CN111645773A - Leg assembly of multi-legged robot - Google Patents
Leg assembly of multi-legged robot Download PDFInfo
- Publication number
- CN111645773A CN111645773A CN201910161184.2A CN201910161184A CN111645773A CN 111645773 A CN111645773 A CN 111645773A CN 201910161184 A CN201910161184 A CN 201910161184A CN 111645773 A CN111645773 A CN 111645773A
- Authority
- CN
- China
- Prior art keywords
- motor
- speed reducer
- steering engine
- shell
- output shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 117
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 229910000831 Steel Inorganic materials 0.000 claims description 17
- 230000000670 limiting effect Effects 0.000 claims description 17
- 239000010959 steel Substances 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 7
- 238000003491 array Methods 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 description 17
- 230000033001 locomotion Effects 0.000 description 15
- 230000009467 reduction Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 229910000838 Al alloy Inorganic materials 0.000 description 4
- 230000006698 induction Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000004323 axial length Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 210000000689 upper leg Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009835 boiling Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
Abstract
A multi-legged robot leg assembly comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and a shank support, wherein the first steering engine comprises a first motor and a first speed reducer which are assembled and connected, the second steering engine comprises a second motor and a second speed reducer which are assembled and connected, the third steering engine comprises a third motor and a screw rod mechanism which are assembled and connected, the first motor, the second motor and the third motor respectively comprise a motor shell and a motor output shaft, a Hall array coding chip is fixedly arranged at the center of the rear end of the motor shell, and a Hall magnet is fixedly arranged at the rear end of the motor output shaft; the second motor is arranged at the output end of the first speed reducer, the axial direction of the second motor is perpendicular to the axial direction of the first motor, the third motor is arranged at the output end of the second speed reducer, the axial direction of the third motor is perpendicular to the axial direction of the second motor, and the driving end of the screw rod mechanism is connected with the shank support through a crankshaft connecting rod mechanism. The joint has accurate output position and compact structure.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-legged robot leg assembly.
Background
The domestic service robot industry mainly takes low-end products as main materials, adopts a scheme of four wheels and a flat plate, seriously influences the international competitiveness of the domestic robot industry, adopts a four-wheel drive scheme only suitable for indoor environment, even cannot be completely suitable for the indoor environment due to wheel type structure limitation, so the advantages of a foot type robot are shown, adopts a structural scheme of a BLDC 3 Hall motor and a planetary reducer for a thigh X-axis Y-axis steering engine of a domestic large-scale multi-legged robot more than 20 kilograms at present in structural design, has large single-step error of the motor and poor precision of the planetary reducer, and can not be compared with the international products of high-precision vector electromagnetic control consisting of encoders due to the fact that the axial length of the motor is obviously increased by a common motor rotor position monitoring part, so that the problem of large size is solved. The shank structural design also adopts simple planet drive and curved shaft lever drive, and the precision can not improve.
Disclosure of Invention
In order to solve the problems, the invention provides the multi-legged robot leg assembly which is accurate in joint output position, compact in structure, small in error and small in size.
In order to achieve the purpose, the invention adopts the technical scheme that: a multi-legged robot leg assembly comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and a shank support, wherein the first steering engine comprises a first motor and a first speed reducer which are assembled and connected, the second steering engine comprises a second motor and a second speed reducer which are assembled and connected, the third steering engine comprises a third motor and a lead screw mechanism which are assembled and connected, the first motor, the second motor and the third motor respectively comprise a motor shell and a motor output shaft, the motor output shaft is rotatably arranged on a central axis of the motor shell, a Hall array coding chip is fixedly arranged at the center of the rear end of the motor shell, Hall arrays distributed in an annular mode are arranged on the Hall array coding chip, and Hall magnets are fixedly arranged at the rear end of the motor output shaft; the motor output shaft of the first motor is connected with the input end of the first speed reducer, the motor output shaft of the second motor is connected with the input end of the second speed reducer, and the motor output shaft of the third motor is connected with the input end of the screw rod mechanism; the output of first speed reducer is located to the second motor, and the axial of second motor is perpendicular with the axial of first motor, the output of second speed reducer is located to the third motor, and the axial of third motor is perpendicular with the axial of second motor, screw mechanism's drive end passes through crankshaft link mechanism and is connected and drive shank support and rotate with shank support.
Preferably, the first motor, the second motor and the third motor are all sine wave brushless servo motors, and the first speed reducer and the second speed reducer are all harmonic speed reducers.
Preferably, the first speed reducer and the second speed reducer both comprise speed reducer shells, flexible bearings, a wave generator, a flexible gear and a steel gear, the speed reducer shells are fixedly connected with the front ends of the motor shells, the wave generator is sleeved on the surface of an output shaft of the motor, the flexible gear is sleeved on the surface of the wave generator through the flexible bearings, the steel gear is fixedly arranged on the speed reducer shells, and the flexible gear is meshed with the steel gear.
Preferably, the flexible gear is connected with an output flange plate through a crossed roller bearing, the second motor is connected with the output flange plate of the first speed reducer, and the third motor is connected with the output flange plate of the second speed reducer.
Preferably, the screw mechanism includes a screw housing, a screw nut, and a torque output rod, the screw housing is fixedly connected to a motor housing of the third motor, the screw is rotatably disposed in the screw housing, a motor output shaft of the third motor is drivingly connected to the screw, the screw nut is sleeved on the surface of the screw, the torque output rod is of a hollow structure, the torque output rod is sleeved on the outer side of the screw and is fixedly connected to the screw nut, and the torque output rod is slidably connected to the screw housing and extends to the outside of the screw housing.
Preferably, the crankshaft connecting rod mechanism comprises a connector and a connecting rod shaft, one end of the shank support is a connecting end, the other end of the shank support is a free end, one end of the connector is fixedly connected with the screw rod shell, the other end of the connector is hinged to the position between the two ends of the shank support, one end of the connecting rod shaft is hinged to the torque output shaft, and the other end of the connecting rod shaft is hinged to the connecting end of the shank support.
Preferably, the free end of the shank support is further provided with a plantar pressure sensor and a foot elastic structure in sequence, and the foot elastic structure is connected with the detection end of the plantar pressure sensor.
Preferably, the near end and the far end of the torque output rod, which are located in the screw rod shell, are sleeved with piston sliding rings, and the piston sliding rings are in sliding fit with the inner wall of the screw rod shell.
Preferably, the output flange of the first speed reducer is fixedly connected with the second motor through a cascade frame, and a limiting block used for limiting the rotation angle of the cascade frame is arranged at the end of the first speed reducer.
