CN111360869A - Parallel driving joint for super-dynamic bionic robot and robot - Google Patents

Abstract

The present invention provides a parallel drive joint and a robot for an ultra-dynamic bionic robot. The joint includes a rotating shaft barrel and two driving components, the two driving components are respectively arranged at both ends of the rotating shaft barrel, and the two The output shafts of the two driving components respectively extend from the end of the rotating shaft barrel into the rotating shaft barrel, and the two driving components are used to drive the first limb connected with the joint in parallel; the driving components include a motor and One or more stages of planetary reducer, the rotor shaft of the motor is a hollow shaft, the first-stage sun gear shaft of the planetary reducer is located in the through hole of the hollow shaft, and the first-stage sun gear shaft and the The rotor shaft is fixedly connected, and the inner ring gear of the planetary reducer is fixed with the casing of the motor.

Description

Parallel Actuated Joints and Robots for Hyperdynamic Bionic Robots

technical field

The invention relates to the technical field of robots, in particular to a parallel drive joint and a robot for an ultra-dynamic bionic robot.

Background technique

The joint drive device is the power source of the robot limb structure, which can be hydraulic, pneumatic or electromagnetic. Hydraulic drives have the disadvantages of high energy consumption, liquid leakage, and high maintenance costs, so their application in robots has certain limitations; pneumatic drives have the advantages of simplicity and ease of use and low cost, and are mainly used in some applications due to safety , environment and application places, the electromagnetic drive can not meet the design requirements; electromagnetic drive is the most common robot joint drive method, because the motor has the advantages of fast startup speed, wide debugging range, and strong overload capacity, so it is widely used.

In the prior art, in order to improve the explosive force of the movement of the robot limb structure, a method of driving multiple motors in parallel is generally adopted; in order to improve the output torque of the motors, each motor is output through a reducer. For the drive joint of the robot, the existence of multiple motors and reducers makes the structure size of the entire drive joint larger, resulting in an uncompact structure of the entire limb of the robot.

SUMMARY OF THE INVENTION

In view of this, the present invention provides a parallel drive joint for an ultra-dynamic bionic robot to solve one or more problems existing in the prior art.

According to one aspect of the present invention, the present invention discloses a parallel drive joint for an ultra-dynamic bionic robot. The joint includes a rotating shaft barrel and two driving components, and the two driving components are respectively disposed on two sides of the rotating shaft barrel. end, the output shafts of the two driving components respectively extend from the ends of the rotating shaft barrel into the rotating shaft barrel, and the two driving components are used to drive the first limb connected with the joint in parallel;

The driving component includes a motor and one or more stages of planetary reducers, the rotor shaft of the motor is a hollow shaft, the first-stage sun gear shaft of the planetary reducer is located in the through hole of the hollow shaft, the The primary sun gear shaft is fixedly connected with the rotor shaft, and the inner ring gear of the planetary reducer is fixed with the casing of the motor.

In some embodiments of the present invention, the output shafts of the two driving components are arranged coaxially, and a first transmission mechanism is arranged between the output shafts of the two driving components and the first limb.

In some embodiments of the present invention, the first transmission mechanism is a bevel gear transmission, and the bevel gear transmission includes two driving bevel gears and one driven bevel gear;

The two driving bevel gears are respectively fixed on the output shafts of the two driving components located inside the rotating shaft barrel, and there are bearings between the driving bevel gears and the rotating shaft barrel, so that the rotating shaft barrel has a bearing. Can perform rotational movement relative to the drive member;

The fixed shaft of the driven bevel gear extends to the outside of the rotating shaft cylinder, and a bearing is arranged between the fixed shaft and the rotating shaft cylinder, so that the fixed shaft and the rotating shaft cylinder can rotate relative to the rotating shaft cylinder. .

In some embodiments of the present invention, the number of teeth of the two driving bevel gears is equal.

In some embodiments of the present invention, the planetary reducer is a two-stage planetary reducer, and the two-stage planetary reducer is integrated in the housing of the electric motor.

In some embodiments of the present invention, the ring gear is a double ring gear, and the planet gears of the planetary reducer are all meshed with the double ring gear.

In some embodiments of the present invention, the planetary reducer includes a primary planet carrier and a secondary planet carrier, the secondary sun gear shaft of the planetary reducer is coaxial with the primary sun gear shaft, and the secondary sun gear shaft is coaxial with the primary sun gear shaft. The sun gear shaft rotates synchronously with the first stage planet carrier.

