CN210500329U

CN210500329U - Multi-motor bionic robot joint

Info

Publication number: CN210500329U
Application number: CN201921041906.2U
Authority: CN
Inventors: 席宁; 毕盛; 陈丽燕; 黄佳亮; 马宠涵
Original assignee: Shenzhen Academy Of Robotics
Current assignee: Shenzhen Academy Of Robotics
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2020-05-12
Anticipated expiration: 2029-07-04

Abstract

The utility model discloses a many motors bionic robot joint, including the axis of rotation, be equipped with a plurality of drive unit in the axis of rotation, each drive unit all includes gear wheel, more than one and gear wheel toothing's pinion and correspond each pinion pivoted motor of drive, gear wheel and axis of rotation fixed connection, pinion surround the gear wheel setting. This many motors bionic robot joint, rotate through the common drive axis of rotation of a plurality of drive unit, wherein, each drive unit drives the gear wheel rotation again through a plurality of pinions and motor jointly, the gear wheel drives the axis of rotation and rotates, a plurality of less motor drive joint jointly promptly, compare with single big torque motor of traditional adoption, the flexible motion that realizes skeleton joint of many muscle bundles of biological muscle has been simulated, can adapt to different rigidity demands, improve bionic joint's variable rigidity performance and flexibility, and improve output torque and weight ratio, strengthen quick response performance, this utility model is used for the robot field.

Description

Multi-motor bionic robot joint

Technical Field

The utility model relates to a robot field especially relates to a many motors bionic robot joint.

Background

Robots are widely used in various industries, and conventionally, the robots are installed and fixed at specific positions, and work processes of the robots are designed in advance manually, so that specific operations are repeatedly performed. The external environment contacted by the robot during task execution has uncertainty, the robot needs to have certain dynamic interaction capacity during task execution, the traditional robot has fixed rigidity, the joint rigidity is difficult to dynamically adjust according to the external environment and the load change of the robot so as to slow down the impact of the external environment, and certain potential safety hazards exist. Based on this, flexible robots have been developed.

The flexible robot based on electric drive mainly includes active flexibility and passive flexibility, and from the perspective of mechanical design, the passive flexible robot is provided with an elastic device at a joint, and the elastic device has an elastic function (such as a spring and other materials with a stretching function), and realizes the change of the joint stiffness by controlling the spring stiffness. In the passive flexible robot, an elastic device needs to be added on hardware, the elastic device is large in size and complex in structure, and in practical application, the stored energy of the elastic device can be suddenly released in the collision process to cause potential safety hazards; the active flexible robot utilizes a control algorithm to realize the flexible function of the robot, a joint of the active flexible robot usually adopts a single large-torque motor to increase the joint output driving force, but the single large-torque motor has higher cost, large weight, large volume, slow response, difficult control and poor variable stiffness performance and flexibility.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a many motors bionic robot joint is provided, improve and become rigidity performance and flexibility.

The technical scheme adopted for solving the technical problems is as follows:

the utility model provides a many motors bionic robot joint, includes the axis of rotation, be equipped with a plurality of drive unit in the axis of rotation, each drive unit all include gear wheel, more than one with gear wheel toothing's pinion and correspond the drive each pinion pivoted motor, the gear wheel with axis of rotation fixed connection, the pinion encircles the gear wheel setting.

Preferably, the steering device further comprises a housing for mounting and fixing the motors, a rudder disc is fixedly connected to one end of the rotating shaft, the rudder disc extends out of the housing, an auxiliary rudder disc is arranged at one end of the housing opposite to the end where the rudder disc is located, and a plurality of mounting holes are formed in the rudder disc and the auxiliary rudder disc.

Preferably, there are two driving units, and the two driving units are oppositely arranged and respectively are a first driving unit and a second driving unit.

Preferably, in each driving unit, there are four pinions and four motors, and the four pinions are uniformly distributed around the bull gear.

Preferably, the motor in the first drive unit and the motor in the second drive unit are both torque motors.

Preferably, the motor in the first driving unit is a torque motor, and the motor in the second driving unit is a coreless motor.

Preferably, in each of the driving units, there are two pinions and two motors, respectively.

Preferably, still include magnetic encoder, magnetic encoder includes permanent magnet and encoder circuit board, the permanent magnet is installed on the axis of rotation and the rudder disk place end opposite one end, the encoder circuit board with the permanent magnet sets up relatively.

Preferably, the encoder further comprises a motor driving board, and the motor driving board is arranged on the rear side of the encoder circuit board.

Preferably, the side of casing is equipped with a plurality of wiring mouths, the center of vice steering wheel is equipped with the line hole, be equipped with the detachable apron on the wiring mouth, be equipped with the detachable end cap on the line hole.

The utility model has the advantages that: this many motors bionic robot joint drives the axis of rotation through a plurality of drive unit jointly and rotates, and wherein, each drive unit drives the gear wheel through a plurality of pinions and motor jointly again and rotates, and the gear wheel drives the axis of rotation and rotates, and a plurality of less motors drive the joint jointly promptly, compares with the traditional adoption single big torque motor, has simulated the flexible motion that realizes the skeleton joint of many fascicles of biological muscle, can adapt to different rigidity demands, improves bionic joint's variable rigidity performance and flexibility. In addition, due to the fact that multiple motors are used for driving together, when a certain motor breaks down, the system can still run normally, and working reliability is improved. A plurality of smaller motors are adopted to replace a single large-torque motor, so that the manufacturing cost of the robot joint can be reduced, the output torque and weight ratio can be improved, and the quick response performance can be enhanced.

Drawings

The present invention will be further explained with reference to the accompanying drawings:

fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;

fig. 2 is a side view of an embodiment of the invention;

fig. 3 is a schematic structural diagram of a housing according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of the first driving unit and the second driving unit of the embodiment of the present invention using different motors;

fig. 5 is a schematic structural diagram of each driving unit of the embodiment of the present invention using two motors;

fig. 6 is a side view of each driving unit of the embodiment of the present invention using two motors;

fig. 7 is a schematic structural diagram of a magnetic encoder and a motor driving board according to an embodiment of the present invention;

fig. 8 is a schematic structural view of the wiring port and the wire passing hole of the embodiment of the present invention.

Detailed Description

Referring to fig. 1-8, the utility model relates to a many motors bionic robot joint, including axis of rotation 10, be equipped with a plurality of drive unit on the axis of rotation 10, each drive unit all includes gear wheel 21, more than one with the pinion gear 22 of gear wheel 21 meshing and correspond each pinion gear 22 pivoted motor 23 of drive, gear wheel 21 and axis of rotation 10 fixed connection, pinion gear 22 encircles the setting of gear wheel 21.

The multi-motor bionic robot joint is provided based on that animals can effectively complete complex operations through muscles, the biological muscle tissue is composed of a plurality of muscle bundles, the muscle bundles are composed of a plurality of muscle fibers, the muscle fibers are composed of a plurality of myofibrils, the myofibrils are composed of sarcomere, and thick myofilaments and thin myofilaments are contained in the sarcomere. In the embodiment, the rotating shaft 10 is driven to rotate by a plurality of driving units together, wherein each driving unit drives the large gear 21 to rotate by a plurality of small gears 22 and the motors 23 together, the large gear 21 drives the rotating shaft 10 to rotate, namely, the joints are driven by a plurality of small motors 23 together.

In addition, due to the fact that multiple motors are used for driving together, when a certain motor 23 breaks down, the system can still run normally, and working reliability is improved. And a plurality of smaller motors 23 are adopted to replace a single large-torque motor, so that the manufacturing cost of the robot joint can be reduced, the output torque-to-weight ratio is improved, and the quick response performance is enhanced.

Preferably, as shown in fig. 3, the steering device further includes a housing 50 for mounting and fixing the motors 23, a rudder plate 51 is fixedly connected to one end of the rotating shaft 10, the rudder plate 51 extends out of the housing 50, a sub-rudder plate 52 is disposed on the end of the housing 50 opposite to the end where the rudder plate 51 is located, and a plurality of mounting holes 511 are disposed on each of the rudder plate 51 and the sub-rudder plate 52. The auxiliary tiller 52 and the tiller 51 can be respectively installed on the two mechanical arms through the installation hole 511, the plurality of motors 23 drive the rotation shaft 10 to rotate, and the rotation shaft 10 drives the tiller 51 to rotate, so that the two mechanical arms form relative rotation.

Preferably, there are two driving units, which are oppositely disposed, namely a first driving unit 31 and a second driving unit 32, as shown in fig. 1. And two driving units are adopted, so that the structure is simple, and the control is convenient.

In one embodiment, there are four pinions 22 and motors 23 in each drive unit, and the four pinions 22 are uniformly distributed around the bull gear 21. The motors 23 of the first driving unit 31 and the second driving unit 32 may be the same motor or different motors to meet different working requirements, for example: as shown in fig. 1, the motors 23 in the first driving unit 31 and the motors 23 in the second driving unit 32 are torque motors, that is, there are 8 torque motors in total, which can satisfy a large torque output, the total torque output is averagely borne by the 8 torque motors, and the torque motor 41 can provide a stable output torque; for another example: as shown in fig. 4, the motor 23 in the first driving unit 31 is a torque motor 41, the motor 23 in the second driving unit 32 is a coreless motor 42, the coreless motor 42 is a high-speed and fast-response permanent magnet motor, the four coreless motors 42 can realize fast rotation of the rotating shaft 10 when operating, and is suitable for the case of no load and fast operation, and the four torque motors 41 can output stable torque when operating, and is suitable for the case of load. Therefore, the first driving unit 31 and the second driving unit 32 adopt different motors, so that different working requirements can be met, and the joint module has stronger flexibility.

As another embodiment, as shown in fig. 5, there are two pinions 22 and two motors 23 in each driving unit, and similarly, the motors 23 in the first driving unit 31 and the second driving unit 32 may be motors of the same type or different types to meet different working requirements, and in each driving unit, the two pinions 22 may be uniformly distributed around the bull gear 21, i.e. distributed at 180 °, or non-uniformly distributed, as shown in fig. 6.

It will be appreciated that in some embodiments, there may be 3 or more drive units, and that there may be 1 or more than 2 motors 23 in each drive unit,

preferably, the rudder tiller further comprises a magnetic encoder, the magnetic encoder comprises a permanent magnet 61 and an encoder circuit board 62, the permanent magnet 61 is mounted on the end surface of the end of the rotating shaft 10 opposite to the end where the rudder plate 51 is located, and the encoder circuit board 62 is arranged opposite to the permanent magnet 61, as shown in fig. 7. The encoder circuit board 62 is provided with a hall sensor chip for detecting a magnetic field, and the detection of the rotation angle position and the rotation speed of the rotation shaft 10 is realized by detecting the magnetic field change generated when the rotation shaft 10 drives the permanent magnet 61 to rotate, wherein the permanent magnet 61 can be a magnet. Compared with the traditional optical encoder, the magnetic encoder is adopted, the structure is simple, the occupied space is small, and the installation structure is compact.

Preferably, a motor driving board 70 is further included, and the motor driving board 70 is provided at the rear side of the encoder circuit board 62. The magnetic encoder and motor drive board 70 are integrated into the housing 50, which is compact and forms a complete joint module.

Preferably, as shown in fig. 8, a plurality of wiring ports 53 are formed in a side surface of the housing 50, a wire passing hole 54 is formed in the center of the auxiliary rudder plate 52, a detachable cover plate 55 is arranged on the wiring ports 53, and a detachable plug 56 is arranged on the wire passing hole 54. The power line, the signal line and the like of the motor 23 can be led out through the wiring port 53 or the wire through hole 54, if necessary, the proper wiring port 53 or the wire through hole 54 is selected according to the position of other connecting parts, the electric wire is led out from one side surface or the end surface of the shell 50, the wiring is convenient, and the wiring port 53 or the wire through hole 54 without the lead is sealed by a cover plate 55 or a plug 56, so that dust and the like are prevented from entering.

In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.

The features of the embodiments and embodiments described herein above may be combined with each other without conflict.

Of course, the invention is not limited to the above-mentioned embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and these equivalent modifications or substitutions are included in the scope defined by the claims of the present application.

Claims

1. A multi-motor bionic robot joint is characterized in that: including the axis of rotation, be equipped with a plurality of drive unit in the axis of rotation, each drive unit all include gear wheel, more than one with gear wheel toothing's pinion and correspond the drive each pinion pivoted motor, the gear wheel with axis of rotation fixed connection, the pinion encircles the gear wheel setting.

2. The multi-motor biomimetic robotic joint of claim 1, wherein: still including the installation fixed each the casing of motor, the one end fixedly connected with rudder wheel of axis of rotation, the rudder wheel stretches out outside the casing, the one end opposite with rudder wheel place end on the casing is equipped with vice rudder wheel, all be equipped with a plurality of mounting holes on rudder wheel and the vice rudder wheel.

3. The multi-motor biomimetic robot joint according to claim 1 or 2, characterized in that: the two driving units are arranged oppositely and respectively comprise a first driving unit and a second driving unit.

4. The multi-motor biomimetic robotic joint of claim 3, wherein: in each driving unit, the number of the small gears and the number of the motors are four respectively, and the four small gears are uniformly distributed around the large gear.

5. The multi-motor biomimetic robotic joint of claim 4, wherein: and the motor in the first driving unit and the motor in the second driving unit are both torque motors.

6. The multi-motor biomimetic robotic joint of claim 4, wherein: the motor in the first driving unit is a torque motor, and the motor in the second driving unit is a hollow cup motor.

7. The multi-motor biomimetic robotic joint of claim 3, wherein: in each of the drive units, there are two pinions and two motors.

8. The multi-motor biomimetic robotic joint of claim 2, wherein: the magnetic encoder comprises a permanent magnet and an encoder circuit board, the permanent magnet is mounted at one end of the rotating shaft opposite to the end where the rudder disc is located, and the encoder circuit board is arranged opposite to the permanent magnet.

9. The multi-motor biomimetic robotic joint of claim 8, wherein: still include motor drive board, motor drive board locates the rear side of encoder circuit board.

10. The multi-motor biomimetic robotic joint of claim 2, wherein: the side of casing is equipped with a plurality of wiring mouths, the center of vice steering wheel is equipped with the line hole, be equipped with the detachable apron on the wiring mouth, be equipped with the detachable end cap on the line hole.