CN107582332A - Leading screw built in a kind of permagnetic synchronous motor drives biped running gear - Google Patents
Leading screw built in a kind of permagnetic synchronous motor drives biped running gear Download PDFInfo
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- CN107582332A CN107582332A CN201711054498.XA CN201711054498A CN107582332A CN 107582332 A CN107582332 A CN 107582332A CN 201711054498 A CN201711054498 A CN 201711054498A CN 107582332 A CN107582332 A CN 107582332A
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 77
- 210000000689 upper leg Anatomy 0.000 claims abstract description 184
- 210000002414 leg Anatomy 0.000 claims abstract description 148
- 210000001699 lower leg Anatomy 0.000 claims abstract description 53
- 238000000034 method Methods 0.000 claims abstract description 21
- 230000008569 process Effects 0.000 claims abstract description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 22
- 239000010959 steel Substances 0.000 claims description 22
- 238000003466 welding Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 210000003141 lower extremity Anatomy 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 19
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 4
- 238000004134 energy conservation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Abstract
The invention discloses leading screw built in a kind of permagnetic synchronous motor to drive biped running gear, for aiding in the mankind to walk, reduces physical demands of the long-time walking process to the mankind, it can also be used to lower limb rehabilitation training.The present invention includes thigh electric machine built-in screw drive mechanism, thigh magneto-electric position feedback device, shank electric machine built-in screw drive mechanism, shank magneto-electric position feedback device, foot's electric machine built-in screw drive mechanism, foot's magneto-electric position feedback device, hip structure, power supply and drive control device.The present invention detects the swing angle between thigh, shank, pin by magneto-electric angular displacement sensor, ball-screw is built in permanent-magnetic synchronous motor rotor, permagnetic synchronous motor rotates, screw slider forward-reverse moves, and then the swing of leg and foot's shift fork is driven, by adjusting thigh, the tight fixed bolt of shank can adjust leg length, and then adapt to different crowds, the present invention can be used for lower limb rehabilitation training, and reduce mankind's walking physical consumption.
Description
Technical field
The present invention discloses a kind of lower limb rehabilitation therapeutic equipment field, and energy-conservation facilities for transport and communication field, more particularly to
A kind of electric machine built-in leading screw drives biped running gear.
Background technology
With the development of Chinese society and the raising of living standards of the people, people increasingly focus on auxiliary type treatment, are curing
The problem of can not actively walking be present, cause rehabilitation duration to be grown, with robot technology in treatment field, the sufferer with lower-limb ailments
Development, using biped running gear auxiliary with lower-limb ailments sufferer walk, be inevitable trend to shorten rehabilitation duration.
In energy-conservation traffic and transport field, auxiliary moving machine device people can reduce people due to fatigue caused by remote walking, improve people
The probability gone on a journey using more environmentally-friendly mode.The first is tooth-like or chain type walking devices to existing auxiliary walking devices, the
Two kinds are worm gear type walking devices.Both walking devices mechanical structures are heavy, and operating efficiency is low, and fault rate is high, is not easy
Sufferer is allowed to wear.Other existing electric walking auxiliary equipment does not account for adapting to the demand of different height crowds, can not adjust
Leg length, adaptability are low.
The content of the invention
The purpose of the present invention, using leading screw driving structure built in a kind of permagnetic synchronous motor, drive the fortune of joint of robot
It is dynamic, the complexity of biped running gear structure is simplified, it is very light, biped running gear own wt is reduced, is improved
Biped robot's operating efficiency, the regulation of leg length is realized using leg length adjustable apparatus, is easy to different crowd to wear
Wear.
