CN216143119U

CN216143119U - Motor and foot type robot

Info

Publication number: CN216143119U
Application number: CN202121710813.1U
Authority: CN
Inventors: 刘奕扬; 郭文平; 魏小毛; 智放; 李爽
Original assignee: Beijing Xiaomi Mobile Software Co Ltd
Current assignee: Beijing Xiaomi Robot Technology Co ltd
Priority date: 2021-07-26
Filing date: 2021-07-26
Publication date: 2022-03-29
Anticipated expiration: 2031-07-26

Abstract

The utility model discloses a motor and a foot type robot. The motor comprises a machine shell, a rotor, a stator, a planetary reduction mechanism, an output shaft and a buffer part, wherein the rotor is arranged in the machine shell and is provided with a rotor support and a rotor shaft; the output shaft is rotatably mounted to the housing, the planet shaft is coupled to the output shaft to drive the output shaft to rotate, and the damper is coupled to the planet shaft and extends axially of the planet shaft. The motor provided by the utility model has the advantages of high strength, low noise, low possibility of damage and long service life.

Description

Motor and foot type robot

Technical Field

The utility model relates to the technical field of robots, in particular to a motor and a foot type robot.

Background

The servo motor is a driving device commonly used for a legged robot (also referred to as legged robot) and is used for driving leg components of the legged robot so as to enable the legged robot to move. In the related art, the noise that sends when servo motor receives external impact is great, and causes the damage of servo motor internals easily, but reduces servo motor's life.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

To this end, embodiments of the present invention provide a motor having advantages of high strength, low noise emission, less susceptibility to damage, and long service life.

The embodiment of the utility model also provides a foot type robot.

The motor comprises a shell, a rotor, a stator, a planetary reduction mechanism, an output shaft and a buffer piece, wherein the rotor is arranged in the shell and is provided with a rotor bracket and a rotor shaft; the stator is arranged in the shell; the planetary reduction mechanism comprises a sun wheel, an inner gear ring, a planet wheel and a planet carrier, the sun wheel is coaxially connected with the rotor support and the rotor shaft, the inner gear ring is connected with the machine shell, the planet wheel is meshed with the sun wheel and the inner gear ring, and the planet wheel is pivotally connected with the planet carrier through a planet shaft; the output shaft is rotatably arranged on the shell, and the planet shaft is connected with the output shaft to drive the output shaft to rotate; the buffer member is connected with the planet shaft and extends along the axial direction of the planet shaft.

The motor provided by the embodiment of the utility model has the advantages of high strength, low noise, low possibility of damage and long service life.

In some embodiments, a first fitting hole is coaxially formed in the planet shaft, and the buffer member is tightly fitted in the first fitting hole.

In some embodiments, the buffer is made of a rubber material.

In some embodiments, the electric machine further comprises a spring, the sun gear comprising an upper gear section and a lower shaft section, the upper gear section being in mesh with the planet gears, the lower shaft section being connected to the rotor carrier via the spring, the spring urging the lower shaft section in a direction away from the rotor carrier.

In some embodiments, a side of the rotor support facing the output shaft is provided with a second matching hole, the elastic member is located in the second matching hole, the lower shaft section is in clearance fit with the second matching hole, and a lower end face of the lower shaft section is connected with the elastic member.

In some embodiments, the motor further includes a torque sensor fitted in the second fitting hole and connected to the rotor holder, the elastic member is located between the torque sensor and the lower shaft section, and a lower end of the elastic member is connected to the torque sensor.

In some embodiments, the torque sensor is in interference fit with the second fitting hole, and two ends of the elastic member are respectively welded with the lower shaft section and the torque sensor.

In some embodiments, the resilient member comprises a stiff spring.

In some embodiments, the motor further includes a hall magnet and a hall sensor, a third fitting hole is formed in one side, away from the output shaft, of the rotor support, the third fitting hole is communicated with the second fitting hole and is coaxially arranged, the aperture of the third fitting hole is smaller than that of the second fitting hole, the hall magnet is fitted in the third fitting hole, and the hall sensor is installed in the casing and is arranged opposite to the hall magnet.

In some embodiments, the hall magnet is a hollow cylinder, and the hall magnet has a through hole for extending the outgoing line of the torque sensor.

