CN216505106U - Hip joint speed reduction motor assembly for thigh and shank co-driven robot - Google Patents

Abstract

The application provides a hip joint gear motor subassembly that is used for thigh and shank to drive robot altogether includes: the shell of the first motor and the shell of the second motor are fixed on a crotch component of the robot. The power system is designed in an integrated manner, the two motors are oppositely arranged and are respectively arranged on the two sides of the speed reducer bracket, and the motors, the speed reducer and the code wheel are integrated together to form a compact integrated power system, so that the size is reduced, and the weight is lightened.

Description

Hip joint speed reduction motor assembly for thigh and shank co-driven robot

Technical Field

The application relates to the technical field of instruments for lower limbs, in particular to a hip joint speed reduction motor assembly for a thigh and shank co-driven robot.

Background

The wearable lower limb exoskeleton can provide functions such as power assistance, protection, body support and the like for lower limbs of people, integrates various technologies such as machinery, electronics, control, sensing and the like, is a man-machine integrated system capable of completing functions such as power assistance walking and the like under the unconscious control of an operator, and has wide application prospects in various fields such as medical treatment, military and the like. Current wearable lower extremity exoskeletons still face a number of problems, such as leg drive: the hydraulic driving force is large, but the system structure is complex, the weight is large, the response speed is slow, and the exoskeleton system is suitable for exoskeleton systems with slow movement speed. The motor has high driving efficiency, simple and reliable control, high response speed, small volume and light weight, and is widely applied to the industries of industrial robots and exoskeleton robots.

According to the traditional hip joint speed reduction motor assembly for the thigh and calf co-driven robot, the two independent motors are respectively provided with the speed reducer, the occupied space is large and heavy, the comfort degree of a wearer is affected, and the sufficient installation space is difficult to match on the crotch assembly of the robot.

Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.

SUMMERY OF THE UTILITY MODEL

It is an object of the present application to provide a hip joint reduction motor assembly for a thigh and calf co-drive robot that solves or alleviates the above-mentioned problems of the prior art.

In order to achieve the above purpose, the present application provides the following technical solutions: the application provides a hip joint gear motor subassembly that is used for thigh and shank to drive robot altogether, includes: the shell of the first motor and the shell of the second motor are both fixed on a crotch component of the robot;

the speed reducer mechanism comprises a speed reducer support, a first output end, a second output end, a first input end and a second input end, wherein the speed reducer support is fixedly connected with a shell of the first motor and a shell of the second motor respectively;

the first output wheel and the second output wheel are respectively and fixedly connected with the first output end and the second output end, and the first output wheel and the second output wheel jointly drive the thigh and the shank of the robot;

the space between the reduction gear support with the casing of first motor forms first accommodation space, the reduction gear support with the space between the casing of second motor forms the second accommodation space, the rotor of first motor the stator of first motor first output the first input with first output wheel all sets up in first accommodation space, the rotor of second motor the stator of second motor the second output the second input with the second output wheel all sets up in the second accommodation space.

Furthermore, the speed reducer mechanism comprises two secondary speed reduction transmission assemblies, and the two secondary speed reduction transmission assemblies share a speed reducer bracket; and the two secondary speed reduction transmission assemblies are symmetrically arranged by taking the speed reducer bracket as a center.

Furthermore, the two-stage reduction transmission assembly is a gear set reduction transmission assembly which comprises a gear carrier, and the gear carrier is fixed on the speed reducer support.

Furthermore, the secondary speed reduction transmission assembly comprises a sun gear, a planet gear and an inner gear ring, and the two sun gears form the corresponding first input end or the second input end respectively;

the number of the planet wheels is three, the planet wheels are respectively and rotatably installed on the gear carrier through gear shafts, each planet wheel comprises a large gear and a small gear which are coaxially and fixedly connected, and the large gear is meshed with the sun gear;

and the inner gear rings are sleeved on the three pinions and are meshed with the pinions, and the two inner gear rings respectively form the corresponding first output end or the second output end.

Furthermore, the stator of the first motor and the stator of the second motor are respectively provided with a code wheel, and the code wheels are used for monitoring the movement of the first motor and the second motor.

Further, the code wheel is a wired code wheel, and the shell of the first motor and the shell of the second motor are respectively provided with a wire passing hole for a cable of the wired code wheel to pass through.

