CN112706156A

CN112706156A - Robot joint motor and joint

Info

Publication number: CN112706156A
Application number: CN202011539671.7A
Authority: CN
Inventors: 李学生; 李敏; 马凡钟
Original assignee: Delu Power Technology Chengdu Co Ltd
Current assignee: Delu Power Technology Chengdu Co Ltd
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2021-04-27
Anticipated expiration: 2040-12-23
Also published as: CN112706156B

Abstract

The invention relates to a robot joint motor and a joint, wherein the robot joint motor comprises a motor shell, a power module, a speed reduction module and a sensor module; the power module mainly comprises a rotor, a stator and a hollow output shaft; the robot joint comprises a joint connecting shell, a first motor, a second motor and a third motor, wherein the joint connecting shell is provided with a first port and a second port which are vertical to each other; the third motor is arranged at the second port, and the output shaft of the third motor is connected with the joint connecting shell. The invention can internally route, prevent the cable from winding, reduce the risk brought by external routing, is beneficial to ensuring the normal operation of the robot dog and can improve the safety of the quadruped robot; the invention is convenient to assemble and disassemble and convenient to maintain, and can improve the integration level of the robot.

Description

Robot joint motor and joint

Technical Field

The invention relates to the technical field of robots, in particular to a robot joint motor and a joint.

Background

Due to the huge advantages of the quadruped robot, more and more scientific research institutes and well-known enterprises compete for research, development and manufacture, a driving unit of the quadruped robot is the core of the movement performance and generally consists of 4 legs, and each leg is distributed with 3 motors serving as three joints of a single leg.

The existing four-foot robot has the following defects:

1, walk the line inconvenient, the security is not high: at present, a signal wire and a power wire of a main stream of a motor of a fighting mechanical leg are exposed outside, the integral integration level is not high, cables are easy to pull when large-angle movement is completed, and the exposed cables in a complex external environment are likely to be pulled to cause abnormal damage to equipment;

2, the maintenance is inconvenient, the disassembly is difficult, and the maintenance can be realized by all disassembly;

3, the integration is not high, and the installation is time-consuming.

Disclosure of Invention

The invention provides a robot joint motor and a joint, which firstly solve the technical problem that a circuit is exposed and easy to pull and secondly solve the problem of inconvenient maintenance.

The invention is realized by the following technical scheme:

the utility model provides a robot joint motor, includes motor housing, rotor, stator and output shaft, its characterized in that: the output shaft is of a hollow structure.

Furthermore, an encoder coded disc is installed on the output shaft.

Further, an encoder code disc is installed on the rotor.

Further, the robot joint motor further comprises a speed reducing module, and an output end of the speed reducing module is fixedly connected with the output shaft.

Preferably, the speed reduction module comprises a harmonic speed reducer, a flexible gear of the harmonic speed reducer is fixedly connected with the motor shell, and a steel gear of the harmonic speed reducer is fixedly connected with the output shaft.

Furthermore, the motor shell comprises a first shell, a second shell and a third shell, the first shell is fixedly connected with one end of the second shell, and the other end of the second shell is fixedly connected with the third shell;

the stator is fixed on the third shell, a bearing is arranged between the rotor and the third shell, the speed reducer flexible gear is fixedly connected with the third shell, the speed reducer steel gear is fixedly connected with the output shaft, and the bearing is arranged between the output shaft and the second shell;

the wave generator is fixedly connected with the rotor, a bearing is arranged between the wave generator and the third shell, and a bearing is arranged between the wave generator and the output shaft.

A robot joint comprises a joint connection shell and three robot joint motors, wherein the robot joint motors are respectively a first motor, a second motor and a third motor;

the joint connection shell is provided with a first port and a second port for mounting a motor, and the axes of the first port and the second port are mutually vertical;

the first motor is arranged at the first port, a motor shell of the first motor is connected with the joint connecting shell, an output shaft of the first motor is connected with a motor shell of the second motor, and the axes of the first motor and the second motor are parallel or coincident;

the third motor is arranged at the second port, an output shaft of the third motor is connected with the joint connecting shell, and a wiring hole is formed in the joint connecting shell corresponding to the output shaft.

Furthermore, a circle of second connecting holes which are radially arranged are formed in the side wall of the second port, and an output shaft of the third motor is connected with the joint connecting shell through the second connecting holes and the screws.

Further, the articulation housing also has a third port that is axially through the first port.

Further preferably, the outer end of the third port is a bevel port.

Compared with the prior art, the invention has the following beneficial effects:

the hollow output shaft can be internally wired, prevents cables from being wound, reduces risks caused by external wiring, is beneficial to ensuring the normal operation of a machine dog, and can improve the safety of a quadruped robot;

2, the invention adopts a harmonic speed reducer, has large output torque and long service life;

3, the joint connecting shell is provided with radial connecting holes, so that the joint connecting shell is convenient to disassemble;

and 4, the joint connection shell is provided with an inclined hole, so that the maintenance is convenient.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a three-dimensional view of a robot joint motor;

fig. 2 is a cross-sectional view of a robot joint motor;

FIG. 3 is a three-dimensional view of a robot joint;

FIG. 4 is a cross-sectional view of a robot joint;

figure 5 is a schematic view of the structure of the articulating shell.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

As shown in fig. 1 and 2, the robot joint motor disclosed by the invention comprises a motor housing, a power module, a speed reduction module and a sensor module.