In order to realize the aim, the invention also provides another multi-legged robot leg assembly, which comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and a shank bracket, the first steering engine comprises a first motor and a first speed reducer which are assembled and connected, the second steering engine comprises a second motor and a second speed reducer which are assembled and connected, the third steering engine comprises a third motor and a screw rod mechanism which are assembled and connected, the first motor, the second motor and the third motor respectively comprise a motor shell and a motor output shaft, the output shaft of the motor is rotationally arranged on the central axis of the motor shell, the centers of the rear ends of the motor shells of the first motor and the second motor are fixedly provided with Hall array coding chips, the Hall array coding chip is provided with Hall arrays distributed annularly, and the rear ends of the motor output shafts of the first motor and the second motor are fixedly provided with Hall magnets; the motor output shaft of the first motor is connected with the input end of the first speed reducer, the motor output shaft of the second motor is connected with the input end of the second speed reducer, and the motor output shaft of the third motor is connected with the input end of the screw rod mechanism; the output of first speed reducer is located to the second motor, and the axial of second motor and the axial of first motor are perpendicular, the output of second speed reducer is located to the third motor, and the axial of third motor and the axial of second motor are perpendicular, screw rod mechanism's drive end passes through bent axle link mechanism and shank leg support connection and drives shank support rotation, be equipped with on the bent axle link mechanism and be used for measuring shank support rotation information's angle encoder.
The invention has the beneficial effects that: the steering engine adopts the built-in flat Hall array coding chip and the Hall magnet, the Hall magnet rotates along with the output shaft of the motor, so that the annular Hall array in the Hall array coding chip can pass through a magnetic field generated by the Hall magnet, the Hall array coding chip can calculate the mechanical position of the rotor relative to the Hall array coding chip according to the induction signal of the Hall array, the angle of the rotor relative to the stator is obtained through the mechanical structure and software algorithm cooperation, the absolute angle information of the joint is analyzed, and the output angle is accurate. And through this compact structural design, showing the axle head size of having shortened the steering wheel, can reduce the volume and the weight of steering wheel, the miniaturization of the shank assembly of being convenient for.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic cross-sectional view of a first steering engine and a second steering engine of the present invention;
FIG. 3 is a schematic structural diagram of a second steering engine according to the present invention;
FIG. 4 is a top view of a second steering engine of the present invention;
FIG. 5 is a schematic cross-sectional view taken along line A-A of FIG. 4;
FIG. 6 is a schematic view of a connection structure between an output flange of a second steering engine and a second motor according to the present invention;
FIG. 7 is a schematic cross-sectional view of a third steering engine of the present invention.
The reference numbers illustrate:
1-a first steering engine; 2-a second steering engine; 3-a third steering engine; 4-crankshaft connecting rod mechanism; 5-a shank support; 6-a cascade frame;
11-a first electric machine; 12-a first reducer; 21-a second motor; 22-a second reducer; 31-a third motor; 32-a screw mechanism;
121-a limiting block;
211-motor front cover; 212-motor housing; 213-motor rear end cap; 2131-outlet holes; 214-a motor output shaft; 215-a stator; 216-a rotor; 2161-rotor bearing; 217-Hall array coding chip; 218-a hall magnet; 2191-concentric connecting rings; 2192-first pre-tightening screw; 2193-second pre-tightening screw;
221-reducer housing; 222-a compliant bearing; 223-a wave generator; 224-a flexspline; 2241-gear ring; 225-steel wheel; 226-crossed roller bearings; 2261-fixing holes; 227-flexspline hold down cap; 228-output hold-down screws; 229-a limit groove;
231-an output flange plate; 232-bumps; 233-mounting holes; 234-flange locking screw holes; 235-a latch pin hole;
321-a screw rod shell; 322-a screw mandrel; 323-screw nut; 324-a torque output rod; 325-piston slip ring; 326-fixed bearing; 327-aligning slide block;
41-a connector; 42-connecting rod shaft; 411-connecting piece; 412-a connecting disc;
51-plantar pressure sensors; 52-an angle encoder; 53-pivot point;
61-circular ring support.
Detailed Description
Example one
Referring to fig. 1-2, the present invention relates to a leg assembly of a multi-legged robot, which is characterized in that: the steering mechanism comprises a first steering engine 1, a second steering engine 2, a third steering engine 3, a crankshaft connecting rod mechanism 4 and a shank support 5, wherein the first steering engine 1 comprises a first motor 11 and a first speed reducer 12 which are assembled and connected, the second steering engine 2 comprises a second motor 21 and a second speed reducer 22 which are assembled and connected, the third steering engine 3 comprises a third motor 31 and a screw rod mechanism 32 which are assembled and connected, please refer to fig. 5, the first motor 11, the second motor 21 and the third motor 31 all comprise motor housings and motor output shafts 214, the motor output shafts 214 are rotatably arranged on a central axis of the motor housings, hall array coding chips 217 are fixedly arranged at the centers of the rear ends of the motor housings, hall arrays distributed in an annular shape are arranged on the hall array coding chips 217, and hall magnets 218 are fixedly arranged at the rear ends of the motor output shafts 214; the motor output shaft 214 of the first motor 11 is connected with the input end of the first speed reducer 12, the motor output shaft 214 of the second motor 21 is connected with the input end of the second speed reducer 22, and the motor output shaft 214 of the third motor 31 is connected with the input end of the screw rod mechanism 32; the second motor 21 is arranged at the output end of the first speed reducer 12, the axial direction of the second motor 21 is perpendicular to the axial direction of the first motor 11, the third motor 31 is arranged at the output end of the second speed reducer 22, the axial direction of the third motor 31 is perpendicular to the axial direction of the second motor 21, and the driving end of the screw rod mechanism 32 is connected with the shank support 5 through the crankshaft connecting rod mechanism 4 and drives the shank support 5 to rotate.
In this embodiment, the first motor 11 is assembled and connected to the first speed reducer 12, and the central axis of the first motor 11 coincides with the central axis of the first speed reducer 12. The second motor 21 is assembled and connected with the second speed reducer 22, and the central axis of the second motor 21 coincides with the central axis of the second speed reducer 22. The third motor 31 is assembled with the screw mechanism 32, and the central axis of the third motor 31 coincides with the central axis of the screw mechanism 32.
It should be noted that, for each steering engine, the front end of the motor housing refers to one end of the motor housing connected to the speed reducer (or the screw mechanism 32), and correspondingly, the rear end of the motor housing refers to the other end opposite to the front end of the motor housing. Wherein, the rear end of the motor shell of the first motor 11 is connected with the body part of the multi-legged robot.