In some embodiments of the present invention, the first-level planet carrier and the second-level planet carrier are both cage-type planet carriers, and a bearing is provided between the cage-type planet carrier and the double ring gear, so as to The rotational support between the cage-type planet carrier and the double ring gear is realized.

In some embodiments of the present invention, the driving component further includes an encoder support, an encoder and a magnetic column, the encoder is fixed on the housing of the motor through the encoder support, and the first stage The end of the sun gear shaft is provided with a hole, and the magnetic column is fixed in the hole.

The present invention also discloses a robot. The robot includes a robot body and a limb structure. The limb structure includes the parallel drive joints in the above embodiments, and the limb structure further includes:

a first limb connected in series with the parallel drive joint, the first limb comprising a torsion shaft that rotates synchronously with the fixed shaft of the driven bevel gear;

A second joint connected in series with the first limb, the second joint includes a rotating shaft, the rotating shaft is perpendicular to the axis of the torsion shaft, and the torsion shaft drives the rotating shaft to rotate around its own axis through a bevel gear transmission mechanism ;

The second limb is connected in series with the second joint, and the second limb moves synchronously with the rotating shaft.

In the parallel drive joint in the embodiment of the present invention, two drive components are respectively arranged at both ends of the rotating shaft barrel, and the rotor shaft of the motor is set as a hollow shaft structure, and the primary sun gear shaft of the planetary gear reducer is fixed on the rotor. In the through hole of the shaft, under the premise of parallel drive, the overall size of the joint is reduced; in addition, the entire planetary gear reducer is integrated in the motor casing, making the drive joint structure more compact, further ensuring that the robot has a relatively Compact limb structure.

Additional advantages, objects, and features of the present invention will be set forth in part in the description that follows, and in part will become apparent to those of ordinary skill in the art upon study of the following, or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Those skilled in the art will appreciate that the objects and advantages that can be achieved with the present invention are not limited to those specifically described above, and the above and other objects that can be achieved by the present invention will be more clearly understood from the following detailed description

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention, and constitute a part of the present application, and do not constitute a limitation to the present invention. The components in the drawings are not to scale, but merely illustrate the principles of the invention. In order to facilitate illustrating and describing some portions of the present invention, corresponding portions in the figures may be exaggerated, ie, larger relative to other components in an exemplary apparatus actually fabricated in accordance with the present invention. In the attached image:

1 is a schematic diagram of the internal structure of a parallel drive joint for an ultra-dynamic bionic robot according to an embodiment of the present invention;

2 is a schematic structural diagram of a limb structure for a robot according to an embodiment of the present invention;

3 is a front view of a limb structure for a robot according to an embodiment of the present invention;

Figure 4 is a side view of the limb structure shown in Figure 3;

5 is a schematic diagram of the internal structure of the second joint of the limb structure shown in FIG. 3;

Fig. 6 is the movement limit position diagram of the first joint of the limb structure in one embodiment of the present invention;

FIG. 7 is a movement limit position diagram of the second joint of the limb structure in an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention more clearly understood, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

Here, it should be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and/or processing steps closely related to the solution according to the present invention are shown in the drawings, and the Invent other details that are less relevant.

It should be emphasized that the term "comprising/comprising/having" as used herein refers to the presence of a feature, element, step or component, but does not preclude the presence or addition of one or more other features, elements, steps or components.

Here, it should also be noted that the orientation nouns such as "left end" and "right end" appearing in the content of this specification are relative to the position and direction shown in the drawings; if there is no special description, the term "connection" in this specification can not only Refers to a direct connection, and can also indicate an indirect connection with an intermediate. Direct connection means that two components are connected without intermediate components, and indirect connection means that two components are connected by means of other components.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same reference numbers represent the same or similar parts.

In one embodiment of the present invention, the present invention provides a parallel drive joint for an ultra-dynamic bionic robot, where the parallel drive joint includes a rotating shaft barrel 110 and two driving components. As shown in FIG. 1 , the first driving member 010 and the second driving member 020 are respectively disposed at both ends of the rotating shaft barrel 110 , and the output shafts of the first driving member 010 and the second driving member 020 respectively extend from the two ends of the rotating shaft barrel 110 . into the shaft barrel 110 . The two ends of the rotating shaft barrel 110 can be correspondingly provided with through holes for passing through the output shaft of the driving component; the end of the rotating shaft barrel 110 can also be directly designed to be open, so that the first driving component 010 and the second driving component The output shaft of the 020 extends from the opening of the end of the rotating shaft barrel 110 to the inside of the rotating shaft barrel 110 . The first driving part 010 and the second driving part 020 can be respectively fixed on the fixing frame located outside the parallel drive joint, at this time, the shells 121 of the first driving part 010 and the second driving part 020 can be fixed to the outside by screws or screws The first driving part 010 and the second driving part 020 can also be directly connected through a connecting frame; further, a bearing can be installed between the two driving parts and the rotating shaft cylinder 110 to realize the connection between the driving part and the rotating shaft cylinder 110 Fixed support.

