CN111828549A

CN111828549A - Quadruped robot joint power module

Info

Publication number: CN111828549A
Application number: CN201910309324.6A
Authority: CN
Inventors: 赵同阳
Original assignee: Shenzhen Zhiqin New Technology Co ltd
Current assignee: Guangdong Pengxing intelligent Co.,Ltd.
Priority date: 2019-04-17
Filing date: 2019-04-17
Publication date: 2020-10-27

Abstract

A quadruped robot joint power module comprises a shell, a motor and a speed reducer which are arranged in the shell, the motor comprises a stator core inner ring and an outer rotor magnet retainer, the reducer comprises a sun gear, a planet gear support shaft, a planet reducer gear ring and a torque output flange plate, the stator core inner ring is fixedly arranged in the shell, the outer rotor magnet retainer is sleeved on the periphery of the stator core inner ring, the torque output flange plate is rotatably arranged on the shell, the planet wheel support shaft is fixedly arranged on the torque output flange plate, the planet gears are sleeved on the peripheral surface of the planet gear supporting shaft, the sun gear is fixedly arranged on the outer rotor magnet retainer, the planet gears are arranged around the peripheral side of the sun gear, the planetary reducer gear ring is fixedly arranged in the shell and sleeved on the periphery of the plurality of planetary gears. The motor and the speed reducer are integrated, so that the occupied space is reduced, and the response speed of the execution joint is high.

Description

Quadruped robot joint power module

Technical Field

The invention relates to the field of robots, in particular to a joint power module of a four-foot robot.

Background

Currently, many research institutes are actively designing the quadruped robot on a global scale, and the quadruped robot is gradually commercialized. Because of the structural, gravitational, dynamic and strength constraints, the weight of a common quadruped robot is more than 20 kg to 100 kg, the cost is high, and the volume and the weight are large, so that the commercialization speed of the product is seriously influenced. Therefore, how to make the robot lighter and smaller becomes a key for breaking through the commercialization of the quadruped robot.

As mentioned above, it is more critical to make the quadruped robot lighter, smaller in size and lower in price, and the design of the joint power module in the quadruped robot core assembly is just described in this application. The joint power module design motor of conventional robot directly superposes with the speed reducer length in the axial, and this can cause the axial dimensions too big, is unfavorable for the minimizing in the multi-joint space of four-footed robot, because the design of separating of motor and speed reducer increases redundant parts moreover, is unfavorable for weight reduction.

Disclosure of Invention

In order to solve the problems, the invention provides a quadruped robot joint power module, wherein a motor and a speed reducer are integrated, the occupied space is effectively saved, the rotational inertia of a torque output flange plate is small, and the response speed of an execution joint is high.

In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a quadruped robot joint power module, includes the shell to and motor and the speed reducer of setting in the shell, the motor includes stator core inner circle, outer rotor magnet holder, the speed reducer includes sun gear, planet wheel back shaft, planetary reducer ring gear, moment output ring flange, the stator core inner circle sets firmly in the shell, outer rotor magnet holder cover is established in the week side of stator core inner circle, and outer rotor magnet holder's inner wall is equipped with rotor magnet group, moment output ring flange rotationally locates on the shell, the planet wheel back shaft sets firmly on the moment output ring flange, the planet wheel cup joints the global of planet wheel back shaft, the sun gear sets firmly on outer rotor magnet holder's center axis, a plurality of the planet wheel is around setting up in the week side of sun gear, and sun gear and planet wheel meshing, the planetary reducer gear ring sets firmly in the shell and overlaps and establish a plurality of week side of planet wheel, and planet wheel and planetary reducer gear ring meshing.

Furthermore, an encoder magnet is arranged in the center of the outer rotor magnet retainer, and a position encoder chip for detecting rotation information of the encoder magnet is arranged on the shell.

