CN213185738U - Motor of foot type robot - Google Patents
Motor of foot type robot Download PDFInfo
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- CN213185738U CN213185738U CN202022096587.4U CN202022096587U CN213185738U CN 213185738 U CN213185738 U CN 213185738U CN 202022096587 U CN202022096587 U CN 202022096587U CN 213185738 U CN213185738 U CN 213185738U
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Abstract
An object of the utility model is to provide a sufficient robot's motor, its defect that can solve current sufficient robot's motor, specifically, a sufficient robot's motor, include: a first motor; the second motor is perpendicular to the first motor; the first connecting assembly is arranged between the first motor and the second motor and is used for connecting the first motor and the second motor; the third motor is coaxially arranged with the second motor; the second connecting assembly is arranged between the second motor and the third motor and is used for connecting the second motor and the third motor; a wire arranging channel is arranged in a motor of the foot type robot, and cables of the motor of the foot type robot are all arranged in the wire arranging channel. Through adopting above-mentioned technical scheme, can realize the integrated connection of three joint motors of sufficient robot to walk the line through cavity and avoid sufficient robot's cable winding.
Description
Technical Field
The utility model relates to a motor field of robot, concretely relates to motor of sufficient formula robot.
Background
In the field of robots, legged robots developed by simulating joints of humans or other animals have great advantages, and compared with wheeled robots, legged robots have higher flexibility and better performance. For the overall structure of the foot type robot, the driving unit is composed of the core of the foot type robot, and a plurality of joint motors are arranged in the leg of the foot type robot so as to realize the motion of the leg with a plurality of degrees of freedom. However, the power supply cable and the control cable of the leg motor of the existing foot robot are mostly externally wired, when the foot robot completes large-amplitude movement, the motor cable is easily dragged and damaged, and the normal operation of the motor is affected. The speed reduction part of the motor is also an important component, a harmonic reducer is mostly adopted in the motor of the existing foot type robot as a speed reduction component of the foot type robot, the structure of the harmonic reducer is complex, the weight of the part is heavy, the cost is high, the use requirement of the foot type robot for light weight is not facilitated, and the popularization and application of the foot type robot are also not facilitated.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a sufficient robot's motor, its defect that can solve current sufficient robot's motor, specifically, a sufficient robot's motor, it includes: a first motor; the second motor is perpendicular to the first motor; a first connection assembly disposed between the first motor and the second motor, the first connection assembly being configured to connect the first motor and the second motor; a third motor disposed coaxially with the second motor; the second connecting assembly is arranged between the second motor and the third motor and is used for connecting the second motor and the third motor; the motor of the foot robot is internally provided with a wire arranging channel, and cables of the motor of the foot robot are all distributed in the wire arranging channel.
According to an embodiment of the present invention, the wire arranging channel includes a first wire arranging channel and a second wire arranging channel, the first wire arranging channel is communicated with the second wire arranging channel; the first wiring channel includes: the first wire arranging hole is formed in the central axis of the first motor and penetrates through the first motor; and the second wire arranging hole is formed in the central axis of the first connecting assembly and penetrates through the first connecting assembly.
According to the utility model discloses an embodiment, second winding displacement passageway includes: and the third wire arranging hole is formed in the central axis of the second motor and penetrates through the second motor. The fourth wire arranging hole is formed in the central axis of the second connecting component and penetrates through the second connecting component; and the fifth wire arranging hole is formed in the central axis of the third motor and penetrates through the third motor.
According to the utility model discloses an embodiment, the second motor with be provided with the intercommunication chamber between the first connecting element, first winding displacement passageway with the second winding displacement passageway passes through the intercommunication chamber intercommunication.
According to the utility model discloses an embodiment, first motor includes: a first motor housing; the first stator is fixedly connected to the inner wall of the first motor shell; a first rotor disposed around the first stator; the first speed reduction assembly is arranged close to a central axis of the first motor and connected with the first rotor; and the first detection assembly is used for detecting the speed parameter and the position parameter of the first motor.
According to the utility model discloses an embodiment, the second motor includes: a second motor housing; the first stator is fixedly connected to the inner wall of the second motor shell; a second rotor disposed around the second stator; the second speed reducing assembly is arranged close to the central axis of the second motor and used for controlling the output rotating speed of the second motor; and the second detection assembly is used for detecting the speed parameter and the position parameter of the second motor.
