CN111409731B - Motor-driven two-degree-of-freedom robot joint assembly - Google Patents
Motor-driven two-degree-of-freedom robot joint assembly Download PDFInfo
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- CN111409731B CN111409731B CN202010186138.0A CN202010186138A CN111409731B CN 111409731 B CN111409731 B CN 111409731B CN 202010186138 A CN202010186138 A CN 202010186138A CN 111409731 B CN111409731 B CN 111409731B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
The invention discloses a motor-driven two-degree-of-freedom robot joint assembly, which comprises a first motor assembly, a speed reducing mechanism assembly and a second motor assembly, wherein the first motor assembly is connected with a first motor; the inner gear ring of the speed reducing mechanism assembly is rigidly connected with a second motor shell of the second motor assembly, the speed reducing mechanism assembly is connected to a first motor shell of the first motor assembly through a crossed roller bearing, and the speed reducing mechanism assembly can rotate relative to the first motor shell; the speed reducing mechanism assembly comprises two sets of planetary speed reducing gear trains which are respectively used for amplifying the output torque of the hip joint motor and the knee joint motor. The motor drives the robot joint assembly with two degrees of freedom, two groups of planetary reduction gear trains share one inner gear ring, and primary reduction is adopted, so that the structural complexity is obviously simplified, the robot joint has the advantages of better contradriving performance, simple and compact structure and the like, and the motor can be used for driving a quadruped robot and other motors to drive legged and legged robots.
Description
Technical Field
The invention relates to the technical field of motor-driven robot joints, in particular to a motor-driven two-degree-of-freedom robot joint assembly.
Background
Compared with a wheel and crawler movement mode, the leg and foot movement mode has the remarkable advantages of being suitable for complex terrains, flexible in movement, strong in obstacle crossing capability and the like, and is an ideal movement mode for working in a field non-structural environment. Various motor-driven four-legged robots have been developed by domestic and foreign research institutions, such as SPOT, Cheetah and Laikago, Chihare, etc. in the United states. To improve the flexibility and energy efficiency of the legged robot, the leg mass should be distributed as close to the torso as possible to reduce the leg inertia. For this reason, the driving motor at the knee joint of the quadruped robot is generally arranged at the hip joint and integrated with the hip joint driving motor to form a two-degree-of-freedom joint assembly.
Chinese patent document CN106904226A discloses a leg power system structure of an electrically driven quadruped robot, wherein knee joint and hip joint driving motors are coaxially arranged, a modular design is adopted, and the structure is relatively independent. Chinese patent document CN109941369A discloses a two-degree-of-freedom joint assembly with two sets of motors arranged in parallel and a stator fixed relatively, so that the lead-out wires of the knee joint motor do not swing back and forth with the movement of the hip joint. The two inventions effectively reduce the rotational inertia of the leg of the quadruped robot, but the structure is more complex.
Disclosure of Invention
The invention aims to provide a motor-driven two-degree-of-freedom robot joint assembly to solve the problems in the prior art, and the joint assembly has the characteristics of simpler structure, good dynamic property and contradriving property and strong external impact resistance.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a motor-driven two-degree-of-freedom robot joint assembly, which comprises a first motor assembly, a speed reducing mechanism assembly and a second motor assembly, wherein the first motor assembly is connected with the speed reducing mechanism assembly; the inner gear ring of the speed reducing mechanism assembly is rigidly connected with a second motor shell of the second motor assembly, the speed reducing mechanism assembly is connected to a first motor shell of the first motor assembly through a crossed roller bearing, and the speed reducing mechanism assembly can rotate relative to the first motor shell; the speed reducing mechanism assembly comprises two sets of planetary speed reducing gear trains, and the two sets of planetary speed reducing gear trains are respectively used for amplifying the output torque of the hip joint motor and the knee joint motor.
Preferably, the first motor assembly comprises a first motor housing, a motor stator, a motor rotor and a first motor rotating shaft; the motor stator is installed in the first motor shell, the motor rotor is fixed on the first motor rotating shaft, and the first motor rotating shaft is fixed on the first motor shell and the end cover through a bearing.
Preferably, the first motor assembly further comprises a first motor encoder magnetic ring and a first motor encoder reading head, and the first motor encoder magnetic ring is fixed at the end part of the first motor rotating shaft through a strong adhesive; the first motor encoder reading head is fixed on the first motor end cover and is coaxially arranged with the first motor encoder magnetic ring.
