325A1 (en) * | 2016-06-15 | 2017-12-21 | 上海未来伙伴机器人有限公司 | Humanoid robot intelligent motor apparatus |
| CN108115668A (en) * | 2017-12-30 | 2018-06-05 | 东莞市超业精密设备有限公司 | A kind of roll-over type mechanical arm |
| CN108982258A (en) * | 2018-09-26 | 2018-12-11 | 东莞市丰易仪器有限公司 | A kind of automatic flexing tester |
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| WO2017215325A1 (en) * | 2016-06-15 | 2017-12-21 | 上海未来伙伴机器人有限公司 | Humanoid robot intelligent motor apparatus |
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| CN106863347A (en) * | 2017-03-07 | 2017-06-20 | 江苏安格尔机器人有限公司 | A kind of modularization Two dimension of freedom robot joint |
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| CN108115668A (en) * | 2017-12-30 | 2018-06-05 | 东莞市超业精密设备有限公司 | A kind of roll-over type mechanical arm |
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| CN108982258A (en) * | 2018-09-26 | 2018-12-11 | 东莞市丰易仪器有限公司 | A kind of automatic flexing tester |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017215325A1 (en) | 2017-12-21 |
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