Referring to fig. 3-5, the working principle of the first steering engine 1 and the second steering engine 2 will be described in detail below by taking the second steering engine 2 as an example (wherein, the internal structures and working principles of the first motor 11 and the second motor 21 are the same, and the internal structures and working principles of the first speed reducer 12 and the second speed reducer 22 are the same, and the description thereof is not repeated here). The motor casing includes motor front end housing 211, motor housing 212, motor rear end housing 213, motor front end housing 211 and motor rear end housing 213 cover the front and back both ends of locating motor housing 212 respectively, the speed reducer sets firmly on motor front end housing 211, motor output shaft 214 is located on the central axis of motor housing 212 and is rotated with motor front end housing 211 and motor rear end housing 213 respectively and be connected, the front end of motor output shaft 214 extends to in the speed reducer and is connected with the input of speed reducer, rotor 216 sets firmly in motor output shaft 214's week side, stator 215 sets firmly in motor housing 212's inner wall.
In this embodiment, the hall array encoder chip 217 is fixed in the center of the inner surface of the motor rear end cover 213 through the locking cover, the motor rear end cover 213 is provided with a wire outlet 2131, the rotor 216 outside the motor output shaft 214 is rotatably connected with the motor front end cover 211 and the motor rear end cover 213 through the rotor bearing 2161, and the front and rear rotor bearings 2161 ensure a uniform stable magnetic field space between the rotor 216 and the stator 215. The Hall array coding chip 217 and the Hall magnet are compressed within 5-8 mm, and the axial size is only one half of that of a common photoelectric encoder.
The first steering engine 1 and the second steering engine 2 both adopt the built-in Hall array coding chip 217 and the Hall magnet 218, and can output Hall switch signals, as well as angle (A, B and Z encoder signals) of the rotor 216 relative to the stator 215 and absolute angle information of a joint (output flange plate 231).
The specific principle is as follows: the hall array coding chip 217 is fixed on the motor rear end cover 213 and is a static device, the rotor 216 of the motor is a relative motion device, a cylindrical hall magnet 218 is installed at one end of the motor output shaft 214 close to the motor rear end cover 213, the hall magnet 218 rotates along with the motor output shaft 214, so that the annular hall array in the hall array coding chip 217 passes through a magnetic field generated by the hall magnet 218, the hall array coding chip 217 can calculate the mechanical position (angle) of the rotor 216 relative to the hall array coding chip 217 according to the induction signals of the hall array, and simultaneously outputs hall switching signals. Because the stator 215 of the motor is connected with the motor rear end cover 213 through the motor housing 212, and can be regarded as a whole, the mechanical angle of the rotor 216 relative to the position of the stator 215 can be accurately read at any time through the hall array coding chip 217 within one circle of the rotation of the rotor 216.
However, this angle is not the final angle of the joint (output flange 231) due to the speed reduction action of the speed reducer, and can only represent the angle of the motor rotor 216 relative to the stator 215, whereas the motor output shaft 214 needs to rotate N revolutions (N > 1, related to the speed reduction ratio) within 0 to 180 degrees of the operation of the joint. Therefore, the hall array encoder chip 217 must record the number of turns of the motor output shaft 214, and then add the absolute angle of the motor rotor 216 relative to the stator 215 to convert the accurate mechanical angular position information of the joint (output flange 231).
Since the absolute position information of the joint is converted from the position information of the rotor 216 and the stator 215, and the rotor 216 moves periodically relative to the stator 215, a zero point needs to be determined at the beginning of recording the position of the rotor 216 relative to the stator 215. Therefore, the process of the hall array encoder chip 217 recording the mechanical angular position of the joint is as follows: after the system is powered on, if the absolute position of the joint is lost, the motor output shaft 214 is firstly enabled to move towards the mechanical limit direction at a low speed and a small moment, and when the absolute position of the joint is reached, the motor is locked. The position at this time is the theoretical zero-point mechanical position of the joint. However, if the mechanical position is taken as a reference zero point, the mechanical position is not accurate because the mechanical position may introduce errors due to uncertainty of mechanical deformation.
In this embodiment, after the output shaft 214 of the motor touches the mechanical limit position, the absolute position of the hall array encoder chip 217 is read, and the motor is then moved in the reverse direction several steps, leaving the mechanical limit position, and rotated to a specified hall reading, which is defined as the starting absolute zero phase of the stator 215 of the rotor 216 of the motor. Then the hall array coding chip 217 can know the number of rotations of the output shaft 214 of the motor at any time according to the induction signal of the hall array, and the accurate position (angle) of the joint can be accurately obtained by adding the number of rotations and the absolute position of the rotor 216 and the stator 215. By the determination method of the zero point, the accuracy of the joint position information output by the Hall array coding chip 217 is ensured.
The first steering engine 1 and the second steering engine 2 are simple in structure and convenient to install, and the absolute angle and relative increment information of the leg joints can be obtained without additionally introducing external zero position monitoring through the cooperation of the Hall array coding chip 217 and the Hall magnet 218 with the external mechanical origin position.
Referring to fig. 5, in a preferred embodiment of the present invention, the first motor 11, the second motor 21, and the third motor 31 are all sine wave brushless servo motors, and the first speed reducer 12 and the second speed reducer 22 are all harmonic speed reducers.
The traditional multi-legged robot mostly adopts a structural scheme of a BLDC 120-degree Hall motor and a planetary reducer, and the scheme has the problems of large single-step error of the motor and poor precision of the planetary reducer. In order to obtain enough torque, a common low-speed motor must use larger driving current, and the system generates heat seriously. Different from a low-speed motor with common design, the design adopts a scheme of increasing the reduction ratio of a high-speed large-torque motor, so that the invalid energy loss of joint parts is reduced to the minimum, and the heat dissipation problem is not required to be considered. The high-speed motor is matched with the harmonic speed reduction with a large reduction ratio, so that the system can obtain enough holding torque through small energy loss in a static standing mode without a brake device.
The steering wheel module in this embodiment adopts brushless chute sine wave motor and harmonic speed reducer machine scheme, and the motor part adopts the design of fraction chute stator 215 winding, and rotor 216 part adopts the design of high temperature resistant strong magnetism permanent magnet, effectively reduces the interbank shake, promotes the precision, is used in four-footed robot, and in the static mode of standing, required locking current is little, and the power module does not send out the boiling hot.
In a preferred embodiment of the present invention, each of the first speed reducer 12 and the second speed reducer 22 includes a speed reducer housing 221, a flexible bearing 222, a wave generator 223, a flexible gear 224, and a steel gear 225, the speed reducer housing 221 is fixedly connected to a front end of a motor housing, the wave generator 223 is sleeved on a surface of the motor output shaft 214, the flexible gear 224 is sleeved on a surface of the wave generator 223 through the flexible bearing 222, the steel gear 225 is fixedly arranged on the speed reducer housing 221, and the flexible gear 224 is engaged with the steel gear 225.
