CN114083526B - Rotary motion module and robot - Google Patents
Rotary motion module and robot Download PDFInfo
- Publication number
- CN114083526B CN114083526B CN202210051896.0A CN202210051896A CN114083526B CN 114083526 B CN114083526 B CN 114083526B CN 202210051896 A CN202210051896 A CN 202210051896A CN 114083526 B CN114083526 B CN 114083526B
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- hollow shaft
- gear
- rotary motion
- motion module
- transmission connection
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- 238000001514 detection method Methods 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 36
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 33
- 238000004891 communication Methods 0.000 claims description 6
- 210000003781 tooth socket Anatomy 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000006698 induction Effects 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- H02K11/30—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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
The invention belongs to the technical field of robots, and discloses a rotary motion module and a robot, wherein the rotary motion module comprises a shell, a motor, a speed reducer, a hollow shaft assembly, a gear assembly and an encoder assembly, wherein the motor is arranged in the shell; the input end of the speed reducer is in transmission connection with the rotor; the hollow shaft assembly comprises an inner hollow shaft and an outer hollow shaft, the outer hollow shaft is sleeved on the inner hollow shaft, one of the inner hollow shaft and the outer hollow shaft is in transmission connection with the output end of the speed reducer, and the other one of the inner hollow shaft and the outer hollow shaft is in transmission connection with the rotor; the gear assembly comprises two detection gears, wherein one detection gear is in transmission connection with the first end of the inner hollow shaft, and the other detection gear is in transmission connection with one end, close to the first end of the inner hollow shaft, of the outer hollow shaft; the encoder is used for detecting the rotation angle of the detection gear. The rotary motion module is low in structural cost, compact in arrangement and convenient to use and install.
Description
Technical Field
The invention belongs to the technical field of robots, particularly relates to a rotary motion module and further relates to a robot.
Background
This section provides background information related to the present disclosure only and is not necessarily prior art.
The rotary motion module is a driving device, the rotary motion through its output drives external equipment rotary motion, at present, the rotary motion module obtains a large amount of applications on the joint of robot, generally detect through encoder cooperation magnetic part when the rotary motion module detects its motor or output turned angle, current rotary motion module uses the side encoder, its supporting magnetic ring needs special processing, and is with high costs, in addition, the encoder of output will dispose solitary processing circuit board and realize.
Disclosure of Invention
The invention aims to at least solve the problems of higher rotation detection cost and insufficiently compact structure of a rotary motion module in the prior art, and the aim is realized by the following technical scheme:
a first aspect of the present invention provides a rotational motion module, comprising:
a housing;
a motor disposed inside the housing, the motor including a stator and a rotor;
the input end of the speed reducer is in transmission connection with the rotor;
the hollow shaft assembly comprises an inner hollow shaft and an outer hollow shaft, the outer hollow shaft is sleeved on the outer side of the inner hollow shaft, one of the inner hollow shaft and the outer hollow shaft is in transmission connection with the output end of the speed reducer, and the other one of the inner hollow shaft and the outer hollow shaft is in transmission connection with the rotor;
the gear assembly comprises two detection gears, one detection gear is in transmission connection with the end part of the inner hollow shaft, and the other detection gear is in transmission connection with one end, close to the end part of the inner hollow shaft, of the outer hollow shaft;
the encoder assembly is installed in the shell, the encoder assembly comprises an encoder and two magnetic pieces arranged on the detection gear, and the encoder is used for detecting the rotation angle of the magnetic pieces.
The rotary motion module is in transmission connection with the output ends of the rotor and the speed reducer through the hollow shaft assembly, the gear assembly is in transmission connection with the hollow shaft assembly, the encoder assembly is used for detecting rotation of the magnetic part on the gear assembly, and detection of the motion angle of the rotary motion module is achieved.
In addition, the rotary motion module according to the present invention may further have the following additional technical features:
in some embodiments of the present invention, the motor, the speed reducer and the hollow shaft assembly are coaxially disposed, the speed reducer is disposed on one axial side of the motor, and the gear assembly and the encoder assembly are disposed on the other axial side of the motor.
In some embodiments of the present invention, a central hole is formed at the axial center of the rotor, the inner hollow shaft includes a flange shaft, a large diameter end of the flange shaft is connected to the output end of the speed reducer, the flange shaft is inserted into the central hole, and a small diameter end of the flange shaft is in transmission connection with one of the detection gears.
