CN213783082U - Double-encoder motor of foot type robot - Google Patents
Double-encoder motor of foot type robot Download PDFInfo
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- CN213783082U CN213783082U CN202022206849.8U CN202022206849U CN213783082U CN 213783082 U CN213783082 U CN 213783082U CN 202022206849 U CN202022206849 U CN 202022206849U CN 213783082 U CN213783082 U CN 213783082U
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Abstract
The utility model discloses a two encoder motors of sufficient formula robot, include: the motor comprises a shell, a motor body and a motor cover, wherein an integral motor cavity is formed inside the shell; the partition plate is arranged in the motor cavity and divides the motor cavity into an operation cavity and a detection cavity; the cavity body where the first side face of the partition plate is located is set as a running cavity; the cavity where the second side surface of the partition plate is located is set as a detection cavity; the detection cavity is internally provided with a detection assembly, the detection assembly comprises an input encoder detection assembly and an output encoder detection assembly, and the detection assembly is used for detecting input parameters and output parameters of a double-encoder motor of the foot robot. By adopting the technical scheme, the input parameters and the output parameters of the motor of the foot type robot can be detected simultaneously, the double-encoder components are compact in distribution, and wiring inside the motor is facilitated.
Description
Technical Field
The utility model relates to a motor of sufficient robot, concretely relates to two encoder motors of sufficient robot.
Background
In the field of robots, a legged robot developed by simulating joints of humans or other animals has great advantages, and compared with a wheeled robot, the legged robot has great advantages in flexibility and mobility. 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 in general, the foot robot is driven by motors distributed on legs to complete corresponding movement. The existing foot robot usually adopts a mode of a single encoder to only set a detection component at the input end of a motor and read the position of a motor rotor, but the speed parameter and the position parameter of the output end can not be directly obtained after the speed reducer is used. The existing method for detecting output parameters is to indirectly obtain the parameters of the output end of the motor by manually setting the zero position of the input end of the motor. The method requires that the zero position of the motor of the foot robot needs to be manually reset after the motor of the foot robot is powered off and powered on every time, so that the operation is complicated, the safety of software failure resistance is low, and the method is not beneficial to large-scale production and use of the foot robot. The second existing solution is to set a plurality of hall elements in the motor of the foot robot to keep continuously powering on, thereby indirectly obtaining the parameters of the output end of the motor of the foot robot. The method can not cut off the power supply of the motor of the foot type robot midway, and is not beneficial to large-scale operation. Therefore, the existing method cannot simultaneously measure the input and output parameters of the driving motor.
The existing detection method cannot simultaneously and directly detect the input parameters and the output parameters of the driving motor, and an operator has low control precision on the motor and usually has certain time delay.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a two encoder motors of sufficient formula robot, its defect that can solve current two encoder motors of sufficient formula robot specifically, a two encoder motors of sufficient formula robot, it includes: the motor comprises a shell, a motor body and a motor cover, wherein an integral motor cavity is formed inside the shell; the spacing plate is arranged in the motor cavity and divides the motor cavity into two cavities; the two cavities are an operation cavity and a detection cavity, a detection assembly is arranged in the detection cavity and comprises an input encoder detection assembly and an output encoder detection assembly, and the detection assembly is used for detecting input parameters and output parameters of a double-encoder motor of the foot type robot.
According to the utility model discloses an embodiment, input encoder determine module sets up and is detecting the intracavity, input encoder determine module is used for detecting the input parameter of sufficient formula robot's two encoder motors.
According to the utility model discloses an embodiment, output encoder determine set up in on the axis of the motor of sufficient formula robot's two encoders and with input encoder determine set links to each other, output encoder determine set is used for detecting the output parameter of sufficient formula robot's two encoder motors.
According to the utility model discloses an embodiment, input encoder determine module adopts magnetic encoder determine module, input encoder subassembly includes first input test part and second input test part, first input test part and second input test part data intercommunication.