The present invention solve its technical problem solution be：
Leading screw driving biped running gear built in a kind of permagnetic synchronous motor of the present invention, it includes hip structure, left thigh, the right side
Thigh, left leg, right leg, left foot, right crus of diaphragm, leading screw built in a kind of permagnetic synchronous motor of the invention drive biped running gear
For bilateral symmetry, therefore in following structure description, left-half, the left driving thigh rotating shaft of hip structure are only described
It is connected with the left thigh support pin of left thigh, the left front upper bracket and upper rear support of left left driving shank rotating shaft and left leg
With threaded connection, the left driving pin rotating shaft of left leg and the left foot fore-stock of left foot and after-poppet are with being threadedly coupled, power supply and drive
Movement controller is threadedly coupled with hip structure.
Preferably, described hip structure drives permagnetic synchronous motor, left thigh ball wire by hip bearing, left thigh
Thick stick, left thigh screw slider, left thigh shift fork, left driving thigh rotating shaft, left thigh corner magneto-electric angle signal process plate, a left side
Thigh corner magnet steel, drive control device and power supply composition.Wherein left thigh ball-screw and left thigh driving permanent magnet synchronous electric
Machine rotor is welded, and left thigh driving permagnetic synchronous motor is connected with hip carrier setting bolt, and left thigh shift fork and left thigh driving are big
Leg shaft thread connects, and left thigh corner magneto-electric angle signal process plate and hip bearing are glued, left thigh corner magnet steel with
Left driving thigh rotating shaft is glued, and left driving thigh rotating shaft is connected with hip supporting bearing, drive control device and power supply and hip
Bearing is threadedly coupled.
Preferably, described left thigh is by fore-stock, left thigh under left thigh support, left thigh binding folder, left thigh
Lower after-poppet, left leg driving permagnetic synchronous motor, left leg ball-screw, left leg screw slider, left leg shift fork, left drive
Dynamic shank rotating shaft, left leg corner magneto-electric angle signal process plate, left leg corner magnet steel.Wherein, left thigh binding folder with
Left thigh support is threadedly coupled, left thigh support and after-poppet bolt connection, left thigh branch under fore-stock, left thigh under left thigh
Frame is connected with left driving thigh rotating shaft using pin, left leg ball-screw and left leg driving permanent-magnetic synchronous motor rotor weldering
Connect, after-poppet bolt connection under fore-stock, left thigh under left leg driving permagnetic synchronous motor and left thigh, left leg shift fork with
Left driving shank shaft thread connection, left leg corner magneto-electric angle signal process plate is glued with after-poppet under left thigh, left
Shank corner magnet steel and left driving shank rotating shaft are glued, and left driving shank rotating shaft is propped up with rear under fore-stock, left thigh under left thigh
Frame bearing connects.
Preferably, described left leg is by preceding branch under left leg fore-stock and after-poppet, left leg binding folder, left leg
Frame and lower after-poppet, left foot driving permagnetic synchronous motor, left foot ball-screw, left foot screw slider, left foot shift fork, left driving pin
Rotating shaft, left foot corner magneto-electric angle signal process plate, left foot corner magnet steel.Wherein, left leg binding folder before left leg with propping up
Frame and after-poppet threaded connection, left leg fore-stock is threadedly coupled with fore-stock under left leg, under left leg after-poppet left leg
Fore-stock is threadedly coupled, and left leg fore-stock is connected by screw bolts with left leg after-poppet, left leg fore-stock and after-poppet and
Left driving shank rotating shaft is connected with bearing, left foot ball-screw and left foot driving permanent-magnetic synchronous motor rotor welding, left foot driving
Permagnetic synchronous motor and fore-stock and lower after-poppet bolt connection under left leg, left foot shift fork connect with left driving pin shaft thread
Connect, left foot corner magneto-electric angle signal process plate is glued with after-poppet under left leg, and left foot corner magnet steel turns with left driving pin
Axle is glued, and left driving pin rotating shaft is connected with fore-stock under left leg and lower after-poppet bearing.
Preferably, described left foot is made up of left foot fore-stock and after-poppet.Wherein, left foot fore-stock and after-poppet are adopted
It is connected with, left foot fore-stock and after-poppet are used with left driving pin rotating shaft and be threadedly coupled.