Furthermore, an ultra-low power consumption Hall detection element is fixedly arranged on the outer rotor magnet holder and used for detecting the replacement of a magnetic pole between the inner ring of the stator core and the rotor magnet group, and the ultra-low power consumption Hall detection element is electrically connected with the position encoder chip.

Furthermore, the speed reducer also comprises a planetary speed reducer support, one end of the planetary wheel support shaft is fixedly connected with the flange plate, and the other end of the planetary wheel support shaft is fixedly connected with the planetary speed reducer support.

Further, the planetary reducer carrier is accommodated in an inner space of the outer rotor magnet holder.

Furthermore, a working opening corresponding to the torque output flange plate is formed in the shell, and the planet wheel supporting shaft penetrates through the torque output flange plate and extends out of the working opening.

Furthermore, a gear ring placing thin wall is integrally formed in the shell, and the planetary reducer gear ring is fixedly assembled in the gear ring placing thin wall.

Furthermore, the central part of the outer rotor magnet retainer is rotationally connected with the shell through a rotor bearing, and the end part of the sun gear is rotationally connected with the torque output flange plate through a sun gear rotating bearing.

Further, the shell comprises a fixed main shell and an output assembly end cover, corresponding fixing holes are formed in the fixed main shell and the output assembly end cover, the fixing holes are sequentially inserted through fixing pieces, and the output assembly end cover is fixedly connected with the fixed main shell.

Furthermore, the output assembly end cover comprises a central body and an annular edge body, the central body and the annular edge body are sleeved in the central body and the annular edge body, and the annular edge body is fixedly connected with the central body through a plurality of connecting and supporting fins.

The invention has the beneficial effects that: the motor and the speed reducer are in a series structure, namely the motor and the speed reducer are overlapped in the axial length, so that the motor and the speed reducer can be separately assembled and tested, and the assembly of the quadruped robot is facilitated; by integrating the motor and the speed reducer, the design of redundant parts is reduced, the axial length and the weight are obviously reduced, the minimization of a quadruped robot in a multi-joint space is facilitated, the superposition coupling of multiple parts is reduced, and the requirement on precision is improved; in addition, the outer rotor motor is adopted, and the outer rotor magnet retainer is connected with the torque output flange plate through the planetary reducer gear set, so that the rotational inertia of the torque output flange plate is small, and the response speed of the robot executing joint is high.

Drawings

FIG. 1 is a schematic view of a front view corner configuration of an embodiment of the present invention;

FIG. 2 is a schematic diagram of a rear view structure according to an embodiment of the present invention;

FIG. 3 is an exploded view of a front corner component according to an embodiment of the present invention;

FIG. 4 is an exploded view of a rear perspective part of an embodiment of the present invention;

FIG. 5 is a front view of an embodiment of the present invention;

FIG. 6 is a cross-sectional view taken at A-A of FIG. 5;

FIG. 7 is a side view of an embodiment of the present invention;

fig. 8 is a sectional view at B-B of fig. 7.

The reference numbers illustrate:

1-a housing;

11-fixed main housing; 12-output assembly end cap; 13-motor drive circuit board; 14-rear protective end cap;

121-thin wall of gear ring placement; 122-a working port; 123-a fixing hole; 124-a fixing piece; 125-a central body; 126-a ring border body; 127-connecting support fins;

21-stator core inner ring; 22-outer rotor magnet cage; 23-outer rotor magnet group; 24-an encoder magnet; 25-ultra low power hall sensing elements; 26-a rotor bearing; 27-sun rotation bearing;

31-sun gear; 32-planet wheels; 33-planet wheel support shaft; 34-a planetary reducer gear ring; 35-torque output flange; 36-planetary reducer carrier; 37-connecting hole; 38-torque output end bearing; 39-planet wheel fixed bearing.