According to the utility model discloses an embodiment, output encoder determine module adopts magnetic encoder determine module, output encoder subassembly includes first output test part and second output test part, first output test part and second output test part data intercommunication.
According to the utility model discloses an embodiment, sufficient robot's two encoder motors still include: an operating assembly disposed within the operating cavity, the operating assembly including an input assembly and an output assembly; and the speed reduction assembly is arranged in the operation cavity and is close to the central axis of the operation cavity, and the speed reduction assembly is connected with the input assembly and the output assembly.
According to the utility model discloses an embodiment, the speed reduction subassembly includes: the sun wheel is arranged on a central axis of a double-encoder motor of the foot robot and penetrates through the partition plate to be communicated with the detection cavity, an output shaft cavity is formed in the sun wheel, and the output shaft cavity is connected with the output encoder detection assembly; a planet carrier for transmitting the decelerated motion of the input assembly to the output assembly; and the planetary gear train is arranged around the sun gear, is installed on the planet carrier and is in meshed connection with the sun gear.
According to the utility model discloses an embodiment, input assembly includes stator and rotor, the stator sets up on the inner wall in operation chamber, the rotor with sun gear fixed connection.
According to the utility model discloses an embodiment, output assembly includes the output shaft, the output shaft sets up the output shaft intracavity of sun gear.
By adopting the technical scheme, the utility model discloses mainly there are following several technological effects:
1. the two encoders are arranged in the motor of the foot type robot, so that the input parameters and the output parameters of the motor of the foot type robot can be detected simultaneously, and the instantaneity of the operator for acquiring the input parameters and the output parameters of the motor is improved;
2. the double encoders are intensively arranged in the detection cavity of the motor of the foot type robot, so that the internal structure of the motor of the foot type robot is more compact, and the internal wiring of the motor is reduced;
3. the output shaft of the double-encoder motor of the foot robot is arranged in the output cavity formed in the sun gear of the motor, so that the utilization of the internal space of the motor structure is improved, and the internal compactness of the motor of the foot robot is improved;
4. the magnetic encoder component is adopted in the motor of the foot type robot, so that the input parameters and the output parameters of the motor of the foot type robot can be measured in a non-contact mode, the operation process of the detection component and the operation process of the motor can not be interfered with each other, and meanwhile, the condition that the encoder is damaged due to mechanical vibration in the operation process of the motor of the foot type robot is avoided.
Drawings
Fig. 1 is a first schematic view of a dual encoder motor of a foot robot according to a first embodiment of the present invention;
fig. 2 is a second schematic view of a dual encoder motor of a foot robot according to a first embodiment of the present invention;
fig. 3 is a first schematic view of a dual encoder motor of a legged robot according to a second embodiment of the present invention.
In the figure: 1. a housing; 2. a partition plate; 21. a first side surface; 22. a second side surface; 3. an operating chamber; 4. a detection chamber; 5. a detection component; 51. an input detection section; 511. a first input detection section; 512. a second input detection section; 52. an output detection section; 521. a first output detection section; 522. a second output detection section; 6. operating the component; 61. an input component; 611. a stator; 612. a rotor; 62. an output component; 7. a speed reduction assembly; 71. a sun gear; 711. an output shaft cavity; 72. a planetary gear train.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings.
