CN113200100A - Rotary motion module and robot with same - Google Patents
Rotary motion module and robot with same Download PDFInfo
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- CN113200100A CN113200100A CN202110280719.5A CN202110280719A CN113200100A CN 113200100 A CN113200100 A CN 113200100A CN 202110280719 A CN202110280719 A CN 202110280719A CN 113200100 A CN113200100 A CN 113200100A
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- robot
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- 229910000831 Steel Inorganic materials 0.000 claims description 28
- 239000010959 steel Substances 0.000 claims description 28
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 238000004804 winding Methods 0.000 claims description 13
- 230000006698 induction Effects 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 11
- 230000017525 heat dissipation Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
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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
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention belongs to the technical field of robots, and provides a rotary motion module and a robot. The performance of the rotary motion module is not changed, the quality and the volume of the rotary motion module are not influenced, and the motion performance of the robot body is ensured. For a specific posture of the robot, for example, when the robot stands, the output of the rotary motion module can be released, and the brake unit can be started to achieve the purpose of energy saving. The rotary motion module can be fixed at the current position after power failure, the integral fixed posture of the leg is ensured, and carrying and application are facilitated.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a rotary motion module. The invention also relates to a robot.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
Various robots are continuously appearing in the public, and compared with wheeled robots, leg-foot robots have stronger terrain adaptability and wider application scenes. The existing technical scheme is that the input end and the output end of a leg degree of freedom corresponding motion module of a leg-foot type robot are connected in pairs in a serial connection mode. The series structure can well realize larger movement space and better flexibility, but the structure can face uncontrolled postures of the robot body after the movement module is powered off, and the leg structure can naturally move to the inner side of the body, so that the carrying is not facilitated; after the robot is powered on again, the robot needs to be put to a specific posture or pass through a device, so that the robot is inconvenient to use practically; on the other hand, when the robot is in emergency and the power is lost, the rotating motion module cannot be self-locked, so that the robot body is damaged because the gravity falls to the ground.
Disclosure of Invention
The invention aims to at least solve the problems that the rotation motion module of the leg and the foot of the robot in the prior art has low structure compactness and can not be self-locked, and the aim is realized by the following technical scheme:
a first aspect of the present invention proposes a rotary motion module comprising:
a housing for connecting the robot main body;
the motor unit is arranged in the shell and comprises a stator and a rotor which are coaxially arranged;
the planetary reducer is arranged in the shell, the planetary reducer and the rotor unit are coaxially arranged, the input end of the planetary reducer is meshed and connected with the output end of the rotor, and the output end of the planetary reducer is used for connecting leg and foot parts of the robot;
the brake unit is connected with the inner side of the shell, when the brake unit is in a first state, an interval is kept between the brake unit and the rotor, and when the brake unit is in a second state, the brake unit is abutted to the rotor;
and the control unit is electrically connected with the motor unit and the brake unit.
The rotary motion module provided by the invention is used as a joint of the robot, the whole structure is small and compact, the driving function of the legs and the feet of the robot is realized through the integration of the motor unit and the planetary reducer, and the self-locking function is realized through the configuration of the brake unit, so that the rotary motion module can automatically keep the current fixed posture after power failure. The performance of the rotary motion module is not changed, the quality and the volume of the rotary motion module are not influenced, and the motion performance of the robot body is ensured. For a specific posture of the robot, for example, when the robot stands, the output of the rotary motion module can be released, and the brake unit can be started to achieve the purpose of energy saving. The rotary motion module can be fixed at the current position after power failure, the integral fixed posture of the leg is ensured, and carrying and application are facilitated.
In addition, the rotary motion module according to the present invention may have the following additional technical features:
in some embodiments of the present invention, the rotor is provided with a plurality of slots in a circumferential direction, the brake unit includes a latch corresponding to a position of any one of the slots, and a driving part for driving the latch to be inserted into one of the slots.
In some embodiments of the present invention, the brake unit further includes a brake bracket, a pin hole is formed in the position of the housing corresponding to one of the slots, the brake bracket is fixedly connected to the housing at the pin hole, the pin and the driving portion are both disposed in the pin hole, the driving portion is fixedly connected to the brake bracket, and the driving portion is an electromagnet electrically connected to the control unit.