The beneficial effects of the invention are as follows：
1. using the power output mode of leading screw built in permagnetic synchronous motor, the structure of biped running gear is simplified, makes its light
Just, efficiently.
2. using the short mechanism of adjustable legs minister, it is easy to people to dress, improves the applicability of the present invention.
3. being fed back using magneto-electric angular displacement sensor as thigh, shank and the position of foot, small volume is in light weight,
Current end position can accurately be fed back.
4. leading screw is built in permanent-magnetic synchronous motor rotor, the axial dimension in whole power output source is reduced.
Brief description of the drawings
Accompanying drawing 1：The hip structural representation of the present invention；
Accompanying drawing 2：The hip partial structural diagram of the present invention；
Accompanying drawing 3：The hip partial structural diagram of the present invention；
Accompanying drawing 4：The hip partial structural diagram of the present invention；
Accompanying drawing 5：The left thigh structural representation of the present invention；
Accompanying drawing 6：The right thigh structural representation of the present invention；
Accompanying drawing 7：The left thigh partial structural diagram of the present invention；
Accompanying drawing 8：The right thigh partial structural diagram of the present invention；
Accompanying drawing 9：The left thigh partial structural diagram of the present invention；
Accompanying drawing 10：The right thigh partial structural diagram of the present invention；
Accompanying drawing 11：The left leg structural representation of the present invention；
Accompanying drawing 12：The right leg structural representation of the present invention；
Accompanying drawing 13：The left leg partial structural diagram of the present invention；
Accompanying drawing 14：The right leg partial structural diagram of the present invention；
Accompanying drawing 15：The left foot structure schematic diagram of the present invention；
Accompanying drawing 16：The right foot structure schematic diagram of the present invention；
In figure, 1-1, hip bearing, 1-2, right thigh shift fork, 1-3, left thigh shift fork, 1-4, right thigh ball-screw, 1-5, a left side
Thigh ball-screw, 1-6, left driving thigh rotating shaft, 1-7, right driving thigh rotating shaft, 1-8, drive control device, 1-9, left thigh
Drive permagnetic synchronous motor, 1-10, right thigh driving permagnetic synchronous motor, 1-11, right thigh screw slider, 1-12, left thigh
Screw slider, 1-13, left thigh corner magnet steel, 1-14, left thigh corner magneto-electric angle signal process plate, 1-17, power supply, 1-
20th, right thigh corner magnet steel, 1-21, right thigh corner magneto-electric angle signal process plate, 2-1, left thigh support, 2-2, a left side are small
Leg drives permagnetic synchronous motor, and 2-3, left leg corner magneto-electric angle signal process plate, 2-7, left leg shift fork, 2-8, a left side are small
Leg screw slider, 2-9, left leg ball-screw, 2-10, left driving shank rotating shaft, 2-13, left leg corner magnet steel, 2-1-3,
Left thigh binding is pressed from both sides, fore-stock under 2-1-1, left thigh, after-poppet under 2-1-2, left thigh, 4-1-1, left leg fore-stock, 4-
1-2, after-poppet, 4-1-3, left leg binding are pressed from both sides, fore-stock under 4-1, left leg, 4-2, lower after-poppet, 4-4, left foot ball wire
Thick stick, 4-5, left foot screw slider, 4-6, left foot shift fork, 4-7, left foot corner magneto-electric angle signal process plate, 4-8, left foot turn
Angle magnet steel, 4-9, left driving pin rotating shaft, 4-12, left foot driving permagnetic synchronous motor, 6-1, left foot fore-stock, prop up after 6-2, left foot
Frame.
Embodiment
It is specific below by what is shown in accompanying drawing to make the object, technical solutions and advantages of the present invention of greater clarity
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit the model of the present invention
Enclose.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring the present invention's
Concept.
The concrete structure and embodiment of the present invention is further illustrated below in conjunction with accompanying drawing.
The present invention structure composition as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12,
Shown in Figure 13, Figure 14, Figure 15, Figure 16.