Example one
Referring to fig. 1 and 2, the utility model discloses a two encoder motors of sufficient robot, it includes: the device comprises a shell 1, a partition plate 2, an operation cavity 3 and a detection cavity 4. In this embodiment, an integral motor cavity (not shown) is formed inside the housing 1 of the dual encoder motor of the legged robot. In order to realize the independent control and the isolation wiring of the power transmission work and the data detection work of the double-encoder motor of the foot robot, a partition plate 2 is arranged in the integral motor cavity in the embodiment, so that the integral motor cavity is divided into two sub-cavities, namely a running cavity 3 and a detection cavity 4. The cavity body that the first side 21 of division board 2 was located sets up to operation chamber 3, and operation chamber 3 is used for setting up the operation subassembly 6 that can accomplish the power transmission work of the two encoder motors of sufficient robot. The cavity where the second side surface 22 of the partition board 2 is located is set as a detection cavity 4, and the detection cavity 4 is used for arranging a detection assembly 5 which can complete the data detection work of the double-encoder motor of the legged robot. In order to simultaneously detect and acquire input parameters and output parameters of a dual-encoder motor of the legged robot, the detection method of dual-encoder component detection is adopted in the embodiment, and specifically, the detection component 5 in the detection cavity 4 in the embodiment includes an input encoder detection component 5 and an output encoder detection component 5.
Specifically, in the process of power transmission of the dual-encoder motor of the foot robot, in order to realize real-time detection and acquisition of input parameters of the dual-encoder motor of the foot robot, wherein the input parameters include position parameters and speed parameters of the input process, in the embodiment, an input encoder detection assembly 5 is arranged in a detection cavity 4 of the foot robot, and the input encoder detection assembly 5 is installed on the second side surface 22 of the partition plate 2 of the dual-encoder motor of the foot robot. In order to accurately and conveniently detect parameters of a plurality of components with power input functions in the operation assembly 6, the input encoder detection assembly 5 in the embodiment is annularly arranged by taking a central axis of a double-encoder motor of the foot robot as a center. In the process of power transmission of the double-encoder motor of the foot robot, in order to detect and acquire the input parameters of the double-encoder motor of the foot robot in real time and simultaneously detect and acquire the output parameters of the double-encoder motor of the foot robot in real time, wherein the output parameters comprise position parameters and speed parameters of an output process, in the embodiment, an output encoder detection assembly 5 is arranged in a detection cavity 4 of the foot robot, and the output encoder detection assembly 5 is installed on the second side surface 22 of the partition plate 2 of the double-encoder motor of the foot robot. In order to improve the structural compactness of the detection cavity 4 of the dual-encoder motor of the foot robot, in the embodiment, the output encoder detection component 5 is arranged close to the input encoder detection component 5, and the output encoder detection component 5 is arranged on the central axis of the dual-encoder motor of the foot robot.
In order to prevent the detection process of the detection component 5 and the operation process of the operation component 6 from interfering with each other and to improve the operation stability of the dual-encoder motor of the legged robot, in this embodiment, a non-contact detection method is applied to the input parameter detection, and the input encoder detection component 5 is the non-contact detection component 5. In order to improve the rotational speed of input encoder determine module 5, simultaneously in order to reduce the installation degree of difficulty and the maintenance degree of difficulty of input encoder determine module 5, input encoder determine module 5 adopts magnetic encoder determine module 5 in this embodiment. The input encoder detecting assembly 5 in this embodiment includes a first input detecting part 511 and a second input detecting part 512, the second input detecting part 512 is disposed on the first input detecting part 511, and the second input detecting part 512 is in data communication with the first input detecting part 511. Specifically, in this embodiment, the first input detection component 511 is a magnetic ring component, the second input detection component 512 is a magnetic ring reading head component, the first input detection component 511 is used for sensing the input motion of the operation component 6, and the second input detection component 512 is used for reading the motion data sensed by the first input detection component 511, so as to complete the detection of the input encoder detection component 5 on the speed parameter and the position parameter of the input motion of the dual encoder motor of the legged robot.