In some embodiments of the present invention, the control unit includes a motor driving circuit and a brake control circuit, the motor driving circuit is configured to control the motor unit to operate, the brake control circuit is configured to control the brake unit to switch between the first state and the second state, the control unit further includes a magnetic encoder and a magnetic ring disposed on the rotor, the magnetic encoder is connected to the magnetic ring in a magnetic induction manner, and the motor driving circuit, the brake control circuit, and the magnetic encoder are in communication connection.
In some embodiments of the present invention, the housing includes a motor casing and a motor rear cover, the rotary motion module further includes a tail bearing seat, the motor casing is a cylindrical structure, the motor unit is disposed inside the motor casing and connected to the motor casing, and the motor rear cover is mounted at one end of the motor casing.
In some embodiments of the present invention, a shaft hole is formed in a position of the tail bearing seat corresponding to the output shaft, a first end of the output shaft penetrates through the shaft hole, the magnetic ring is annularly disposed on an outer side of the first end of the output shaft, the control unit further includes a fixing plate, the motor driving circuit, the brake control circuit and the magnetic encoder are all mounted on the fixing plate, the fixing plate is disposed between the tail bearing seat and the motor rear cover, and the fixing plate is fixedly connected to the tail bearing seat.
In some embodiments of the present invention, the stator includes a fixed ring, a winding, and an inner ring gear, the fixed ring is disposed inside the housing, the fixed ring is disposed along a circumferential direction of the housing, the winding is disposed along the circumferential direction of the fixed ring, the inner ring gear is disposed inside the fixed ring, the inner ring gear is disposed along the circumferential direction of the fixed ring, the rotor includes a rotor portion, a magnetic steel sleeve, a plurality of magnetic steels, and an output shaft, the rotor portion is in a barrel-shaped structure, the rotor portion surrounds an outer portion of the stator and is disposed at an interval with the stator, the plurality of magnetic steels are disposed at positions of the rotor portion corresponding to the winding, the magnetic steels are sleeved with magnetic steel holes corresponding to the magnetic steels one by one, the magnetic steels are embedded in the magnetic steel holes, the output shaft is assembled at an axial center of the rotor portion and is disposed coaxially with the rotor portion, and the second end of the output shaft is provided with external teeth, and the output shaft is meshed with the input end of the planetary speed reducer through the external teeth.
In some embodiments of the present invention, the planetary reducer includes a first bearing, an outer planet carrier, an inner planet carrier, a plurality of planet gears, a plurality of pins, and a plurality of second bearings, an outer side of the outer planet carrier is connected to an inner side of the housing through the first bearing, the pins are connected to the outer planet carrier and the inner planet carrier, the second bearings and the pins are disposed in one-to-one correspondence and are sleeved on outer sides of the pins, the planet gears and the second bearings are disposed in one-to-one correspondence and are sleeved on outer sides of the second bearings, and the planet gears are engaged with both the inner gear ring and the output shaft.
In some embodiments of the invention, a plurality of connecting holes are arranged on the outer planet carrier, a plurality of reserved holes are arranged on the rear cover of the motor, and the positions of the reserved holes correspond to the positions of the connecting holes one by one.
A second aspect of the present invention provides a robot comprising:
a robot main body;
a plurality of rotational motion modules, which are the rotational motion modules proposed in the first aspect of the present invention, the housing of the rotational motion modules being mounted to the robot main body;
the number of the robot leg and foot parts is consistent with that of the rotary motion modules, and one end of the robot leg and foot part is connected with the output end of the planetary reducer of the rotary motion module.