Leading screw driving biped running gear built in a kind of permagnetic synchronous motor of the present invention, it includes hip structure 1, Zuo great
Leg 2, right thigh 3, left leg 4, right leg 5, left foot 6, right crus of diaphragm 7；Leading screw driving built in a kind of permagnetic synchronous motor of the present invention
Biped running gear is bilateral symmetry, therefore in following structure description, only describes left-half, hip structure 1
Left driving thigh rotating shaft 1-6 is connected with the left thigh support 2-1 pins of left thigh 2, left driving shank rotating shaft 2-10 and the left side on a left side 2
Left front upper bracket 4-1-1 and upper rear support the 4-1-2 threaded connection of shank 4, left driving pin rotating shaft 4-9 and the left side of left leg 4
Left foot fore-stock 6-1 and after-poppet the 6-2 threaded connection of pin 6, power supply 1-17 and drive control device 1-8 and the spiral shell of hip structure 1
Line connects.
Further, described hip structure 1 drives permagnetic synchronous motor 1-9, Zuo great by hip bearing 1-1, left thigh
Leg ball-screw 1-25, left thigh screw slider 1-12, left thigh shift fork 1-3, left driving thigh rotating shaft 1-6, left thigh corner
Magneto-electric angle signal process plate 1-14, left thigh corner magnet steel 1-13, drive control device 1-8 and power supply 1-17 compositions.Its
Middle left thigh ball-screw 1-25 and left thigh driving permagnetic synchronous motor 1-9 rotor weldings, left thigh driving permanent magnet synchronous electric
Machine 1-9 and hip bearing 1-1 bolt connections, left thigh shift fork 1-3 are threadedly coupled with left thigh driving thigh rotating shaft 1-6, Zuo great
Leg corner magneto-electric angle signal process plate 1-14 and hip bearing 1-1 is glued, and left thigh corner magnet steel 1-13 and left driving are big
Leg rotating shaft 1-6 is glued, and left driving thigh rotating shaft 1-6 is connected with hip bearing 1-1 bearings, drive control device 1-8 and power supply 1-
17 are threadedly coupled with hip bearing 1-1.
Further, described left thigh 2 is by preceding branch under left thigh support 2-1, left thigh binding folder 2-1-3, left thigh
After-poppet 2-1-2, left leg driving permagnetic synchronous motor 2-2, left leg ball-screw 2-9, a left side are small under frame 2-1-1, left thigh
Leg screw slider 2-8, left leg shift fork 2-7, left driving shank rotating shaft 2-10, left leg corner magneto-electric angle signal process plate
2-3, left leg corner magnet steel 2-13.Wherein, left thigh binding folder 2-1-3 is threadedly coupled with left thigh support 2-1, left thigh branch
Frame 2-1 and after-poppet 2-1-2 bolt connections under fore-stock 2-1-1, left thigh under left thigh, left thigh support 2-1 and left driving
Thigh rotating shaft 1-6 is connected using pin, left leg ball-screw 2-9 and left leg driving permagnetic synchronous motor 2-2 rotor weldings,
Left leg drives permagnetic synchronous motor 2-2 and after-poppet 2-1-2 bolt connections under fore-stock 2-1-1, left thigh under left thigh, left
Shank shift fork 2-7 is threadedly coupled with left driving shank rotating shaft 2-10, left leg corner magneto-electric angle signal process plate 2-3 and a left side
After-poppet 2-1-2 is glued under thigh, and left leg corner magnet steel 2-13 is glued with left driving shank rotating shaft 2-10, and left driving shank turns
Axle 2-10 is connected with after-poppet 2-1-2 bearings under fore-stock 2-1-1, left thigh under left thigh.