Preferably, the first motor assembly further comprises a first motor impeller and a first motor impeller cover, the first motor impeller is fixed on the first motor rotating shaft and the impeller cover through an impeller driving shaft, and the first motor impeller rotates along with the first motor rotating shaft.
Preferably, the speed reducing mechanism assembly comprises an inner gear ring, a connecting sleeve, a planet carrier, a planet wheel and a sun wheel; the inner gear ring and the connecting sleeve are connected to the inner ring of the crossed roller bearing in a matching manner and fixed on the first motor shell through the crossed roller bearing, and the inner gear ring can rotate relative to the first motor shell; the inner gear ring is internally provided with two groups of planetary reduction gear trains, wherein a planetary wheel shaft of the first group of planetary reduction gear trains is fixed on the end surface of the first motor shell, a planetary carrier of the second group of planetary gear trains is fixed on the second motor shell and a second motor rotating shaft through two bearings, a sun wheel of the first group of planetary gear trains is fixedly connected with the first motor rotating shaft, and a sun wheel of the second group of planetary gear trains is fixedly connected with the second motor rotating shaft; the pull rod driving the knee joint to move is connected with the planet carrier of the second planetary gear train through a bearing.
Preferably, the second motor assembly includes a second motor housing, a second motor stator, a second motor rotor, and a second motor shaft; the second motor shell is rigidly connected to the connecting sleeve of the speed reducing mechanism assembly and rotates relative to the first motor shell together with the connecting sleeve; the second motor stator is installed in the second motor shell, the second motor rotor is fixed on the second motor rotating shaft, and the second motor rotating shaft is fixed on the second motor shell and the end cover through a bearing.
Preferably, the second motor assembly further comprises a second motor encoder magnetic ring and a second motor encoder reading head, the second motor encoder magnetic ring is fixed at the end of the second motor rotating shaft through a strong glue, and the second motor encoder reading head is fixed on a second motor end cover and is coaxially arranged with the second motor encoder magnetic ring.
Preferably, the second motor assembly further comprises a second motor impeller and a second motor impeller cover, and the second motor impeller is fixed on the second motor rotating shaft and the impeller cover through an impeller driving shaft and rotates together with the second motor rotating shaft.
Compared with the prior art, the invention has the following technical effects:
the motor drives the robot joint assembly with two degrees of freedom, two groups of planetary reduction gear trains share one inner gear ring, and 1-level reduction is adopted, so that the structural complexity is obviously simplified, the robot joint has the advantages of better contradriving property, simple and compact structure and the like, and the motor can be used for driving a quadruped robot and other motors to drive legged and legged robots.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is an external view of the present invention;
FIG. 2 is a schematic diagram of the components and operation of the present invention;
in the figure: the device comprises a first motor assembly, a second motor assembly, a speed reducing mechanism assembly, a third motor assembly, a second motor assembly, 1, a cross roller bearing, 2, a first motor shell, 3, a motor stator, 4, a motor rotor, 5, a first motor rotating shaft, 6, a bearing, 7, an end cover, 8, an impeller cover, 9, an impeller, 10, an impeller retainer ring, 11, a bearing, 12, an impeller driving shaft, 13, a shaft end, 14, an encoder reading head, 15, an encoder magnetic ring, 16, a sun gear, 17, a bearing, 18, a planet gear, 19, a needle bearing, 20, a planet carrier, 21, a pull rod, 22, a bearing, 23, a spacer sleeve, 24, a second motor rotating shaft, 25, a second motor shell, 26, an elastic retainer ring, 27, a bearing, 28, a connecting sleeve, 29, an inner gear ring, 30 and a bearing retainer ring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a motor-driven two-degree-of-freedom robot joint assembly to solve the problems in the prior art, and the joint assembly has the characteristics of simpler structure, good dynamic property and contradriving property and strong external impact resistance.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-2, the present invention provides a motor-driven two-degree-of-freedom robot joint assembly, which includes a first motor assembly i, a speed reduction mechanism assembly ii, and a second motor assembly iii; the inner gear ring 29 of the speed reducing mechanism assembly II is rigidly connected with the second motor shell 25, is connected to the first motor shell 2 through the crossed roller bearing 1 and can rotate relative to the first motor shell 2; the speed reducing mechanism assembly II comprises 2 sets of planetary speed reducing gear trains, and amplification of output torque of hip joint and knee joint motors is achieved.