The working principle of the harmonic reducer is as follows: the rotor bearing 2161 transmits the high-speed rotation torque of the motor to the wave generator 223, and the wave generator 223 periodically deforms in a circumferential ellipse, causing the flexible bearing 222 to periodically deform in a radial ellipse, and the deformation is finally transmitted to the gear ring 2241 of the flexible gear 224. The flexible gear 224 and the toothed ring 2241 are periodically deformed under the action of the wave generator 223 and are continuously meshed with the steel gear 225. When the motor rotates for one circle, the flexible wheel 224 generates a periodic deformation, and after the flexible wheel 224 and the steel wheel 225 are continuously meshed, the flexible wheel 224 and the steel wheel 225 move relative to each other radially by a tooth difference to achieve a deceleration effect, and finally, the decelerated torque is output by the flexible wheel 224.
In a preferred embodiment of the present invention, the flexspline 224 is connected to an output flange 231 via a cross roller bearing 226, the second motor 21 is connected to the output flange 231 of the first reduction gear unit 12, and the third motor 31 is connected to the output flange 231 of the second reduction gear unit 22.
Because the flexspline 224 is a weak device and is relatively weak against axial impact forces, the use of cross roller bearings 226 is necessary to isolate the adverse impact between the end of the flexspline 224 and the load end, and the cross roller bearings 226 may improve the leg's resistance to impact. Two rows of mounting holes 233 are formed in the output flange 231, the next-stage component can be mounted on the output flange 231 by matching the mounting holes 233 with screws, and the torque output by the flexspline 224 is output to the next-stage component through the output flange 231.
Referring to fig. 3 to 5, in a preferred embodiment of the present invention, a concentric connection ring 2191 is disposed between the motor front end cover 211 and the steel wheel 225, the motor rear end cover 213, the motor housing 212, the motor front end cover 211, the concentric connection ring 2191, the steel wheel 225, and the reducer housing 221 are sequentially penetrated through by a first pre-tightening screw 2192, and the motor is fixedly connected to the reducer.
For the first steering engine 1 and the second steering engine 2, because the motor part and the speed reducer part are modularized independent units, in order to ensure the accurate position relation required by the combination of the two independent units, as for the concentricity, a concentric connecting ring 2191 (connecting steel ring) is specially designed, the connection positioning between the motor and the speed reducer and the requirement on the concentricity are met, and the axial force locking between the motor and the speed reducer is realized through a first pre-tightening screw 2192.
For the self part of the motor, a second pre-tightening screw 2193 sequentially penetrates through the motor rear end cover 213, the motor shell 212 and the motor front end cover 211, so that the axial force locking between the motor front end cover 211 and the motor rear end cover 213 is realized.
In a preferred embodiment of the present invention, the motor front cover 211, the concentric connection ring 2191, and the steel wheel 225 are inserted with pins in sequence.
For the first steering wheel 1 and the second steering wheel 2, the motor and the speed reducer are locked by the axial force of the first pre-tightening screw 2192, the motor and the speed reducer unit can generate radial torque when the load is stressed, if the radial torque is too large, the motor and the speed reducer can be caused to deflect radially, and the accuracy of final position output is influenced.
In a preferred embodiment of the present invention, the inner hole of the flexible gear 224 is provided with a flexible gear pressing cover 227, the outer ring of the crossed roller bearing 226 is fixed to the inner wall of the reducer housing 221 by a screw, the flexible gear pressing cover 227 and the inner ring of the crossed roller bearing 226 are sequentially penetrated by an output pressing screw 228, and the flexible gear 224 is fixedly connected to the inner ring of the crossed roller bearing 226. .
The output hold-down screw 228 and the flexspline hold-down cover 227 pre-tighten and combine the flexspline 224 and the inner ring of the cross roller bearing 226, and finally output the torque of the unit to the next stage through the output flange 231. The lower end of the flexible wheel pressing cover 227 is inserted into an inner hole of the crossed roller bearing 226, and the flexible wheel pressing cover 227 enlarges the pressing area and ensures the centering degree of the crossed roller bearing 226.
In a preferred embodiment of the present invention, pins are inserted into the flexspline hold-down cover 227 and the inner race of the cross roller bearing 226 in this order.
When the torque is too large during load or torque transmission, radial sliding is generated between the flexible wheel 224 and the inner ring of the crossed roller bearing 226, and the accuracy of the system is affected. Therefore, pins are inserted into the flexible wheel pressing cover 227 and the inner ring of the crossed roller bearing 226 in sequence, so that the relative sliding between the wheel pressing cover and the inner ring of the crossed roller bearing 226 is reduced, and the accuracy of the system is ensured.
Referring to fig. 5, in a preferred embodiment of the present invention, flange locking screws sequentially penetrate through the output flange 231 and the inner ring of the cross roller bearing 226, and the output flange 231 is fixedly connected to the inner ring of the cross roller bearing 226.
The output flange 231 serves as an intermediate member connecting the reducer output and the next stage. The output flange 231 is provided with a locking screw hole, the inner ring of the crossed roller bearing 226 is provided with a fixing hole 2261, and the flange locking screw is inserted into the locking screw hole and the fixing hole 2261 in sequence to fixedly connect the output flange 231 with the inner ring of the crossed roller bearing 226. The flange locking screw mainly plays a role in axial pre-tightening.
In a preferred embodiment of the present invention, a pin is inserted into the output flange 231 and the center of the inner ring of the cross roller bearing 226 in this order.
During load or torque transmission, if the torque is too large, the output flange 231 is not enough to ensure that the relative position is unchanged only by virtue of the axial pretightening force and the friction force generated between the output flange and the crossed roller bearing 226 of the speed reducer, and after the torque is too large, radial relative motion is generated, so that back clearance caused by radial sliding is generated from the speed reducer to the next stage, and the precision of the system is seriously influenced. Therefore, in the design, the stop pin holes 235 are formed in the center of the output flange 231 and the center of the inner ring of the crossed roller bearing 226, and the stop pins are sequentially inserted into the stop pin holes 235 of the output flange 231 and the inner ring of the crossed roller bearing 226, so that the problems are solved.
In a preferred embodiment of the present invention, the screw mechanism 32 includes a screw housing 321, a screw 322, a screw nut 323, and a torque output rod 324, the screw housing 321 is fixedly connected to a motor housing of the third motor 31, the screw 322 is rotatably disposed in the screw housing 321, a motor output shaft 214 of the third motor 31 is drivingly connected to the screw 322, the screw nut 323 is sleeved on a surface of the screw 322, the torque output rod 324 is a hollow structure, the torque output rod 324 is sleeved outside the screw 322 and is fixedly connected to the screw nut 323, and the torque output rod 324 is slidably connected to the screw housing 321 and extends to an outside of the screw housing 321.