In order to enhance the shock resistance of the output encoder detection assembly 5 and facilitate the installation and maintenance of the output encoder detection assembly 5, the magnetic encoder detection assembly 5 is similarly used as the output encoder detection assembly 5 in the present embodiment. The output encoder detection assembly 5 in this embodiment includes a first output detection member 521 and a second output detection member 522, the second output detection member 522 is disposed on the first output detection member 521, and the first output detection member 521 is in data communication with the second output detection member 522. In this embodiment, the first output detection component 521 is configured to sense the output motion of the operation component 6, and the second output detection component 522 is configured to read the motion data sensed by the first output detection component 521, specifically, in this embodiment, the first output detection component 521 is a magnetic block component, and the second output detection component 522 is a magnetic encoder chip component, in this embodiment, the magnetic block component is driven by the output motion of the operation component 6 to rotate, and the magnetic encoder chip component directly senses and reads the rotation parameter of the magnetic block component connected to the magnetic block component, so as to complete the detection of the speed parameter and the detection of the position parameter of the output motion of the dual encoder motor of the legged robot by the output encoder detection component 5.
The dual encoder motor of the foot robot further comprises a running assembly 6 and a deceleration assembly 7. The running assembly 6 of the double-encoder motor of the foot robot is arranged in the running cavity 3, and the running assembly 6 comprises parts for energy conversion and power transmission of the double-encoder motor of the foot robot. In order to complete the process of dual encoder motor power input of the legged robot, the running assembly 6 of the present embodiment includes an input assembly 61. To complete the process of dual encoder motor power output for the legged robot, the operating assembly 6 of the present embodiment includes an output assembly 62. In order to improve the running precision of the double-encoder motor of the foot type robot, and in order to reduce the rotating speed and increase the torque, a speed reducing assembly 7 is arranged in the running cavity 3 simultaneously in the embodiment. The speed reduction assembly 7 is respectively connected with the input assembly 61 and the output assembly 62, the movement of the input assembly 61 is transmitted to the speed reduction assembly 7, and the movement is output by the output assembly 62 after being acted by the speed reduction assembly 7.
In order to reduce the weight of the speed reduction assembly 7 and the space occupation of the speed reduction assembly 7, and simultaneously to improve the operation efficiency of the speed reduction assembly 7 and enhance the operation stability of the speed reduction assembly 7, the speed reduction assembly 7 in this embodiment adopts a planetary reducer assembly, and the speed reduction assembly 7 in this embodiment includes a sun gear 71, a planet carrier (not shown in the figure) and a planetary gear train 72. In the embodiment, the sun gear 71 is arranged on a central axis of a double-encoder motor of the foot robot and penetrates through the partition plate 2 to be communicated with the detection cavity 4, the sun gear 71 is fixedly connected with the input assembly 61, an output shaft cavity 711 is formed in the sun gear 71, and the output shaft cavity 711 is connected with the output encoder detection assembly 5. In this embodiment, the planet carrier is a hollow structure, the planet carrier is provided with a plurality of mounting holes, and the planet carrier and the sun gear 71 are coaxially arranged and mounted on the periphery of the sun gear 71. In the embodiment, the planetary gear train 72 is mounted in the mounting hole of the carrier, and the planetary gear train 72 is arranged around the outer ring of the sun gear 71 and is in meshing connection with the sun gear 71. In the embodiment, during the power transmission process of the dual-encoder motor of the legged robot, the input assembly 61 transmits the motion to the sun gear 71 to cause the sun gear 71 to rotate, the motion of the sun gear 71 is transmitted to the meshing connection planetary gear train 72 to realize the speed reduction effect, and the planetary gear train 72 transmits the reduced motion to the output assembly 62 through the planet carrier.
In the present embodiment, the input assembly 61 includes a stator 611 and a rotor 612. In order to reduce the occupation of the input assembly 61 on the space near the central axis of the dual-encoder motor of the legged robot, in the present embodiment, the stator 611 is disposed on the inner wall of the operation chamber 3, and the rotor 612 is disposed around and fixedly connected to the sun gear 71.
In this embodiment, the output assembly 62 includes an output shaft (not shown), and in order to improve the internal compactness and space utilization of the dual encoder motor of the legged robot, the output shaft is disposed in the output shaft cavity 711 of the sun gear 71 in this embodiment. The motion of the output shaft is sensed by the output shaft encoder detection assembly 5 through the output shaft cavity 711 connected with the first output detection component 521, so as to realize the detection of the output parameter.