Further, described left leg 4 is by left leg fore-stock 4-1-1 and after-poppet 4-1-2, left leg binding folder 4-
Fore-stock 4-1 and lower after-poppet 4-2 under 1-3, left leg, left foot driving permagnetic synchronous motor 4-12, left foot ball-screw 4-4,
Left foot screw slider 4-5, left foot shift fork 4-6, left driving pin rotating shaft 4-9, left foot corner magneto-electric angle signal process plate 4-7,
Left foot corner magnet steel 4-8.Wherein, left leg binding folder 4-1-3 and left leg fore-stock 4-1-1 and after-poppet 4-1-2 screw threads connect
Connect, left leg fore-stock 4-1-1 is threadedly coupled with fore-stock 4-1 under left leg, preceding branch under left leg after-poppet 4-1-2 left legs
Frame 4-2 is threadedly coupled, and left leg fore-stock 4-1-1 is connected by screw bolts with left leg after-poppet 4-1-2, left leg fore-stock 4-
1-1 and after-poppet 4-1-2 is connected with left driving shank rotating shaft with bearing, left foot ball-screw 4-4 and left foot driving permanent-magnet synchronous
Motor 4-12 rotor weldings, left foot driving permagnetic synchronous motor 4-12 and fore-stock 4-1 and lower after-poppet 4-2 bolts under left leg
Connection, left foot shift fork 4-6 are threadedly coupled with left driving pin rotating shaft 4-9, left foot corner magneto-electric angle signal process plate 4-7 and a left side
After-poppet 4-2 splicing under shank, left foot corner magnet steel 4-8 are glued with left driving pin rotating shaft 4-9, left driving pin rotating shaft 4-9 and a left side
Fore-stock 4-1 connects with lower after-poppet 4-2 bearings under shank.
Further, described left foot 6 is made up of left foot fore-stock 6-1 and after-poppet 6-2.Wherein, left foot fore-stock 6-1
It is connected by screw bolts with after-poppet 6-2, left foot fore-stock 6-1 and after-poppet 6-2 and left driving pin rotating shaft 4-9 are connected using screw thread
Connect.
The operation principle of present embodiment is：Adjust left thigh support 2-1 and fore-stock 2-1-1, a left side under left thigh
After-poppet 2-1-2 mutual distances under thigh, after appropriate wearer, fastened with threaded connection, regulation left leg fore-stock 4-1-1 and
Fore-stock 4-1 and lower after-poppet 4-2 distance under after-poppet 4-1-2, left leg, after appropriate wearer, fastened with threaded connection,
Right thigh driving permagnetic synchronous motor 1-10 turns clockwise, the 1-24 rotations of driving right thigh ball-screw, and then right thigh silk
Thick stick sliding block 1-11 carries out straight-ahead motion, promotes right thigh shift fork 1-2 rotations, and then drives right driving thigh rotating shaft 1-7 rotations
Turn, and then drive right thigh 3 to travel forward.Right leg driving permagnetic synchronous motor 1-10 turns clockwise, driving right leg rolling
Ballscrew 1-24 rotates, and then right leg screw slider 1-11 carries out straight-ahead motion, promotes right leg shift fork 1-2 rotations,
And then right driving shank rotating shaft 1-22 rotations are driven, and then drive right leg 5 to travel forward.Right crus of diaphragm driving permagnetic synchronous motor 3-
2 rotations, the 5-4 rotations of driving right crus of diaphragm ball-screw, and then right crus of diaphragm screw slider 5-5 carries out straight-ahead motion, promotes right crus of diaphragm to dial
5-6 rotations are pitched, and then drive right driving pin rotating shaft 5-9 rotations, and then drive right crus of diaphragm 7 to move upwards.When right crus of diaphragm 7 lands, the right side is big
Leg drives permagnetic synchronous motor 1-10 rotate counterclockwises, the 1-24 rotations of driving right thigh ball-screw, and then right thigh leading screw is slided
Block 1-11 carries out moved straight rearward, promotes right thigh shift fork 1-2 rotations, and then drives right driving thigh rotating shaft 1-7 rotations, band
Dynamic right thigh 3 moves backward.At the same time, left thigh driving permagnetic synchronous motor 1-9 turns clockwise, and drives left thigh ball
Leading screw 1-25 rotates, and then left thigh screw slider 1-12 carries out straight-ahead motion, promotes left thigh shift fork 1-3 rotations, enters
And left driving thigh rotating shaft 1-6 rotations are driven, and then drive left thigh 2 to travel forward.Left leg driving permagnetic synchronous motor 2-2
Turn clockwise, the 3-9 rotations of driving left leg ball-screw, and then left leg screw slider 3-8 carries out straight-ahead motion, pushes away
Dynamic left leg shift fork 3-7 rotations, and then left driving shank rotating shaft 3-10 rotations are driven, and then drive left leg 4 to travel forward.It is left
Pin driving permagnetic synchronous motor 4-12 turns clockwise, the 4-4 rotations of driving left foot ball-screw, and then left foot screw slider 4-5
Straight-ahead motion is carried out, promotes left foot shift fork 4-6 rotations, and then drives left driving pin 6 rotating shaft rotation, and then drives left foot 6
Motion upwards.Repeat above-mentioned motion and realize that the circulation of left and right leg is swung, realize walking function.