Referring to fig. 7, the internal structure and the working principle of the third steering engine 3 are described in detail as follows:
the internal structure of the third motor 31 is the same as that of the first motor 11. The motor shell comprises a motor front end cover 211, a motor shell 212 and a motor rear end cover 213, the motor front end cover 211 and the motor rear end cover 213 are respectively covered at the front end and the rear end of the motor shell 212, the screw rod shell 321 is fixedly arranged on the motor front end cover 211, the motor output shaft 214 is arranged on the central axis of the motor shell 212 and is respectively connected with the motor front end cover 211 and the motor rear end cover 213 in a rotating manner, the front end of the motor output shaft 214 extends into the screw rod shell 321 and is connected with the screw rod 322 in a driving manner, the rotor 216 is fixedly arranged on the peripheral side of the motor output shaft 214, and the stator 215 is fixedly arranged on the inner wall of the motor shell. The screw rod 322 is rotatably connected to the screw rod housing 321 through a fixed bearing 326, and the motor output shaft 214 is connected to one end of the screw rod 322 through a centering slider 327.
The hall array coding chip 217 is fixed in the center of the inner face of the motor rear end cover 213 through the locking cover, the motor rear end cover 213 is provided with a wire outlet 2131, the rotor 216 outside the motor output shaft 214 is rotatably connected with the motor front end cover 211 and the motor rear end cover 213 through the rotor bearing 2161, and the front and rear rotor bearings 2161 ensure a uniform stable magnetic field space between the rotor 216 and the stator 215. The Hall array coding chip 217 and the Hall magnet are compressed within 5-8 mm, and the axial size is only one half of that of a common photoelectric encoder.
The process that the third steering engine 3 drives the lower leg support 5 to rotate is as follows: the motor output shaft 214 of the third motor 31 drives the lead screw 322 to rotate, and the torque output rod 324 is driven to slide along the lead screw shell 321 by moving along the lead screw 322 through the lead screw nut 323, so that the rotary motion of the third motor 31 is converted into linear motion, and the flexion and extension motion of the lower leg support 5 is controlled through the crankshaft connecting rod mechanism 4. According to the invention, the shank support 5 is driven by the third motor 31, the screw rod mechanism 32 and the crankshaft connecting rod mechanism 4, so that the limb action of the shank support 5 is more in line with the structure of human mechanics.
The third steering engine 3 of the present invention uses a built-in hall array encoder chip 217 and hall magnet 218, and can output hall switching signals, as well as the angle (a, B, Z encoder signals) of the rotor 216 relative to the stator 215 and the absolute angle information of the joint (the rotation fulcrum 53 of the lower leg support 5).
The working principle of the third steering engine 3 for detecting the rotation angle of the lower leg support 5 is as follows: the hall array coding chip 217 is fixed on the motor rear end cover 213 and is a static device, the rotor 216 of the motor is a relative motion device, a cylindrical hall magnet 218 is installed at one end of the motor output shaft 214 close to the motor rear end cover 213, the hall magnet 218 rotates along with the motor output shaft 214, so that the annular hall array in the hall array coding chip 217 passes through a magnetic field generated by the hall magnet 218, the hall array coding chip 217 can calculate the mechanical position (angle) of the rotor 216 relative to the hall array coding chip 217 according to the induction signals of the hall array, and simultaneously outputs hall switching signals. Because the stator 215 of the motor is connected with the motor rear end cover 213 through the motor housing 212, and can be regarded as a whole, the mechanical angle of the rotor 216 relative to the position of the stator 215 can be accurately read at any time through the hall array coding chip 217 within one circle of the rotation of the rotor 216.
However, this angle is not the final angle of the joint (the pivot point 53 of the lower leg link 5) due to the conversion action of the screw mechanism 32 and the crank link mechanism 4, and represents only the angle of the motor rotor 216 with respect to the stator 215, and the motor output shaft 214 needs to rotate N turns within the angular range in which the joint operates (N > 1, depending on the configurations of the screw mechanism 32 and the crank link mechanism). Therefore, the hall array encoder chip 217 must record the number of turns of the motor output shaft 214, and then add the absolute angle of the motor rotor 216 relative to the stator 215 to convert the accurate mechanical angle position information of the joint (the turning fulcrum 53 of the lower leg support 5).
The third steering engine 3 is simple in structure and convenient to install, and can acquire absolute angle and relative increment information of a leg joint without additionally introducing external zero position monitoring through the cooperation of the Hall array coding chip 217 and the Hall magnet 218 with an external mechanical origin position.
Referring to fig. 1, 2 and 7, in a preferred embodiment of the present invention, the crankshaft connecting rod mechanism 4 includes a connector 41 and a connecting rod shaft 42, one end of the lower leg support 5 is a connecting end, the other end of the lower leg support 5 is a free end, one end of the connector 41 is fixedly connected to the screw rod housing 321, the other end of the connector 41 is hinged to a position between two ends of the lower leg support 5, one end of the connecting rod shaft 42 is hinged to the torque output shaft, and the other end of the connecting rod shaft 42 is hinged to the connecting end of the lower leg support 5.
In this embodiment, the pivot 53 of the lower leg link 5 (the connection point between the other end of the connector 41 and the lower leg link 5) is located between the two ends of the lower leg link 5 and near the connection end. When the torque output rod 324 of the screw rod mechanism 32 makes a linear reciprocating motion, the torque output rod 324 drives the connecting end of the lower leg support 5 to swing back and forth around the rotating fulcrum 53 of the lower leg support 5 through the connecting rod shaft 42, so that the flexion and extension motions of the lower leg support 5 are realized.
In a preferred embodiment of the present invention, the free end of the lower leg support 5 is further provided with a plantar pressure sensor 51 and a foot elastic structure in sequence, and the foot elastic structure is connected with the detection end of the plantar pressure sensor 51.
The other end of the shank support 5 is provided with a foot elastic structure. The foot elastic structure is a cantilever beam deformation structure detachably connected with the lower leg support 5, the foot elastic structure transmits the pressure of the foot to the detection end of the plantar pressure sensor 51 in a deformation mode, and the plantar pressure sensor 51 converts the pressure into an electric signal and feeds the electric signal back to a control system of the robot. The sole pressure sensor 51 performs sole touch, thereby performing foot landing detection and balance assistance detection. The sole pressure sensing design can timely acquire dynamic foot pressure information and assist in the execution of accurate small impact of bionic action.
In a preferred embodiment of the present invention, the torque output rod 324 is sleeved with a piston slip ring 325 at both the proximal end and the distal end inside the screw rod housing 321, and the piston slip ring 325 is in sliding fit with the inner wall of the screw rod housing 321.
It should be noted that the proximal end of the torque output rod 324 refers to the end of the torque output rod 324 located in the lead screw housing 321 and close to the motor output shaft 214, the distal end of the torque output rod 324 refers to the end of the torque output rod 324 located in the lead screw housing 321 and close to the lower leg support 5, and the proximal end and the distal end of the torque output rod 324 are connected with the inner wall of the lead screw housing 321 through the piston slip ring 325 in a sliding manner, so that the stability of the torque output rod 324 during sliding is ensured, and the stability of the motion of the lower leg support 5 is facilitated.
Additionally, it will be appreciated that when the proximal end of the torque output rod 324 is fully retracted to an extreme position within the screw housing 321, the piston slide ring 325 on the distal end of the torque output rod 324 should be spaced from the end of the screw housing 321 by a distance greater than the linear range of travel of the torque output rod 324. Thus, when the torque output rod 324 is extended, the piston slip ring 325 on the distal end of the torque output rod 324 does not interfere with the end of the lead screw housing 321.
Referring to fig. 1 and 6, in a preferred embodiment of the present invention, the output flange 231 of the first speed reducer 12 is fixedly connected to the second motor 21 through the cascade frame 6, and a limiting block 121 for limiting a rotation angle of the cascade frame 6 is disposed at an end of the first speed reducer 12.
When the servo steering engine is used on a joint type foot robot, most joints are not rotating and are in a range of 0-180 degrees. Otherwise, when the joint moves beyond the range, the body or the shell is damaged, and the built-in cable is twisted and broken. A safety design is therefore necessary which mechanically limits the position on the articulated product. In this embodiment, the limiting structure of the mechanical position of the first steering engine 1 is mainly formed by blocking the rotation of the cascade frame 6 within a certain angle range by the limiting block 121 of the reducer casing 221, so that the limit position of the safe movement is limited.
Specifically, the cascade frame 6 includes two ring supports 61 having the same shape, the two ring supports 61 are arranged side by side on the output flange 231 of the first speed reducer 12, and the second motor 21 is installed in the two ring supports 61. The limiting block 121 is fixedly disposed at an end of the first speed reducer 12 and protrudes toward the second motor 21, and when the output flange 231 of the first speed reducer 12 rotates to drive the two ring brackets 61 to rotate, the two ring brackets 61 stop rotating due to the blocking of the limiting block 121, so that the rotation angle of the two ring brackets 61 is limited within a certain range by the limiting block 121.
Referring to fig. 6, in a preferred embodiment of the present invention, a protrusion 232 is disposed on an inner surface of an output flange 231 of the second speed reducer 22, an annular limiting groove 229 is disposed at an end of a speed reducer housing 221 of the second speed reducer 22, and the protrusion 232 is disposed in the limiting groove 229.
In this embodiment, the limiting structure for the mechanical position of the second steering engine 2 is mainly formed by sliding a projection 232 on an output flange 231 in a limiting groove 229 on a reducer housing 221, so that the limit position of the safe movement is limited. And the limiting structure is in a built-in form, so that the number of additional components is small, and the structure is simple.
In a preferred embodiment of the present invention, the motor front cover 211, the motor housing 212, and the motor rear cover 213 are made of aluminum alloy.
In order to reduce the total mass of the motor, the motor front end cover 211, the motor shell 212 and the motor rear end cover 213 are all made of high-strength aluminum alloy.
In a preferred embodiment of the present invention, the reducer case 221 is made of an aluminum alloy.
In order to reduce the total mass of the reducer, the reducer housing 221 is made of high-strength aluminum alloy.
The above embodiment shows a single leg assembly of a multi-legged robot, which includes a thigh power unit (first steering engine 1), a thigh front-back motion unit (second steering engine 2), and a shank contraction power unit (third steering engine 3). The axial direction of the second motor 21 is perpendicular to the axial direction of the first motor 11, and the axial direction of the third motor 31 is perpendicular to the axial direction of the second motor 21, and respectively corresponds to three directions in a three-dimensional space. The leg assembly has three degrees of freedom, namely rotation of the first steering engine 1, rotation of the second steering engine 2 and swing of the shank support 5 driven by the third steering engine 3, and the structure of the leg assembly conforms to the mechanical structure of human limbs. In one specific embodiment, the multi-legged robot has four legs which are respectively connected with the body parts of the robot, and the legs of the four-legged robot have twelve degrees of freedom, so that the feet of the robot can move flexibly, and the multi-legged robot can conveniently present multi-posture.
The first steering engine 1, the second steering engine 2 and the third steering engine 3 are all provided with built-in flat Hall array coding chips 217 and Hall magnets 218, the angle of the rotor 216 relative to the stator 215 is obtained through the cooperation of a mechanical structure and a software algorithm, the absolute angle information of the joint is analyzed, and the output angle is accurate. Through this compact structural design, showing the axle head size that has shortened the steering wheel, can reducing the volume and the weight of steering wheel to need not at the output wiring, make arm power pack can with the mechanical body split, the miniaturization and the modularization of the arm of being convenient for improve the replaceability.
Example two
Referring to fig. 1-2, in order to achieve the above object, the present invention further provides another leg assembly of a multi-legged robot, including a first steering engine 1, a second steering engine 2, a third steering engine 3, a crankshaft connecting rod mechanism 4, and a lower leg bracket 5, where the first steering engine 1 includes a first motor 11 and a first speed reducer 12 that are assembled and connected, the second steering engine 2 includes a second motor 21 and a second speed reducer 22 that are assembled and connected, the third steering engine 3 includes a third motor 31 and a screw rod mechanism 32 that are assembled and connected, the first motor 11, the second motor 21, and the third motor 31 each include a motor housing and a motor output shaft 214, the motor output shaft 214 is rotatably disposed on a central axis, hall array encoding chips 217 are fixedly disposed at the centers of the rear ends of the motor housings of the first motor 11 and the second motor 21, and hall array encoding chips 217 are disposed on the hall array encoding chips 217, the rear ends of the motor output shafts 214 of the first motor 11 and the second motor 21 are fixedly provided with Hall magnets 218; the motor output shaft 214 of the first motor 11 is connected with the input end of the first speed reducer 12, the motor output shaft 214 of the second motor 21 is connected with the input end of the second speed reducer 22, and the motor output shaft 214 of the third motor 31 is connected with the input end of the screw rod mechanism 32; the output of first speed reducer 12 is located to second motor 21, and the axial of second motor 21 is perpendicular with the axial of first motor 11, the output of second speed reducer 22 is located to third motor 31, and the axial of third motor 31 is perpendicular with the axial of second motor 21, the drive end of screw mechanism 32 is connected with shank support 5 through crankshaft connecting rod mechanism 4 and drives shank support 5 and rotate, be equipped with on the crankshaft connecting rod mechanism 4 and be used for measuring shank support 5 rotates the angle encoder 52 of information.
