CN112104149A - Modular joint of biped robot - Google Patents

Abstract

The invention discloses a modular joint of a biped robot. The joint comprises a reducer, a hollow motor, an input shaft, a motor encoder, a joint output encoder and a motor drive plate. On the premise of meeting the design parameter requirements, due to the large number of joints of the biped robot, in order to satisfy the maximum torque/weight parameter, and at the same time take into account the feasibility of production and manufacturing, the invention simultaneously shares the hollow motor bearing with the reducer, and the motor rotor output The shaft is shared with the input shaft of the reducer, which makes the transmission connection between the motor and the reducer more precise. Integrating multiple functions into one joint improves the torque/weight value; makes the structure more compact, reduces assembly steps, and improves assembly positioning accuracy; reduces the use of one bearing, reduces friction loss, and makes current monitoring feedback torque higher sensitivity.

Description

A biped robot modular joint

technical field

The invention belongs to the field of robots, in particular to a modular joint of a biped robot.

Background technique

For a biped robot with high motion performance, the joint unit is very important, which directly affects the motion performance of the robot. Due to the complexity of the application environment, the robot joints are required to be able to withstand large impact interference, and at the same time, when moving at high speed, it can be in a long time. Overload working state, while outputting large torque.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a modular joint of a biped robot aiming at the deficiencies of the prior art. The modular joint structure of the invention is smaller and the weight is smaller, that is, the torque/weight is large, and the assembly precision is high, and the system friction loss is small.

The purpose of the present invention is achieved through the following technical solutions: a bipedal robot modular joint, including a reducer, a drive motor, a rotor shaft support bearing, a bearing support seat, a motor encoder, an encoder at the output end of the reducer, a drive Circuit boards and hollow shafts, etc.; drive motors include motor housings, frameless motors and shared shafts, etc.; frameless motors include motor stators and motor rotors, etc. Among them, the common shaft is both the output shaft of the motor rotor and the input shaft of the reducer. The motor stator is connected to the motor casing; the motor casing is connected to the reducer flange; the frameless motor directly drives the reducer to output torque through the shared shaft, and transmits the torque of the frameless motor to the output end of the reducer; the rotor shaft support bearing is directly connected to the shared shaft connection; the drive circuit board is connected to the bearing support seat; the motor encoder moving plate is fixedly connected to the end face of the common shaft, the motor encoder sensor is connected to the bearing support seat, the motor encoder monitors the position of the motor rotor; the encoder output end of the reducer is connected to the moving plate The hollow shaft is connected, and the encoder sensor at the output end of the reducer is connected with the bearing support base to monitor the rotation position of the hollow shaft; the hollow shaft is connected with the joint output end through the common shaft to transmit rotation.

Further, the reducer is a harmonic reducer.

Further, the middle of the hollow shaft is used for wiring.

Further, the motor casing is made of alloy material.

Further, the motor casing and the reducer are positioned in a circle.

Further, the bearing support base and the motor housing adopt circular positioning.

Further, the motor stator and the motor casing adopt transition fit.

Further, the motor stator and the motor casing are bonded with glue.

Further, the common shaft and the motor rotor are glued together.

The beneficial effects of the present invention are: on the premise of meeting the requirements of design parameters, due to the large number of joints of the biped robot, in order to satisfy the maximum torque/weight parameter, while taking into account the feasibility of production and manufacturing, the present invention simultaneously combines the hollow motor bearing with the The reducer is shared, and the output shaft of the motor rotor is shared with the input shaft of the reducer, which makes the transmission connection between the motor and the reducer more precise. Integrating multiple functions into one joint improves the value of torque/weight; makes the structure more compact, reduces the number of assembly steps, and increases the accuracy of assembly positioning; reduces the use of one bearing and reduces friction loss, making current monitoring feedback torque higher sensitivity.

Description of drawings

1 is a structural cross-sectional view of a modular joint of a high-performance biped robot according to the present invention;

FIG. 2 is a reducer assembly of a high-performance biped robot modular joint of the present invention;

3 is a hollow shaft of a modular joint of a high-performance biped robot according to the present invention;

4 is a motor assembly of a modular joint of a high-performance biped robot according to the present invention;

In the figure, reducer 1, motor housing 2, frameless motor 3, common shaft 4, rotor shaft support bearing 5, bearing support seat 6, motor encoder 7, reducer output encoder 8, drive circuit board 9, hollow The shaft 10, the motor stator 301, the motor rotor 302, the motor encoder moving plate 701, the reducer output end encoder moving plate 801.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings.