Detailed Description

Referring to fig. 1-2, the present invention relates to a quadruped robot joint power module, which includes a housing 1, and a motor and a reducer arranged in the housing 1, as shown in fig. 3-4, where the motor includes a stator core inner ring 21 and an outer rotor magnet holder 22, the reducer includes a sun gear 31, a planet gear 32, a planet gear support shaft 33, a planet reducer ring 34, and a torque output flange 35, as shown in fig. 5-8, the stator core inner ring 21 is fixedly arranged in the housing 1, the outer rotor magnet holder 22 is sleeved on the periphery of the stator core inner ring 21, the inner wall of the outer rotor magnet holder 22 is provided with a rotor magnet set, the torque output flange 35 is rotatably arranged on the housing 1, the planet gear support shaft 33 is fixedly arranged on the torque output flange 35, and the planet gear 32 is sleeved on the periphery of the planet gear support, the sun gear 31 is fixedly arranged on the central axis of the outer rotor magnet retainer 22, the planetary gears 32 are arranged around the periphery of the sun gear 31, the sun gear 31 is meshed with the planetary gears 32, the planetary reducer gear ring 34 is fixedly arranged in the shell 1 and sleeved on the periphery of the planetary gears 32, and the planetary gears 32 are meshed with the planetary reducer gear ring 34.

The invention provides a joint power module of a quadruped robot, which mainly comprises an outer rotor motor, a built-in planetary reducer and an outer fixed shell. The stator core inner ring 21 is fixedly assembled in the shell 1, and the outer rotor magnet retainer 22 is rotatably connected with the shell 1 and sleeved on the periphery of the stator core inner ring 21. It is easy to understand that the motor further includes a driver for controlling the relative rotation of the rotor magnet assembly in the outer rotor magnet holder 22 and the stator core inner ring 21, so that the outer rotor magnet holder 22 rotates. Obviously, the structure and the connection mode of the rest parts of the motor can adopt the arrangement of the existing outer rotor motor; similarly, the structure and connection mode of the rest of the speed reducer can be the same as those of the existing speed reducer, which is not repeated herein.

The working principle of the joint power module of the quadruped robot is as follows:

as shown in fig. 8, in operation, the stator core inner ring 21 is fixed, the outer rotor magnet holder 22 rotates by the magnetic action of the outer rotor magnet group 23 on the outer rotor magnet holder and the stator core inner ring 21, and the sun gear 31 rotates synchronously with the outer rotor magnet holder 22; the sun gear 31 drives the three planet gears 32 to rotate by meshing with the three planet gears 32, and the three planet gears 32 rotate and simultaneously engage with the ring gear 34 of the planetary reducer to perform revolution around the sun gear 31 so as to complete the speed reduction function. The three planet wheels 32 drive a torque output flange 35 to do circular motion through three planet wheel support shafts 33, the decelerated torque is output by the torque output flange 35, and finally the motor outputs the torque through a speed reducer.

The motor and the speed reducer are in a series structure, namely the motor and the speed reducer are overlapped in the axial length, and the specific expression is that the space positions of a planetary speed reducer gear set (a sun gear 31, a planet gear 32 and a planetary speed reducer gear ring 34) and a motor stator set (a stator core inner ring 21) are overlapped in length, so that the motor and the speed reducer can be separately assembled and tested, and the assembly of a four-legged robot is facilitated; by integrating the motor and the speed reducer, the design of redundant parts is reduced, the axial length and the weight are obviously reduced, the minimization of a quadruped robot in a multi-joint space is facilitated, the superposition coupling of multiple parts is reduced, and the requirement on precision is improved; in addition, the outer rotor motor is adopted, the outer rotor magnet retainer 22 is connected with the torque output flange 35 through a planetary reducer gear set, so that the rotational inertia of the torque output flange 35 is small, and the robot can have a high joint execution response speed. In addition, the motor and the speed reducer are partially surrounded and protected by the shell 1, and when the joint is impacted by external force, the joint cannot directly impact the motor and the speed reducer, so that the strength is improved.