According to the utility model discloses an embodiment, the third motor includes: a third motor housing; the third stator is fixedly connected to the inner wall of the third motor shell; a third rotor disposed around the third stator; the third speed reducing assembly is arranged close to a central axis of the third motor and used for controlling the output rotating speed of the third motor; and a third detection assembly for detecting a speed parameter and a position parameter of the third motor.
According to the utility model discloses an embodiment, first detecting component includes first linear hall array subassembly, second detecting component includes second linear hall array subassembly, third detecting component includes third linear hall array subassembly.
According to the utility model discloses an embodiment, first linear hall array subassembly detects control to the speed position parameter of first motor, second linear hall array subassembly detects control to the speed position parameter of second motor, third linear hall array subassembly detects control to the speed position parameter of third motor.
According to an embodiment of the present invention, the cable comprises a power cable and a control cable; the power cable is arranged inside the winding displacement channel to supply power to the first motor, the second motor and the third motor; the control cable is arranged inside the winding displacement channel to control the first motor, the second motor and the third motor.
By adopting the technical scheme, the invention mainly has the following technical effects:
1. the multiple joint motors of the foot type robot are connected in an integrated mode, so that the structure compactness is improved, and the space occupation is reduced;
2. the motor cable of the foot type robot is arranged in the wire arranging channel, so that hollow wiring can be realized, and the influence of the winding and dragging of the cable on the normal work of the foot type robot is avoided;
3. the linear Hall array can be used for more accurately detecting the data of the motor of the foot type robot, and the control precision is improved.
Drawings
Fig. 1 is a first schematic view of a motor of a legged robot according to an embodiment of the present invention;
fig. 2 is a second schematic view of a motor of a legged robot according to an embodiment of the present invention.
In the figure: 1. a first motor; 11. a first motor housing; 12. a first stator; 13. a first rotor; 14. a first speed reduction assembly; 141. a first sun gear; 2. a second motor; 21. a second motor housing; 22. a second stator; 23. a second rotor; 24. a second reduction assembly; 241. a second sun gear; 3. a third motor; 31. a third motor housing; 32. a third stator; 33. a third rotor; 34. a third speed reduction assembly; 341. a third sun gear; 4. a first connection assembly; 5. a second connection assembly; 6. a wire arranging channel; 61. a first wire arranging passage; 611. a first line of holes; 612. a second line hole; 62. a second wire arranging channel; 621. a third line of holes; 622. a fourth line of holes; 623. a fifth line of holes; 7. a communicating chamber.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
The utility model discloses a motor structure of sufficient robot, for the integrated setting of the three joint motor of the shank that realizes sufficient robot, in this embodiment the motor of sufficient robot include first motor 1, second motor 2, first coupling assembling 4, third motor 3 and second coupling assembling 5. The second motor 2 is perpendicular to the first motor 1, the second motor 2 is connected with the first motor 1 through a first connecting component 4 arranged between the first motor 1 and the second motor 2, the third motor 3 is coaxially arranged with the second motor 2, and the third motor 3 is connected with the second motor 2 through a second connecting component 5 arranged between the second motor 2 and the third motor 3. In order to detachably connect the first motor 1, the second motor 2, and the third motor 3 to each other, a plurality of first connection slots (not shown) are formed on a surface of the first motor 1 facing the first connection assembly 4, a plurality of first connection parts (not shown) are formed on a surface of the first connection assembly 4 facing the first motor 1 to be engaged with the plurality of first connection slots, a plurality of second connection slots (not shown) are formed on a surface of the second motor 2 facing the first connection assembly 4, a plurality of second connection parts (not shown) are formed on a surface of the first connection assembly 4 facing the second motor 2 to be engaged with the plurality of second connection slots, the plurality of first connection parts are inserted into the plurality of first connection slots in a one-to-one correspondence manner, the plurality of second connection parts are inserted into the plurality of second connection slots in a one-to-one correspondence manner, so as to realize the detachable connection among the first motor 1, the first connecting component 4 and the second motor 2; in this embodiment a plurality of third connecting slots (not shown) are provided on the face of the second electric machine 2 facing the second connecting assembly 5, a plurality of third connecting members (not shown) are disposed on the surface of the second connecting assembly 5 facing the second motor 2, and a plurality of fourth connecting slots (not shown) are disposed on the surface of the third motor 3 facing the second connecting assembly 5, on the surface of the second connecting assembly 5 facing the third electric machine 3, a plurality of fourth connecting members (not shown) are provided, which cooperate with a plurality of fourth connecting slots, into which the plurality of third connecting members are inserted in a one-to-one correspondence, into which the plurality of fourth connecting members are inserted in a one-to-one correspondence, so as to realize the detachable connection among the second motor 2, the second connecting assembly 5 and the third motor 3. In order to realize the hollow routing of the leg cables of the foot robot, in this embodiment, a cable arranging channel 6 is formed in the motor of the foot robot, and the cables of the motor of the foot robot are all arranged in the cable arranging channel 6.
Specifically, in order to prevent the cables of the motors of the foot robot from being exposed in a complex external environment and affecting the service life of the cables or being dragged by a foreign object or even broken and broken, according to the relative positions of the first motor 1, the second motor 2, the first connecting assembly 4, the third motor 3 and the second connecting assembly 5, the cable arranging channel 6 of the motor cables of the foot robot in the embodiment includes a first cable arranging channel 61 and a second cable arranging channel 62, and the first cable arranging channel 61 is communicated with the second cable arranging channel 62, wherein the first cable arranging channel 61 is disposed in the first motor 1 and the first connecting assembly 4, and the second cable arranging channel 62 is disposed in the second motor 2, the second connecting assembly 5 and the third motor 3. In order to enable the internal wiring of the motors of the foot robot to be compact and orderly, improve the convenience of the line connection of the first motor 1, the second motor 2 and the third motor 3, and simultaneously reduce the difficulty of the assembly and the maintenance of the motor lines of the foot robot, preferably, the first wire arranging channel 61 comprises a first wire arranging hole 611 and a second wire arranging hole 612, and the second wire arranging channel 62 comprises a third wire arranging hole 621, a fourth wire arranging hole 622 and a fifth wire arranging hole 623. Wherein, first line hole 611 is seted up on the axis of first motor 1 and is run through first motor 1, second line hole 612 is seted up on first connecting element 4 and is run through first connecting element 4, third line hole 621 is seted up on the axis of second motor 2 and is run through second motor 2, fourth line hole 622 is seted up on the axis of second connecting element 5 and is run through second connecting element 5, fifth line hole 623 is seted up on the axis of third motor 3 and is run through third motor 3. To achieve a hollow routing of the cables of the motors of the foot robot between the first motor 1 and the first connection assembly 4, in the present embodiment, the cables of the motors of the foot robot are routed in the first row of wire holes 611 and the second row of wire holes 612 of the first row of wire channels 61. In order to realize the hollow routing of the cables of the motors of the foot robot among the second motor 2, the second connecting assembly 5 and the third motor 3, in the present embodiment, the cables of the motors of the foot robot are arranged in the third wire arranging hole 621, the fourth wire arranging hole 622 and the fifth wire arranging hole 623 of the second wire arranging channel 62. In order to realize the hollow routing of the cable of the motor of the legged robot between the first wire arranging channel 61 and the second wire arranging channel 62, in the present embodiment, a communication cavity 7 is provided between the second motor 2 and the first connecting assembly 4, the first wire arranging channel 61 and the second wire arranging channel 62 are communicated through the communication cavity 7, and the communication cavity 7 is provided on the first connecting plate of the first connecting assembly 4.
The first motor 1 in the present embodiment includes a first motor housing 11, a first electric motor 12, a first rotor 13, a first speed reduction assembly 14, and a first detection assembly. The second motor 2 in the present embodiment includes a second motor housing 21, a second stator 22, a second rotor 23, a second speed reduction assembly 24, and a second detection assembly. The third motor 3 in the present embodiment includes a third motor housing 31, a third stator 32, a third rotor 33, a third speed reduction assembly 34, and a third detection assembly. In order to protect the internal structure of the motor and facilitate the installation and fixation of the internal components of the motor, in the present embodiment, the first electronic component 12, the first rotor 13, the first speed reduction assembly 14 and the first detection assembly (not shown in the figure) are all disposed in the first motor housing 11, the second stator 22, the second rotor 23, the second speed reduction assembly 24 and the second detection assembly (not shown in the figure) are all disposed in the second motor housing 21, and the third stator 32, the third rotor 33, the third speed reduction assembly 34 and the third detection assembly (not shown in the figure) are all disposed in the third motor housing 31. In order to increase the compactness of the internal structure of the motor of the legged robot and increase the installation space of the wire arranging channel 6 at the positions near the central axes of the first motor 1, the second motor 2 and the third motor 3, in the embodiment, the first electronic component 12 is fixedly arranged on the inner wall of the first motor housing 11, the second stator 22 is fixedly arranged on the inner wall of the second motor housing 21, and the third stator 32 is fixedly arranged on the inner wall of the third motor housing 31. The speed reducing assembly of the motor of the legged robot can adopt a harmonic speed reducer assembly, a planetary speed reducer assembly or other speed reducing assemblies, and in order to reduce the complexity of the structure of the speed reducing assembly and reduce the weight of the speed reducing assembly, it is preferable that the first speed reducing assembly 