CN218255252U - Inner wiring cycloid speed reducer, cycloid joint and cycloid mechanical leg - Google Patents

Abstract

The utility model discloses an interior line cycloid speed reducer of walking, cycloid joint and cycloid machinery leg, this interior line cycloid speed reducer of walking includes motor and cycloid reduction gear, the cycloid reduction gear includes the near-end flange, the casing of connection on near-end flange and far-end flange is connected to distal end flange and rotation, the screw hole has been seted up on the distal end flange, set up the screw hole that matches the screw hole on the near-end flange, threaded connection has worn the screw in the screw hole, set up on the screw and do the line hole of extension along its axial, the both ends in line hole all are linked together with the external world, be equipped with on the casing along with its pivoted end cover, be equipped with the magnet of establishing on the axis of input shaft on the end cover, the one end of input shaft is equipped with the encoder that matches magnet, the encoder is established on the distal end flange. The utility model discloses an trompil in the axial of the screw of connecting near-end flange and distal end flange, the wire that makes things convenient for the electric connection encoder is drawn forth from downthehole, walks the line structure in realizing, and whole function is perfect, and the practicality is strong.

Description

Internal wiring cycloid speed reducer, cycloid joint and cycloid mechanical leg

Technical Field

The utility model relates to a robot equipment technical field, more specifically say that it relates to a walk in the crossing cycloid joint of line cycloid speed reducer and design with this speed reducer and at the cycloid machinery leg that foot formula robot field used.

Background

The cross cycloid joint in the foot type robot formed by the cross cycloid joints consists of two cycloid speed reducers. In order to realize accurate monitoring control of the rotation angle, an encoder is arranged on the rotating shaft or the motor for feeding back the rotation adjustment angle. If the encoder is directly installed on the rotating shaft, a lead is required to be led out, and the lead is externally arranged, so that the winding is easy to occur, and the final walking of the robot is not facilitated; if the encoder is installed on the motor, a multi-turn encoder is needed or the encoder returns to the original point every time the motor is powered on. The former has high cost and complex system, and the latter has trouble control to influence the use of each time, so the whole effect is not good. Therefore, the utility model provides a cycloid speed reducer, cycloid joint and cycloid machinery leg.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome not enough among the above-mentioned prior art, provide a cycloid speed reducer, cycloid joint and cycloid machinery leg.

In order to solve the technical problem, the purpose of the utility model is to realize like this: the utility model relates to an internal wiring cycloid speed reducer, including motor and cycloid reduction gear, the input shaft of the output shaft cycloid reduction gear of motor, the cycloid reduction gear includes near-end flange, distal end flange and rotates the casing of connection on near-end flange and distal end flange, near-end flange joint is on the motor, the screw hole has been seted up on the distal end flange, set up the screw hole that matches the screw hole on the near-end flange, threaded connection has worn the screw on the screw hole in the screw hole, sets up on the screw and does the line hole of extension along its axial, and the both ends in line hole all are linked together with the external world, be equipped with on the casing along with its pivoted end cover, be equipped with on the end cover and establish magnet on the axis of input shaft, the one end of input shaft is equipped with the encoder that matches magnet, and the encoder is established on the distal end flange and its wire penetrates the line hole.

The utility model discloses further set up to: the number of the screw holes is not less than three; the screw holes are distributed in an annular array at equal intervals around the axis of the input shaft.

The utility model discloses further set up to: the end face of the near-end flange back to the far-end flange is provided with a wiring groove which extends along the circumferential direction of the near-end flange, the wiring groove is communicated with the wiring hole, and the near-end flange is further provided with a wiring channel, one end of the wiring channel is communicated with the wiring groove, and the other end of the wiring channel is communicated with the outside.

The utility model discloses further set up to: the encoder is an absolute value magnetic encoder.

The utility model relates to a cycloid joint with internally-wired cycloid speed reducers, which comprises two internally-wired cycloid speed reducers, wherein the rotating axis of one shell is vertical to the rotating axis of the other shell; and a bracket is connected between the shell of one cycloidal speed reducer and the near-end flange of the other cycloidal speed reducer.

The utility model relates to a cycloid mechanical leg with cycloid joint, cycloid mechanical leg includes support leg and lower support leg, and the upper end of lower support leg articulates upper and lower end of last support leg is equipped with the supporting legs, the lower extreme of going up the support leg articulates on the lower support leg, the upper end is connected on cycloid joint, go up the support leg and realize being connected with the casing that the support is not connected, upward be equipped with first ear on the support leg, be equipped with the second ear on the lower support leg, the second ear with be equipped with the electronic jar of the articulated first ear of one end, the articulated second ear of the other end between first ear.