Compared with the multi-legged robot leg assembly of the first embodiment, the multi-legged robot leg assembly of the second embodiment is different in that the hall array encoder chip 217 is not disposed at the rear end of the motor housing of the third motor 31, and the hall magnet 218 is not disposed at the rear end of the motor output shaft 214 of the third motor 31, i.e. the axial length of the third motor 31 is shorter than that of the first motor 11 and the second motor 21. Corresponding to the absence of the hall array encoder chip 217 and the hall magnet 218 of the third motor 31, an angle encoder 52 for measuring the rotation information of the lower leg support 5 is provided on the crankshaft connecting rod mechanism 4.
Referring to fig. 1, 2 and 7, as in the first embodiment, the crankshaft connecting rod mechanism 4 includes a connector 41 and a connecting rod shaft 42, one end of the lower leg support 5 is a connecting end, the other end of the lower leg support 5 is a free end, one end of the connector 41 is fixedly connected to the screw rod housing 321, the other end of the connector 41 is hinged to the position between the two ends of the lower leg support 5, one end of the connecting rod shaft 42 is hinged to the torque output shaft, and the other end of the connecting rod shaft 42 is hinged to the connecting end of the lower leg support 5.
In this embodiment, the pivot 53 of the lower leg link 5 (the connection point between the other end of the connector 41 and the lower leg link 5) is located between the two ends of the lower leg link 5 and near the connection end. When the torque output rod 324 of the screw rod mechanism 32 makes a linear reciprocating motion, the torque output rod 324 drives the connecting end of the lower leg support 5 to swing back and forth around the rotating fulcrum 53 of the lower leg support 5 through the connecting rod shaft 42, so that the flexion and extension motions of the lower leg support 5 are realized.
Specifically, a hinge shaft is arranged at the joint of the lower leg support 5 and the connector 41, the lower leg support 5 is hinged to the other end of the connector 41 through the hinge shaft, and an angle encoder 52 for measuring the rotation information of the hinge shaft is arranged at the other end of the connector 41.
Furthermore, the connector 41 includes two connecting plates and a connecting plate 412, one end of each connecting plate is fixedly disposed on the connecting plate 412, the connecting plate 412 is sleeved on the end portion of the lead screw shell 321, the rotating fulcrum 53 of the shank bracket 5 is located between the two connecting plates, the rotating fulcrum 53 of the shank bracket 5 is provided with a hinge shaft, and two ends of the hinge shaft are respectively rotatably connected with the two connecting plates. An angle encoder 52 is arranged on the outer side surface of the other end of the connecting plate and used for reading the rotation angle information of the hinge shaft so as to obtain the flexion and extension movement angle of the lower leg support 5.
Through the design, the axial length of the third motor 31 in the second embodiment is shorter, the installation of the detection element in the third motor 31 is omitted, the rotation angle of the lower leg support 5 can be more accurately and directly acquired through the angle encoder 52, and the complexity of software conversion is reduced.
The above embodiments are merely illustrative of the preferred embodiments of the present invention, and not restrictive, and various changes and modifications to the technical solutions of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are intended to fall within the scope of the present invention defined by the appended claims.
Claims (10)
1. A multi-legged robot leg assembly, its characterized in that: the device comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and a shank support, wherein the first steering engine comprises a first motor and a first speed reducer which are assembled and connected, the second steering engine comprises a second motor and a second speed reducer which are assembled and connected, the third steering engine comprises a third motor and a lead screw mechanism which are assembled and connected, the first motor, the second motor and the third motor respectively comprise a motor shell and a motor output shaft, the motor output shaft is rotatably arranged on a central axis of the motor shell, a Hall array coding chip is fixedly arranged at the center of the rear end of the motor shell, a Hall array which is annularly distributed is arranged on the Hall array coding chip, and a Hall magnet is fixedly arranged at the rear end of the motor output shaft; the motor output shaft of the first motor is connected with the input end of the first speed reducer, the motor output shaft of the second motor is connected with the input end of the second speed reducer, and the motor output shaft of the third motor is connected with the input end of the screw rod mechanism; the output of first speed reducer is located to the second motor, and the axial of second motor is perpendicular with the axial of first motor, the output of second speed reducer is located to the third motor, and the axial of third motor is perpendicular with the axial of second motor, screw mechanism's drive end passes through crankshaft link mechanism and is connected and drive shank support and rotate with shank support.
2. The multi-legged robot leg assembly of claim 1, wherein: the first motor, the second motor and the third motor are all sine wave brushless servo motors, and the first speed reducer and the second speed reducer are all harmonic speed reducers.
3. The multi-legged robot leg assembly of claim 2, wherein: first speed reducer and second speed reducer all include speed reducer shell, flexible bearing, wave generator, flexbile gear, steel wheel, the front end fixed connection of speed reducer shell and motor casing, wave generator cover is on motor output shaft surface, the flexbile gear passes through flexible bearing cover in wave generator surface, the steel wheel sets firmly on the speed reducer shell, just the flexbile gear with the steel wheel meshing.
4. The multi-legged robot leg assembly of claim 3, wherein: the flexible gear is connected with an output flange plate through a crossed roller bearing, the second motor is connected with the output flange plate of the first speed reducer, and the third motor is connected with the output flange plate of the second speed reducer.
5. The multi-legged robot leg assembly of claim 1, wherein: the screw mechanism comprises a screw rod shell, a screw rod nut and a torque output rod, the screw rod shell is fixedly connected with a motor shell of a third motor, the screw rod is rotatably arranged in the screw rod shell, a motor output shaft of the third motor is connected with the screw rod in a driving mode, the screw rod nut is sleeved on the surface of the screw rod, the torque output rod is of a hollow structure, the torque output rod is sleeved on the outer side of the screw rod and fixedly connected with the screw rod nut, and the torque output rod is connected with the screw rod shell in a sliding mode and extends to the outside of the screw rod shell.
6. The multi-legged robot leg assembly of claim 5, wherein: the crankshaft connecting rod mechanism comprises a connector and a connecting rod shaft, one end of the shank support is a connecting end, the other end of the shank support is a free end, one end of the connector is fixedly connected with the lead screw shell, the other end of the connector is hinged to the position between the two ends of the shank support, one end of the connecting rod shaft is hinged to the torque output shaft, and the other end of the connecting rod shaft is hinged to the connecting end of the shank support.
7. The multi-legged robot leg assembly of claim 6, wherein: the free end of the shank support is also sequentially provided with a plantar pressure sensor and a foot elastic structure, and the foot elastic structure is connected with the detection end of the plantar pressure sensor.