14, the second speed reducing assembly 24 and the third speed reducing assembly 34 are all planetary speed reducer assemblies in the embodiment. The first reduction gear assembly 14 includes a first sun gear 141 and a first planet carrier (not shown), the second reduction gear assembly 24 includes a second sun gear 241 and a second planet carrier (not shown), and the third reduction gear assembly 34 includes a third sun gear 341 and a third planet carrier (not shown). The first speed reduction assembly 14 is disposed around a central axis of the first motor 1, wherein the first sun gear 141 is fixedly connected to a central axis position of the first motor 1, and the first sun gear 141 is coaxially and fixedly connected to the first rotor 13, the second speed reduction assembly 24 is disposed around a central axis of the second motor 2, wherein the second sun gear 241 is fixedly connected to a central axis position of the second motor 2, and the second sun gear 241 is coaxially and fixedly connected to the second rotor 23, and the third speed reduction assembly 34 is disposed around a central axis of the third motor 3, wherein the third sun gear 341 is fixedly connected to a central axis position of the third motor 3, and the third sun gear 341 is coaxially and fixedly connected to the third rotor 33. In order to transmit the motion from the first electric machine 1 to the third electric machine 3 via the second electric machine 2, the first planet carrier is connected to the first connecting assembly 4 in this embodiment, the first planet carrier transmits the motion of the first electric machine 1 to the second electric machine 2 via the first connecting assembly 4, the second planet carrier is connected to the second connecting assembly 5 in this embodiment, and the second planet carrier transmits the motion of the second electric machine 2 to the third electric machine 3 via the second connecting assembly 5.
In order to realize the detection control of the speed data and the position data of the first motor 1, in this embodiment, a first detection component is disposed in the first motor 1, in order to realize the detection control of the speed data and the position data of the second motor 2, in this embodiment, a second detection component is disposed in the second motor 2, and in order to realize the detection control of the speed data and the position data of the third motor 3, in this embodiment, a third detection component is disposed in the third motor 3. The first detection assembly is electrically connected with the first motor 1, the second detection assembly is electrically connected with the second motor 2, and the third detection assembly is electrically connected with the third motor 3. A spare part for detecting can select encoder, reading head etc. for improving the detection fault-tolerant capability of the motor of foot formula robot, the detection interference killing feature of the motor of reinforcing foot formula robot, preferably, first detection module adopts first linear hall array subassembly in this embodiment, and second detection module adopts second linear hall array subassembly, and third detection module adopts third linear hall array subassembly. First linear hall array subassembly includes first array plate and first mounting panel, has seted up a plurality of pilot holes on the first mounting panel in this embodiment, is provided with a plurality of rigging parts on the first array plate, and a plurality of first pilot holes and a plurality of first rigging part correspond the installation to realize the connection of first array plate and first mounting panel. The second linear Hall array component comprises a second array plate and a second mounting plate, a plurality of assembling holes are formed in the second mounting plate, a plurality of assembling parts are arranged on the second array plate, and the second assembling holes and the second assembling parts are correspondingly mounted, so that the second array plate is connected with the second mounting plate. The third linear hall array component comprises a third array plate and a third mounting plate, a plurality of assembling holes are formed in the third mounting plate in the embodiment, a plurality of assembling parts are arranged on the third array plate, and a plurality of third assembling holes and a plurality of third assembling parts are correspondingly mounted, so that the third array plate is connected with the third mounting plate.
In order to realize power supply and data control of the motor of the foot robot, in this embodiment, a large number of cables including a power cable and a control cable are arranged in the motor of the foot robot. Wherein a power cable is disposed in the first winding displacement channel 61 to supply power to the first motor 1, and a power cable is disposed inside the second winding displacement channel 62 to supply power to the second motor 2 and the third motor 3. The control cable is disposed inside the first winding displacement channel 61 to perform data control and data transmission to the first motor 1, and the control cable is disposed inside the second winding displacement channel 62 to perform data control and data transmission to the second motor 2 and the third motor 3.
The above embodiments are only used for illustrating the present invention, and not for limiting the present invention, and those skilled in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the protection scope of the present invention should be defined by the claims.