The parallel drive joint in the present invention can be applied to the limb structure of the robot, and the parallel drive joint is connected with the limb of the robot. FIG. 2 is a schematic structural diagram of the robot limb structure. As shown in FIG. 2 , the parallel drive joint is connected to the first limb of the robot limb structure. At this time, the parallel drive joint drives the first limb in parallel to perform corresponding movement. The use of parallel driving to drive the limbs of the robot can improve the super explosive force required by the limb structure of the robot in the process of running and jumping; obviously, the parallel driving joint with two driving components is compared with the joint with only one driving component. , which greatly improves the driving force of this joint. In addition to two, the number of driving parts of the parallel drive joint can also be more, for example: 4 or 6; when the number of driving parts is 4 or 6, the driving parts can be divided into two groups, two. The drive components of the group are respectively arranged at both ends of the rotating shaft barrel 110. At this time, the driving components of each group can jointly drive an output shaft in parallel. When the number of components is 4 or 6, compared with the case where the number of driving components is 2, the driving force of the joint is also greatly improved.

Both the first driving part 010 and the second driving part 020 include a motor and a reducer, the motor outputs power through the reducer, and the output shaft of the reducer serves as the output shaft of the drive part and extends from the end of the rotating shaft cylinder 110 to the interior of the rotating shaft cylinder 110 . Further, the type of the reducer is a planetary gear reducer with one or more stages. The motor includes a casing 121, a stator 122, a rotor 123 and a rotor shaft 124. In order to facilitate the installation and replacement of the internal parts of the motor, the casing 121 of the motor can be set as a structure with a detachable end cover 125; the end cover 125 of the motor casing 121 and the The shells 121 are connected by bolts or other detachable connection methods. The stator 122 , the rotor 123 and the rotor shaft 124 of the motor are all located in the housing 121 of the motor. The structural shape of the housing 121 of the motor can be a cylindrical structure, and the inner wall of the housing 121 has a raised portion; The end cover 125 is also a circular end cover 125, and the circular end cover 125 is also provided with a raised part; when the end cover 125 and the shell are in a combined state, the raised part of the end cover 125 and the convex part of the inner wall of the housing 121 The risers jointly realize the axial positioning of the stator 122; in the specific structure of the motor, the stator 122 can also adopt other axial positioning methods, and the structures of the motor casing 121 and the end cover 125 can also be changed according to actual needs. The rotor 123 of the motor is sleeved on the outside of the rotor shaft 124 , and is fixedly connected by means of interference fit or gluing. The mutually connected rotors 123 and the rotor shaft 124 rotate synchronously.

The rotor shaft 124 of the motor is a hollow shaft, the primary sun gear shaft 141 of the planetary gear reducer is located in the through hole of the hollow shaft, and the primary sun gear shaft 141 is fixedly connected with the rotor shaft 124, so that the primary sun gear shaft 141 is connected to the rotor. Shaft 124 rotates synchronously. The ring gear of the planetary reducer can be directly fixed on the outer casing 121 of the motor, or can be fixed on a separate ring gear fixing frame. The primary sun gear shaft 141 of the planetary gear reducer is integrated into the through hole of the rotor shaft 124, which reduces the structural size of the driving component and makes the joint more compact. It should be understood that in addition to the planetary gear reducer, the reducer can also use other types of reducers, such as helical gear reducers, planetary friction type mechanical continuously variable transmissions, etc. The primary transmission shaft can be arranged in the through hole of the hollow shaft.