As shown in FIG. 1, a highly integrated bipedal robot modular joint of the present invention includes: a reducer 1 as shown in FIG. 2, a drive motor, a rotor shaft support bearing 5, a bearing support seat 6, a motor encoder 7, a reducer The encoder 8 at the output end, the drive circuit board 9 and the hollow shaft 10 as shown in FIG. 3 . Among them, the reducer 1 is a harmonic reducer; the middle of the hollow shaft 10 can be routed. The drive circuit board 9 is fixed on the bearing support base 6 with studs to drive the motor to rotate.

The drive motor is composed of a motor casing 2, a frameless motor 3 as shown in FIG. 4, and a common shaft 4; wherein, the motor casing 2 is made of an alloy material with high rigidity and low mass. The motor shell 2 is flanged to the reducer 1, and the circular positioning is used to ensure the accuracy and reduce the stress, and it is connected with bolts; there is no need to add additional support bearings between the frameless motor 3 and the reducer 1.

The bearing support seat 6 and the motor housing 1 adopt circular positioning to ensure the accuracy of coaxiality and reduce stress. The rotor shaft support bearing 5 is directly connected with the common shaft 4 , and the accuracy is ensured through the bearing support seat 6 and the motor housing 1 .

The frameless motor 3 includes a motor stator 301 and a motor rotor 302; the motor stator 301 and the motor casing 2 are in transition fit, and after being gently pressed in, they are bonded with glue. The common shaft 4 is both the output shaft of the motor rotor 302 and the input shaft of the reducer 1 . The shared shaft 4 and the motor rotor 302 are glued together, and the frameless motor 3 directly drives the reducer 1 to move through the shared shaft 4 to output torque; in this way, the torque of the frameless motor 3 is transmitted to the output end of the reducer 1, and the It can output smooth high torque when it is vulgar.

The encoder consists of a moving plate and a sensor; the moving plate is a magnetic disk that rotates with the motor; the sensor circuit is partially fixed to detect the magnetic change of the moving plate. The motor encoder moving plate 701 is fixedly connected to the end face of the shared shaft 4 and fixed on its end face; the motor encoder 7 sensor is connected to the bearing support base 6 , when the shared shaft 4 rotates, the motor encoder 7 monitors the position of the motor rotor 302 .

The hollow shaft 10 is connected with the joint output end through the common shaft 4, and transmits the rotation of the joint output end.

The encoder moving plate 801 at the output end of the reducer is connected to the hollow shaft 10, and the encoder 8 sensor at the output end of the reducer is connected to the bearing support base 6 to monitor the rotational position of the hollow shaft 10 for measuring the output end of the joint (also the output end of the reducer ) rotation.

Claims (9)

1. A modularized joint of a biped robot is characterized by comprising a speed reducer, a driving motor, a rotor shaft supporting bearing, a bearing supporting seat, a motor encoder, a speed reducer output end encoder, a driving circuit board, a hollow shaft and the like; the driving motor comprises a motor shell, a frameless motor, a shared shaft and the like; the frameless motor comprises a motor stator, a motor rotor and the like. The shared shaft is an output shaft of the motor rotor and an input shaft of the speed reducer. The motor stator is connected with the motor shell; the motor shell is connected with a reducer flange; the frameless motor directly drives the speed reducer to move through the common shaft to output torque, and the torque of the frameless motor is transmitted to the output end of the speed reducer; the rotor shaft supporting bearing is directly connected with the shared shaft; the driving circuit board is connected with the bearing supporting seat; the motor encoder moving disc is fixedly connected with the end face of the common shaft, the motor encoder sensor is connected with the bearing support seat, and the motor encoder monitors the position of a motor rotor; the output end encoder sensor of the speed reducer is connected with the bearing supporting seat to monitor the rotating position of the hollow shaft; the hollow shaft penetrates through the common shaft to be connected with the joint output end for transmitting rotation.

2. The modular joint of claim 1, wherein the decelerator is a harmonic decelerator.

3. The modular joint of claim 1, wherein the hollow shaft is centered for routing.

4. The modular joint of claim 1, wherein the motor housing is made of an alloy material.

5. The modular joint of claim 1, wherein the motor housing and the speed reducer are circularly oriented.

6. The modular joint of claim 1, wherein the bearing support base is circularly positioned with respect to the motor housing.

7. The modular joint of claim 1, wherein the motor stator is transition fitted to the motor housing.

8. The modular joint of claim 7, wherein the motor stator is attached to the motor housing by glue.

9. The modular joint of claim 1, wherein the common shaft is glued to the motor rotor.

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