The first motor assembly I comprises a first motor shell 2, a motor stator 3, a motor rotor 4, a first motor rotating shaft 5, a first motor encoder magnetic ring 15, a first motor encoder reading head 14, a first motor impeller 9, a first motor impeller cover 8 and the like. The motor stator 3 is arranged in the first motor shell 2, the motor rotor 4 is fixed on the first motor rotating shaft 5, and the first motor rotating shaft 5 is fixed on the first motor shell 2 and the end cover 7 through the bearing 6 and the bearing 17; the first motor encoder magnetic ring 15 is fixed at the end part of the first motor rotating shaft 5 through a strong glue, and the first motor encoder reading head 14 is fixed on the first motor end cover 7, is coaxial with the first motor encoder magnetic ring 15 and keeps a proper distance, and is used for measuring the absolute angular displacement of the first motor rotating shaft 5; the first motor impeller 9 is fixed on the first motor rotating shaft 5 and the impeller cover 8 through an impeller driving shaft 12 and a shaft end 13, rotates along with the first motor rotating shaft 5, dissipates heat of a winding of the motor stator 3, and is fixed on the impeller driving shaft 12 through an impeller retaining ring 10 and a bearing 11.
The speed reducing mechanism assembly II comprises an inner gear ring 29, a connecting sleeve 28, a planet carrier 20, a planet wheel 18, a sun wheel 16 and the like. The inner gear ring 29 is connected with the inner ring of the crossed roller bearing 1 in a matching way with the connecting sleeve 28, is fixed on the first motor shell 2 through the crossed roller bearing 1 and the bearing retainer ring 30, and can rotate relative to the first motor shell 2; the inner gear ring 29 is internally provided with two groups of planetary reduction gear trains, wherein the planetary gear shafts of the first group of planetary reduction gear trains are fixed on the end surface of the first motor shell 2, the planet carrier 20 of the second group of planetary gear trains is fixed on the second motor shell 25 and the second motor rotating shaft 24 through a bearing 17 and a bearing 22, the sun gear 16 of the first group of planetary gear trains is fixedly connected with the first motor rotating shaft 5, the sun gear 16 of the second group of planetary gear trains is fixedly connected with the second motor rotating shaft 24, and the needle bearings 19 are arranged between the planetary gear 18 and the planetary gear shafts; the pull rod 21 driving the knee joint to move is connected with the pin shaft of the planet carrier 20 of the second planetary gear train through a bearing 27.
The second motor assembly iii includes a second motor housing 25, a second motor stator, a second motor rotor, a second motor shaft 24, a second motor encoder magnetic ring 15, a second motor encoder reading head 14, a second motor impeller 9, a second motor impeller cover 8, and the like. The second motor shell 25 is rigidly connected to a connecting sleeve 28 of the speed reducing mechanism assembly II I and rotates together with the connecting sleeve 28 relative to the first motor shell 2; the second motor stator is arranged in a second motor shell 25, a second motor rotor is fixed on a second motor rotating shaft 24, and the second motor rotating shaft 24 is fixed on the second motor shell 25 and an end cover 7 through a bearing 6 and a bearing 17; the second motor encoder magnetic ring 15 is fixed at the end part of the second motor rotating shaft 24 through a strong glue, and the second motor encoder reading head 14 is fixed on the second motor end cover 7, is coaxial with the second motor encoder magnetic ring 15 and keeps a proper distance, and is used for measuring absolute angular displacement of the second motor rotating shaft 24; the second motor impeller 9 is fixed on the second motor rotating shaft 24 and the impeller cover 8 through the impeller driving shaft 12, rotates along with the second motor rotating shaft 24, dissipates heat of a winding of a second motor stator, and the impeller 9 is fixed on the impeller driving shaft 12 through the impeller retaining ring 10 and the bearing 11.