The legged robot comprises a body assembly and a plurality of leg assemblies, wherein the leg assemblies are connected with the body assembly, and the body assembly and/or the leg assemblies are/is provided with a motor.

The technical advantages of the legged robot according to embodiments of the present invention are the same as those of the above-described motor, and are not described herein again.

In some embodiments, the motor is disposed on the trunk assembly, the leg assembly includes a thigh, the trunk assembly and the thigh are connected by the motor, and the motor is configured to drive the thigh to swing.

In some embodiments, the leg assembly is provided with the motor, the leg assembly further comprises a lower leg, the upper leg is connected with the lower leg through the motor, and the motor is used for driving the lower leg to swing.

Drawings

Fig. 1 is a schematic view of a motor according to an embodiment of the present invention.

Fig. 2 is a sectional view of a motor according to an embodiment of the present invention.

Fig. 3 is a further cross-sectional view of an electric machine according to an embodiment of the utility model.

Fig. 4 is a schematic view of a legged robot in accordance with an embodiment of the present invention.

Reference numerals:

the leg assembly 100, the thigh 1001, the lower leg 1002, the torso assembly 200, the legged robot 300, the motor 10, the elastic element 101, the torque sensor 102, the hall magnet 103, the hall sensor 104, the housing 1, the rotor 2, the rotor support 21, the second fitting hole 211, the third fitting hole 212, the rotor shaft 22, the stator 3, the planetary reduction mechanism 4, the sun gear 41, the upper gear section 411, the lower shaft section 412, the inner gear ring 42, the planet gear 43, the planet carrier 44, the planet shaft 45, the first fitting hole 451, the output shaft 5, and the cushion 6.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

A motor 10 and a legged robot 300 having the motor 10 according to an embodiment of the present invention will be described with reference to fig. 1 to 4.

As shown in fig. 1 to 3, a motor 10 according to an embodiment of the present invention includes a casing 1, a rotor 2, a stator 3, a planetary reduction mechanism 4, an output shaft 5, and a damper 6. The rotor 2 is disposed in the casing 1 and has a rotor holder 21 and a rotor shaft 22, the rotor holder 21 being coaxially connected to the rotor shaft 22. The stator 3 is arranged in the casing 1 and connected with the casing 1, i.e. the stator 3 is fixed in the casing 1.

The planetary reduction mechanism 4 includes a sun gear 41, an annular gear 42, a planetary gear 43, and a carrier 44. The sun gear 41 is coaxially connected with the rotor support 21 and the rotor shaft 22, and the ring gear 42 is connected with the casing 1. Planetary gear 43 meshes with sun gear 41 and ring gear 42, and planetary gear 43 is pivotably connected to planet carrier 44 via planetary shaft 45. Specifically, as shown in FIG. 3, sun gear 41 is an interference fit with rotor shaft 22, such as being nested together. The number of the planetary shafts 45 is three, and the axial direction of the planetary shafts 45 coincides with the axial direction of the rotor shaft 22 and is connected to the carrier 44. For example, both the axial direction of the planetary shaft 45 and the axial direction of the rotor shaft 22 are vertical directions (vertical directions are shown in fig. 1). A bearing is fitted between the planet wheels 43 and the planet shaft 45, whereby rotation of the planet wheels 43 relative to the planet shaft 45 is achieved.

The output shaft 5 is rotatably mounted to the housing 1, and the planetary shaft 45 is connected to the output shaft 5 to drive the output shaft 5 to rotate. Specifically, the rotor support 21 rotates the sun gear 41, the sun gear 41 rotates the planet gears 43 and the planet shafts 45, and the planet shafts 45 rotate the planet carrier 44 and the output shaft 23, so as to drive the motor 10 to rotate.

The damper 6 is connected to the planetary shaft 45 and extends in the axial direction of the planetary shaft 45. For example, if the axial direction of the planetary shaft 45 is the vertical direction, the damper 6 extends in the vertical direction and is connected to the planetary shaft 45. The damper member 6 is connected to the planetary shaft 45 and includes along the axial extension of the planetary shaft 45: a. a hole extending along the axial direction of the planet shaft 45 is arranged in the planet shaft 45, and the buffer piece 6 is arranged in the hole extending along the axial direction of the planet shaft 45; b. the planet shaft 45 is provided with a groove extending along the axial direction of the planet shaft 45, and the buffer member 6 is arranged in the groove extending along the axial direction of the planet shaft 45.