Example two
The same contents of the technical solutions of this embodiment and the first embodiment are not described herein again, and only the differences between the second embodiment and the first embodiment are described.
Referring to fig. 2, in particular, the first output detection unit 521 in this embodiment uses the outer ring magnetic ring reading head unit, which can improve the utilization of the radial space of the dual encoder of the legged robot and reduce the size of the axial dimension.
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 dual encoder motor for a legged robot, comprising:
the motor comprises a shell, a motor body and a motor cover, wherein an integral motor cavity is formed inside the shell; and
the partition plate is arranged in the motor cavity and divides the motor cavity into two cavities;
the two cavities are an operation cavity and a detection cavity, a detection assembly is arranged in the detection cavity and comprises an input encoder detection assembly and an output encoder detection assembly, and the detection assembly is used for detecting input parameters and output parameters of a double-encoder motor of the foot type robot.
2. The dual encoder motor of the legged robot of claim 1, wherein:
the input encoder detection assembly is arranged in the detection cavity and is used for detecting input parameters of a double-encoder motor of the foot robot.
3. The dual encoder motor of the legged robot of claim 2, wherein:
the output encoder detection assembly is arranged on a central axis of a motor of a double encoder of the foot type robot and connected with the input encoder detection assembly, and the output encoder detection assembly is used for detecting output parameters of the motor of the double encoder of the foot type robot.
4. The dual encoder motor of the legged robot of claim 1, wherein:
the input encoder detection assembly adopts a magnetic encoder detection assembly, the input encoder detection assembly comprises a first input detection component and a second input detection component, and the first input detection component is in data communication with the second input detection component.
5. The dual encoder motor of the legged robot of claim 1, wherein:
the output encoder detection assembly adopts a magnetic encoder detection assembly, the output encoder detection assembly comprises a first output detection component and a second output detection component, and the first output detection component is in data communication with the second output detection component.
6. The dual encoder motor of the legged robot of claim 1, wherein:
the dual encoder motor of the legged robot further comprises:
an operating assembly disposed within the operating cavity, the operating assembly including an input assembly and an output assembly; and
the speed reduction assembly is arranged in the operation cavity and is close to the central axis of the operation cavity, and the speed reduction assembly is connected with the input assembly and the output assembly.
7. The dual encoder motor of the legged robot of claim 6, wherein:
the speed reduction assembly includes:
the sun wheel is arranged on the central axis of a double-encoder motor of the foot robot and penetrates through the partition plate to be communicated with the detection cavity, an output shaft cavity is formed in the sun wheel, and the output shaft cavity is connected with the output encoder detection assembly;
a planet carrier for transmitting the decelerated motion of the input assembly to the output assembly; and
a planetary gear train disposed around the sun gear, the planetary gear train being mounted on the planet carrier and in meshing connection with the sun gear.
8. The dual encoder motor of the legged robot of claim 7, wherein:
the input assembly comprises a stator and a rotor, the stator is arranged on the inner wall of the running cavity, and the rotor is fixedly connected with the sun wheel.
9. The dual encoder motor of the legged robot of claim 7, wherein:
the output assembly includes an output shaft disposed within the output shaft cavity.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022206849.8U CN213783082U (en) | 2020-09-30 | 2020-09-30 | Double-encoder motor of foot type robot |
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| CN202022206849.8U CN213783082U (en) | 2020-09-30 | 2020-09-30 | Double-encoder motor of foot type robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114552809A (en) * | 2022-01-20 | 2022-05-27 | 张建恒 | Miniature high accuracy direct current gear motor of two encoders |
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2020
- 2020-09-30 CN CN202022206849.8U patent/CN213783082U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114552809A (en) * | 2022-01-20 | 2022-05-27 | 张建恒 | Miniature high accuracy direct current gear motor of two encoders |
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