In one embodiment of the present invention, the speed reducers of the first driving part 010 and the second driving part 020 are both two-stage planetary gear speed reducers. The secondary planetary gear reducer may include a primary sun gear shaft 141, a primary planet carrier 142, a primary planet gear, a secondary sun gear shaft 144, a secondary planet carrier 145, and a secondary planet gear. The primary sun gear shaft 141 of the planetary gear reducer is located in the through hole of the rotor shaft 124 of the motor; the rotor shaft 124 of the motor can be stepped, and the rotor 123 of the motor is fixed on the second shaft section of the rotor shaft 124. A fourth bearing 164 and a fifth bearing 165 are arranged between the first shaft segment and the housing 121 or the end cover 125 of the motor to realize the rotational support of the rotor shaft 124 and the housing 121 or the end cover 125 of the motor. Further, the end of the inner through hole of the rotor shaft 124 may be provided with a shaft hole for connecting with the primary sun gear shaft 141, and the primary sun gear shaft 141 is fixed in the shaft hole by means of interference fit or gluing; The stage sun gear shaft 141 rotates synchronously with the rotor shaft 124 .

One end of the primary sun gear shaft 141 is provided with a primary sun gear, the primary sun gear, the primary planetary gear and the ring gear realize the primary deceleration of the planetary reducer; one end of the secondary sun gear shaft 144 is provided with a secondary sun gear, the secondary The sun gear, the secondary planetary gear and the inner gear realize the secondary reduction of the planetary reducer. The secondary planetary gear reducer further includes a primary planet carrier 142 and a secondary planet carrier 145; Synchronized movement. In order to facilitate the fixing of the ring gear, the ring gear of the first-stage planetary reducer and the ring gear of the second-stage planetary reducer can be designed as double ring gears 143, and the first-stage planetary gear, the second-stage planetary gear All mesh with the double ring gear 143 . The double ring gear 143 can be further fixed with the casing 121 of the motor; the specific fixing method can be: a through hole for interference fit with the outer ring of the double ring gear 143 is provided on the inner wall of the casing 121 of the motor; The inline gear 143 is fixed in the through hole. It should be understood that the way of setting the two-stage ring gear of the two-stage planetary reducer as the double ring gear 143 is only an optimal structure, and it can also be used in each stage of the planetary gear reducer. The ring gear is set independently in the middle.

The first-level planet carrier 142 and the second-level planet carrier 145 of the planetary gear reducer can both be cage-type planet carriers, and a second bearing 162 is provided between the second-level planet carrier 145 and the outer casing of the motor; as shown in FIG. The output end of the cage-type planet carrier is provided with a through hole for installing the secondary sun gear shaft 144, and the non-gear end of the secondary sun gear shaft 144 is fixedly connected to the through hole by means of interference fit or gluing. When the rotor shaft 124 of the motor rotates, the primary sun gear shaft 141 and the rotor shaft 124 rotate synchronously. Fixed connection with the housing 121 of the motor, at this time, the rotor shaft 124 of the motor is output power from the first-stage planetary carrier 142 after the first-stage deceleration. Since the secondary sun gear shaft 144 is fixedly connected with the output end of the primary planet carrier 142 , the secondary sun gear shaft 144 moves synchronously with the primary planet carrier 142 . meshing, and the fixed connection between the double ring gear 143 and the motor housing 121 , at this time, the rotor shaft 124 of the motor is output power from the output end of the secondary planet carrier 145 after the secondary deceleration.

Further, in order to realize the rotational support between the cage-type planet carrier and the double-connected ring gear 143, the first-level cage-type planet carrier and the double-connected ring gear 143 and the second-level planetary cage-type planetary cage and the double-connected ring gear 143 A sixth bearing 166 and a seventh bearing 167 are disposed therebetween. In order to realize the axial positioning of the bearing, a shaft shoulder for positioning the bearing can be provided on the first-level cage-type planet carrier and the second-level cage-type planet carrier respectively.

In FIG. 1 , only the output end of the secondary planetary carrier 145 of the secondary planetary gear reducer extends out of the housing 121 of the motor, and the rest of the components are integrated inside the housing 121 of the motor; the output end of the secondary planetary carrier 145 rotates the shaft barrel The end of 110 extends into the rotating shaft barrel 110 as the output shaft of the driving component, and the two driving bevel gears are respectively fixed on the output ends of the secondary planet carrier 145 of the first driving component 010 and the second driving component 020. Specifically, The two driving bevel gears and the output end of the secondary planet carrier 145 can be connected by bolts or screws. In this structure, the two-stage planetary gear reducers are integrated inside the motor housing 121, which reduces the size of the entire drive component and makes the drive joint more compact, so it can be applied to robots with smaller size requirements. The above-mentioned driving components are in the form of motor + planetary reducer, in addition to this, it can also be designed in the form of motor + ordinary reducer; and the number of stages of the reducer can be limited according to actual needs, for example, in the present invention , the planetary reducer can also be a one-stage or more stage reducer. In addition to the motor, the power element can also use other driving methods, such as hydraulic driving.

