CN213185790U - Motor of foot type robot - Google Patents
Motor of foot type robot Download PDFInfo
- Publication number
- CN213185790U CN213185790U CN202022077599.2U CN202022077599U CN213185790U CN 213185790 U CN213185790 U CN 213185790U CN 202022077599 U CN202022077599 U CN 202022077599U CN 213185790 U CN213185790 U CN 213185790U
- Authority
- CN
- China
- Prior art keywords
- motor
- wire arranging
- arranging hole
- legged robot
- detection part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a motor of a foot type robot, which comprises a first motor; a second motor disposed coaxially with the first motor; the connecting assembly is arranged between the first motor and the second motor and is used for connecting the first motor and the second motor; a wire arranging hole is formed in the central shaft of a motor of the foot type robot, and cables are arranged in the wire arranging hole. Through adopting above-mentioned technical scheme, can realize that the motor cavity of sufficient robot is walked the line, prevent the winding of cable, ensure the normal work of sufficient robot.
Description
Technical Field
The utility model relates to a robot motor field, concretely relates to motor of sufficient formula robot.
Background
In the field of robotics, legged robots developed to simulate human or other animal joints have great advantages, and legged robots can perform tasks such as climbing or other actions that cannot be performed by conventional wheeled robots. In a foot robot, a driving unit of the foot robot is a core part for realizing the movement performance of the foot robot, and the foot robot is usually driven by motors distributed on legs to complete corresponding movement. Be provided with a plurality of motors in sufficient robot's the shank, but motor signal line and motor power cord all expose outside the motor casing in sufficient robot's the shank of present sufficient robot, and sufficient robot is whole integrated level is high inadequately, when sufficient robot accomplished the big angle motion or when the external environment of locating is more complicated, when sufficient robot accomplished above-mentioned action, the cable can take place to lead and drag and even break, is unfavorable for the normal operation of equipment and the guarantee of security performance.
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; a second motor disposed coaxially with the first motor; the connecting assembly is arranged between the first motor and the second motor and is used for connecting the first motor and the second motor; a wire arranging hole is formed in the central shaft of a motor of the foot type robot, and cables are arranged in the wire arranging hole.
According to the utility model discloses an embodiment, the winding displacement hole includes: the first wire arranging hole is formed in the central axis of the first motor and penetrates through the first motor; the second wire arranging hole is formed in the central axis of the connecting component and penetrates through the connecting component; and the third wire arranging hole is formed in the central axis of the second motor and penetrates through the second motor.
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; and a first carrier connected with the connection assembly.
According to the utility model discloses an embodiment, the second motor includes: a second motor housing; the second stator is fixedly connected to the inner wall of the second motor shell; a second rotor disposed around the second stator and rotor; and the second planet carrier is connected with the connecting component.
According to the utility model discloses an embodiment, coupling assembling includes first determine module and second determine module, first determine module passes through coupling assembling with first motor electricity is connected, the second determine module passes through coupling assembling with the second motor electricity is connected.
According to the utility model discloses an embodiment, coupling assembling is used for detecting the position data and the speed data of first motor with the second motor.
According to the utility model discloses an embodiment, first detection assembly the first detection assembly includes first input shaft detection part and first output shaft detection part, first input shaft detection part is used for detecting the input parameter of first motor, first output shaft detection part is used for detecting the output parameter of first motor; the second detection assembly comprises a second input shaft detection part and a second output shaft detection part, the second input shaft detection part is used for detecting input parameters of the second motor, and the second output shaft detection part is used for detecting output parameters of the second motor.
According to an embodiment of the present invention, the cable comprises a power cable and a control cable; the power cable is arranged in the first wire arranging hole, the second wire arranging hole and the third wire arranging hole to supply power to the first motor and the second motor. The control cable is arranged inside the first wire arranging hole, the second wire arranging hole and the third wire arranging hole to control the first motor and the second motor.
According to the utility model discloses an embodiment, first motor passes through power cable control the operation of first motor, the second motor passes through power cable control the operation of second motor.
By adopting the technical scheme, the utility model discloses mainly there are following several technological effects:
1. the cable is arranged in the cable arranging hole formed in the central shaft of the motor of the foot type robot, so that the hollow wiring of the motor cable can be realized, the cable is prevented from being wound, and the normal action of the foot type robot is ensured;
2. the two motors are integrally designed, so that centralized and unified position detection is facilitated, and the length and the number of routing of the foot type robot can be reduced;
3. the first motor and the second motor of the foot type robot motor can work independently, and the space shape and the position can be kept consistent and moved through the connecting component.