The working process of the robot joint assembly is as follows:
the first motor shell 2 is fixed on a frame or other movable components, and the motor stator 3, the end cover 7, the impeller cover 8, the encoder reading head 14 and the planet carrier of the first set of planetary reduction gear train are all directly or indirectly rigidly fixed on the first motor shell 2; the motor rotor 4, the sun gear 16 of the first group of planetary reduction gear trains, the shaft end 13, the encoder magnetic ring 15, the impeller 9 and the impeller driving shaft 12 are directly or indirectly rigidly fixed on the first motor rotating shaft 5, and further are arranged on the first motor shell 2 through a bearing 6, a bearing 17 and a bearing 11 and can rotate relative to the first motor shell 2; the first motor rotating shaft 5 can rotate relatively to the first motor shell 2 under the driving and control of an external electrical system, and the relative rotation angle displacement is fed back to the external electrical system through the reading head 14 of the encoder, so that the accurate control of the motion law of the first motor rotating shaft 5 is realized.
The inner gear ring 29 and the second motor housing 25 are rigidly fixed on the connecting sleeve 28 and are mounted on the first motor housing 2 through the cross roller bearing 1, and when the first motor assembly works, the sun gear 16 connected with the first motor rotating shaft 5 drives the inner gear ring 29, the connecting sleeve 28 rigidly connected with the inner gear ring and the second motor housing 25 to rotate together relative to the first motor housing 2 through the first group of planet gears 18, so as to drive the first group of mechanical arm levers or leg-foot type robot leg members rigidly connected with the connecting sleeve 28.
The second motor stator, the end cover 7, the impeller cover 8 and the encoder reading head 14 are all directly or indirectly rigidly fixed on the second motor shell; the second motor rotor, the sun gear 16 of the second set of planetary reduction gear train, the shaft end 13, the encoder magnetic ring 15, the impeller 9 and the impeller driving shaft 12 are all directly or indirectly rigidly fixed on a second motor rotating shaft 24, and further are arranged on a second motor shell 25 through a bearing 6, a bearing 17 and a bearing 11 and can rotate relative to the second motor shell 25; the second motor rotating shaft 24 can rotate relatively to the second motor shell 25 under the driving and control of an external electrical system, and the relative rotation angle displacement is fed back to the external electrical system through the encoder reading head 14, so that the accurate control of the motion law of the second motor rotating shaft 24 is realized.
The planet carrier 20 of the second set of planetary reduction gear train is mounted on a second motor rotating shaft 24 and a second motor shell 25 through a bearing 17 and a bearing 22, and when the second motor assembly works, the sun gear 16 connected with the second motor shaft 24 drives the planet carrier 20 to rotate, so that a pull rod 21 connected with a pin shaft on the planet carrier 20 through a bearing 27 is driven to move, and the second set of mechanical arm lever or leg-foot robot leg component movably connected with the first set is indirectly driven.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (5)
1. A motor-driven two-degree-of-freedom robot joint assembly is characterized in that: the motor comprises a first motor assembly, a speed reducing mechanism assembly and a second motor assembly; the inner gear ring of the speed reducing mechanism assembly is rigidly connected with a second motor shell of the second motor assembly, the speed reducing mechanism assembly is connected to a first motor shell of the first motor assembly through a crossed roller bearing, and the speed reducing mechanism assembly can rotate relative to the first motor shell; the speed reducing mechanism assembly comprises two sets of planetary speed reducing gear trains which are respectively used for amplifying the output torque of the hip joint motor and the knee joint motor;
the first motor assembly comprises a first motor shell, a motor stator, a motor rotor and a first motor rotating shaft; the motor stator is arranged in the first motor shell, the motor rotor is fixed on the first motor rotating shaft, and the first motor rotating shaft is fixed on the first motor shell and the end cover through a bearing;
the speed reducing mechanism assembly comprises an inner gear ring, a connecting sleeve, a planet carrier, a planet wheel and a sun wheel; the inner gear ring and the connecting sleeve are connected to the inner ring of the crossed roller bearing in a matching manner and fixed on the first motor shell through the crossed roller bearing, and the inner gear ring can rotate relative to the first motor shell; the inner gear ring is internally provided with two groups of planetary reduction gear trains, wherein a planetary wheel shaft of the first group of planetary reduction gear trains is fixed on the end surface of the first motor shell, a planetary carrier of the second group of planetary gear trains is fixed on the second motor shell and a second motor rotating shaft through two bearings, a sun wheel of the first group of planetary gear trains is fixedly connected with the first motor rotating shaft, and a sun wheel of the second group of planetary gear trains is fixedly connected with the second motor rotating shaft; the pull rod driving the knee joint to move is connected with a planet carrier of the second planetary gear train through a bearing;
the second motor assembly comprises a second motor shell, a second motor stator, a second motor rotor and a second motor rotating shaft; the second motor shell is rigidly connected to the connecting sleeve of the speed reducing mechanism assembly and rotates relative to the first motor shell together with the connecting sleeve; the second motor stator is installed in the second motor shell, the second motor rotor is fixed on the second motor rotating shaft, and the second motor rotating shaft is fixed on the second motor shell and the end cover through a bearing.