In an embodiment of the present invention, the first driving part 010 and the second driving part 020 located at both ends of the rotating shaft barrel 110 may further include an encoder 132 , an encoder support 131 and a magnetic column 133 . The encoder support 131 can be mounted on the housing 121 or the end cover 125 of the motor by screws or bolts, and the encoder 132 is further fixed on the encoder support 131 by screws or bolts. The encoder 132 is used to measure the rotation angle and rotational speed of the motor, and the magnetic column 133 can be further fixedly connected to the rotor shaft 124 or the primary sun gear shaft 141 of the motor. As shown in FIG. 1 , the primary sun gear shaft 141 is designed as a hollow shaft structure, and the magnetic column 133 can be fixed in the shaft hole of the non-gear end of the primary sun gear shaft 141 .

In an embodiment of the present invention, the output shafts of the first driving member 010 and the second driving member 020 located at both ends of the rotating shaft barrel 110 are coaxially arranged, and a first transmission mechanism is provided between the two driving members and the first limb; The two driving components drive the first limb to move in parallel through the first transmission mechanism, and the first transmission mechanism may be gear transmission, friction wheel transmission, or the like. When the first transmission mechanism is gear transmission, two driving gears can be meshed with the same driven gear to transmit motion and power; when the first transmission mechanism is a friction wheel transmission, two driving friction wheels can be connected to the same driven gear. A driven friction wheel presses against each other, thereby transmitting motion or power through friction. The two ends of the first driving part 010 and the second driving part 020 respectively extend from the two ends of the rotating shaft barrel 110 into the rotating shaft barrel 110, and the two output shafts are arranged coaxially; therefore, the first limb connected with the parallel drive joint can It is arranged perpendicular to the two output shafts; at this time, the first transmission mechanism can be a transmission mode for realizing the transmission of the intersecting shafts.

Further, the first transmission mechanism is a bevel gear transmission, and the bevel gear transmission mechanism includes a first driving bevel gear 151 , a second driving bevel gear 152 and a first driven bevel gear 153 . The output shafts of the two driving components located at both ends of the rotating shaft barrel 110 extend from the two ends of the rotating shaft barrel 110 to the inside of the rotating shaft barrel 110 respectively. The corresponding driven bevel gears meshing with the two driving bevel gears can also be located inside the rotating shaft barrel 110 , and the driven bevel gears can rotate under the joint driving of the two driving bevel gears. The side wall of the rotating shaft barrel 110 may be provided with a through hole for the fixed shaft of the driven bevel gear to pass through; since the bevel gear transmission is a gear transmission between intersecting shafts composed of bevel gears, the axes of the two driving bevel gears are the same. Under the premise of the shaft, the axis of the driven bevel gear is perpendicular to the axes of the output shafts of the two driving components; and under the joint driving of the two driving components, the driven bevel gear rotates around its own axis; it is used to support the driven bevel gear. The fixed shaft of the driven bevel gear is connected with the driven bevel gear by means of interference fit or glue, so the fixed shaft of the driven bevel gear can also rotate around its own axis under the parallel drive of the two driving components. The two driving bevel gears are meshed with the same driven bevel gear, which reduces the number of driven bevel gears of the first transmission mechanism and keeps the joint relatively compact; in addition, two driving bevel gears can also be used. In the case where the bevel gear meshes with the two driven bevel gears respectively, for example, if the two driven bevel gears are fixed on the same fixed shaft, it is also possible to realize that the two driving bevel gears can jointly drive the same driven shaft.

Further, when the two driving bevel gears are both located inside the rotating shaft barrel 110, a first bearing 161 can be provided between the two driving bevel gears and the rotating shaft barrel 110, so as to realize the connection between the rotating shaft barrel 110 and the two driving bevel gears. Swivel support. Bearings may also be provided between the fixed shaft of the driven bevel gear and the rotating shaft barrel 110 to realize rotational support between the fixed shaft and the rotating shaft barrel 110 . The rotating shaft barrel 110 can be rotated under the driving of the two driving bevel gears; its specific rotation speed and rotation direction can be judged by the following methods:

