CN218947724U

CN218947724U - Four-foot robot joint limiting mechanism

Info

Publication number: CN218947724U
Application number: CN202123160992.9U
Authority: CN
Inventors: 赵逸栋; 张学垠; 陈申红; 李超; 朱秋国
Original assignee: Hangzhou Deeprobotics Co ltd
Current assignee: Hangzhou Deeprobotics Co ltd
Priority date: 2021-12-15
Filing date: 2021-12-15
Publication date: 2023-05-02
Anticipated expiration: 2031-12-15

Abstract

The utility model discloses a joint limiting mechanism of a quadruped robot, which comprises a limiting piece I, a limiting piece II and a limiting piece I, wherein the limiting piece I is connected with a motor rotor or a motor stator shell and is provided with at least two limiting side surfaces; the sleeve body is arranged on the outer side of the first limiting part and covers the limiting side face; at least two second limiting parts are connected with the stator shell or the motor rotor, the second limiting parts and the first limiting parts rotate relatively when the motor works, the second limiting parts and the first limiting sides of the first limiting parts are in interference with each other through the sleeve body to limit, and when the second limiting parts are in interference limiting, the pair of sleeve bodies form a pressing force to prevent the sleeve bodies from being separated from the first limiting parts longitudinally. According to the utility model, the second limiting part is abutted against the first limiting part through the sleeve body, so that the two parts are prevented from being directly abutted against each other, larger noise is not generated, and the service life is prolonged; the sleeve body and the first limiting part are simple to assemble, the structure is stable after assembly, and sliding and deformation are not easy to occur; the whole limiting mechanism is stable and effective.

Description

Four-foot robot joint limiting mechanism

Technical Field

The utility model belongs to the technical field of quadruped robots, and particularly relates to a joint limiting mechanism of a quadruped robot.

Background

In order to limit the moving range of the leg joints of the four-legged robot, the moving angle and the like of the four-legged robot can be controlled through software at present, but due to abrasion caused by long-time use or clearance reasons existing during assembly, in order to achieve the double limiting effect, a limiting structure is usually arranged at the corresponding position of the joints of the four-legged robot, limiting impact can occur when the legs of the four-legged robot rotate to the position of the limiting structure, and due to the fact that the number of times of impact is very frequent when the four-legged robot moves, not only can larger noise be emitted during the impact of the limiting structure, but also the limiting structure can be easily damaged.

Disclosure of Invention

In order to overcome the defects in the prior art, the utility model provides the four-foot robot joint limiting mechanism which is convenient to assemble, is not easy to separate from the limiting part I after being assembled and has long service life.

The technical scheme adopted for solving the technical problems is as follows: a joint limiting mechanism of a quadruped robot, which comprises,

the first limiting piece is connected with the motor rotor or the stator shell and provided with at least two limiting side surfaces;

the sleeve body is arranged on the outer side of the first limiting part and covers the limiting side face;

at least two second limiting parts are connected with the stator shell or the motor rotor, the second limiting parts and the first limiting parts rotate relatively when the motor works, the second limiting parts and the first limiting sides of the first limiting parts are in interference with each other through the sleeve body to limit, and when the second limiting parts are in interference limiting, the pair of sleeve bodies form a pressing force to prevent the sleeve bodies from being separated from the first limiting parts longitudinally.

The second limiting piece is abutted against the first limiting piece through the sleeve body, so that the second limiting piece is prevented from directly abutting against and striking, larger noise is not generated, and the service life is prolonged; the sleeve body and the first limiting part are relatively fixed, so that sliding and deformation are not easy to occur.

Further, the sleeve body comprises a top wall, a side wall and a connecting side wall for sealing and connecting the top wall and the side wall, and the side wall is attached to and covers the limit side face; the side wall, the top wall and the connecting side wall form a containing cavity therebetween, and the bottom of the sleeve body and one side opposite to the connecting side wall are provided with openings communicated with the containing cavity. The structural design of holding the chamber is convenient for the assembly of the cover body and locating part one, and its both laminating is inseparable, and area of contact is big, and the assembly is more firm, and the cover body is difficult for taking place deformation after long-time the use.