Left thigh driving permagnetic synchronous motor 1-9, right thigh driving permagnetic synchronous motor 1-10 synchronous rotaries clockwise, drive
Dynamic left thigh ball-screw 1-25, right thigh ball-screw 1-24 synchronous rotaries, and then left thigh screw slider 1-12, right thigh
Screw slider 1-11 carries out straight line and is synchronized with the movement forward, promotes left thigh shift fork 1-3, right thigh shift fork 1-2 rotation, and then drive
Left driving thigh rotating shaft 1-6, right driving thigh rotating shaft 1-7 rotations, and then drive left thigh 2, right thigh 3 to be synchronized with the movement forward.
At the same time, left leg driving permagnetic synchronous motor 2-2, right leg driving permagnetic synchronous motor 3-2 rotate counterclockwises, driving are left
Shank ball-screw 2-9, right leg ball-screw 3-9 rotate, and then left leg 2-8, right leg screw slider 3-8 carry out straight line
Move backward, promote left leg 2-7, right leg shift fork 3-7 rotation, and then drive left driving shank rotating shaft 2-10, right driving small
Leg rotating shaft 3-10 rotates, and then drives left leg 4, right leg 5 to be synchronized with the movement backward.At the same time, left foot driving permanent-magnet synchronous
Motor 4-12, right crus of diaphragm driving permagnetic synchronous motor 5-12 turn clockwise, driving left foot ball-screw 4-4, right crus of diaphragm ball-screw
5-4 rotates, and then left foot screw slider 4-5, right crus of diaphragm screw slider 5-5 progress straight-ahead motion, promotion left foot shift fork 4-6,
Right crus of diaphragm shift fork 5-6 rotates, and then the left driving pin rotating shaft 4-9 of drive, right driving pin rotating shaft 5-9 rotations, and then drives left foot 6, the right side
Pin 7 moves upwards, realizes that biped running gear is squatted down motion.
Left thigh driving permagnetic synchronous motor 1-9, right thigh driving permagnetic synchronous motor 1-10 synchronous rotaries counterclockwise, drive
Dynamic left thigh ball-screw 1-25, right thigh ball-screw 1-24 synchronous rotaries, and then left thigh screw slider 1-12, right thigh
Screw slider 1-11 carries out straight line and is synchronized with the movement backward, promotes left thigh shift fork 1-3, right thigh shift fork 1-2 rotation, and then drive
Left driving thigh rotating shaft 1-6, right driving thigh rotating shaft 1-7 rotations, and then drive left thigh 2, right thigh 3 to be synchronized with the movement backward.