8. The multi-legged robot leg assembly of claim 5, wherein: and the near end and the far end of the torque output rod, which are positioned in the screw rod shell, are respectively sleeved with a piston sliding ring, and the piston sliding rings are in sliding fit with the inner wall of the screw rod shell.
9. The multi-legged robot leg assembly of claim 4, wherein: the output flange of the first speed reducer is fixedly connected with the second motor through the cascade frame, and the end part of the first speed reducer is provided with a limiting block for limiting the rotation angle of the cascade frame.
10. A multi-legged robot leg assembly, its characterized in that: the device comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and a shank support, wherein the first steering engine comprises a first motor and a first speed reducer which are assembled and connected, the second steering engine comprises a second motor and a second speed reducer which are assembled and connected, the third steering engine comprises a third motor and a lead screw mechanism which are assembled and connected, the first motor, the second motor and the third motor respectively comprise a motor shell and a motor output shaft, the motor output shaft is rotatably arranged on a central axis of the motor shell, Hall array coding chips are fixedly arranged at the centers of the rear ends of the motor shells of the first motor and the second motor, Hall arrays distributed in an annular mode are arranged on the Hall array coding chips, and Hall magnets are fixedly arranged at the rear ends of the motor output shafts of the first motor and the second motor; the motor output shaft of the first motor is connected with the input end of the first speed reducer, the motor output shaft of the second motor is connected with the input end of the second speed reducer, and the motor output shaft of the third motor is connected with the input end of the screw rod mechanism; the output of first speed reducer is located to the second motor, and the axial of second motor and the axial of first motor are perpendicular, the output of second speed reducer is located to the third motor, and the axial of third motor and the axial of second motor are perpendicular, screw rod mechanism's drive end passes through bent axle link mechanism and shank leg support connection and drives shank support rotation, be equipped with on the bent axle link mechanism and be used for measuring shank support rotation information's angle encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910161184.2A CN111645773A (en) | 2019-03-04 | 2019-03-04 | Leg assembly of multi-legged robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910161184.2A CN111645773A (en) | 2019-03-04 | 2019-03-04 | Leg assembly of multi-legged robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111645773A true CN111645773A (en) | 2020-09-11 |
Family
ID=72344474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910161184.2A Withdrawn CN111645773A (en) | 2019-03-04 | 2019-03-04 | Leg assembly of multi-legged robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111645773A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571499A (en) * | 2022-04-29 | 2022-06-03 | 深圳小象鸿业机电有限公司 | Inner wiring three-degree-of-freedom robot joint module |
| CN116142350A (en) * | 2023-04-23 | 2023-05-23 | 五八智能科技(杭州)有限公司 | Biped robot landing detection device and method based on non-force sensing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| US20180172121A1 (en) * | 2016-12-15 | 2018-06-21 | Google Inc. | Screw Actuator for a Legged Robot |
| WO2018159032A1 (en) * | 2017-02-28 | 2018-09-07 | ソニー株式会社 | Actuator |
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for electric-drive quadruped robot |
| CN209600672U (en) * | 2019-03-04 | 2019-11-08 | 深圳市智擎新创科技有限公司 | Multi-foot robot leg assembly |
-
2019
- 2019-03-04 CN CN201910161184.2A patent/CN111645773A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180172121A1 (en) * | 2016-12-15 | 2018-06-21 | Google Inc. | Screw Actuator for a Legged Robot |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| WO2018159032A1 (en) * | 2017-02-28 | 2018-09-07 | ソニー株式会社 | Actuator |
| WO2018161936A1 (en) * | 2017-03-10 | 2018-09-13 | 杭州宇树科技有限公司 | Leg power system structure for 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 |
| CN209600672U (en) * | 2019-03-04 | 2019-11-08 | 深圳市智擎新创科技有限公司 | Multi-foot robot leg assembly |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114571499A (en) * | 2022-04-29 | 2022-06-03 | 深圳小象鸿业机电有限公司 | Inner wiring three-degree-of-freedom robot joint module |
| CN116142350A (en) * | 2023-04-23 | 2023-05-23 | 五八智能科技(杭州)有限公司 | Biped robot landing detection device and method based on non-force sensing |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205889243U (en) | People's arm is imitated to modularization | |
| CN209852459U (en) | Multi-legged robot | |
| CN109551513B (en) | Multifunctional high-integration modularized robot joint | |
| CN111645772A (en) | Multi-legged robot | |
| CN112888535B (en) | Integrated joint and robot | |
| US5355743A (en) | Robot and robot actuator module therefor | |
| CN112888534B (en) | Joint structure and robot | |
| CN108890689B (en) | Variable-rigidity joint of flexible robot | |
| CN108189073A (en) | A kind of Dual-motors Driving modularized joint and a kind of mechanical arm | |
| CN108638118B (en) | Joint driving device of integrated robot | |
| CN101116973A (en) | Spacing mechanical arm parallel modularization joint | |
| CN211940993U (en) | Modular robot joint integrating driving function and detection function | |
| CN111645773A (en) | Leg assembly of multi-legged robot | |
| CN209600672U (en) | Multi-foot robot leg assembly | |
| CN207888683U (en) | A kind of robot integral joint | |
| CN111230922A (en) | Modular robot joint integrating driving function and detection function | |
| CN210678773U (en) | Integrated joint and robot | |
| CN100354078C (en) | Double ring detecting mechanism for robot joint speed reducer flexibility | |
| CN111086022A (en) | Integrated joint and robot | |
| CN114800602A (en) | Compact variable-rigidity joint module with flexible element | |
| CN115126845A (en) | Strain wave gear with encoder integration | |
| CN210678771U (en) | Joint structure and robot | |
| CN112549012A (en) | Series elastic driver based on flexible hinge and control method | |
| CN217967079U (en) | Robot joint and robot | |
| CN209150899U (en) | A kind of electric cylinders and mechanical equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210202 Address after: 518000 b5101, building 12, shenzhenwan science and technology ecological park, No.18, South Keji Road, high tech community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Pengxing intelligent Co.,Ltd. Address before: 518000 No.6, 9057-11, xinwuyuan 1st lane, Gushu community, Xixiang street, Bao'an District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Zhiqin New Technology Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210719 Address after: 510000 b5101, building 12, Shenzhen Bay science and technology ecological park, No.18, South Keji Road, high tech community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Guangdong Pengxing intelligent Co.,Ltd. Address before: 518000 b5101, building 12, shenzhenwan science and technology ecological park, No.18, South Keji Road, high tech community, Yuehai street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Pengxing intelligent Co.,Ltd. |
|
| TA01 | Transfer of patent application right | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20200911 |