According to the motor 10 of the embodiment of the utility model, the buffer member 6 is connected with the planet shaft 45 and extends along the axial direction of the planet shaft 45, and the planet shaft 45 is connected with the output shaft 5, so that when the output shaft 5 is impacted and impact force is transmitted to the planet shaft 45, the buffer member 6 can absorb part of the energy of the impact force transmitted to the planet shaft 45, so as to reduce the amplitude of the planet shaft 45 and reduce the impact force transmitted from the planet shaft 45 to other parts of the planetary reduction mechanism 4. As a result, when the output shaft 5 receives an impact, the amplitude of the planet shaft 45 is small, and the impact on other components of the planetary reduction mechanism 4 is small, so that the strength of the planetary reduction mechanism 4 is increased. Thereby making planetary reduction mechanism 4 intensity high, the noise that sends low, difficult damage and long service life. I.e., high motor 10 strength, low noise emission, less susceptibility to damage, and long service life.

Therefore, the motor 10 according to the embodiment of the present invention has advantages of high strength, low noise emission, less possibility of damage, and long service life.

As shown in fig. 3, in some embodiments, the planet axle 45 is coaxially provided with a first mating aperture 451. The first fitting hole 451 may be a hole penetrating the planet shaft 45, and the first fitting hole 451 may also be a hole not penetrating the planet shaft 45. The cushion member 6 is expansion-fitted in the first fitting hole 451. This allows the damper 6 to be disposed in the first fitting hole 451 in close contact with the wall surface of the first fitting hole 451, thereby allowing the damper 6 to absorb more energy transmitted from the output shaft 5 to the planetary shaft 45.

In some embodiments, the buffer 6 is made of a rubber material. The rubber material is a high-elasticity polymer material with reversible deformation, has elasticity at room temperature, can generate large deformation under the action of small external force, and can recover the original shape after the external force is removed. The rubber material may consume energy in the process of being elastically deformed and restored by the impact force of the planet shaft 45. That is, the damper 6 is made of a rubber material to absorb the energy transmitted from the output shaft 5 to the planetary shaft 45.

As shown in fig. 2-3, in some embodiments, the motor 10 further includes a resilient member 101, and the sun gear 41 includes an upper gear segment 411 and a lower shaft segment 412. For example, the upper gear segment 411 is located at an upper portion of the sun gear 41, and the lower shaft segment 412 is located at a lower portion of the sun gear 41. Upper gear segment 411 meshes with planet wheels 43 so that sun gear 41 rotates planet wheels 43. The lower shaft section 412 is connected to the rotor support 21 through the elastic member 101, and the rotor support 21 is connected to the lower shaft section 412 to rotate the sun gear 41. The connection of the lower shaft section 412 to the rotor carrier 21 via the elastic member 101 allows the elastic member 101 to absorb a part of the energy of the collision of the planetary gear 43 with the sun gear 41, thereby further ensuring the strength of the planetary reduction mechanism 4. The elastic member 101 urges the lower shaft section 412 in a direction away from the rotor holder 21. For example, the elastic member 101 is located below the lower shaft section 412, and the elastic member 101 presses the lower shaft section 412 upward so that the elastic member 101 is in close contact with the lower shaft section 412. This allows the elastic member 101 to better absorb the energy generated by the collision of the planetary gear 43 with the sun gear 41.

In some embodiments, the side of the rotor holder 21 facing the output shaft 5 is provided with a second fitting hole 211, the elastic member 101 is located in the second fitting hole 211, and the lower end surface of the lower shaft section 412 is connected to the elastic member 101. For example, the upper side of the rotor holder 21 is provided with a second fitting hole 211, the elastic member 101 and the lower shaft section 412 are fitted in the second fitting hole 211, and the lower end surface of the lower shaft section 412 is connected to the upper end surface of the elastic member 101. Lower shaft section 412 is in clearance fit with second fitting hole 211, so that after sun gear 41 collides with planet gears 43, lower shaft section 412 can generate vibration with smaller amplitude in second fitting hole 211 and transmit part of vibration energy to elastic member 101, thereby facilitating elastic member 101 to absorb energy generated by collision of sun gear 41 with planet gears 43.