The utility model discloses further set up to: a rotating mechanism is arranged between the upper supporting leg and the lower supporting leg; the rotating mechanism comprises a rotating frame and a rotating body which is rotatably connected to the rotating frame, the rotating frame is connected with the upper support leg, and the rotating body is connected with the lower support leg; the rotating frame is provided with a magnet arranged on the rotating axis of the rotating body, and the rotating body is provided with an encoder matched with the magnet; the encoder is also an absolute value magnetic encoder.

The utility model discloses further set up to: the supporting legs are spherical.

To sum up, the utility model discloses following beneficial effect has: the utility model relates to a cycloid speed reducer, cycloid joint and cycloid machinery leg through trompil in the axial of the screw of connecting near-end flange and distal end flange, makes things convenient for the wire of electricity connection encoder to draw forth from downthehole, walks the line structure in the realization, avoids taking place the winding because of the wire is external, does benefit to the walking of final robot, and overall function is perfect, and the practicality is strong.

Drawings

Fig. 1 is a schematic view of the overall structure of the cycloidal reducer with internally-routed wires according to the present invention;

fig. 2 is a schematic structural diagram of a part of the internally-routed cycloidal speed reducer of the present invention;

fig. 3 is a schematic view of the internal structure of the hypocycloid speed reducer embodying the present invention;

fig. 4 is a schematic view of a partial structure of the hypocycloidal reducer embodying the present invention;

fig. 5 is a schematic view of the overall structure of the cycloid joint of the present invention;

fig. 6 is a schematic view of the overall structure of the cycloidal mechanical leg of the present invention;

fig. 7 is a schematic structural diagram of a part of the cycloidal mechanical leg of the present invention.

Detailed Description

In order to better understand the technical solutions of the present invention for those skilled in the art, the following preferred embodiments of the present invention are described in conjunction with the specific examples, but it should be understood that these descriptions are only for the purpose of further explaining the features and advantages of the present invention, and are not intended to limit the patent requirements of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The invention will be further described with reference to the accompanying drawings and preferred embodiments.

Example 1

Referring to fig. 1 to 7, the internally-routed cycloidal speed reducer according to this embodiment includes a motor 10 and a cycloidal speed reducer 20, an output shaft of the motor 10 is connected to an input shaft 21 of the cycloidal speed reducer 20, the cycloidal speed reducer 20 includes a near-end flange 22, a far-end flange 23, and a housing 24 rotatably connected to the near-end flange and the far-end flange, the near-end flange 22 is connected to the motor 10, the far-end flange 23 is provided with a screw hole 25, the near-end flange 22 is provided with a screw hole 26 matched with the screw hole, a screw 27 screwed to the screw hole is inserted into the screw hole 25, the screw 27 is provided with a wire hole 28 extending along an axial direction thereof, both ends of the wire hole 28 are communicated with the outside, the housing 24 is provided with an end cover 29 rotating therewith, the end cover 29 is provided with a magnet 30 arranged on an axis of the input shaft 21, one end of the input shaft 21 is provided with an encoder 31 matched with the magnet, and the encoder 31 is arranged on the far-end flange 23 and a wire of the input shaft 28 penetrates through the wire.

Further, the number of the screw holes 25 is three; the screw holes 25 are distributed in an equally spaced angular annular array about the axis of the input shaft 21.

Furthermore, a wiring groove 32 extending along the circumferential direction is formed in the end surface of the near-end flange 22 opposite to the far-end flange 23, the wiring groove 32 is communicated with the wire hole 28, and a wiring channel 33 having one end communicated with the wiring groove 32 and the other end communicated with the outside is further formed in the near-end flange 22.

Further, the encoder 31 is an absolute value magnetic encoder.

The utility model relates to a cycloid joint with internally-wired cycloid speed reducer, the cycloid joint 100 comprises two internally-wired cycloid speed reducers, wherein the rotating axis of one shell 24 is perpendicular to the rotating axis of the other shell 24; a bracket 40 is connected between the shell 24 of one cycloidal reducer and the proximal end flange 22 of the other cycloidal reducer.

The utility model relates to a cycloid mechanical leg with cycloid joint, cycloid mechanical leg includes supporting leg 50 and lower supporting leg 51, and lower supporting leg 51's upper end articulates go up supporting leg 50 upper and lower end is equipped with supporting legs 52, go up supporting leg 50's lower extreme and articulate on lower supporting leg 51, the upper end is connected on cycloid joint 100, go up supporting leg 50 and the casing 24 that is not connected with support 40 and realize being connected, upward be equipped with first ear 53 on supporting leg 50, be equipped with second ear 54 on the lower supporting leg 51, second ear 54 with be equipped with the electronic jar 55 of the articulated first ear of one end, the articulated second ear of the other end between first ear 53.