Further, a housing of the first motor and a housing of the second motor form a semi-open cavity respectively, and a rotor of the first motor and a stator of the first motor are arranged in the semi-open cavity of the housing of the first motor;

the rotor of the second motor and the stator of the second motor are arranged in a semi-open cavity of a shell of the second motor.

Further, the speed reducer bracket comprises an I-shaped part and a mounting plate,

the I-shaped part comprises an upper arm, a lower arm and a vertical arm, and the upper arm and the lower arm are used for being connected with a shell of the first motor and a shell of the second motor;

the mounting plate is perpendicular to the plane of the upper arm and the lower arm and is fixedly connected with the vertical arm;

the two gear racks are respectively fixed on two plate surfaces of the mounting plate.

Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:

1) the power system is designed in an integrated manner, the two motors are oppositely arranged and are respectively arranged on the two sides of the speed reducer bracket, and the motors, the speed reducer and the code wheel are integrated together to form a compact integrated power system, so that the size is reduced, and the weight is lightened.

2) The secondary speed reduction transmission assembly is small in size and light in weight, and facilitates the motion of the robot and the wearing experience of a wearer.

3) The gear speed reduction transmission assembly is reliable in transmission, the gear carrier is fixed on the speed reducer support, the existing structure is utilized, the weight and the size are not additionally increased, and the motion of the robot and the wearing experience of a wearer are facilitated.

4) The speed reduction is realized through the planetary gear set, the technology is mature, and the structure is simple.

5) The movement of the first motor and the second motor is monitored through the code disc, so that the accurate control of the leg of the robot is facilitated.

6) The signal transmission of the wired code disc is more reliable.

7) The shell of the first motor and the shell of the second motor form a semi-open cavity respectively, and the size is small and the weight is light relative to the closed cavity.

8) The speed reducer bracket comprises an I-shaped part and a mounting plate, and has simple structure and higher strength

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:

FIG. 1 is an exploded view of a hip joint reduction motor assembly for a thigh and calf co-drive robot according to the present application;

FIG. 2 is an isometric view of the first motor housing of FIG. 1;

FIG. 3 is a schematic illustration of the mating of the gear set reduction drive assembly of FIG. 1;

FIG. 4 is a schematic view of the first motor and sun gear of FIG. 1;

FIG. 5 is a schematic structural diagram of a code wheel and a first motor in FIG. 1;

fig. 6 is a schematic structural diagram of the speed reducer bracket, the gear set reduction transmission assembly, the first output wheel and the second output wheel in fig. 1.

Description of reference numerals:

1. fastening a pin; 2. a first motor housing; 3. a first motor stator; 4. code disc; 5 a first motor rotor; 6. a first output wheel; 7. an inner gear ring; 8. a planet wheel; 81. a bull gear; 82. a pinion gear; 9. an I-shaped member; 10. mounting a plate; 11. a gear carrier; 12. a sun gear; 13. a bearing bore; 14. a pin hole; 15. a wire passing hole; 16. a rotor mounting shaft; 17. a gear shaft.

Detailed Description

The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.

As shown in fig. 1-6, the present invention provides a specific embodiment of a hip joint deceleration motor assembly for a thigh and calf co-driven robot, and as shown in fig. 1-6, the hip joint deceleration motor assembly for the thigh and calf co-driven robot comprises a fastening pin 1, a first motor, a second motor, a code wheel 4, a first output wheel 6, a second output wheel and a reducer mechanism. The speed reducer mechanism comprises two secondary speed reduction transmission assemblies and a speed reducer support, the secondary speed reduction transmission assemblies are gear set speed reduction transmission assemblies, and the gear set speed reduction transmission assemblies are used for providing speed reduction ratios and improving output torque corresponding to the first motor or the second motor. The gear set reduction transmission component comprises a sun gear 12, a planet gear 8, an inner gear ring 7 and a gear carrier 11, wherein the gear carrier 11 is fixed on a speed reducer support. The speed reducer support comprises an I-shaped part 9 and a mounting plate 10, the I-shaped part 9 comprises an upper arm, a lower arm and a vertical arm, and the mounting plate 10 is perpendicular to the plane where the upper arm and the lower arm are located and is fixedly connected with the vertical arm; the two gear racks 11 are fixed to two plate surfaces of the mounting plate 10, respectively.