As shown in fig. 3, in some embodiments, the electric machine 10 further includes a torque sensor 102. The torque sensor 102 is fitted in the second fitting hole 211 and connected to the rotor holder 21. The elastic member 101 is located between the torque sensor 102 and the lower shaft section 412, and the lower end of the elastic member 101 is connected to the torque sensor 102. Specifically, the lower end surface of the torque sensor 102 is connected to the bottom surface of the second fitting hole 211, and the upper end surface of the torque sensor 102 is connected to the lower end surface of the elastic member 101. The torque sensor 102 can detect the torque transmitted to the torque sensor 102 by the elastic member 101 in the operation process of the motor 10, and the torque sensor 102 transmits information to a main board of the motor 10, so that the motor 10 can be conveniently adjusted in a adaptability manner.

In some embodiments, the torque sensor 102 is an interference fit with the second mating hole 211, i.e., the torque sensor 102 is fixed within the second mating hole 211. Both ends of the elastic member 101 are welded to the lower shaft section 412 and the torque sensor 102, respectively. Specifically, the upper end of the elastic member 101 is welded to the lower end of the lower shaft section 412, and the lower end of the elastic member 101 is welded to the upper end of the torque sensor 102. Therefore, the elastic element 101 can be in close contact with the lower shaft section 412 and the torque sensor 102, so that the elastic element 101 can absorb energy generated by collision of the sun gear 41, and the rotor support 21 can drive the sun gear 41 to rotate synchronously through the elastic element 101.

In some embodiments, the resilient member 101 comprises a stiff spring. The stiffness of the hard spring is large, namely the force required by the hard spring to compress the unit length is large. When the elastic member 101 is a hard spring, the sun gear 41 is displaced little, thereby ensuring the stability of the structure of the planetary reduction mechanism 4.

As shown in fig. 3, in some embodiments, the motor 10 further includes a hall magnet 103 and a hall sensor 104. And a third matching hole 212 is formed in one side, away from the output shaft 5, of the rotor bracket 21, and the third matching hole 212 is communicated with the second matching hole 211 and is coaxially arranged. The third fitting hole 212 has a smaller aperture than the second fitting hole 211, and the hall magnet 103 is fitted in the third fitting hole 212. For example, the hall magnet 103 is a cylinder, and the hall magnet 103 is fixed in the third fitting hole 212 and is disposed coaxially with the third fitting hole 212, so that the hall magnet 103 can rotate with the rotor holder 21.

The hall sensor 104 is installed in the housing 1 and is disposed opposite to the hall magnet 103. For example, the hall sensor 104 and the hall magnet 103 are disposed opposite to each other in the vertical direction, so that the hall sensor 104 and the hall magnet 103 cooperate to monitor the rotation angle of the rotor frame 21, thereby realizing the monitoring of the position of the rotor frame 21.

In some embodiments, the hall magnet 103 is a hollow cylinder, and the hall magnet 103 has a through hole through which the outgoing line of the torque sensor 102 extends. Specifically, the through hole of the hall magnet 103 extends in the up-down direction, and the torque sensor 102 is located above the hall magnet 103. Therefore, the outgoing line of the torque sensor 102 can extend out of the through hole of the hall magnet 103 from top to bottom and is connected with the main board below the hall magnet 103, so that power supply and signal transmission of the torque sensor 102 are realized.

As shown in fig. 4, the legged robot 300 according to the embodiment of the present invention includes a trunk assembly 200 and a plurality of leg assemblies 100. A plurality of leg assemblies 100 are connected to the trunk assembly 200, and the trunk assembly 200 and/or the leg assemblies 100 are provided with the motor 10, and the motor 10 is a motor 10 according to an embodiment of the present invention. In the embodiment shown in fig. 4, there are four leg assemblies 100, and thus, the legged robot 300 is referred to as a quadruped robot.

The motor 10 provided on the torso assembly 200 and/or the leg assembly 100 includes: a. the body assembly 200 is provided with a motor 10; b. the leg assembly 100 is provided with a motor 10; c. the body assembly 200 and the leg assembly 100 are provided with the motor 10.

The motor 10 is disposed on the trunk assembly 200 and/or the leg assembly 100, so that the leg assembly 100 is pivotally connected to the trunk assembly 200, and the motor 10 is connected to the leg assembly 100 and is used for driving the leg assembly 100 to swing, thereby moving the legged robot 300.

Technical advantages of the legged robot 300 according to the embodiment of the present invention are the same as those of the motor 10 described above and will not be described herein.

In some embodiments, the body assembly 200 is provided with a motor 10, the leg assembly 100 includes a thigh 1001, the body assembly 200 is connected to the thigh 1001 through the motor 10, and the motor 10 is used for driving the thigh 1001 to swing.

The motor 10 is used for driving the thigh 1001 to swing back and forth and/or swing left and right relative to the body assembly 200, and it should be noted that when the thigh 1001 is required to simultaneously satisfy the swing left and right and swing back and forth, two or more motors 10 should be provided for the body assembly 200.

In some embodiments, the leg assembly 100 is provided with a motor 10, the leg assembly 100 further comprises a lower leg 1002, the upper leg 1001 is connected with the lower leg 1002 through the motor 10, and the motor 10 is used for driving the lower leg 1002 to swing.

The motor 10 drives the lower leg 1002 to swing back and forth with respect to the upper leg 1001, whereby the degree of freedom of the foot robot 300 is increased, and the foot robot 300 can perform more complicated operations.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. An electric machine, comprising:

a housing;

a rotor disposed within the housing and having a rotor support and a rotor shaft;

the stator is arranged in the shell;

the planetary reduction mechanism comprises a sun wheel, an inner gear ring, a planetary wheel and a planet carrier, the sun wheel is coaxially connected with the rotor support and the rotor shaft, the inner gear ring is connected with the machine shell, the planetary wheel is meshed with the sun wheel and the inner gear ring, and the planetary wheel is pivotally connected with the planet carrier through a planet shaft;

the output shaft is rotatably arranged on the shell, and the planet shaft is connected with the output shaft to drive the output shaft to rotate; and

a damper connected to the planet shaft and extending axially of the planet shaft.

2. The electric machine according to claim 1, wherein the planet shaft is coaxially provided with a first fitting hole, and the buffer member is expansion-fitted in the first fitting hole.

3. The electric machine of claim 1, wherein the buffer is made of a rubber material.

4. The electric machine of claim 1, further comprising a spring, the sun gear including an upper gear segment and a lower shaft segment, the upper gear segment being in mesh with the planet gears, the lower shaft segment being connected to the rotor carrier by the spring, the spring urging the lower shaft segment in a direction away from the rotor carrier.

5. The electric motor of claim 4, wherein a side of said rotor bracket facing said output shaft is provided with a second fitting hole, said elastic member is located in said second fitting hole, said lower shaft section is in clearance fit with said second fitting hole, and a lower end surface of said lower shaft section is connected to said elastic member.

6. The electric machine of claim 5, further comprising a torque sensor fitted in the second fitting hole and connected to the rotor holder, wherein the elastic member is located between the torque sensor and the lower shaft section, and a lower end of the elastic member is connected to the torque sensor.

7. The electric machine of claim 6, wherein the torque sensor is in interference fit with the second mating hole, and both ends of the elastic member are welded with the lower shaft section and the torque sensor, respectively.

8. The electric machine of claim 6, wherein the resilient member comprises a stiff spring.

9. The motor of claim 6, further comprising a hall magnet and a hall sensor, wherein a third matching hole is formed in one side, away from the output shaft, of the rotor support, the third matching hole is communicated with the second matching hole and is coaxially arranged, the diameter of the third matching hole is smaller than that of the second matching hole, the hall magnet is matched in the third matching hole, and the hall sensor is installed in the machine shell and is arranged opposite to the hall magnet.

10. The motor of claim 9, wherein the hall magnet is a hollow cylinder, and the hall magnet has a through hole through which the outgoing line of the torque sensor extends.

11. A legged robot comprising a trunk assembly and a plurality of leg assemblies, a plurality of said leg assemblies being connected to said trunk assembly, and a motor being provided on said trunk assembly and/or said leg assemblies, said motor being according to any of claims 1-10.

12. The legged robot according to claim 11, wherein the body assembly is provided with the motor, the leg assembly includes a thigh, the body assembly and the thigh are connected by the motor, and the motor is used for driving the thigh to swing.

13. The legged robot according to claim 12, wherein the leg assembly is provided with the motor, the leg assembly further includes a lower leg, the upper leg is connected to the lower leg via the motor, and the motor is configured to drive the lower leg to swing.