Further, the top wall and at least one side wall of the sleeve body are provided with perforations, and the central axis of each perforation on the side wall is perpendicular to the limiting side face; and a mounting hole is formed in the first limiting part and corresponds to the position of the perforation, and the positioning part penetrates through the perforation to be connected with the mounting hole. The perforation on the side wall is vertical to the limit side surface, so that the vertical stress of one side wall of the limit piece is ensured, and the sleeve body is prevented from being separated.

Further, after the locating piece is fixed, the tail end plane of the locating piece is arranged in the perforation, and the height difference is smaller than 1cm. The top end surface of the positioning piece does not extend out of the perforation, namely the perforation leaves a space after accommodating the positioning piece so as to form a deformation accommodating space when the second limiting piece contacts the sleeve body, and the sleeve body is prevented from being excessively deformed to separate from the first limiting piece; the sleeve body can be used as primary limit, and when the primary limit is broken through, the sleeve body can also be used for hard limit through the locating piece; if the height difference is larger than 1cm, the deformation range is too large, the control of the motion control gesture of the legs and feet of the four-legged robot is adversely affected, and the controllability is poor.

Furthermore, the limiting side face is arranged to be a plane, and the included angle between the limiting side face and the horizontal plane is alpha, so that the alpha is more than or equal to 60 degrees and less than 90 degrees. The sleeve body is impacted, a component force for pushing the sleeve body radially outwards is generated, the limiting piece is in an inverted trapezoid shape with a large upper part and a small lower part, the sleeve body is stably pressed down, the sleeve body is prevented from being separated, and meanwhile, the problem that the positioning piece falls off even if the sleeve body is deformed after being used for a long time is avoided.

Further, the limit side extends along the radial direction of the motor rotor or stator housing. The effective interference area of the second limiting part and the sleeve body is guaranteed, the pressing force is in a better range, and meanwhile machining is facilitated.

Further, two side walls of the sleeve body are perpendicular to the top wall; or the inner and outer surfaces of the two side walls of the sleeve body are parallel and extend obliquely. The side wall of the sleeve body is vertical to the top wall, so that the sleeve body is convenient to process; the inner side surface and the outer side surface of the side wall of the sleeve body are parallel, so that the contact area of the second limiting part and the sleeve body is larger, the stress is more uniform during impact, the condition of uneven stress is not easy to occur, and the sleeve is not easy to damage.

Furthermore, a gap is arranged between the end surfaces of the two side walls of the sleeve body and the motor rotor or stator shell. Friction is prevented from being generated between the sleeve body and the motor rotor.

Further, the locating piece is in threaded connection with the mounting hole. The connecting structure of the positioning piece and the mounting hole is simple and stable.

Further, the second limiting piece is provided with a contact surface which can be completely attached to the side wall of the sleeve body. The contact area between the second limiting part and the sleeve body is large, and the limiting effect is more stable.

The beneficial effects of the utility model are as follows: the second limiting piece is abutted against the first limiting piece through the sleeve body, so that the second limiting piece is prevented from directly abutting against and striking, larger noise is not generated, and the service life is prolonged; the sleeve body and the first limiting part are simple to assemble, the structure is stable after assembly, and sliding and deformation are not easy to occur; the whole limiting mechanism is stable and effective.

Drawings

Fig. 1 is a schematic diagram of a matching structure of a first limiting member and a second limiting member in a motor rotor and stator housing according to the present utility model.

Fig. 2 is a schematic structural view of a mating portion of a motor rotor according to the present utility model.

Fig. 3 is a side view of the mating structure of the first and second stop members in the motor rotor and stator housing of the present utility model.

Fig. 4 is a C-C cross-sectional view of fig. 3.

Fig. 5 is a side view of the motor rotor of the present utility model.

Fig. 6 is a B-B cross-sectional view of fig. 5.

Fig. 7 is a perspective view of the sleeve of the present utility model.

Fig. 8 is a front view of the sleeve of the present utility model.

Fig. 9 is a side view of the sleeve of the present utility model.

Fig. 10 is a cross-sectional view A-A in fig. 9.

Fig. 11 is a schematic view of another structure of the sleeve of the present utility model.

