CN112104149A - Modular joint of biped robot - Google Patents
Modular joint of biped robot Download PDFInfo
- Publication number
- CN112104149A CN112104149A CN202010978934.8A CN202010978934A CN112104149A CN 112104149 A CN112104149 A CN 112104149A CN 202010978934 A CN202010978934 A CN 202010978934A CN 112104149 A CN112104149 A CN 112104149A
- Authority
- CN
- China
- Prior art keywords
- motor
- shaft
- joint
- speed reducer
- encoder
- 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.)
- Pending
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/085—Structural association with bearings radially supporting the rotary shaft at only one end of the rotor
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a modularized joint of a biped robot, which comprises a speed 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 requirement of design parameters, as the biped robot has more joints, in order to meet the maximum torque/weight parameter and simultaneously consider the feasibility of production and manufacturing, the invention simultaneously shares the hollow motor bearing and the reducer and shares the output shaft of the motor rotor and the input shaft of the reducer, so that the precision of the motor and the reducer in transmission connection is higher. Integrating multiple functions into one joint improves the torque/weight value; the structure is more compact, the assembly links are reduced, and the assembly positioning precision is higher; the use of a bearing is reduced, the friction loss is smaller, and the sensitivity of current monitoring feedback torque is higher.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to a modularized joint of a biped robot.
Background
For a biped robot with high motion performance, a joint unit is vital and directly influences the motion performance of the robot, and due to the complexity of an application environment, the joint of the robot is required to bear large impact interference, and meanwhile, the robot can be in an overload working state for a long time and output large torque during high-speed motion.
Disclosure of Invention
The invention aims to provide a modularized joint of a biped robot aiming at the defects of the prior art. The modular joint has the advantages of smaller structure, smaller weight, namely large torque/weight, high assembly precision and less system friction loss.
The purpose of the invention is realized by the following technical scheme: a modularized joint of a biped robot comprises 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.
Further, the speed reducer is a harmonic speed reducer.
Further, the middle of the hollow shaft is used for wiring.
Further, the motor shell is made of alloy materials.
Further, the motor shell and the speed reducer are positioned in a circle.
Further, the bearing support seat and the motor shell are positioned in a circle.
Further, the motor stator and the motor shell are in transition fit.
Further, the motor stator and the motor shell are bonded by glue.
Further, the common shaft and the motor rotor are bonded by glue.
The invention has the beneficial effects that: on the premise of meeting the requirement of design parameters, as the biped robot has more joints, in order to meet the maximum torque/weight parameter and simultaneously consider the feasibility of production and manufacturing, the invention simultaneously shares the hollow motor bearing and the reducer and shares the output shaft of the motor rotor and the input shaft of the reducer, so that the precision of the motor and the reducer in transmission connection is higher. Integrating multiple functions into one joint improves the torque/weight value; the structure is more compact, the assembly links are reduced, and the assembly positioning precision is higher; the use of a bearing is reduced, the friction loss is smaller, and the sensitivity of current monitoring feedback torque is higher.
Drawings
FIG. 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 speed reducer assembly of a modular joint of a high-performance biped robot according to the present invention;
FIG. 3 is a hollow shaft of a modular joint of a high performance biped robot according to the present invention;
FIG. 4 is a motor assembly of a modular joint of a high-performance biped robot according to the present invention;
in the figure, a speed reducer 1, a motor shell 2, a frameless motor 3, a common shaft 4, a rotor shaft supporting bearing 5, a bearing supporting seat 6, a motor encoder 7, a speed reducer output end encoder 8, a driving circuit board 9, a hollow shaft 10, a motor stator 301, a motor rotor 302, a motor encoder moving disk 701 and a speed reducer output end encoder moving disk 801.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the highly integrated modular joint of the biped robot of the present invention comprises: the speed reducer 1, the driving motor, the rotor shaft supporting bearing 5, the bearing supporting seat 6, the motor encoder 7, the speed reducer output end encoder 8, the driving circuit board 9 and the hollow shaft 10 shown in fig. 3 are shown in fig. 2. Wherein, the reducer 1 is a harmonic reducer; the hollow shaft 10 may be routed centrally. The driving circuit board 9 is fixed on the bearing support 6 by a stud to drive the motor to rotate.