At the same time, left leg driving permagnetic synchronous motor 2-2, right leg driving permagnetic synchronous motor 3-2 turn clockwise, and driving is left
Shank ball-screw 2-9, right leg ball-screw 3-9 rotate, and then left leg screw slider 2-8, right leg screw slider 3-8
Straight-ahead motion is carried out, promotes left leg shift fork 2-7, right leg shift fork 3-7 rotation, and then drives left driving shank rotating shaft 2-
10th, right driving shank rotating shaft 3-10 rotations, and then drive left leg 4, right leg 5 to be synchronized with the movement forward.At the same time, left foot drives
Dynamic permagnetic synchronous motor 4-12, right crus of diaphragm driving permagnetic synchronous motor 5-12 rotate counterclockwises, driving left foot ball-screw 4-4, the right side
Pin ball-screw 5-4 rotates, and then left screw slider 4-5, right crus of diaphragm screw slider 5-5 carry out moved straight rearward, promotes left foot
4-6, right crus of diaphragm shift fork 5-6 rotate, and then drive left driving pin rotating shaft 4-9, right driving pin rotating shaft 5-9 rotations, and then drive left foot
6th, right crus of diaphragm 7 moves downward, and realizes that biped running gear stands motion.
The general principle and principal character and advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (5)
1. leading screw built in a kind of permagnetic synchronous motor drives biped running gear, it is characterised in that：It includes hip structure（1）、
Left thigh（2）, right thigh（3）, left leg（4）, right leg（5）, left foot（6）, right crus of diaphragm（7）；A kind of permanent-magnet synchronous of the present invention
Electric machine built-in leading screw driving biped running gear is bilateral symmetry, therefore in following structure description, only description left half
Part, described hip structure（1）Left driving thigh rotating shaft（1-6）With left thigh（2）Left thigh support（2-1）Pin connects
Connect, left leg（2）Left driving shank rotating shaft（2-10）With left leg（4）Left front upper bracket（4-1-1）And upper rear support（4-1-
2）With threaded connection, left leg（4）Left driving pin rotating shaft（4-9）With left foot（6）Left foot fore-stock（6-1）And after-poppet
（6-2）With threaded connection, power supply（1-17）And drive control device（1-8）With hip structure（1）Threaded connection.
2. leading screw built in a kind of permagnetic synchronous motor according to claim 1 drives biped running gear, it is characterised in that：
Described hip structure（1）By hip bearing（1-1）, left thigh driving permagnetic synchronous motor（1-9）, left thigh ball-screw
（1-25）, left thigh screw slider（1-12）, left thigh shift fork（1-3）, it is left driving thigh rotating shaft（1-6）, left thigh corner magnetic
Electric-type angle signal process plate（1-14）, left thigh corner magnet steel（1-13）, drive control device（1-8）And power supply（1-17）Group
Into wherein left thigh ball-screw（1-25）Permagnetic synchronous motor is driven with left thigh（1-9）Rotor welding, left thigh drive forever
Magnetic-synchro motor（1-9）With hip bearing（1-1）Bolt connection, left thigh shift fork（1-3）Thigh rotating shaft is driven with left thigh（1-
6）Threaded connection, left thigh corner magneto-electric angle signal process plate（1-14）With hip bearing（1-1）It is glued, left thigh corner
Magnet steel（1-13）With left driving thigh rotating shaft（1-6）It is glued, left driving thigh rotating shaft（1-6）With hip bearing（1-1）Bearing connects
Connect, drive control device（1-8）And power supply（1-17）With hip bearing（1-1）Threaded connection.
3. leading screw built in a kind of permagnetic synchronous motor according to claim 1 drives biped running gear, it is characterised in that：
Described left thigh（2）By left thigh support（2-1）, left thigh binding folder（2-1-3）, fore-stock under left thigh（2-1-1）, it is left
After-poppet under thigh（2-1-2）, left leg driving permagnetic synchronous motor（2-2）, left leg ball-screw（2-9）, left leg silk
Thick stick sliding block（2-8）, left leg shift fork（2-7）, it is left driving shank rotating shaft（2-10）, left leg corner magneto-electric angle signal processing
Plate（2-3）, left leg corner magnet steel（2-13）, wherein, left thigh binding folder（2-1-3）With left thigh support（2-1）Screw thread connects
Connect, left thigh support（2-1）With fore-stock under left thigh（2-1-1）, after-poppet under left thigh（2-1-2）Bolt connection, Zuo great
Leg support（2-1）With left driving thigh rotating shaft（1-6）Connected using pin, left leg ball-screw（2-9）Driven with left leg
Permagnetic synchronous motor（2-2）Rotor welding, left leg driving permagnetic synchronous motor（2-2）With fore-stock under left thigh（2-1-1）、
After-poppet under left thigh（2-1-2）Bolt connection, left leg shift fork（2-7）With left driving shank rotating shaft（2-10）Threaded connection,
Left leg corner magneto-electric angle signal process plate（2-3）With after-poppet under left thigh（2-1-2）It is glued, left leg corner magnet steel
（2-13）With left driving shank rotating shaft（2-10）It is glued, left driving shank rotating shaft（2-10）With fore-stock under left thigh（2-1-1）、
After-poppet under left thigh（2-1-2）Bearing connects.
4. leading screw built in a kind of permagnetic synchronous motor according to claim 1 drives biped running gear, it is characterised in that：
Described left leg（4）By left leg fore-stock（4-1-1）And after-poppet（4-1-2）, left leg binding folder（4-1-3）, it is left small
Fore-stock under leg（4-1）With lower after-poppet（4-2）, left foot driving permagnetic synchronous motor（4-12）, left foot ball-screw（4-4）、
Left foot screw slider（4-5）, left foot shift fork（4-6）, it is left driving pin rotating shaft（4-9）, left foot corner magneto-electric angle signal processing
Plate（4-7）, left foot corner magnet steel（4-8）, wherein, left leg binding folder（4-1-3）With left leg fore-stock（4-1-1）With rear branch
Frame（4-1-2）Threaded connection, left leg fore-stock（4-1-1）With fore-stock under left leg（4-1）It is threadedly coupled, is propped up after left leg
Frame（4-1-2）Fore-stock under left leg（4-2）Threaded connection, left leg fore-stock（4-1-1）With left leg after-poppet（4-1-2）
It is connected by screw bolts, left leg fore-stock（4-1-1）And after-poppet（4-1-2）It is connected with left driving shank rotating shaft with bearing, it is left
Pin ball-screw（4-4）Permagnetic synchronous motor is driven with left foot（4-12）Rotor welding, left foot driving permagnetic synchronous motor（4-
12）With fore-stock under left leg（4-1）With lower after-poppet（4-2）Bolt connection, left foot shift fork（4-6）With left driving pin rotating shaft
（4-9）Threaded connection, left foot corner magneto-electric angle signal process plate（4-7）With after-poppet under left leg（4-2）It is glued, left foot
Corner magnet steel（4-8）With left driving pin rotating shaft（4-9）It is glued, left driving pin rotating shaft（4-9）With fore-stock under left leg（4-1）With
Lower after-poppet（4-2）Bearing connects.
5. leading screw built in a kind of permagnetic synchronous motor according to claim 1 drives biped running gear, it is characterised in that：
Described left foot（6）By left foot fore-stock（6-1）And after-poppet（6-2）Composition, wherein, left foot fore-stock（6-1）And after-poppet
（6-2）It is connected by screw bolts, left foot fore-stock（6-1）And after-poppet（6-2）With left driving pin rotating shaft（4-9）Connected using screw thread
Connect.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711054498.XA CN107582332A (en) | 2017-11-01 | 2017-11-01 | Leading screw built in a kind of permagnetic synchronous motor drives biped running gear |
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| CN201711054498.XA CN107582332A (en) | 2017-11-01 | 2017-11-01 | Leading screw built in a kind of permagnetic synchronous motor drives biped running gear |
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| CN107582332A true CN107582332A (en) | 2018-01-16 |
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Application publication date: 20180116 |