The robot provided by the second aspect of the present invention has the same advantages as the rotational motion module provided by the first aspect of the present invention, and details thereof are not described herein.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention
The limitations of the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
fig. 1 schematically shows a structural view of a front view of a rotary motion module according to an embodiment of the present invention;
fig. 2 schematically illustrates a structural view of a rear view angle of a rotational motion module according to an embodiment of the present invention;
FIG. 3 schematically illustrates a cross-sectional schematic view of a rotary motion module according to an embodiment of the present invention;
FIG. 4 schematically illustrates an exploded view of a rotary motion module according to an embodiment of the present invention;
fig. 5 schematically shows a schematic structural view of a robot according to an embodiment of the invention;
the reference symbols in the drawings denote the following:
100: a housing;
1: stator, 11: winding, 12: motor casing, 13: ring gear, 14: a fixing ring;
2: planetary reducer, 21: first bearing, 22: outer carrier, 23: inner carrier, 24: planetary gear, 25: pin shaft, 26: second bearing, 27: connecting holes;
3: rotor, 31: rotor portion, 32: magnetic steel, 33: magnetic steel sleeve, 34: gasket, 35: magnetic ring, 36: a slot;
4: brake unit, 41: bolt, 42: brake bracket, 43: an electromagnet;
5: tail bearing seat, 6: fixing plate, 7: motor rear cover, 71: holes are reserved.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, an element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "inner", "side", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" can include both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1 to 5, a first aspect of the present invention proposes a rotary motion module including: the robot comprises a shell 100, a motor unit, a planetary reducer 2, a brake unit 4 and a control unit, wherein the shell 100 is connected with a robot main body in a clamping or screwing mode; the motor unit is arranged in the shell 100, the motor unit comprises a stator 1 and a rotor 3 which are coaxially arranged, and the power of the motor unit can be provided by a battery of the robot; the planetary reducer 2 is arranged in the shell 100, the planetary reducer 2 and the rotor 3 are coaxially arranged, the input end of the planetary reducer 2 is meshed with the output end of the rotor 3, the output end of the planetary reducer 2 is connected with the leg foot part of the robot, and the planetary reducer 2 is used for reducing the output speed of the motor unit and amplifying the torque for outputting; the brake unit 4 can be realized by driving the latch 41 by the electromagnet 43 or by driving the latch 41 by the motor, the brake unit 4 is fixed on the housing 100, when the brake unit 4 is in the first state, the brake unit 4 keeps a gap from the rotor 3, and when the brake unit 4 is in the second state, the brake unit 4 abuts against the rotor 3; the control unit comprises a controller and a circuit electrically connected with the motor unit and the brake unit 4, monitors and controls the operation of the motor unit, and controls the brake unit 4 to be self-locked when self-locking is needed.
The rotary motion module provided by the invention is used as a joint of the robot, the whole structure is small and compact, the driving function of the legs and the feet of the robot is realized by integrating the motor unit and the planetary reducer 2, and the self-locking function is realized by the brake unit 4, so that the rotary motion module can automatically keep the current fixed posture after power failure. The performance of the rotary motion module is not changed, the quality and the volume of the rotary motion module are not influenced, and the motion performance of the robot body is ensured. For a specific posture of the robot, for example, when the robot stands, the output of the rotary motion module itself can be released and the brake unit 4 can be activated to achieve the purpose of energy saving. The rotary motion module can be fixed at the current position after power failure, the integral fixed posture of the leg is ensured, and carrying and application are facilitated.
In some embodiments of the present invention, the rotor 3 is provided with a plurality of slots 36 along the circumferential direction, the braking unit 4 includes a plug 41 and a driving portion, the plug 41 corresponds to a position of any one of the slots 36, the driving portion is configured to drive the plug 41 to be inserted into one of the slots 36, the driving portion may employ an electromagnet 43, the plug 41 is adsorbed or rebounded by an electromagnetic force to achieve contact or separation between the plug 41 and the rotor 3, thereby achieving self-locking of the robot for positioning the posture, the driving portion may also employ an electric motor, and the plug 41 is driven by the electric motor to achieve the self-locking function as well.
In some embodiments of the present invention, the brake unit 4 further includes a brake support 42, a plug 41 hole is provided at a position of the casing 100 corresponding to one of the slots 36, the brake support 42 is fixedly connected to the casing 100 at the plug 41 hole, the plug 41 and the driving portion are both provided in the plug 41 hole, the driving portion is fixedly connected to the brake support 42, the driving portion is an electromagnet 43 electrically connected to the control unit, when the rotational motion module needs to be maintained at a certain position, the electromagnet 43 can be controlled to apply a force reversely to push the plug 41 out, and the plug is clamped into the slot 36 of the rotor 3, and then the control unit can enable the motor to release its output or power down, and the rotational motion module will be maintained at the current position, thereby achieving self-locking in fixed posture.
In some embodiments of the present invention, the control unit includes a motor driving circuit and a brake control circuit, the motor driving circuit is configured to control the operation of the motor unit, the brake control circuit is configured to control the brake unit 4 to switch between the first state and the second state, the control unit further includes a magnetic encoder and a magnetic ring 35 disposed on the rotor 3, the magnetic encoder is connected to the magnetic ring 35 in a magnetic induction manner, the motor driving circuit, the brake control circuit and the magnetic encoder are in communication connection, and the magnetic encoder senses the position of the magnetic ring 35 and further senses information such as the position and the rotation speed of the rotor 3, so that the control unit can control the motor unit conveniently.
In some embodiments of the present invention, the casing 100 includes a motor housing 12 and a motor rear cover 7, the rotary motion module further includes a tail bearing seat 5, the motor housing 12 is a cylindrical structure, the motor unit is disposed inside the motor housing 12 and connected to the motor housing 12, and the motor rear cover 7 is mounted at one end of the motor housing 12, so that the whole structure is compact, and is convenient for assembly, disassembly and maintenance.
In some embodiments of the present invention, a shaft hole is formed in a position of the tail bearing seat 5 corresponding to the output shaft, the first end of the output shaft is connected with the shaft hole through a third bearing and penetrates through the shaft hole, the magnetic ring 35 is annularly arranged on the outer side of the first end of the output shaft, the control unit further includes a fixing plate 6, the motor driving circuit, the brake control circuit and the magnetic encoder are all installed on the fixing plate 6, the fixing plate 6 is arranged between the tail bearing seat 5 and the motor rear cover 7, the fixing plate 6 is fixedly connected with the tail bearing seat 5, the brake unit 4 is close to the fixing plate 6, so that the control and routing of the brake unit are facilitated, the stress is very small when the attitude determination function is exerted, and the rotary motion module cannot be affected when the rotary motion module normally functions.
In some embodiments of the present invention, the stator 1 includes a fixed ring 14, a wound winding 11, and an inner ring gear 13, the fixed ring 14 is disposed inside the housing 100, the fixed ring 14 is disposed along a circumferential direction of the housing 100, the wound winding 11 is disposed along the circumferential direction of the fixed ring 14, the inner ring gear 13 is disposed inside the fixed ring 14, the inner ring gear 13 is disposed along the circumferential direction of the fixed ring 14, the rotor 3 includes a rotor portion 31, a magnetic steel sleeve 33, a plurality of magnetic steels 32, and an output shaft, the rotor portion 31 is in a barrel-shaped structure, the rotor portion 31 surrounds an outside of the stator 1 and is disposed at a distance from the stator 1, the plurality of magnetic steels 32 are disposed at a position of the rotor portion 31 corresponding to the wound winding 11, the magnetic steel sleeves 33 are provided with magnetic steel holes corresponding to the magnetic steels 32 one by one, the magnetic steels 32 are embedded in the magnetic steel holes, the output shaft is assembled at an axial center of the rotor portion 31 and is disposed coaxially with the rotor portion 31, a second end of the output shaft is provided with external teeth, the output shaft is connected with the input end of the planetary reducer 2 through external teeth meshing, and after the winding 11 is electrified, the rotor part 31 rotates under the action of magnetic force between the magnetic steel 32 and the winding 11, so that power output is realized.
In some embodiments of the present invention, the planetary reducer 2 includes a first bearing 21, an outer carrier 22, an inner carrier 23, a plurality of planet gears 24, a plurality of pins 25, and a plurality of second bearings 26, an outer side of the outer carrier 22 is connected to an inner side of the casing 100 through the first bearing 21, the pins 25 are connected to the outer carrier 22 and the inner carrier 23, the second bearings 26 are disposed in one-to-one correspondence with the pins 25 and are sleeved on outer sides of the pins 25, the planet gears 24 are disposed in one-to-one correspondence with the second bearings 26 and are sleeved on outer sides of the second bearings 26, and the planet gears 24 are engaged with the ring gear 13 and the output shaft, so as to achieve speed reduction and increase torque output, thereby enabling a smaller motor unit to be used under the same power requirement, and enabling the device structure to be more compact and integrated.
In some embodiments of the present invention, the outer planet carrier 22 is provided with a plurality of connection holes 27, the motor rear cover 7 is provided with a plurality of prepared holes 71, the positions of the prepared holes 71 correspond to the positions of the connection holes 27 one by one, and in some application scenarios, the connection holes 27 and the prepared holes 71 can be butted to realize the serial connection of the rotary motion modules.
In some embodiments of the present invention, the first bearing 21 is a cross roller bearing, which has a compact structure and high precision, and the second bearing 26 is a deep groove ball bearing, which can simultaneously bear multi-directional loads, and has small frictional resistance and high rotation speed.
In some embodiments of the present invention, the motor casing 12 and the motor rear cover 7 are both provided with a plurality of heat dissipation holes, the rotor portion 31 is provided with a heat dissipation gasket 34, the heat dissipation gasket 34 is made of a material with strong heat conductivity, and the tail bearing seat 5 and the rotor portion 31 are also provided with a plurality of hollow structures, so as to enhance the heat dissipation capability of the rotary motion module.
A second aspect of the present invention provides a robot comprising:
a robot main body;
a plurality of rotary motion modules, which are the rotary motion modules proposed in the first aspect of the present invention, and a housing 100 of the rotary motion modules is mounted to the robot main body;
the number of the robot leg and foot parts is consistent with that of the rotary motion modules, and one end of each robot leg and foot part is connected with the output end of the planetary reducer 2 of each rotary motion module.
When the rotary motion module normally rotates, the rotor 3 rotates under the action between the magnetic steel 32 and the winding 11, the output shaft of the rotor 3 drives the planetary gear 24 to rotate through gear engagement, and the planetary gear 24 and the inner gear ring 13 drive the whole outer planet carrier 22 to rotate through gear engagement, so that speed reduction and torque output increase are realized.
When the rotating motion module is controlled to be kept at a certain position through the control unit, the electromagnet 43 can be controlled to apply force reversely to push the bolt 41 out to be clamped into the groove hole 36 corresponding to the rotor 3, then the motor unit can be released from outputting or powered down through the control unit, and the rotating motion module is kept at the current position to realize attitude determination self-locking.
For the quadruped robot applying the quadruped robot, the function of power-off self-locking can be realized through the above modes, and meanwhile, the robot can maintain a certain posture under the condition of extremely low output power through the above modes, so that the energy-saving effect is achieved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A rotary motion module, the rotary motion module comprising:
a housing for connecting the robot main body;
the motor unit is arranged in the shell and comprises a stator and a rotor which are coaxially arranged;
the planetary reducer is arranged in the shell, the planetary reducer and the rotor are coaxially arranged, the input end of the planetary reducer is meshed and connected with the output end of the rotor, and the output end of the planetary reducer is used for connecting leg and foot parts of the robot;
the brake unit is connected with the inner side of the shell, when the brake unit is in a first state, an interval is kept between the brake unit and the rotor, and when the brake unit is in a second state, the brake unit is abutted to the rotor;
and the control unit is electrically connected with the motor unit and the brake unit.
2. The rotary motion module of claim 1, wherein the rotor has a plurality of slots formed therein in a circumferential direction, and the brake unit includes a pin corresponding to a position of any one of the slots and a driving part for driving the pin to be inserted into one of the slots.
3. The rotary motion module as claimed in claim 2, wherein the brake unit further comprises a brake bracket, the housing is provided with a pin hole corresponding to one of the slots, the brake bracket is fixedly connected to the housing at the pin hole, the pin and the driving part are both arranged in the pin hole, the driving part is fixedly connected to the brake bracket, and the driving part is an electromagnet electrically connected to the control unit.
4. The rotary motion module as claimed in claim 1, wherein the control unit comprises a motor driving circuit and a brake control circuit, the motor driving circuit is configured to control the motor unit to operate, the brake control circuit is configured to control the brake unit to switch between the first state and the second state, the control unit further comprises a magnetic encoder and a magnetic ring disposed on the rotor, the magnetic encoder is connected to the magnetic ring in a magnetic induction manner, and the motor driving circuit, the brake control circuit and the magnetic encoder are communicatively connected to each other.
5. The rotary motion module of claim 4, wherein the housing includes a motor housing and a motor rear cover, the rotary motion module further including a rear bearing mount, the motor housing being of a cylindrical configuration, the motor unit being disposed within and coupled to the motor housing, the motor rear cover being mounted to one end of the motor housing.
6. The rotary motion module as claimed in claim 5, wherein the tail bearing seat is provided with a shaft hole corresponding to the output shaft, the first end of the output shaft penetrates through the shaft hole, the magnetic ring is annularly arranged at the outer side of the first end of the output shaft, the control unit further comprises a fixing plate, the motor driving circuit, the brake control circuit and the magnetic encoder are all mounted on the fixing plate, the fixing plate is arranged between the tail bearing seat and the motor rear cover, and the fixing plate is fixedly connected with the tail bearing seat.
7. The rotary motion module according to any one of claims 1 to 6, wherein the stator includes a fixing ring, a winding coil, and an inner ring gear, the fixing ring is disposed inside the housing, the fixing ring is disposed along a circumferential direction of the housing, the winding coil is disposed along the circumferential direction of the fixing ring, the inner ring gear is disposed inside the fixing ring, the inner ring gear is disposed along the circumferential direction of the fixing ring, the rotor includes a rotor portion, a magnetic steel sleeve, a plurality of magnetic steels, and an output shaft, the rotor portion is in a barrel-shaped structure, the rotor portion surrounds an outer portion of the stator and is disposed at an interval from the stator, the plurality of magnetic steels are disposed at a position of the rotor portion corresponding to the winding coil, the magnetic steels are sleeved with magnetic steel holes corresponding to the magnetic steels one by one, the magnetic steels are embedded in the magnetic steel holes, the output shaft is assembled at the axis of the rotor part and is coaxially arranged with the rotor part, the second end of the output shaft is provided with external teeth, and the output shaft is meshed with the input end of the planetary reducer through the external teeth.
8. The rotary motion module of claim 7, wherein the planetary gear set comprises a first bearing, an outer planet carrier, an inner planet carrier, a plurality of planetary gears, a plurality of pins, and a plurality of second bearings, wherein the outer side of the outer planet carrier is connected to the inner side of the housing through the first bearing, the pins are connected to the outer planet carrier and the inner planet carrier, the second bearings are arranged in one-to-one correspondence with the pins and are sleeved on the outer sides of the pins, the planetary gears are arranged in one-to-one correspondence with the second bearings and are sleeved on the outer sides of the second bearings, and the planetary gears are engaged with the inner gear ring and the output shaft.
9. The rotary motion module of claim 8, wherein the outer planet carrier is provided with a plurality of connecting holes, the motor rear cover is provided with a plurality of preformed holes, and the preformed holes are in one-to-one correspondence with the connecting holes.
10. A robot, characterized in that the robot comprises:
a robot main body;
a plurality of rotary motion modules according to any one of claims 1 to 9, the housing of the rotary motion module being mounted to the robot main body;
the number of the robot leg and foot parts is consistent with that of the rotary motion modules, and one end of the robot leg and foot part is connected with the output end of the planetary reducer of the rotary motion module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110280719.5A CN113200100A (en) | 2021-03-16 | 2021-03-16 | Rotary motion module and robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110280719.5A CN113200100A (en) | 2021-03-16 | 2021-03-16 | Rotary motion module and robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113200100A true CN113200100A (en) | 2021-08-03 |
Family
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113648531A (en) * | 2021-09-10 | 2021-11-16 | 南京伯纳德医疗设备有限公司 | Double-channel rotary pipe pressing valve |
| CN114083526A (en) * | 2022-01-18 | 2022-02-25 | 杭州未名信科科技有限公司 | Rotary motion module and robot |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN116198627A (en) * | 2023-03-24 | 2023-06-02 | 联想(北京)有限公司 | Machine leg and robot |
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| CN113648531A (en) * | 2021-09-10 | 2021-11-16 | 南京伯纳德医疗设备有限公司 | Double-channel rotary pipe pressing valve |
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| CN116198627A (en) * | 2023-03-24 | 2023-06-02 | 联想(北京)有限公司 | Machine leg and robot |
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Application publication date: 20210803 |