It is assumed that the thumb of the right hand is directed from the first driving part 010 to the second driving part 020, and the grip direction of the remaining four fingers of the right hand at this time is the positive rotation direction of the driving bevel gear. When the steering and rotational speed of the two driving bevel gears are the same, the driven bevel gear is stationary at this time, and the shaft barrel 110 can rotate relative to the driving part due to the support of the bearing; The rotational speed of the driving bevel gear of a driving part 010 is set to V ₁ , and the rotational speed of the driving bevel gear of the second driving part 020 located on the right side of the rotating shaft cylinder 110 is set to V ₂ , and the rotating speed of the rotating shaft cylinder 110 is:

上述的位于第一驱动部件010输出轴上的主动锥齿轮与位于第二驱动部件020输出轴上的主动锥齿轮齿数相等；除此之外，两个主动锥齿轮的齿数也可以不相等；当两个主动锥齿轮的齿数不相等时，并且两个驱动部件的输出轴同轴设置时，可在第一传动机构的输出轴上设置两个从动锥齿轮，即两个主动锥齿轮分别与两个从动锥齿轮相啮合同样可传递运动和动力。Similarly, the steering and rotational speed of the driven bevel gear and the fixed shaft can be determined by the following formulas: the number of teeth of the driving bevel gear of the first driving part 010 is set as Z ₁ , and the number of teeth of the driving bevel gear of the second driving part 020 is set to be Z 1 . Z ₂ , the number of teeth of the driven bevel gear is set as Z ₃ , and the rotational speed of the driven bevel gear is set as V ₃ ; in the case of Z ₁ =Z ₂ , the rotational speed of the driven bevel gear is:

The above-mentioned driving bevel gear located on the output shaft of the first driving part 010 has the same number of teeth as the driving bevel gear located on the output shaft of the second driving part 020; in addition, the number of teeth of the two driving bevel gears may also be unequal; when When the number of teeth of the two driving bevel gears is not equal, and when the output shafts of the two driving components are coaxially arranged, two driven bevel gears can be arranged on the output shaft of the first transmission mechanism, that is, the two driving bevel gears are The meshing of the two driven bevel gears can also transmit motion and power.

The invention also discloses a robot, which includes a body and a limb structure. The limb structure of the robot includes parallel drive joints, a first limb, a second joint and a second limb 410 . The parallel drive joint, the first limb, the second joint and the second limb 410 are sequentially connected in series. The limb structure is used to connect with the body of the robot, and can be used for the leg structure of the footed robot or the arm structure of the robot.

In order to realize the connection between the robot body and the parallel drive joints, the limb structure may further include a U-shaped connection frame 170 for connecting the robot body and the parallel drive joints. The U-shaped connection frame 170 includes end bridges for connection with the body of the robot and fork-shaped side arms for connection with the first drive part 010 and the second drive part 020 . The end bridging part of the U-shaped connection frame 170 is flange-shaped, and can be connected with the body through the flange. The two left and right fork-shaped side arms of the U-shaped connecting frame 170 are correspondingly provided with through holes, and the casings 121 of the two driving components located at the two ends of the rotating shaft barrel 110 can pass through and be disposed in the through holes of the two fork-shaped side arms. In order to achieve fixing; the specific fixing method can be interference fit or gluing. In the first joint, the first limb can move synchronously with the shaft barrel 110, and can also rotate around its own axis; when the first limb moves synchronously with the shaft barrel 110, the movement limit position of the first limb is only limited by the U-shaped connection The limitation of the frame 170; therefore, when the size of the U-shaped connection frame 170 is sufficiently small, it can ensure that the first limb has a sufficiently large movement space.

The first limb may include a torsion shaft 210 that is jointly driven by the first drive part 010 and the second drive part 020 . Further, the axis of the torsion shaft 210 may be perpendicular to the axes of the output shafts of the two driving components, and the driven gear of the first transmission mechanism located inside the shaft barrel 110 of the parallel drive joint is fixed on the torsion shaft 210, or the torsion The shaft 210 is fixedly connected with the fixed shaft of the driven gear. The torsion shaft 210 is fixedly connected with the driven gear of the first transmission mechanism, so that the torsion shaft 210 can rotate around its own axis. Exemplarily, the torsion shaft 210 can be used as the fixed shaft of the driven gear of the first transmission mechanism; the end of the torsion shaft 210 protrudes into the rotation shaft cylinder 110 from the through hole in the side wall of the rotation shaft cylinder 110, and the torsion shaft 210 is connected to the driven gear. Fixed connection between gears.