The motor housing mainly comprises a first housing 1, a second housing 2 and a third housing 3, wherein one end of the first housing 1 and one end of the second housing 2 are fixedly connected in a screw mode and the like, and the other end of the second housing 2 and the third housing 5 are connected in a screw mode and the like.

The power module mainly comprises a motor rotor 3, a motor stator 4 and a hollow output shaft 10; the motor stator 4 is fixed on the third shell 5, and a third ball bearing 13 is arranged between the motor rotor 3 and the third shell 5.

The speed reduction module mainly comprises a speed reducer steel wheel 8, a speed reducer flexible wheel 6 and a wave generator 9, wherein the speed reducer steel wheel 8 is meshed with the speed reducer flexible wheel 6. The flexible gear 6 of the speed reducer is fixedly connected with the third shell 5, the steel gear 8 of the speed reducer is fixedly connected with the hollow output shaft 10, and a bearing IV 18 is arranged between the hollow output shaft 10 and the second shell 2. Of course, the motor housing has a wiring hole corresponding to the hollow output shaft 10.

The wave generator 9 is fixedly connected with the motor rotor 3, a second ball bearing 12 is arranged between the wave generator 9 and the third shell 5, and a first ball bearing 11 is arranged between the wave generator 9 and the hollow output shaft 10.

The sensor module mainly includes a first encoder and a second encoder. The first encoder comprises a first encoder code wheel 14 and a first reading head 15, and the second encoder comprises a second encoder code wheel 16 and a second reading head 17.

A second encoder coded disc 16 is installed on the hollow output shaft 10, and the position information of the output shaft can be read through a second reading head 17, so that the motor can know the accurate information of the tail end, and zero position teaching is not required every time the motor is started. Meanwhile, a first encoder coded disc 14 is installed on the motor rotor 3, and the position information of the motor can be read through a first reading head 15, so that the motor can be correctly commutated.

The hollow output shaft 10 is of an inner hollow structure, so that internal wiring can be realized, and meanwhile, the rotating speed information of the output shaft can be transmitted to the detection end of the encoder through the hollow output shaft 10.

As shown in fig. 3, 4 and 5, the robot joint disclosed by the invention comprises a joint connection housing 19 and three robot joint motors, namely a first motor 20, a second motor 21 and a third motor 22.

The articulation housing 19 has a first port 191 for receiving the first motor 20, a second port 192 for receiving the third motor 22, and a third port 195, the axes of the first and

second ports

191, 192 being perpendicular to one another. The third port 195 is coaxial with and passes through the first port 191.

A ring of first connecting holes 193 is arranged in the first port 191 for connection, and a ring of second connecting holes 194 arranged radially is arranged on the side wall of the second port 192.

The first motor 20 is installed at the first port 191, the motor housing of the first motor 20 is connected with the joint connection housing 19 through the first connection hole 193 and the screw, and the unit output end is connected with the first housing 1 of the second motor 21 through the hollow output shaft 10 to transfer the output torque. The axes of the first motor 20 and the second motor 21 are parallel or coincident.

The third motor 22 is installed at the second port 192, and the hollow output shaft 10 of the third motor 22 is connected with the joint connection housing 19 through the second connection hole 194 and the screw to transmit power. The second connecting hole 194 is radially arranged, so that the disassembly and the maintenance are convenient.

The three motors can output the motion with three degrees of freedom, simulate the motion mechanism of legs, and can be applied to foot robots and the like.

Wherein, the joint connection shell 19 also has a hollow wiring hole corresponding to the position of the inner hole 101 of the hollow output shaft 10, which facilitates the internal wiring. The outer end of the third port 195 is a bevel port, on which a sealing plate can be connected, and when maintenance is needed, the sealing plate can be taken down.

The invention can internally route, prevent the cable from winding, reduce the risk brought by external routing, is beneficial to ensuring the normal operation of the robot dog and can improve the safety of the quadruped robot; the invention is convenient to assemble and disassemble and convenient to maintain, and can improve the integration level of the robot.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. The utility model provides a robot joint motor, includes motor housing, rotor, stator and output shaft, its characterized in that: the output shaft is of a hollow structure.

2. The robot joint motor according to claim 1, wherein: and an encoder coded disc is installed on the output shaft.

3. The robot joint motor according to claim 1 or 2, characterized in that: and an encoder code disc is arranged on the rotor.

4. The robot joint motor according to claim 1 or 2, characterized in that: the output end of the speed reducing module is fixedly connected with the output shaft.

5. The robot joint motor according to claim 4, wherein: the speed reduction module comprises a harmonic speed reducer, a flexible gear of the harmonic speed reducer is fixedly connected with the motor shell, and a steel gear of the harmonic speed reducer is fixedly connected with the output shaft.

6. The robot joint motor according to claim 5, wherein: the motor shell comprises a first shell, a second shell and a third shell, the first shell is fixedly connected with one end of the second shell, and the other end of the second shell is fixedly connected with the third shell;

7. A robot joint, characterized by: the robot joint motor comprises an articulated shell and the robot joint motor according to any one of claims 1 to 6, wherein the robot joint motor comprises three motors, namely a first motor, a second motor and a third motor;

8. The robot joint motor according to claim 7, wherein: and the side wall of the second port is provided with a circle of second connecting holes which are radially arranged, and an output shaft of the third motor is connected with the joint connecting shell through the second connecting holes and the screws.

9. The robot joint motor according to claim 7 or 8, characterized in that: the articulation housing also has a third port that is axially through the first port.

10. The robot joint motor according to claim 9, wherein: the outer end of the third port is an inclined port.