The driving motor consists of a motor shell 2, a frameless motor 3 shown in figure 4 and a common shaft 4; wherein, the motor shell 2 is made of alloy materials with high rigidity and small quality. The motor shell 2 is connected with the reducer 1 through a flange, adopts circular positioning to ensure precision and reduce stress, and is connected through bolts; no additional supporting bearing is needed between the frameless motor 3 and the reducer 1.
The bearing support 6 and the motor shell 1 are positioned in a circle, so that the coaxiality precision is ensured, and the stress is reduced. The rotor shaft support bearing 5 is directly connected with the common shaft 4, and the precision is ensured by the bearing support seat 6 and the motor shell 1.
The frameless motor 3 includes a motor stator 301 and a motor rotor 302; the motor stator 301 and the motor shell 2 are in transition fit, and are bonded by glue after being lightly pressed in. The common shaft 4 is both the output shaft of the motor rotor 302 and the input shaft of the reducer 1. The common shaft 4 is bonded with the motor rotor 302 by glue, and the frameless motor 3 directly drives the speed reducer 1 to move through the common shaft 4 to output torque; therefore, the torque of the frameless motor 3 is transmitted to the output end of the speed reducer 1, and stable large torque can be output in a low-grade state.
The encoder consists of a moving disc and a sensor; the movable disc is a magnetic disc and rotates along with the motor; the sensor circuit part is fixed to detect the magnetic change of the movable disk. The motor encoder moving disc 701 is fixedly connected with the end face of the common shaft 4 and fixed on the end face of the common shaft; the motor encoder 7 sensor is connected with the bearing support 6, and when the common shaft 4 rotates, the motor encoder 7 monitors the position of the motor rotor 302.
The hollow shaft 10 passes through the common shaft 4 to be connected with the joint output end and transmits the rotation of the joint output end.
The reducer output end encoder moving disc 801 is connected with the hollow shaft 10, the reducer output end encoder 8 sensor is connected with the bearing support seat 6, the rotating position of the hollow shaft 10 is monitored, and the rotating position is used for measuring the rotation of the joint output end (also the reducer output end).
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010978934.8A CN112104149A (en) | 2020-09-17 | 2020-09-17 | Modular joint of biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010978934.8A CN112104149A (en) | 2020-09-17 | 2020-09-17 | Modular joint of biped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112104149A true CN112104149A (en) | 2020-12-18 |
Family
ID=73760257
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010978934.8A Pending CN112104149A (en) | 2020-09-17 | 2020-09-17 | Modular joint of biped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112104149A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692865A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106961180A (en) * | 2016-01-12 | 2017-07-18 | 翰昂汽车零部件有限公司 | Method and device for the transmitting torque in actuator |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
| CN109895122A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of cooperation joint of robot with force sensing function |
| CN111342609A (en) * | 2020-05-19 | 2020-06-26 | 理工华汇(潍坊)智能机器人有限公司 | Integrated speed reducer |
| CN111452084A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Modularized joint of cooperative robot |
-
2020
- 2020-09-17 CN CN202010978934.8A patent/CN112104149A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106961180A (en) * | 2016-01-12 | 2017-07-18 | 翰昂汽车零部件有限公司 | Method and device for the transmitting torque in actuator |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
| CN109895122A (en) * | 2017-12-07 | 2019-06-18 | 中国科学院沈阳自动化研究所 | A kind of cooperation joint of robot with force sensing function |
| CN111452084A (en) * | 2020-05-18 | 2020-07-28 | 成都卡诺普自动化控制技术有限公司 | Modularized joint of cooperative robot |
| CN111342609A (en) * | 2020-05-19 | 2020-06-26 | 理工华汇(潍坊)智能机器人有限公司 | Integrated speed reducer |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692865A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint |
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| 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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201218 |
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| RJ01 | Rejection of invention patent application after publication |