In this limb structure, if the third bearing 163 and the first bearing 161 are provided between the rotating shaft barrel 110 and the casing 121 of the two driving components and the output gear, the rotating shaft barrel 110 can rotate relative to the two driving components at this time. , and the torsion shaft 210 can also move synchronously with the rotating shaft barrel 110 during the self-rotation process. The first limb may further include a first limb sleeve 220 and a flange, the flanges are sleeved on both ends of the torsion shaft 210, and the sleeve 220 is sleeved outside the flange. Further, the rotating shaft barrel 110 and the torsion shaft 210 are connected through the first flange 211 , the rotating shaft barrel 110 is provided with a flange structure at the through hole through which the torsion shaft 210 passes, and the flange on the end of the torsion shaft 210 and the rotating shaft barrel are sleeved. The flange structure of 110 is connected by screws or bolts, that is, the series connection of the first limb and the parallel drive joint is also realized. In order to realize the rotational support between the torsion shaft 210 and the first flange 211 , an eighth bearing 231 may also be installed between the torsion shaft 210 and the flange.

The second joint includes a rotating shaft 320. The axis of the rotating shaft 320 can be perpendicular to the axis of the torsion shaft 210. A second transmission mechanism is arranged between the rotating shaft 320 and the torsion shaft 210. The torsion shaft 210 drives the rotating shaft 320 around its own axis through the second transmission mechanism. rotate. The second transmission mechanism can be a bevel gear transmission, the bevel gear transmission includes a third driving bevel gear 332 and a second driven bevel gear 331 , and the third driving bevel gear 332 of the second transmission mechanism is fixed close to the torsion shaft 210 At one end of the second joint, the second driven bevel gear 331 is fixed on the rotating shaft 320 .

Further, the second joint may further include a U-shaped support frame 310 for supporting the rotating shaft 320, the U-shaped support frame 310 is used to realize the connection between the first limb and the second joint, and the U-shaped support frame 310 includes a U-shaped support frame 310 for connecting with the second joint. The end bridging portion where the end of the torsion shaft 210 is connected and the fork-shaped side arm for connecting with the rotating shaft 320 of the second joint. The end of the U-shaped support frame 310 is flange-shaped, the end of the torsion shaft 210 close to the second joint is sleeved with a second flange 212 , the second flange 212 outside the torsion shaft 210 and the end of the U-shaped support frame 310 The parts are connected by bolts or screws. A ninth bearing 232 may be disposed between the torsion shaft 210 and the flange to realize rotational support between the torsion shaft 210 and the flange. The two fork-shaped side arms of the U-shaped support frame 310 are provided with shaft holes for fixing the rotating shaft 320; the tenth bearing 341 and the eleventh bearing 342 for supporting the rotation of the rotating shaft 320 are provided between the rotating shaft 320 and the shaft hole. .

Further, the second limb 410 is fixedly connected with the rotating shaft 320 of the second joint, so that the second limb 410 and the rotating shaft 320 can move synchronously. The second limb 410 and the rotating shaft 320 can be connected by a U-shaped fixed frame, and the U-shaped fixed frame 420 also includes an end bridging part for connecting with the second limb 410 and a fork for connecting with the rotating shaft 320 of the second joint side arm. The end of the U-shaped fixing frame 420 is provided with a sleeve segment, the second limb 410 is fixed in the sleeve shaft hole, and the connection method can be interference fit, gluing, welding or the like. The two side arms of the U-shaped fixing frame 420 can be respectively connected with the two ends of the rotating shaft 320 by bolts or screws. Since the second limb 410 moves synchronously with the rotating shaft 320, the movement limit position of the second limb 410 is only limited by the U-shaped support frame 310; if the size of the U-shaped support frame 310 is small enough, the second limb 410 can be guaranteed The 410 has plenty of room for movement.

Further, the outside of the second joint has a joint protection cover 350 for protecting the second transmission mechanism. The joint protection cover 350 is connected with the U-shaped support frame 310 , and the second transmission mechanism is packaged in the cavity formed by the joint protection cover 350 and the U-shaped support frame 310 . The joint protection cover 350 not only improves the aesthetics of the second joint part, but also effectively prevents the wear of the second transmission mechanism caused by external particles.