Further, a rotating mechanism 60 is arranged between the upper supporting leg 50 and the lower supporting leg 51; the rotating mechanism 60 comprises a rotating frame 61 and a rotating body 62 which is rotatably connected to the rotating frame, the rotating frame 61 is connected with the upper support leg 50, and the rotating body 62 is connected with the lower support leg 51; the rotating frame 61 is provided with a magnet arranged on the rotating axis of the rotating body 62, and the rotating body 62 is provided with an encoder matched with the magnet; the encoder is also an absolute value magnetic encoder.

Further, the supporting foot 52 has a spherical shape.

The utility model relates to a cycloid speed reducer, cycloid joint and cycloid machinery leg through trompil in the axial of the screw of connecting near-end flange and distal end flange, makes things convenient for the wire of electric connection encoder to draw forth from downthehole, walks the line structure in the realization, avoids taking place the winding because of the wire is external, does benefit to the walking of final robot, and overall function is perfect, and the practicality is strong.

Unless otherwise specified, in the present invention, if the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the actual shown orientation or positional relationship, it is only for the convenience of describing the present invention and simplifying the description, but not for indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, therefore, the terms describing the orientation or positional relationship in the present invention are only used for exemplary illustration and should not be construed as limiting the present patent, and it is possible for a person having ordinary skill in the art to combine the embodiments and understand the specific meaning of the above terms according to the specific circumstances.

Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass both fixed and removable connections, or integral connections; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions that can be obtained by logical analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention by those skilled in the art should be within the scope of protection defined by the claims.

Claims (8)

1. The utility model provides an internal wiring cycloid speed reducer, includes motor and cycloid reduction gear, the input shaft of the output shaft cycloid reduction gear of motor, the cycloid reduction gear includes near-end flange, distal end flange and rotates the casing of connection on near-end flange and distal end flange, near-end flange joint is on the motor, its characterized in that, the screw hole of matcing the screw hole has been seted up on the distal end flange, threaded connection has worn the screw on the screw hole in the screw hole, sets up on the screw along the line hole that extends is made to its axial, and the both ends of line hole all are linked together with the external world, be equipped with on the casing along its pivoted end cover, be equipped with on the end cover and establish magnet on the axis of input shaft, the one end of input shaft is equipped with the encoder of matcing magnet, and the encoder is established on the distal end flange and its wire penetrates the line hole.

2. The inline cycloidal reducer according to claim 1 wherein the number of screw holes is no less than three; the screw holes are distributed in an annular array at equal intervals around the axis of the input shaft.

3. The internally-routed cycloidal reducer according to claim 2, wherein a wiring groove extending along a circumferential direction of the end surface of the near-end flange facing away from the far-end flange is formed in the end surface of the near-end flange, the wiring groove is communicated with the wiring hole, and a wiring channel with one end communicated with the wiring groove and the other end communicated with the outside is formed in the near-end flange.

4. The inline cycloidal reducer according to claim 3, wherein the encoder is an absolute value magnetic encoder.

5. A cycloidal joint having an internally routed cycloidal reducer, the cycloidal joint comprising two internally routed cycloidal reducers according to any one of claims 1 to 4, wherein the axis of rotation of one of the housings is perpendicular to the axis of rotation of the other housing; and a bracket is connected between the shell of one cycloidal speed reducer and the near-end flange of the other cycloidal speed reducer.

6. The utility model provides a cycloid mechanical leg with cycloid joint, its characterized in that, cycloid mechanical leg includes support leg and lower support leg, and the upper end of lower support leg articulates upper and lower end of upper support leg is equipped with the supporting legs, the lower extreme of upper support leg articulates on the lower support leg, the upper end is connected according to claim 5 cycloid joint on, the casing that upper support leg and not be connected with the support realizes being connected, be equipped with first ear on the upper support leg, be equipped with the second ear on the lower support leg, the second ear with be equipped with the electronic jar of articulated first ear of one end, the articulated second ear of the other end between first ear.

7. The cycloidal mechanical leg of claim 6 wherein a rotation mechanism is provided between said upper and lower support legs; the rotating mechanism comprises a rotating frame and a rotating body connected to the rotating frame in a rotating mode, the rotating frame is connected with the upper supporting leg, and the rotating body is connected with the lower supporting leg.

8. The cycloidal mechanical leg of claim 7 wherein said support foot is spherical in shape.

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