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;
fig. 3 is a third 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 rotor; 13. a first stator; 14. a first carrier; 15. a first planetary gear train; 16. a first sun gear; 2. a second motor; 21. a second motor housing; 22. a second rotor; 23. a second stator; 24. a second planet carrier; 25. a second planetary gear train; 26. a second sun gear; 3. a connecting assembly; 31. mounting a plate; 4. a load; 5. a wire arranging hole; 51. a first line of holes; 52. a second line hole; 53. and a third line of holes.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
Referring to fig. 1, the utility model discloses a motor structure of foot robot, it includes first motor 1, second motor 2 and coupling assembling 3, coupling assembling 3 sets up between first motor 1 and second motor 2 for connect first motor 1 and second motor 2. In order to realize the detachable connection of the connecting component 3 with the first motor 1 and the second motor 2, in the embodiment, a plurality of first connecting slot holes are arranged on the surface of the first motor 1 facing the connecting component 3, a plurality of first connecting components matched with the plurality of first connecting slots are arranged on the surface of the connecting component 3 facing the first motor 1, a plurality of second connecting slots are arranged on the surface of the second motor 2 facing the connecting component 3 in the embodiment, a plurality of second connecting parts which are matched with the plurality of second connecting slotted holes are arranged on the surface of the connecting component 3 facing the second motor 2, the plurality of first connecting parts are inserted into the plurality of first connecting slotted holes in a one-to-one correspondence manner, the plurality of second connecting parts are inserted into the plurality of second connecting slotted holes in a one-to-one correspondence manner, so as to realize the detachable connection among the first motor 1, the connecting assembly 3 and the second motor 2.
Referring to fig. 2, specifically, the first electric motor 1 in the present embodiment includes a first motor housing 11, a first stator 13, a first rotor 12, a first planet carrier 14, a first planetary gear system 15, and a first sun gear 16. The second motor 2 in the present embodiment includes a second motor housing 21, a second stator 23, a second rotor 22, a second carrier 24, a second planetary gear train 25, and a second sun gear 26. 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 stator 13, the first rotor 12, the first planet carrier 14, the first planetary gear system 15 and the first sun gear 16 are all disposed in the first motor housing 11, and the second stator 23, the second rotor 22, the second planet carrier 24, the second planetary gear system 25 and the second sun gear 26 are all disposed in the second motor housing 21. Wherein, first stator 13 and second stator 23 can correspond the setting and install on first motor casing 11 and the inner wall of second motor casing 21, also can correspond the setting and install the axis that is close to first motor 1 and the axis of second motor 2, and other reasonable positions of the inside of first motor 1 and the inside of second motor 2 all can, arrange in the concentration of walking the line for the inside line of motor of sufficient robot, thereby realize the cavity and walk the line, preferentially, correspond first stator 13 and second stator 23 and set up on the inner wall of first motor casing 11 and on the inner wall of second motor casing 21 in this embodiment. The first sun gear 16 is fixedly connected near the position of the central axis of the first motor 1, the second sun gear 26 is fixedly connected near the position of the central axis of the second motor 2, the first sun gear 16 is coaxially and fixedly connected with the first rotor 12, and the second sun gear 26 is coaxially and fixedly connected with the second rotor 22. In order to transmit the motion of the first motor 1 to the second motor 2, in this embodiment, the first planet carrier 14 and the second planet carrier 24 are both connected to the connecting assembly 3, and the first planet carrier 14 transmits the motion of the first motor 1 to the connecting assembly 3 and then transmits the motion to the second planet carrier 24 through the connecting assembly 3. The first planetary gear system 15 is disposed centering on the first sun gear 16 and meshing with the first sun gear 16, and the second planetary gear system 25 is disposed centering on the second sun gear 26 and meshing with the second sun gear 26.