Referring to fig. 1-4, as a preferred mode of the present embodiment, the housing 1 includes a fixed main housing 11 and an output module end cover 12, corresponding fixing holes 123 are formed in the fixed main housing 11 and the output module end cover 12, the fixing holes 123 are sequentially inserted through fixing members 124, and the output module end cover 12 is fixedly connected to the fixed main housing 11.

In this embodiment, the output unit cover 12 is covered on the front end of the fixed main housing 11. Note that the front end of the fixed main housing 11 refers to one end of the torque output, and the rear end of the fixed main housing 11 refers to the opposite end to the front end. The rear end of the fixed main shell 11 is also provided with a motor driving circuit board 13, and a driving circuit is integrated on the motor driving circuit board 13 and used for controlling the rotation of the motor. The surface of the motor driving circuit board 13 is covered with a rear protection end cover 14.

In this embodiment, the fixing hole 123 is a threaded hole, the fixing element 124 is a bolt, when the fixing main housing 11 and the output assembly end cover 12 are fitted, the threaded holes of the fixing main housing 11 and the output assembly end cover 12 are aligned one by one, and the fixing main housing 11 and the output assembly end cover 12 are connected together by screwing the bolt into the threaded hole. The front end cover and the rear end cover are designed in a plane, so that the axial size is further reduced.

Referring to fig. 3-4, as a preferred mode of the present embodiment, the output assembly end cap 12 includes a central body 125 and an annular edge body 126, the central body 125 and the annular edge body 126 are sleeved inside and outside, and the annular edge body 126 is fixedly connected to the central body 125 through a plurality of connecting and supporting fins 127.

The central body 125 and the annular body 126 are connected by a plurality of connecting support fins 127 distributed radially, and the adoption of the floor design saves raw materials, reduces the manufacturing cost and lightens the weight of the output assembly end cover 12. The closed design may alternatively be waterproof and dustproof. Similarly, the fixed main housing 11 also adopts the above hollow structure, and the details are not repeated.

As a preferable mode of this embodiment, the stator core coil is fixed in the fixed main housing 11 and directly serves as a torque output fixing part, so that the motor part is simple in design.

Referring to fig. 3 to 4, as a preferred mode of the present embodiment, an encoder magnet 24 is disposed at the center of the outer rotor magnet holder 22, and a position encoder chip for detecting rotation information of the encoder magnet 24 is disposed on the fixed main housing 11.

The position encoder chip is integrated on motor drive circuit board 13, and when encoder magnet 24 rotated, the output voltage signal that the position encoder chip produced through the analytic magnetic field change just can discern the rotational position of encoder magnet 24 to the relative electrical angle position of rotor and stator can be accurate reaction, position feedback signal for servo control provides the accuracy.

Referring to fig. 3-4, as a preferred mode of the present embodiment, an ultra-low power consumption hall detection element 25 is fixedly disposed on the outer rotor magnet holder 22, the ultra-low power consumption hall detection element 25 is used for detecting a magnetic pole replacement between the stator core inner ring 21 and the rotor magnet set, and the ultra-low power consumption hall detection element 25 is electrically connected to the position encoder chip.

The motor outputs torque through the reducer, and in the joint assembly, the torque output flange 35 rotates 180 degrees, and the motor (the outer rotor magnet retainer 22) needs to rotate 3 circles. Therefore, the encoder can only record the relative position of the outer rotor magnet group 23 and the stator core inner ring 21, and the absolute position of the torque output flange 35 is converted according to the relative position, and after the system is powered on, the absolute position needs to search the zero point again each time.