Claims (10)
1. A motor for a legged robot, comprising:
a first motor;
the second motor is perpendicular to the first motor;
a first connection assembly disposed between the first motor and the second motor, the first connection assembly being configured to connect the first motor and the second motor;
a third motor disposed coaxially with the second motor; and
a second connection assembly disposed between the second motor and the third motor, the second connection assembly configured to connect the second motor and the third motor;
the motor of the foot robot is internally provided with a wire arranging channel, and cables of the motor of the foot robot are all distributed in the wire arranging channel.
2. The motor of the legged robot according to claim 1, characterized in that:
the wire arranging channel comprises a first wire arranging channel and a second wire arranging channel, and the first wire arranging channel is communicated with the second wire arranging channel;
the first wiring channel includes:
the first wire arranging hole is formed in the central axis of the first motor and penetrates through the first motor; and
and the second wire arranging hole is formed in the first connecting assembly and penetrates through the first connecting assembly.
3. The electric machine of claim 2, wherein:
the second traverse channel includes:
the third wire arranging hole is formed in the central axis of the second motor and penetrates through the second motor;
the fourth wire arranging hole is formed in the central axis of the second connecting component and penetrates through the second connecting component; and
and the fifth wire arranging hole is formed in the central axis of the third motor and penetrates through the third motor.
4. A machine as claimed in claim 2 or 3, characterized in that:
a communicating cavity is arranged between the second motor and the first connecting assembly, and the first flat cable channel is communicated with the second flat cable channel through the communicating cavity.
5. The motor of the legged robot according to claim 1, characterized in that:
the first motor includes:
a first motor housing;
the first stator is fixedly connected to the inner wall of the first motor shell;
a first rotor disposed around the first stator;
the first speed reduction assembly is arranged close to a central axis of the first motor and connected with the first rotor; and
the first detection assembly is used for detecting a speed parameter and a position parameter of the first motor.
6. The motor of the legged robot according to claim 5, characterized in that:
the second motor includes:
a second motor housing;
the first stator is fixedly connected to the inner wall of the second motor shell;
a second rotor disposed around the second stator;
the second speed reducing assembly is arranged close to a central axis of the second motor and used for controlling the output rotating speed of the second motor; and
and the second detection assembly is used for detecting the speed parameter and the position parameter of the second motor.
7. The motor of the legged robot according to claim 6, characterized in that:
the third motor includes:
a third motor housing;
the third stator is fixedly connected to the inner wall of the third motor shell;
a third rotor disposed around the third stator;
the third speed reduction assembly is arranged close to a central axis of the third motor and used for controlling the output rotating speed of the third motor; and
and the third detection assembly is used for detecting the speed parameter and the position parameter of the third motor.
8. The motor of the legged robot according to claim 7, characterized in that:
the first detection assembly comprises a first linear Hall array assembly, the second detection assembly comprises a second linear Hall array assembly, and the third detection assembly comprises a third linear Hall array assembly.
9. The motor of the legged robot according to claim 8, characterized in that:
the first linear Hall array component detects and controls the speed and position parameters of the first motor, the second linear Hall array component detects and controls the speed and position parameters of the second motor, and the third linear Hall array component detects and controls the speed and position parameters of the third motor.
10. The motor of the legged robot according to claim 1, characterized in that:
the cable of the motor of the foot robot comprises a power supply cable and a control cable;
the power cable is arranged inside the winding displacement channel to supply power to the first motor, the second motor and the third motor;
the control cable is arranged inside the winding displacement channel to control the first motor, the second motor and the third motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022096587.4U CN213185738U (en) | 2020-09-23 | 2020-09-23 | Motor of foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022096587.4U CN213185738U (en) | 2020-09-23 | 2020-09-23 | Motor of foot type robot |
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| Publication Number | Publication Date |
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| CN213185738U true CN213185738U (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022096587.4U Active CN213185738U (en) | 2020-09-23 | 2020-09-23 | Motor of foot type robot |
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| CN (1) | CN213185738U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
-
2020
- 2020-09-23 CN CN202022096587.4U patent/CN213185738U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114227665A (en) * | 2021-12-24 | 2022-03-25 | 达闼机器人有限公司 | Double-coupling actuator, mechanical limb and robot |
| CN114227665B (en) * | 2021-12-24 | 2024-03-26 | 达闼机器人股份有限公司 | Dual-coupling actuator, mechanical limb and robot |
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