The first motor, the first output wheel 6 and the corresponding two-stage reduction transmission assembly have the same structure as the second motor, the second output wheel and the corresponding two-stage reduction transmission assembly, and are symmetrically arranged about the reducer support, and the first motor, the corresponding two-stage reduction transmission assembly and the first output wheel 6 are taken as an example for structural description.

The first motor comprises a first motor shell 2, a first motor rotor 5 and a first motor stator 3, the second motor comprises a second motor shell, a second motor rotor and a second motor stator, the first motor and the second motor are not provided with output shafts, the first motor rotor 5 and the second motor rotor are fixed in a bearing hole 13 of the corresponding first motor shell 2 or a bearing hole of the second motor shell through a rotor mounting shaft 16 arranged on the first motor rotor 5 and the second motor rotor. First motor casing 2 and second motor casing all are fixed on the crotch subassembly of robot, and the upper arm and the underarm of the I-shaped member 9 of reduction gear support are used for being connected with first motor casing 2, second motor casing, specifically: there are two pin holes 14 in the upper end of first motor casing 2 and second motor casing, and the upper arm corresponds with lower arm and is equipped with the screw hole, through fastening pin 1 in the pin hole 14 with first motor casing 2, second motor casing and reduction gear support fixed connection.

One of the gear set reduction drive assemblies includes a first output end and a first input end, and the other gear set reduction drive assembly includes a second output end and a second input end. The first input end and first electric motor rotor 5 fixed connection, second input end and second electric motor rotor fixed connection, first input end and second input end are formed by corresponding sun gear 12 in this application. The number of the planet wheels 8 is three, the planet wheels 8 are respectively rotatably installed on the gear rack 11 through the gear shaft 17, each planet wheel 8 comprises a large gear 81 and a small gear 82 which are coaxially and fixedly connected, and the large gear 81 is meshed with the sun wheel 12. The ring gear 7 is sleeved on the three pinions 82 and meshed with the pinions 82, the first output wheel 6 or the second output wheel is fixedly connected with the corresponding ring gear 7, and the first output end and the second output end are formed by the corresponding ring gear 7. The first output wheel 6 and the second output wheel drive the upper leg and the lower leg of the robot together.

Code discs 4 are respectively arranged on the first motor stator 3 and the second motor stator, and the code discs 4 are used for monitoring the movement of the first motor and the second motor. The code wheel 4 is a wired code wheel, the first motor shell 2 and the second motor shell are respectively provided with a wire passing hole 15 for a cable of the wired code wheel to pass through, and the wire passing hole 15 is positioned between two pin holes 14 on the corresponding first motor shell 2 or second motor shell.

The advantages of this embodiment also include that the hip joint reduction motor assembly has a small volume and a compact structure: space between reduction gear support and the first motor casing 2 forms first accommodation space, and space between reduction gear support and the second motor casing forms the second accommodation space, and first electric motor rotor 5, first motor stator 3, one of them gear train speed reduction transmission subassembly and first output wheel 6 all set up in first accommodation space, and second electric motor rotor, second motor stator, another gear train speed reduction transmission subassembly and second output wheel all set up in the second accommodation space. The first motor shell 2 and the second motor shell form a semi-open cavity respectively, and the first motor rotor 5 and the first motor stator 3 are arranged in the semi-open cavity of the first motor shell 2; the second motor rotor and the second motor stator are disposed in a semi-open cavity of the second motor housing.

Assembling the first motor and the second motor: the outer ring of the first motor stator 3 is fixed in a semi-open cavity of the first motor shell 2 in a bonding mode, and a coded disc 4 is arranged between the first motor rotor 5 and the first motor stator 3 to monitor the movement of the first motor. The rotor mounting shaft 16 of the first motor rotor 5 is then fixed in the bearing hole 13 of the first motor case 2. The installation process of the second motor is the same as that of the first motor, and the description is omitted.