In order to solve the problem of maintaining and tracking the absolute position after shutdown, in the embodiment, the ultra-low power consumption hall detection element 25 is arranged at the circumferential edge position of the outer rotor magnet holder 22, and it should be noted that, here, the ultra-low power consumption means that the ultra-low power consumption hall detection element 25 can work only with 10 microamperes of current after the system is powered off. After the system is powered off, the ultra-low power consumption Hall detection element 25 works under ultra-low power consumption, when the outside touches the leg part, the rotor part is forced to rotate, the outer rotor magnet holder 22 rotates at the moment, the ultra-low power consumption Hall detection element 25 on the outer rotor magnet holder 22 detects the replacement of the magnetic level, and the position encoder chip is rapidly triggered to wake up to recover the working state for accurate counting. Therefore, after the system is powered off and is powered on again, the main control CPU of the robot reads the position information of the torque output flange 35 on the position encoder chip, and the trouble of changing again during each power-on process is avoided. It should be noted that, the wake-up circuit of the position encoder chip of the pair of ultra-low power hall detection elements 25 herein may adopt the prior art in the field, and the specific configuration of the wake-up circuit is not the content to be protected by the present invention, so the specific configuration of the wake-up circuit is not limited and detailed in the present invention.

As a preferable mode of this embodiment, the reducer further includes a planetary reducer support 36, one end of the planetary wheel support shaft 33 is fixedly connected to the flange, and the other end of the planetary wheel support shaft 33 is fixedly connected to the planetary reducer support 36.

The planetary reducer support and the torque output flange 35 are respectively positioned at the front and the rear of the planetary gear 32, the three planetary gear support shafts 33 are fixed on the planetary reducer support in the positions of equilateral triangles, the torque output flange 35 is connected with the three planetary gear support shafts 33, and the three planetary gears 32 are sleeved on the respective planetary gear support shafts 33 through planetary gear fixed bearings 39. The planetary reducer support provides stable installation positions for three planetary wheel support shafts 33 and three planetary wheels 32, and guarantees the stability of the rotation and revolution motion process of the planetary wheels 32.

Referring to fig. 3-4 and 7-8, as a preferred mode of the present embodiment, the planetary reducer carrier 36 is accommodated in the inner space of the outer rotor magnet holder 22.

Specifically, a hollow cylindrical seat for mounting the sun gear 31 is provided on the central axis of the outer rotor magnet holder 22, one end of the sun gear 31 is inserted into the hollow cylindrical seat, and the planetary reducer holder 36 is sleeved on the circumferential surface of the hollow cylindrical seat through a bearing. The outer rotor magnet retainer 22 is internally provided with a space for accommodating the planetary reducer bracket 36, so that the axial height of the quadruped robot joint power module is reduced, and the space is effectively saved.

Referring to fig. 1-4, as a preferred mode of the present embodiment, the output assembly end cover 12 is provided with a working opening 122 corresponding to the torque output flange 35, and the planet wheel supporting shaft 33 penetrates through the torque output flange 35 and extends out of the working opening 122.

The torque output flange 35 is exposed from the working opening 122 on the output assembly end cover 12, the end face of the torque output flange 35 is provided with connecting holes 37 at positions corresponding to the three planet wheel supporting shafts 33, and the planet wheel supporting shafts 33 penetrate through the connecting holes 37 and protrude in a pin shape to serve as connecting pins for connecting the next stage. The planet wheel supporting shaft 33 passes through the connecting hole 37 on the torque output flange 35 and protrudes out of a section to become a radial torque pin, so that the radial torsion strength is increased.

Referring to fig. 3-4, as a preferred mode of the present embodiment, a ring gear placing thin wall 121 is integrally formed in the output assembly end cover 12, and the planetary reducer ring gear 34 is fixedly assembled in the ring gear placing thin wall 121.

The gear ring placing thin wall 121 is arranged in the output assembly end cover 12 of the output assembly end cover 12, the planetary reducer gear ring 34 is installed in the gear ring placing thin wall 121, and extra parts are not needed to be inserted into the planetary reducer gear ring 34 to be filled with the output assembly end cover 12, so that the processing difficulty is reduced.

As a preferable mode of this embodiment, the central portion of the outer rotor magnet holder 22 is rotatably connected to the stationary main housing 11 through the rotor bearing 26, and the end portion of the sun gear 31 is rotatably connected to the torque output flange 35 through the rotation bearing 27 of the sun gear 31.