In order to realize the centralized reading and detection of the data of the input shaft and the output shaft of the first motor 1 and the data of the output shaft of the input shaft of the second motor 2, and simultaneously to realize the separation of the normal operation of the motors of the legged robot and the detection of the data parameters, which are not affected by each other, in the present embodiment, the detection components for detecting the data of the output shaft of the input shaft of the first motor 1 and the data of the output shaft of the input shaft of the second motor 2 are both arranged on the mounting plate 31 (see fig. 3) of the connecting assembly 3. In this embodiment, the structure for data detection on the connection component 3 includes a first detection component (not shown in the figure) and a second detection component (not shown in the figure), where the first detection component is used to detect the data parameter of the first motor 1, and the second detection component is used to detect the data parameter of the second motor 2. In order to accurately detect and distinguish data of the input shaft and the output shaft of the first motor 1 and the second motor 2, in the embodiment, the first detection assembly includes a first input shaft detection component (not shown in the figure) and a first output shaft detection component (not shown in the figure), wherein the first input shaft detection component is used for detecting data parameters of the input shaft of the first motor 1, and the first output shaft detection component is used for detecting data parameters of the output shaft of the first motor 1. The second detection assembly includes a second input shaft detection part (not shown in the figure) for detecting a data parameter of the input shaft of the second motor 2 and a second output shaft detection part (not shown in the figure) for detecting a data parameter of the output shaft of the second motor 2. In order to improve the comprehensiveness of the data detected by the motor, in this embodiment, an encoder and a reading head are used as specific detecting components, that is, the specific components used for detecting the data of the first motor 1 include a first input shaft encoder (not shown in the figure), a first input shaft reading head (not shown in the figure), a first output shaft encoder (not shown in the figure) and a first output shaft reading head (not shown in the figure), and the specific components used for detecting the data of the second motor 2 include a second input shaft encoder (not shown in the figure), a second input shaft reading head (not shown in the figure), a second output shaft encoder (not shown in the figure) and a second output shaft reading head (not shown in the figure). First input shaft encoder, first input shaft reading head, first output shaft encoder and first output shaft reading head set up on coupling assembling 3's the face towards first motor 1 and with coupling assembling 3's mounting panel 31 fixed connection, second input shaft encoder, second input shaft reading head, second output shaft encoder and second output shaft reading head all set up on the face towards second motor 2 and with coupling assembling 3's mounting panel 31 fixed connection. The first detection assembly is electrically connected with the first motor 1 through the connecting assembly 3, the second detection assembly is electrically connected with the second motor 2 through the connecting assembly 3, parameter data such as voltage, current, rotating speed and angular displacement of the first motor 1 and the second motor 2 can be accurately acquired through the change of current pulses, and real-time regulation and control can be performed on the working condition of the motor of the foot type robot.
Referring to fig. 3, in order to supply power to the first motor 1 and the second motor 2 and control the first motor 1 and the second motor 2 in this embodiment, a large number of power cables and control cables are provided in the structure of the motors of the entire legged robot in this embodiment. In order to prevent the cable from being exposed in a complex external environment to influence the service life of the cable or being pulled by an external object, the power cable and the control cable are uniformly distributed in the motor of the foot type robot. In order to make the internal wiring of the motor of the foot robot compact and orderly, realize the hollow wiring, ensure the convenience of connection of power supply and control of the first motor 1, the connecting assembly 3 and the second motor 2, and reduce the difficulty of assembly and maintenance, preferably, in the embodiment, a wiring hole 5 is provided at the central shaft of the motor of the foot robot, and both the power supply cable and the control cable are arranged in the wiring hole 5. Specifically, the winding displacement hole 5 includes a first winding displacement hole 515, a second winding displacement hole 525 and a third winding displacement hole 535, wherein the first winding displacement hole 515 is opened on the central axis of the first motor 1 and penetrates through the first motor 1, the second winding displacement hole 525 is opened on the central axis of the connecting assembly 3 and penetrates through the connecting assembly 3, and the third winding displacement hole 535 is opened on the central axis of the second motor 2 and penetrates through the second motor 2. The power cable that sets up in winding displacement hole 5 supplies power to first motor 1 and makes first motor 1 normal operating, and the power cable that sets up in winding displacement hole 5 supplies power to second motor 2 and makes second motor 2 normal operating, and first motor 1 and second motor 2 accomplish the work of self independently each other. The output shaft of the second motor 2 in this embodiment is electrically connected to the load 4 to drive the load 4 to operate, the present embodiment is a motor for supplying power to the legged robot, the load 4 in this embodiment may be a leg portion of the legged robot or another portion of the legged robot, and preferably, the load 4 in this embodiment includes a foot end sensor of the legged robot.
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 (9)
1. A motor for a legged robot, comprising:
a first motor;
a second motor disposed coaxially with the first motor; and
the connecting assembly is arranged between the first motor and the second motor and is used for connecting the first motor and the second motor;
a wire arranging hole is formed in the central shaft of a motor of the foot type robot, and cables are arranged in the wire arranging hole.