Each gear set speed reduction transmission assembly is divided into two stages, sun gears 12 are fixed on the first motor rotor 5 and the second motor rotor respectively through screws, and the sun gears 12 realize torque transmission between the gear set speed reduction transmission assemblies and the corresponding first motor or second motor. The first motor and the gear set reduction transmission component corresponding to the first motor are taken as an example for explanation: the first-stage speed reduction is that the sun gear 12 on the first motor rotor 5 transmits the rotating speed to the large gear 81 of the planet gear 8 through gear engagement, then the small gear 82 of the planet gear 8 is synchronously driven, the rotating speed at the moment is subjected to first-stage speed reduction, and the torque is subjected to first-stage increase. The pinion 82 of the planet wheel 8 drives the inner gear ring 7 to rotate, the rotating speed at the moment is subjected to secondary speed reduction, and the torque is subjected to secondary increase. The final moment is transmitted to the first output wheel 6 fixed to the inner gear ring 7, and the moment is output to the thigh and the calf of the robot through the first output wheel 6.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. A hip joint gear motor subassembly that is used for thigh and shank to drive robot altogether, characterized by includes: the shell of the first motor and the shell of the second motor are both fixed on a crotch component of the robot;

the speed reducer mechanism comprises a speed reducer support, a first output end, a second output end, a first input end and a second input end, wherein the speed reducer support is fixedly connected with a shell of the first motor and a shell of the second motor respectively;

the first output wheel and the second output wheel are respectively and fixedly connected with the first output end and the second output end, and the first output wheel and the second output wheel jointly drive the thigh and the shank of the robot;

the space between the reduction gear support with the casing of first motor forms first accommodation space, the reduction gear support with the space between the casing of second motor forms the second accommodation space, the rotor of first motor the stator of first motor first output the first input with first output wheel all sets up in first accommodation space, the rotor of second motor the stator of second motor the second output the second input with the second output wheel all sets up in the second accommodation space.

2. The hip joint reduction motor assembly for the thigh and calf co-driven robot according to claim 1, wherein the reducer mechanism comprises two secondary reduction transmission assemblies, and the two secondary reduction transmission assemblies share a reducer bracket; and the two secondary speed reduction transmission assemblies are symmetrically arranged by taking the speed reducer bracket as a center.

3. The hip joint reduction motor assembly for the thigh and calf co-driven robot according to claim 2, wherein the secondary reduction transmission assembly is a gear set reduction transmission assembly, and the gear set reduction transmission assembly comprises a gear carrier fixed on the gear carrier.

4. The hip joint reduction motor assembly for the thigh and calf co-driven robot according to claim 3, wherein the secondary reduction transmission assembly comprises a sun gear, a planet gear and an inner gear ring, and the two sun gears respectively form the corresponding first input end or the second input end;

the number of the planet wheels is three, the planet wheels are respectively and rotatably installed on the gear carrier through gear shafts, each planet wheel comprises a large gear and a small gear which are coaxially and fixedly connected, and the large gear is meshed with the sun gear;

and the inner gear rings are sleeved on the three pinions and are meshed with the pinions, and the two inner gear rings respectively form the corresponding first output end or the second output end.

5. The hip joint motor assembly for the thigh and calf co-driven robot as claimed in claim 1, wherein the stators of the first and second motors are respectively provided with a code wheel for monitoring the movement of the first and second motors.

6. The hip joint speed reduction motor assembly for the thigh and calf co-driven robot as claimed in claim 5, wherein the code wheel is a wired code wheel, and the housing of the first motor and the housing of the second motor are respectively provided with a wire passing hole for a cable of the wired code wheel to pass through.

7. The hip joint reduction motor assembly for the thigh and calf co-driven robot according to claim 1, wherein the housing of the first motor and the housing of the second motor form a semi-open cavity respectively, and the rotor of the first motor and the stator of the first motor are disposed in the semi-open cavity of the housing of the first motor;

the rotor of the second motor and the stator of the second motor are arranged in a semi-open cavity of a shell of the second motor.

8. The hip joint reduction motor assembly for a thigh and calf co-driven robot according to claim 4, wherein the reducer bracket comprises an I-shaped member and a mounting plate,

the I-shaped part comprises an upper arm, a lower arm and a vertical arm, and the upper arm and the lower arm are used for being connected with a shell of the first motor and a shell of the second motor;

the mounting plate is perpendicular to the plane of the upper arm and the lower arm and is fixedly connected with the vertical arm;

the two gear racks are respectively fixed on two plate surfaces of the mounting plate.

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