By adopting the scheme, the outer rotor magnet retainer 22 and the sun gear 31 are both connected with the shell 1, so that the moving stability of the outer rotor magnet retainer 22 and the sun gear 31 is ensured, and meanwhile, the abrasion in the rotating process is reduced through the bearing.

Preferably, the torque output flange 35 is rotatably connected to the output assembly end cap 12 by a torque output end bearing 38.

The torque output flange 35 is assembled in the output component end cover 12 through the torque output end bearing 38, so that the stable movement of the torque output flange 35 is ensured, and the abrasion of the torque output flange 35 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

1. The utility model provides a four-footed robot joint power module which characterized in that: the motor comprises a shell, a motor and a speed reducer, wherein the motor and the speed reducer are arranged in the shell, the motor comprises a stator core inner ring and an outer rotor magnet retainer, the speed reducer comprises a sun wheel, planet wheels, a planet wheel supporting shaft, a planet speed reducer gear ring and a torque output flange, the stator core inner ring is fixedly arranged in the shell, the outer rotor magnet retainer is sleeved on the peripheral side of the stator core inner ring, the inner wall of the outer rotor magnet retainer is provided with a rotor magnet group, the torque output flange is rotatably arranged on the shell, the planet wheel supporting shaft is fixedly arranged on the torque output flange, the planet wheels are sleeved on the peripheral surface of the planet wheel supporting shaft, the sun wheel is fixedly arranged on the central axis of the outer rotor magnet retainer, a plurality of planet wheels are arranged around the peripheral side of the sun wheel, the sun wheel is meshed with the planet, and the planet wheel is meshed with a gear ring of the planet speed reducer.

2. The quadruped robot joint power module according to claim 1, characterized in that: and an encoder magnet is arranged at the center of the outer rotor magnet retainer, and a position encoder chip for detecting the rotation information of the encoder magnet is arranged on the shell.

3. The quadruped robot joint power module according to claim 2, characterized in that: the outer rotor magnet retainer is fixedly provided with an ultra-low power consumption Hall detection element, the ultra-low power consumption Hall detection element is used for detecting magnetic pole replacement between the stator core inner ring and the rotor magnet group, and the ultra-low power consumption Hall detection element is electrically connected with the position encoder chip.

4. The quadruped robot joint power module according to claim 1, characterized in that: the speed reducer further comprises a planetary speed reducer support, one end of the planetary wheel support shaft is fixedly connected with the flange plate, and the other end of the planetary wheel support shaft is fixedly connected with the planetary speed reducer support.

5. The quadruped robot joint power module according to claim 4, characterized in that: the planetary reducer holder is accommodated in an inner space of the outer rotor magnet holder.

6. The quadruped robot joint power module according to claim 1, characterized in that: the shell is provided with a working opening corresponding to the torque output flange plate, and the planet wheel supporting shaft penetrates through the torque output flange plate and extends out of the working opening.

7. The quadruped robot joint power module according to claim 1, characterized in that: a gear ring placing thin wall is integrally formed in the shell, and the gear ring of the planetary reducer is fixedly assembled in the gear ring placing thin wall.

8. The quadruped robot joint power module according to claim 1, characterized in that: the central part of the outer rotor magnet retainer is rotationally connected with the shell through a rotor bearing, and the end part of the sun wheel is rotationally connected with the torque output flange plate through a sun wheel rotating bearing.

9. The quadruped robot joint power module according to claim 1, characterized in that: the shell is including the fixed main casing body and output assembly end cover, be equipped with the fixed orifices that corresponds on the fixed main casing body and the output assembly end cover, insert the fixed orifices in proper order through the mounting, output assembly end cover and the fixed main casing body fixed connection.

10. The quadruped robot joint power module according to claim 8, characterized in that: the output assembly end cover comprises a central body and an annular edge body, the central body and the annular edge body are sleeved inside and outside the central body and the annular edge body is fixedly connected with the central body through a plurality of connecting and supporting fins.