In some embodiments of the present invention, two of the detection gears are respectively disposed on two radial sides of the hollow shaft assembly, one end of the inner hollow shaft is in transmission connection with one of the detection gears, and one end of the outer hollow shaft is in transmission connection with the other detection gear.
In some embodiments of the present invention, the rotational motion module further includes a driving circuit board, the driving circuit board is connected to the housing, the driving circuit board is disposed on one axial side of the gear assembly, the rotor is disposed on the other axial side of the gear assembly, and the encoder is mounted on the driving circuit board and electrically connected to the driving circuit board.
In some embodiments of the present invention, a magnetic member is disposed at an axial center of the detection gear, the encoder includes two magnetic angle sensors, the two magnetic angle sensors are disposed in one-to-one correspondence with the two magnetic members, and the magnetic angle sensors are disposed coaxially with the magnetic members.
In some embodiments of the present invention, the detection gear includes a first gear, a spring and a second gear, which are sequentially and coaxially arranged, two ends of the spring are respectively connected to the first gear and the second gear, and the spring can drive the first gear and the second gear to rotate relatively, so that the working tooth surfaces of the first gear and the second gear are respectively in contact with two side tooth surfaces of the tooth socket engaged therewith.
In some embodiments of the present invention, the driving circuit board includes an FOC optimizing unit, an attitude adjusting unit, an edge calculating unit, and a communication unit, and is electrically connected to the motor and the decelerator, respectively.
In some embodiments of the invention, the retarder comprises a harmonic retarder.
A second aspect of the present invention provides a robot comprising:
a robot main body;
a plurality of rotational motion modules, which are provided in the first aspect of the present invention, and a housing of which is mounted to the robot main body;
the robot leg and foot part structure comprises a plurality of robot leg and foot parts, wherein the number of the robot leg and foot parts is consistent with that of the rotary motion module, and one end of each robot leg and foot part is connected with the output end of a speed 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 repeated 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. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
FIG. 1 schematically illustrates a cross-sectional structural view of a rotary motion module according to an embodiment of the present invention;
FIG. 2 schematically illustrates an exploded view of a rotational motion module according to an embodiment of the present invention;
FIG. 3 schematically illustrates a first perspective structural view of a rotational motion module, in accordance with an embodiment of the present invention;
FIG. 4 schematically illustrates a second perspective structural view of a rotational motion module in accordance with an embodiment of the present invention;
fig. 5 schematically shows a structural view of a detection gear of the rotary motion module according to an embodiment of the present invention;
the reference symbols in the drawings denote the following:
100: a housing, 101: bearing seat, 102: a brake assembly;
10: stator, 11: a rotor;
20: a speed reducer;
30: inner hollow shaft, 31: outer hollow shaft, 32: a transfer flange;
40; detection gear, 41: first gear, 42: second gear, 43: an elastic member;
50: an encoder;
60: and a driving circuit board.
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 provides a rotational motion module, including:
the motor comprises a shell 100, a motor, a speed reducer 20, a hollow shaft assembly, a gear assembly and an encoder 50 assembly, wherein the motor is arranged inside the shell 100 and comprises a stator 10 and a rotor 11; the input end of the speed reducer 20 is in transmission connection with the rotor 11; the hollow shaft assembly comprises an inner hollow shaft 30 and an outer hollow shaft 31, the outer hollow shaft 31 is sleeved on the outer side of the inner hollow shaft 30, one of the inner hollow shaft 30 and the outer hollow shaft 31 is in transmission connection with the output end of the speed reducer 20, and the other one is in transmission connection with the rotor 11; the gear assembly comprises two detection gears 40, wherein one detection gear 40 is in transmission connection with the first end of the inner hollow shaft 30, and the other detection gear 40 is in transmission connection with one end, close to the first end of the inner hollow shaft 30, of the outer hollow shaft 31; the encoder 50 is installed inside the casing 100, and the encoder 50 includes the encoder 50 and locates the magnetic part on two detection gears 40, and the encoder 50 is used for detecting the turned angle of magnetic part.
The rotary motion module is in transmission connection with the rotor 11 and the output end of the speed reducer 20 through the hollow shaft assembly, the gear assembly is in transmission connection with the hollow shaft assembly, the rotation of a magnetic part on the gear assembly is detected through the encoder 50 assembly, and the motion angle detection of the rotary motion module is realized.
In some embodiments of the present invention, the motor, the speed reducer 20 and the hollow shaft assembly are coaxially disposed, the speed reducer 20 is disposed on one axial side of the motor, and the gear assembly and the encoder 50 assembly are disposed on the other axial side of the motor. The inner hollow shaft 30 and the outer hollow shaft 31 are coaxially arranged at intervals so that they can rotate relatively, the stator 10 of the motor is installed inside the housing 100 and fixed with the housing 100, and the stator 10 is sleeved outside the rotor 11. The housing 100 includes a bearing housing 101, the bearing housing 101 is disposed along a radial direction of the motor, the rotor 11 is mounted on the bearing housing 101 through a bearing and can rotate relative to the bearing housing 101, one axial side of the rotor 11 is connected with an input end of the speed reducer 20 through an adapter flange 32, and the adapter flange 32 is provided with a through hole for the inner hollow shaft 30 to pass through and extend to the other side of the rotor 11. The gear assembly is in driving connection with one end of the outer hollow shaft 31 and one end of the inner hollow shaft 30, and the gear assembly can be arranged according to actual arrangement requirements, for example, the gear assembly is arranged along the radial direction, so that the axial thickness of the rotary motion module is reduced, the encoder 50 assembly is enabled to be out of the axis, and the rotary motion module is enabled to be more compact.
In some embodiments of the present invention, a central hole is formed at the axial center of the rotor 11, the inner hollow shaft 30 includes a flange shaft, a large diameter end of the flange shaft is connected to the output end of the reducer 20, the flange shaft is penetrated in the central hole, and a small diameter end of the flange shaft is in transmission connection with one of the detection gears 40. The major diameter end of the flange shaft is of a flange structure, the flange structure can be coaxially connected with the output end of the speed reducer 20 through bolts, the middle of the flange shaft penetrates through the central holes of the adapter flange 32 and the rotor 11 and is spaced from the central holes of the adapter flange 32, the minor diameter end of the flange shaft can be provided with an external spline, and the external spline is sleeved with a gear and is meshed with the detection gear 40.
In some embodiments of the present invention, two detection gears 40 are respectively disposed on two radial sides of the hollow shaft assembly, one end of the inner hollow shaft 30 is in transmission connection with one of the detection gears 40, and one end of the outer hollow shaft 31 is in transmission connection with the other detection gear 40. One end of the inner hollow shaft 30 is inserted into the connecting groove formed in the rotor 11 to realize fixation, the other end of the inner hollow shaft 30 can be provided with external teeth or sleeved with gears to be meshed with the detection gear 40 to realize transmission connection, and one end of the outer hollow shaft 31 can also be sleeved with gears or processed with external teeth to be meshed with the detection gear 40 to realize transmission connection in the same way. The two detection gears 40 are arranged oppositely in the radial direction, so that the axial position of the motor can be avoided, and convenience is provided for arranging the device along the axial direction of the rotary mounting motion module, for example, the brake assembly 102 can be arranged coaxially with the motor.
In some embodiments of the present invention, the rotational motion module further includes a driving circuit board 60, the driving circuit board 60 is connected to the housing 100, the driving circuit board 60 is disposed on one axial side of the gear assembly, the rotor 11 is disposed on the other axial side of the gear assembly, the encoder 50 is mounted on the driving circuit board 60, and the encoder 50 is electrically connected to the driving circuit board 60. The distance between the driving circuit board 60 and the detection gear 40 can be set to be 1mm, and the compact structure and the detection precision are both considered. The driving circuit board 60 is a servo circuit board of the rotary motion module, i.e. a control center, the control and external communication functions of the rotary motion module can be realized by the driving circuit board 60, and the encoder 50 is integrated on the driving circuit board 60, so that the space can be saved, and the low cost and the device compactness can be realized. The control unit on the driving circuit board 60 can receive the rotation angle signal of the detection gear 40 detected by the encoder 50, and control the motor and the speed reducer 20 according to the signal.
In some embodiments of the present invention, the magnetic member is disposed at the shaft center of the detection gear 40, the encoder 50 includes two magnetic angle sensors, the magnetic angle sensors are disposed in one-to-one correspondence with the magnetic member, and the magnetic angle sensors are disposed coaxially with the magnetic member. The magnetic member may be a circular magnet, and is mounted at the axial center of the detection gear 40 by means of embedding. When the detection gear 40 drives the magnetic part to rotate, the magnetic angle sensor detects the rotation angle of the magnetic part according to the magnetic induction principle, converts the rotation angle into an electric signal and outputs the electric signal outwards, and therefore the rotation speed detection or the rotation angle detection of the motor output and the speed reducer 20 output is achieved.
In some embodiments of the present invention, the detection gear 40 includes a first gear, a spring and a second gear, which are sequentially and coaxially disposed, two ends of the spring are respectively connected to the first gear and the second gear, and the spring can drive the first gear and the second gear to rotate relatively, so that the working tooth surfaces of the first gear and the second gear are respectively in contact with two side tooth surfaces of the tooth socket engaged with the first gear and the second gear. One end of the inner hollow shaft 30 is provided with a first connecting gear engaged with the detection gear 40, one end of the outer hollow shaft 31 is provided with a second connecting gear engaged with the detection gear 40, and the detection gear 40, the detection gear 40 and the second connecting gear are in a 1:1 relationship, so that the angle detection is more accurate. The detection gear 40 is a double-layer gapless gear, and comprises a first gear 41, a second gear 42 and an elastic part 43, the first gear 41 and the second gear 42 have the same structure, one end of the elastic part 43 is clamped with a groove on the side surface of the first gear 41, the other end of the elastic part 43 is clamped with a groove on the side surface of the second gear 42, the elastic part 43 can be arc-shaped, when the first connecting gear or the second connecting gear drives the detecting gear 40 to rotate, the detecting gear 40 can rotate in a small range, the teeth of the first connecting gear or the second connecting gear are abutted with the teeth of the first gear 41, the detecting gear 40 continues to rotate, due to the elastic member 43, the teeth of the first connecting gear or the second connecting gear abut against the teeth of the second gear 42, that is, the detecting gear 40 can rotate a small angle in a small range, but not a single tooth, so that the free gear clearance can be eliminated during operation.
In some embodiments of the present invention, the driving circuit board 60 includes a FOC (field orientation control) optimizing unit, an attitude adjusting unit, an edge calculating unit, and a communication unit, and the driving circuit board 60 is electrically connected to the motor and the decelerator 20, respectively. The FOC optimization unit flexibly adjusts the rotating speed of the motor, so that the power output is more stable, and rich functions are realized. The posture of the robot is controlled through the posture adjusting unit, and intelligent control is achieved. The calculation processing capability of the driving circuit board 60 is improved by the edge calculation unit, and the communication connection between the rotary motion module and the outside is realized by the serial port, the network port and the wireless network port of the communication unit.
In some embodiments of the present invention, the retarder 20 is a harmonic retarder 20. The harmonic reducer 20 is assembled with the flexible bearing through the wave generator to enable the flexible gear to generate controllable elastic deformation and is meshed with the rigid gear to transmit motion and power. The transmission speed ratio is big, and the bearing capacity is high, the precision, efficient steady operation, compact structure simultaneously, the volume is less.
A second aspect of the present invention provides a robot comprising:
a robot main body;
the robot comprises a robot body, a plurality of rotary motion modules, a plurality of control modules and a plurality of control modules, wherein the plurality of rotary motion modules are the rotary motion modules provided by the first aspect of the invention;
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 parts is connected with the output end of the speed reducer 20 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 repeated herein.
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, comprising:
a housing;
a motor disposed inside the housing, the motor including a stator and a rotor;
the input end of the speed reducer is in transmission connection with the rotor;
the hollow shaft assembly comprises an inner hollow shaft and an outer hollow shaft, the outer hollow shaft is sleeved on the outer side of the inner hollow shaft, one of the inner hollow shaft and the outer hollow shaft is in transmission connection with the output end of the speed reducer, and the other one of the inner hollow shaft and the outer hollow shaft is in transmission connection with the rotor;
the gear assembly comprises two detection gears, one detection gear is in transmission connection with the end part of the inner hollow shaft, and the other detection gear is in transmission connection with one end, close to the end part of the inner hollow shaft, of the outer hollow shaft;
the encoder assembly is installed in the shell, the encoder assembly comprises an encoder and two magnetic pieces arranged on the detection gear, and the encoder is used for detecting the rotation angle of the magnetic pieces.
2. The rotary motion module of claim 1, wherein the motor, the speed reducer, and the hollow shaft assembly are coaxially disposed, the speed reducer is disposed on one axial side of the motor, and the gear assembly and the encoder assembly are disposed on the other axial side of the motor.
3. The rotary motion module of claim 2, wherein the rotor has a central hole at an axial center thereof, the inner hollow shaft comprises a flange shaft, a large diameter end of the flange shaft is connected to the output end of the reducer, the flange shaft is inserted into the central hole, and a small diameter end of the flange shaft is in transmission connection with one of the detection gears.
4. The rotary motion module of claim 3, wherein two of the detection gears are disposed on two radial sides of the hollow shaft assembly, one end of the inner hollow shaft is in transmission connection with one of the detection gears, and one end of the outer hollow shaft is in transmission connection with the other detection gear.
5. The rotary motion module of claim 4, further comprising a drive circuit board coupled to the housing, the drive circuit board being disposed on one axial side of the gear assembly, the rotor being disposed on an opposite axial side of the gear assembly, the encoder being mounted on the drive circuit board and electrically coupled to the drive circuit board.
6. The rotary motion module of claim 5, wherein a magnetic member is disposed at the axis of the detection gear, the encoder comprises two magnetic angle sensors, the two magnetic angle sensors are disposed in one-to-one correspondence with the two magnetic members, and the magnetic angle sensors are disposed coaxially with the magnetic members.
7. The rotary motion module according to claim 4, wherein the detection gear comprises a first gear, a spring and a second gear which are sequentially and coaxially arranged, two ends of the spring are respectively connected with the first gear and the second gear, and the spring can drive the first gear and the second gear to rotate relatively, so that the working tooth surfaces of the first gear and the second gear are respectively in contact with two side tooth surfaces of a tooth socket meshed with the first gear and the second gear.
8. The rotary motion module of claim 5, wherein the drive circuit board comprises an FOC optimization unit, an attitude adjustment unit, an edge calculation unit, and a communication unit, the drive circuit board being electrically connected to the motor and the speed reducer, respectively.
9. The rotary motion module of any one of claims 1 to 8, wherein the reducer is a harmonic reducer.
10. A robot, comprising:
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 modules being mounted to the robot body;
the robot leg and foot part structure comprises a plurality of robot leg and foot parts, wherein the number of the robot leg and foot parts is consistent with that of the rotary motion module, and one end of each robot leg and foot part is connected with the output end of a speed reducer of the rotary motion module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210051896.0A CN114083526B (en) | 2022-01-18 | 2022-01-18 | Rotary motion module and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210051896.0A CN114083526B (en) | 2022-01-18 | 2022-01-18 | Rotary motion module and robot |
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| Publication Number | Publication Date |
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| CN114083526A CN114083526A (en) | 2022-02-25 |
| CN114083526B true CN114083526B (en) | 2022-06-21 |
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| CN202210051896.0A Active CN114083526B (en) | 2022-01-18 | 2022-01-18 | Rotary motion module and robot |
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Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2516843B1 (en) * | 1981-11-24 | 1985-10-25 | Calhene | ACTUATION DEVICE AND ITS APPLICATION TO A POSITION CONTROLLING FOR A MASTER-SLAVE TELEMANIPULATOR |
| DE202016001164U1 (en) * | 2016-02-22 | 2016-03-10 | Lakeview Innovation Ltd. | Robot joint drive with encoder |
| CN107263527B (en) * | 2017-06-30 | 2021-02-09 | 东南大学 | Joint device for joint robot |
| CN209375362U (en) * | 2018-02-27 | 2019-09-10 | 前沿驱动（北京）技术有限公司 | A kind of actuator, mechanical arm and robot |
| CN112033448A (en) * | 2020-09-27 | 2020-12-04 | 张晓光 | Coaxial non-contact double-encoder design |
| CN112297053A (en) * | 2020-10-26 | 2021-02-02 | 珠海一维弦机器人有限公司 | Joint driving device |
| CN113200100A (en) * | 2021-03-16 | 2021-08-03 | 杭州未名信科科技有限公司 | Rotary motion module and robot with same |
| CN113172657A (en) * | 2021-06-04 | 2021-07-27 | 成都航空职业技术学院 | Force control joint torque measurement and transmission module |
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| CN114083526A (en) | 2022-02-25 |
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Application publication date: 20220225 Assignee: Zhejiang smart video security Innovation Center Co.,Ltd. Assignor: Institute of Information Technology, Zhejiang Peking University Contract record no.: X2022330000930 Denomination of invention: Rotating motion module and robot Granted publication date: 20220621 License type: Common License Record date: 20221229 |