Detailed Description

In order to make the present utility model better understood by those skilled in the art, the following description of the technical solutions of the present utility model will be made in detail, but not all embodiments of the present utility model are apparent to some embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

As shown in fig. 1-7, a joint limiting mechanism of a quadruped robot comprises a first limiting part 1, a sleeve body 2 and at least two second limiting parts 3. The first limiting member 1 may be disposed on the motor rotor 5 or the stator housing 6, and when the first limiting member 1 is connected to the motor rotor 5, the second limiting member 3 is connected to the stator housing 6, and when the first limiting member 1 is connected to the stator housing 6, the second limiting member 3 is connected to the motor rotor 5, in this embodiment, the former case.

As shown in fig. 6, the first limiting member 1 has at least two limiting side surfaces 11, and as shown in fig. 4, the sleeve body 2 is disposed on the outer side of the first limiting member 1 and covers the limiting side surfaces 11. When the motor works, the limiting piece II 3 and the limiting piece I1 rotate relatively, specifically, the limiting piece I1 rotates in the embodiment, so that the limiting piece II 3 and the limiting side 11 of the limiting piece I1 are in interference fit through the sleeve body 2 to be limited, namely, the limiting piece I1 and the limiting piece II 3 are not in direct contact, and when interference limiting occurs, the limiting piece I1 forms a pressing force on the sleeve body 2, the pressing force can prevent the sleeve body 2 from being longitudinally separated from the limiting piece I1, and the sleeve body 2 is ensured to always cover the limiting side 11.

Specifically, the limiting side 11 is configured as a plane, and in this embodiment, the limiting side 11 extends over the entire side of the first limiting member 1 and has an angle α with respect to the horizontal, that is, α as shown in fig. 8, 60 ° is equal to or less than α < 90 °.

Referring to fig. 10 again, when the sleeve body 2 is abutted by the second limiting member 3, the first limiting member 1 generates a horizontal rightward force F2 on the sleeve body 2 due to the reaction force, and meanwhile, the limiting side 11 of the first limiting member 1 generates a force F on the sleeve body 2, wherein the force F2 is a component of the force F, and the force F also has a vertical downward force F1, and the force F1 compresses the sleeve body 2 downward, so that the sleeve body 2 is prevented from being separated from the first limiting member 1.

When the inclination angle of the limit side 11 becomes smaller, the force F1 increases to generate the impact force F2 of the same magnitude, and the sleeve body 2 is less likely to be displaced upward, but at this time, the force F also increases to adversely affect, and the following problem that the positioning member 4 is likely to come off is caused, so that the angle α is set at 60 ° to 90 °.

More preferably, in this embodiment, the limiting side 11 extends along the radial direction of the motor rotor 5, as shown in fig. 6, so that not only the effective contact area between the second limiting member 3 and the sleeve body 2 is ensured, but also the pressing force is in a preferred range, and meanwhile, the processing is facilitated.

As shown in fig. 7 to 10, the sleeve body 2 includes a top wall 21, a side wall 23, and a connecting side wall 24 for sealing the top wall 21 and the side wall 23, wherein the side wall 23 is attached to and covers the limiting side surface 11, in other words, a side of the side wall 23 adjacent to the limiting side surface 11 is also an inclined surface.

A receiving chamber 25 is formed between the top wall 21, the side wall 23 and the connecting side wall 24, the receiving chamber 25 having two openings 26, namely an opening 26 in which the bottom of the sleeve 2 and the opposite side of the connecting side wall 24 are arranged to communicate with the receiving chamber 25.

In order to prevent friction between the sleeve 2 and the motor rotor 5, a gap is provided between the lower end surfaces of both side walls 23 of the sleeve 2 and the motor rotor 5.

The top wall 21 and at least one side wall 23 of the sleeve body 2 are provided with perforations 22, and the central axis of the perforations 22 on the side wall 23 is vertical to the limit side 11; the first limiting piece 1 is provided with a mounting hole 12 corresponding to the through hole 22, and the positioning piece 4 passes through the through hole 22 and is connected with the mounting hole 12. In this embodiment, the positioning member 4 is screwed with the mounting hole 12. Of course, the through holes 22 may be formed only in the top wall 21 of the sleeve 2, and the through holes 22 may not be formed in the side wall 23.

During assembly, two openings 26 of the accommodating cavity 25 are sleeved on the outer side of the first limiting part 1 from the obliquely upper side opposite to the first limiting part 1, and then the positioning part 4 passes through the through hole 22 and is fixedly connected with the mounting hole 12.

After the positioning piece 4 is fixed, the tail end plane of the positioning piece 4 is arranged inside the through hole 22, namely, the tail end plane of the positioning piece 4 does not protrude out of the through hole 22, and the height difference between the tail end plane of the positioning piece 4 and the outer end of the through hole 22 is smaller than 1cm, namely, h is smaller than 1cm as shown in fig. 4.

As shown in fig. 4, the second stopper 3 has a contact surface 31 that can be fully fitted to the side wall 23 of the sleeve 2. The two side walls 23 of the sleeve 2 are perpendicular to the top wall 21 as shown in fig. 10. Of course, as shown in fig. 11, the inner and outer side surfaces of the two side walls 23 of the sleeve body 2 may be parallel, that is, they all extend obliquely, and have the same inclination angle as the limit side surface 11.

The foregoing detailed description is provided to illustrate the present utility model and not to limit the utility model, and any modifications and changes made to the present utility model within the spirit of the present utility model and the scope of the appended claims fall within the scope of the present utility model.

Claims

1. The utility model provides a quadruped robot joint stop gear which characterized in that: comprising the steps of (a) a step of,

the first limiting piece (1) is connected with the motor rotor (5) or the stator shell (6) and is provided with at least two limiting side surfaces (11);

the sleeve body (2) is arranged at the outer side of the first limiting part (1) and is used for coating the limiting side surface (11);

at least two locating parts II (3), link to each other with stator shell (6) or motor rotor (5), in motor during operation, this locating part II (3) and locating part I (1) relative rotation, locating part II (3) are spacing through cover body (2) conflict with locating part I (1) spacing side (11), and when contradicting spacing, and locating part I (1) forms the clamp force to cover body (2) to prevent cover body (2) longitudinal break away from locating part I (1).

2. The quadruped robot joint limit mechanism of claim 1, wherein: the sleeve body (2) comprises a top wall (21), a side wall (23) and a connecting side wall (24) for sealing and connecting the top wall (21) and the side wall (23), and the side wall (23) is attached to and covers the limit side face (11); a containing cavity (25) is formed among the side wall (23), the top wall (21) and the connecting side wall (24), and an opening (26) communicated with the containing cavity (25) is formed at one side opposite to the bottom of the sleeve body (2) and the connecting side wall (24).

3. The quadruped robot joint limit mechanism of claim 1 or 2, wherein: the top wall (21) and at least one side wall (23) of the sleeve body (2) are provided with perforations (22), and the central axis of the perforations (22) on the side wall (23) is perpendicular to the limit side surface (11); the first limiting piece (1) is provided with a mounting hole (12) at a position corresponding to the through hole (22), and the positioning piece (4) penetrates through the through hole (22) to be connected with the mounting hole (12).

4. The quadruped robot joint limit mechanism of claim 3, wherein: after the locating piece (4) is fixed, the tail end plane of the locating piece is arranged in the through hole (22), and the height difference is smaller than 1cm.

5. The quadruped robot joint limit mechanism of claim 1, wherein: the limiting side surface (11) is arranged to be a plane, and the included angle between the limiting side surface and the horizontal plane is alpha, so that the alpha is more than or equal to 60 degrees and less than 90 degrees.

6. The quadruped robot joint limit mechanism of claim 1, wherein: the limiting side (11) extends along the radial direction of the motor rotor (5) or the stator housing (6).

7. The quadruped robot joint limit mechanism of claim 1, wherein: two side walls (23) of the sleeve body (2) are perpendicular to the top wall (21); or, the inner and outer surfaces of the two side walls (23) of the sleeve body (2) are parallel and extend obliquely.

8. The quadruped robot joint limit mechanism of claim 1, wherein: a gap is arranged between the end surfaces of two side walls (23) of the sleeve body (2) and the motor rotor (5) or the stator shell (6).

9. The quadruped robot joint limit mechanism of claim 3, wherein: the positioning piece (4) is in threaded connection with the mounting hole (12).

10. The quadruped robot joint limit mechanism of claim 1, wherein: the second limiting part (3) is provided with a contact surface (31) which can be completely attached to the side wall (23) of the sleeve body (2).