Through the above embodiments, it can be found that the two driving components are respectively arranged at both ends of the rotating shaft barrel, and the rotor shaft of the motor is set as a hollow shaft structure, and the first-stage sun gear shaft of the planetary gear reducer is fixed on the transmission shaft of the rotor shaft. In the hole, under the premise of parallel driving, the overall size of the joint is reduced; in addition, the entire planetary gear reducer is integrated in the motor casing, which makes the structure of the driving joint more compact and further ensures that the robot has a relatively compact size. Limb structure.

In the present invention, features described and/or illustrated with respect to one embodiment may be used in the same or similar manner in one or more other embodiments, and/or in combination with or in place of features of other embodiments Features of the implementation.

The above-listed embodiments show and describe the basic principles and main features of the present invention, but the present invention is not limited by the above-mentioned embodiments. Those skilled in the art can make modifications to the present invention without creative work. Equivalent changes and modifications should all fall within the protection scope of the technical solutions of the present invention.

Claims (10)

1. A parallel driving joint for a super-dynamic bionic robot is characterized by comprising a rotating shaft cylinder and two driving parts, wherein the two driving parts are respectively arranged at two ends of the rotating shaft cylinder;

the driving part comprises a motor and one or more stages of planetary reducers, a rotor shaft of the motor is a hollow shaft, a first-stage sun gear shaft of each planetary reducer is positioned in a through hole of the hollow shaft, the first-stage sun gear shaft is fixedly connected with the rotor shaft, and an inner gear ring of each planetary reducer is fixed with a shell of the motor.

2. The parallel drive joint for the ultra-dynamic bionic robot as claimed in claim 1, wherein the output shafts of the two drive parts are coaxially arranged, and a first transmission mechanism is arranged between the output shafts of the two drive parts and the first limb.

3. The parallel drive joint for a hyper-dynamic biomimetic robot as in claim 2, wherein the first transmission mechanism is a bevel gear transmission comprising two drive bevel gears and one driven bevel gear;

the two driving bevel gears are respectively fixed on output shafts of the two driving parts, which are positioned in the rotating shaft barrel, and bearings are arranged between the driving bevel gears and the rotating shaft barrel so that the rotating shaft barrel can rotate relative to the driving parts;

the fixing shaft of the driven bevel gear extends to the outside of the rotating shaft barrel, and a bearing is arranged between the fixing shaft and the rotating shaft barrel so that the fixing shaft can rotate relative to the rotating shaft barrel.

4. The parallel drive joint for a hyper-dynamic biomimetic robot as recited in claim 3, wherein the two drive bevel gears have equal numbers of teeth.

5. The parallel drive joint for a hyper-dynamic biomimetic robot as claimed in any one of claims 1 to 4, wherein the planetary reducer is a secondary planetary reducer integrated within a housing of the motor.

6. The parallel drive joint for the ultra-dynamic bionic robot as claimed in claim 5, wherein the inner gear ring is a duplex inner gear ring, and the planet wheels of the planetary reducer are all meshed with the duplex inner gear ring.

7. The parallel drive joint for an ultra-dynamic bionic robot as claimed in claim 6, wherein the planetary reducer comprises a primary planet carrier and a secondary planet carrier, a secondary sun wheel shaft of the planetary reducer is coaxially arranged with the primary sun wheel shaft, and the secondary sun wheel shaft and the primary planet carrier rotate synchronously.

8. The parallel drive joint for the ultra-dynamic bionic robot as claimed in claim 7, wherein the primary planet carrier and the secondary planet carrier are both cage-shaped planet carriers, and a bearing is arranged between the cage-shaped planet carrier and the dual inner gear ring to realize the rotary support between the cage-shaped planet carrier and the dual inner gear ring.

9. The parallel drive joint for the ultra-dynamic bionic robot as claimed in claim 1, wherein the drive part further comprises an encoder support, an encoder and a magnetic column, the encoder is fixed on a shell of the motor through the encoder support, a hole is formed in an end of the primary sun gear shaft, and the magnetic column is fixed in the hole.

10. A robot comprising a robot body and a limb structure, wherein the limb structure comprises the parallel drive joint of any of claims 1 to 9, the limb structure further comprising:

a first limb connected in series with the parallel drive joint, the first limb including a torsion shaft that rotates in synchronization with a fixed shaft of the driven bevel gear;

the second joint is connected with the first limb in series and comprises a rotating shaft, the rotating shaft is vertical to the axis of the torsion shaft, and the torsion shaft drives the rotating shaft to rotate around the axis of the torsion shaft through a bevel gear transmission mechanism;

and the second limb is connected with the second joint in series and moves synchronously with the rotating shaft.

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