2. The motor-driven two-degree-of-freedom robot joint assembly of claim 1, wherein: the first motor assembly further comprises a first motor encoder magnetic ring and a first motor encoder reading head, and the first motor encoder magnetic ring is fixed at the end part of the first motor rotating shaft through a strong adhesive; the first motor encoder reading head is fixed on the first motor end cover and is coaxially arranged with the first motor encoder magnetic ring.
3. The motor-driven two-degree-of-freedom robot joint assembly according to claim 2, wherein: the first motor assembly further comprises a first motor impeller and a first motor impeller cover, the first motor impeller is fixed on the first motor rotating shaft and the impeller cover through an impeller driving shaft, and the first motor impeller rotates along with the first motor rotating shaft.
4. The motor-driven two-degree-of-freedom robot joint assembly of claim 1, wherein: the second motor assembly further comprises a second motor encoder magnetic ring and a second motor encoder reading head, the second motor encoder magnetic ring is fixed at the end of the second motor rotating shaft through a strong glue, and the second motor encoder reading head is fixed on a second motor end cover and is coaxial with the second motor encoder magnetic ring.
5. The motor-driven two degree-of-freedom robot joint assembly of claim 4, wherein: the second motor assembly further comprises a second motor impeller and a second motor impeller cover, and the second motor impeller is fixed on the second motor rotating shaft and the impeller cover through an impeller driving shaft and rotates along with the second motor rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010186138.0A CN111409731B (en) | 2020-03-17 | 2020-03-17 | Motor-driven two-degree-of-freedom robot joint assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010186138.0A CN111409731B (en) | 2020-03-17 | 2020-03-17 | Motor-driven two-degree-of-freedom robot joint assembly |
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| CN111409731A CN111409731A (en) | 2020-07-14 |
| CN111409731B true CN111409731B (en) | 2021-03-16 |
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| CN202010186138.0A Active CN111409731B (en) | 2020-03-17 | 2020-03-17 | Motor-driven two-degree-of-freedom robot joint assembly |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003278848A (en) * | 2002-03-26 | 2003-10-02 | Sumitomo Heavy Ind Ltd | Reduction gear and geared motor |
| CN106514702A (en) * | 2017-01-13 | 2017-03-22 | 山东大学 | Single shaft and two-degree-of-freedom robot joint |
| CN106904226A (en) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN110834325A (en) * | 2019-09-30 | 2020-02-25 | 中国北方车辆研究所 | Two-stage planetary transmission robot joint body driver |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITTO20110848A1 (en) * | 2011-09-23 | 2013-03-24 | Fond Istituto Italiano Di Tecnologia | ELASTIC ROTARY ACTUATOR. |
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2020
- 2020-03-17 CN CN202010186138.0A patent/CN111409731B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003278848A (en) * | 2002-03-26 | 2003-10-02 | Sumitomo Heavy Ind Ltd | Reduction gear and geared motor |
| CN106514702A (en) * | 2017-01-13 | 2017-03-22 | 山东大学 | Single shaft and two-degree-of-freedom robot joint |
| CN106904226A (en) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | A kind of leg power system architecture of electric drive quadruped robot |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN110834325A (en) * | 2019-09-30 | 2020-02-25 | 中国北方车辆研究所 | Two-stage planetary transmission robot joint body driver |
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| CN111409731A (en) | 2020-07-14 |
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Effective date of registration: 20230509 Address after: 250101 room 2105, building 3, Aosheng building, No. 1166 Xinluo street, Jinan area, China (Shandong) pilot Free Trade Zone, Jinan City, Shandong Province Patentee after: SHANDONG YOUBAOTE INTELLIGENT ROBOT CO.,LTD. Address before: 250061, No. ten, No. 17923, Lixia District, Ji'nan City, Shandong Province Patentee before: SHANDONG University |