2. The motor of the legged robot according to claim 1, characterized in that:
the winding displacement hole includes:
the first wire arranging hole is formed in the central axis of the first motor and penetrates through the first motor;
the second wire arranging hole is formed in the central axis of the connecting component and penetrates through the connecting component; and
and the third wire arranging hole is formed in the central axis of the second motor and penetrates through the second motor.
3. 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; and
a first carrier coupled to the connection assembly.
4. The motor of the legged robot according to claim 3, characterized in that:
the second motor includes:
a second motor housing;
the second stator is fixedly connected to the inner wall of the second motor shell;
a second rotor disposed around the second stator and rotor; and
a second planet carrier, the second planet carrier with the coupling assembling links to each other.
5. The motor of the legged robot according to claim 1, characterized in that:
the connecting assembly comprises a first detection assembly and a second detection assembly, the first detection assembly is connected with the first motor through the connecting assembly, and the second detection assembly is connected with the second motor through the connecting assembly.
6. The motor of the legged robot according to claim 5, characterized in that:
the connecting assembly is used for detecting position data and speed data of the first motor and the second motor.
7. The motor of the legged robot according to claim 6, characterized in that:
the first detection assembly comprises a first input shaft detection part and a first output shaft detection part, the first input shaft detection part is used for detecting input parameters of the first motor, and the first output shaft detection part is used for detecting output parameters of the first motor;
the second detection assembly comprises a second input shaft detection part and a second output shaft detection part, the second input shaft detection part is used for detecting input parameters of the second motor, and the second output shaft detection part is used for detecting output parameters of the second motor.
8. The motor of the legged robot according to claim 2, characterized in that:
the cable comprises a power cable and a control cable;
the power supply cable is arranged inside the first wire arranging hole, the second wire arranging hole and the third wire arranging hole to supply power to the first motor and the second motor;
the control cable is arranged inside the first wire arranging hole, the second wire arranging hole and the third wire arranging hole to control the first motor and the second motor.
9. The motor of the legged robot according to claim 8, characterized in that:
the first motor controls the first rotor to rotate through the power cable, and the second motor controls the second rotor to rotate through the power cable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022077599.2U CN213185790U (en) | 2020-09-21 | 2020-09-21 | Motor of foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022077599.2U CN213185790U (en) | 2020-09-21 | 2020-09-21 | Motor of foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213185790U true CN213185790U (en) | 2021-05-11 |
Family
ID=75774897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022077599.2U Active CN213185790U (en) | 2020-09-21 | 2020-09-21 | Motor of foot type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213185790U (en) |
-
2020
- 2020-09-21 CN CN202022077599.2U patent/CN213185790U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111113480A (en) | Robot and integrated joint thereof | |
| CN112888536B (en) | Robot and integrated joint thereof | |
| JP5696542B2 (en) | Articulated robot | |
| CN102101298B (en) | Rotational joint module of modularized reconfigurable robot | |
| JP5540981B2 (en) | Articulated robot | |
| US11077549B2 (en) | Robot and robot system | |
| CN112886737A (en) | Power module and robot | |
| CN113843774A (en) | Hollow wiring actuator, mechanical arm and robot | |
| CN213185790U (en) | Motor of foot type robot | |
| CN213185738U (en) | Motor of foot type robot | |
| JP5250040B2 (en) | Wind power generator | |
| CN113799169A (en) | Double-encoder joint module | |
| CN210061189U (en) | Joint drive module, seven arms and robot | |
| CN216180507U (en) | Hollow wiring actuator, mechanical arm and robot | |
| CN216399695U (en) | Power module and robot | |
| CN211841989U (en) | Cooperative robot joint module with torque sensor | |
| CN213783082U (en) | Double-encoder motor of foot type robot | |
| CN210007592U (en) | Drive device and elevator machine system | |
| CN210678772U (en) | Robot and integrated joint thereof | |
| CN220575968U (en) | Joint module, joint connection structure and mechanical arm | |
| CN214870155U (en) | Electric tightening wrench | |
| CN215733715U (en) | Power module and robot | |
| JP2003275985A (en) | Motor unit for industrial robot | |
| CN117961962A (en) | Multi-joint robot based on double encoders | |
| CN218217032U (en) | Capstan winch integrating permanent magnet brushless motor and controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |