WO2021189675A1 - 用于超动态仿生机器人的并联驱动关节和机器人 - Google Patents

用于超动态仿生机器人的并联驱动关节和机器人 Download PDF

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Publication number
WO2021189675A1
WO2021189675A1 PCT/CN2020/096210 CN2020096210W WO2021189675A1 WO 2021189675 A1 WO2021189675 A1 WO 2021189675A1 CN 2020096210 W CN2020096210 W CN 2020096210W WO 2021189675 A1 WO2021189675 A1 WO 2021189675A1
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WO
WIPO (PCT)
Prior art keywords
driving
shaft
rotating shaft
joint
gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/096210
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English (en)
French (fr)
Inventor
黄强
范徐笑
余张国
高峻峣
陈学超
孟非
曲道奎
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Publication of WO2021189675A1 publication Critical patent/WO2021189675A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the invention relates to the technical field of robots, in particular to a parallel drive joint and a robot used for a super dynamic bionic robot.
  • the joint drive device is the power source of the robot limb structure, which can be hydraulic, pneumatic or electromagnetic.
  • the hydraulic drive device has the disadvantages of high energy consumption, liquid leakage, and high maintenance costs, so its application in robots has certain limitations;
  • the pneumatic drive device has the advantages of simplicity and ease of use, low cost, and is mainly used in some applications due to safety , Environment and application places where electromagnetic drive cannot meet the design requirements;
  • electromagnetic drive is the most common robot joint drive method. Because the motor has the advantages of fast starting speed, wide debugging range, and strong overload capacity, it is widely used.
  • the present invention provides a parallel drive joint for a super dynamic bionic robot and a robot with the parallel drive joint to solve one or more problems in the prior art.
  • the present invention discloses a parallel drive joint for an ultra-dynamic bionic robot.
  • the joint includes a rotating shaft barrel and two drive components, and the two drive components are respectively arranged on two of the rotating shaft barrel.
  • the output shafts of the two driving parts respectively extend from the ends of the rotating shaft cylinder into the rotating shaft cylinder, and the two driving parts are used to drive the first limb connected to the joint in parallel;
  • the driving component includes a motor and at least one-stage planetary reducer, the rotor shaft of the motor is a hollow shaft, the first-stage sun gear shaft of the planetary reducer is located in the through hole of the hollow shaft, and the first-stage sun gear
  • the wheel shaft is fixedly connected to the rotor shaft, and the inner gear ring of the planetary reducer is fixed to the housing of the motor.
  • the output shafts of the two driving parts are coaxially arranged, and a first transmission mechanism is arranged between the output shafts of the two driving parts and the first limb.
  • the first transmission mechanism is a bevel gear transmission, and the bevel gear transmission includes two driving bevel gears and a driven bevel gear;
  • the two driving bevel gears are respectively fixed on the output shafts of the two driving components located inside the rotating shaft cylinder, and there is a bearing between the driving bevel gear and the rotating shaft cylinder, so that the rotating shaft cylinder Can make a rotational movement relative to the driving part;
  • the fixed shaft of the driven bevel gear extends to the outside of the rotating shaft cylinder, and a bearing is arranged between the fixed shaft and the rotating shaft cylinder, so that the fixed shaft can rotate relative to the rotating shaft cylinder.
  • the number of teeth of the two driving bevel gears is equal.
  • the planetary reducer is a two-stage planetary reducer, and the two-stage planetary reducer is integrated in the housing of the motor.
  • the ring gear is a double ring gear
  • the planet wheels of the planetary reducer all mesh with the double ring gear
  • the planetary reducer includes a primary planet carrier and a secondary planet carrier, the secondary sun gear shaft of the planetary reducer is coaxially arranged with the primary sun gear shaft, and the secondary The sun gear shaft rotates synchronously with the first-stage planet carrier.
  • the primary planet carrier and the secondary planet carrier are both cage planet carriers, and a bearing is arranged between the cage planet carrier and the double ring gear to The rotation support between the cage planet carrier and the double ring gear is realized.
  • the drive component further includes an encoder support, an encoder and a magnetic column, the encoder is fixed on the housing of the motor through the encoder support, and the first stage A hole is opened at the end of the sun gear shaft, and the magnetic column is fixed in the hole.
  • the present invention also discloses a robot.
  • the robot includes a robot body and a limb structure.
  • the limb structure includes the parallel drive joints in the above-mentioned embodiment, and the limb structure further includes:
  • a first limb connected in series with the parallel driving joint, the first limb including a torsion shaft, and the driving component drives the torsion shaft to rotate around its own axis;
  • a second limb connected in series with the second joint, and the second limb moves synchronously with the rotating shaft.
  • the parallel drive joint in the embodiment of the present invention two drive components are respectively arranged at both ends of the rotating shaft barrel, and the rotor shaft of the motor is set as a hollow shaft structure, and the first-stage sun gear shaft of the planetary gear reducer is fixed on the rotor In the through hole of the shaft, under the premise of parallel drive, the overall size of the joint is reduced; in addition, the entire planetary gear reducer is integrated in the housing of the motor, making the drive joint structure more compact, and further ensuring that the robot has a relatively Compact body structure.
  • FIG. 1 is a schematic diagram of the internal structure of a parallel drive joint for a hyperdynamic biomimetic robot in an embodiment of the present invention
  • Fig. 2 is a schematic structural diagram of a limb structure for a robot according to an embodiment of the present invention.
  • Fig. 3 is a front view of a limb structure for a robot according to an embodiment of the present invention.
  • Fig. 4 is a side view of the limb structure shown in Fig. 3.
  • FIG. 5 is a schematic diagram of the internal structure of the second joint of the limb structure shown in FIG. 3.
  • Fig. 6 is a diagram of the motion limit position of the first joint of the limb structure in an embodiment of the present invention.
  • FIG. 7 is a diagram of the motion limit position of the second joint of the limb structure in an embodiment of the present invention.
  • the present invention provides a parallel drive joint for a super dynamic bionic robot, the parallel drive joint includes a rotating shaft cylinder 110 and two drive components. As shown in FIG. 1, the first driving part 010 and the second driving part 020 are respectively arranged at both ends of the rotating shaft cylinder 110, and the output shafts of the first driving part 010 and the second driving part 020 respectively extend from the two ends of the rotating shaft cylinder 110 To the rotating shaft cylinder 110.
  • the two ends of the rotating shaft cylinder 110 can be correspondingly provided with through holes for passing through the output shaft of the driving part; or the end of the rotating shaft cylinder 110 can be directly designed to be open, so that the first driving part 010 and the second driving part
  • the output shaft of the 020 extends from the open end of the shaft barrel 110 to the inside of the shaft barrel 110.
  • the first driving part 010 and the second driving part 020 can be respectively fixed on the fixing frame located outside the parallel driving joint.
  • the housing 121 of the first driving part 010 and the second driving part 020 can be fixed to the outside by screws or bolts.
  • first driving part 010 and the second driving part 020 can also be directly connected through a connecting frame; further, bearings can be installed between the two driving parts and the rotating shaft cylinder 110 to realize the driving part and the rotating shaft cylinder 110 The rotating and fixed support.
  • the parallel driving joint in the present invention can be applied to the limb structure of a robot, and the parallel driving joint is connected with the limb of the robot.
  • Figure 2 is a schematic diagram of the structure of the robot limb structure. As shown in Figure 2, the parallel drive joint is connected to the first limb of the robot limb structure. At this time, the parallel drive joint drives the first limb in parallel to perform corresponding motions.
  • Using parallel driving to drive the limbs of the robot can increase the super explosive force required by the limb structure of the robot during running and jumping; obviously, a parallel driving joint with two driving parts is compared with a joint with only one driving part. , Which greatly improves the driving force of the joint.
  • the number of driving parts can also be more, for example: 4 or 6; when the number of driving parts is 4 or 6, the driving parts can be divided into two groups, two The group of driving components are respectively arranged at both ends of the rotating shaft cylinder 110. At this time, the driving components of each group can jointly drive an output shaft in parallel, and the output shafts respectively extend from the two ends of the rotating shaft cylinder 110 to the inside of the rotating shaft cylinder 110; When the number of parts is 4 or 6, compared to the case where the number of driving parts is 2, the driving force of the joint is also greatly improved.
  • Both the first driving part 010 and the second driving part 020 include a motor and a reducer.
  • the motor outputs power through the reducer.
  • the type of the reducer is a planetary gear reducer with one or more stages.
  • the motor includes a housing 121, a stator 122, a rotor 123 and a rotor shaft 124.
  • the housing 121 of the motor can be configured as a detachable end cover 125; the end cover 125 of the motor housing 121 and The shells 121 are connected by bolts or other detachable connection methods.
  • the stator 122, the rotor 123 and the rotor shaft 124 of the motor are all located in the housing 121 of the motor.
  • the structure of the housing 121 of the motor can be a cylindrical structure, and the inner wall of the housing 121 has protrusions; correspondingly, the housing 121 of the motor
  • the end cover 125 is also a round end cover 125, and the round end cover 125 is also correspondingly provided with protrusions; when the end cover 125 and the housing are in a combined state, the protrusions on the housing 121 and the round end cover 125
  • the upper protrusions are respectively located at both ends of the stator, and jointly realize the axial positioning of the stator 122; in the specific structure of the motor, the stator 122 can also adopt other axial positioning methods, such as the structure of the motor housing 121 and the end cover 125 It can also be changed according to actual needs.
  • the rotor 123 of the motor is sleeved outside the rotor shaft 124, and the rotor 123 and the rotor shaft 124 are fixedly connected by interference fit or gluing, so that the rotor 123 and the rotor shaft 124 rotate synchronously.
  • the rotor shaft 124 of the motor is a hollow shaft structure
  • the first-stage sun gear shaft 141 of the planetary gear reducer is located in the through hole of the hollow shaft
  • the first-stage sun gear shaft 141 is fixedly connected to the rotor shaft 124, so that the first-stage sun gear shaft 141 and The rotor shaft 124 rotates synchronously.
  • the inner gear ring of the planetary reducer can be directly fixed on the housing 121 of the motor, or it can be fixed on a separate inner gear ring fixing frame.
  • the first-stage sun gear shaft 141 of the planetary gear reducer is integrated in the through hole of the rotor shaft 124, which reduces the structural size of the driving component and makes the joint more compact.
  • the reducer can also adopt other types of reducers, such as helical gear reducers, planetary friction type mechanical stepless transmissions, etc., similarly, the first of other types of reducers
  • the primary transmission shaft can be arranged in the through hole of the hollow shaft.
  • the speed reducers of the first driving part 010 and the second driving part 020 are both two-stage planetary gear reducers.
  • the secondary planetary gear reducer may include a primary sun gear shaft 141, a primary planet carrier 142, a primary planet gear, a secondary sun gear shaft 144, a secondary planet carrier 145, and a secondary planet gear.
  • the first-stage sun gear shaft 141 of the planetary gear reducer is located in the through hole of the rotor shaft 124 of the motor; the rotor shaft 124 of the motor can be a stepped shaft, and the rotor 123 of the motor is fixed on the second shaft section of the rotor shaft 124.
  • a fourth bearing 164 and a fifth bearing 165 are arranged between a shaft section and the housing 121 or end cover 125 of the motor to realize the rotation support of the rotor shaft 124 and the housing 121 or end cover 125 of the motor.
  • the end of the inner through hole of the rotor shaft 124 may be provided with a shaft hole for connecting with the first-stage sun gear shaft 141, and the first-stage sun gear shaft 141 is fixed in the shaft hole by interference fit or gluing; The stage sun gear shaft 141 rotates synchronously with the rotor shaft 124.
  • the secondary planetary gear reducer further includes a primary planet carrier 142 and a secondary planet carrier 145; the secondary sun gear shaft 144 and the primary sun gear shaft 141 are coaxially arranged, and the secondary sun gear shaft 144 and the primary planet carrier 142 are arranged coaxially. Synchronized movement.
  • the inner gear ring of the first-stage planetary reducer and the inner gear ring of the second-stage planetary reducer can be designed as a double ring gear 143, and the first-stage planetary gear and the second-stage planetary gear Both are meshed with the double ring gear 143.
  • the double ring gear 143 can be further fixed with the motor housing 121; the specific fixing method can be: the inner wall of the motor housing 121 is provided with a through hole for interference fit with the outer ring of the double ring gear 143, double The inner ring gear 143 is fixed in the through hole.
  • the way to set the two-stage ring gear of the two-stage planetary reducer as the double ring gear 143 is only a better structure, and it can also be used in each stage of the planetary gear reducer.
  • the inner ring gear is set independently in the middle.
  • Both the primary planet carrier 142 and the secondary planet carrier 145 of the planetary gear reducer can be cage planet carriers, and a second bearing 162 is provided between the secondary planet carrier 145 and the housing of the motor; as shown in Figure 1, the primary planet carrier
  • the output end of the cage planet carrier is provided with a through hole for installing the secondary sun gear shaft 144, and the non-gear end of the secondary sun gear shaft 144 is fixedly connected to the through hole by interference fit or gluing.
  • the rotor shaft 124 of the motor is decelerated by the first stage and then the first-stage planet carrier 142 outputs power. Since the secondary sun gear shaft 144 is fixedly connected to the output end of the primary planet carrier 142, the secondary sun gear shaft 144 and the primary planet carrier 142 move synchronously.
  • the rotor shaft 124 of the motor undergoes a two-stage deceleration and outputs power from the output end of the two-stage planet carrier 145.
  • a sixth bearing 166 and a seventh bearing 167 are arranged in between.
  • a shaft shoulder for positioning the bearing can be provided on the primary cage planet carrier and the secondary cage planet carrier respectively.
  • the two-stage planetary gear reducer only has the output end of the two-stage planet carrier 145 extending out of the housing 121 of the motor, and the remaining components are integrated inside the housing 121 of the motor; the output end of the two-stage planet carrier 145 spins the shaft cylinder
  • the end of 110 extends to the output shaft of the rotating shaft cylinder 110 as a driving part, and two driving bevel gears are respectively fixed on the output ends of the secondary planet carrier 145 of the first driving part 010 and the second driving part 020.
  • the two driving bevel gears and the output ends of the secondary planet carrier 145 can be connected by bolts or screws.
  • the two-stage planetary gear reducer is integrated inside the motor housing 121, which reduces the size of the entire drive component and makes the drive joint more compact. Therefore, it can be applied to robots with smaller size requirements.
  • the above-mentioned driving component is a motor + planetary reducer.
  • it can also be designed as a motor + ordinary reducer; and the number of stages of the reducer can be limited according to actual needs.
  • the planetary reducer can also be a one-stage or more-stage reducer.
  • the power components can also be driven by other driving methods, such as hydraulic driving.
  • the first driving part 010 and the second driving part 020 located at both ends of the rotating shaft cylinder 110 may further include an encoder 132, an encoder support 131, and a magnetic column 133.
  • the encoder support 131 can be mounted on the housing 121 or the end cover 125 of the motor by screws or bolts, and the encoder 132 is further fixed on the encoder support 131 by screws or bolts.
  • the encoder 132 is used to measure the rotation angle and speed of the motor, and the magnetic column 133 can be further fixedly connected with the rotor shaft 124 of the motor or the first-stage sun gear shaft 141.
  • the first-stage sun gear shaft 141 is designed as a hollow shaft structure, and the magnetic column 133 can be fixed in the shaft hole at the non-gear end of the first-stage sun gear shaft 141.
  • the output shafts of the first driving part 010 and the second driving part 020 at both ends of the rotating shaft cylinder 110 are coaxially arranged, and a first transmission mechanism is provided between the two driving parts and the first limb;
  • the two driving components drive the first limb in parallel through the first transmission mechanism to make corresponding movements.
  • the first transmission mechanism may be gear transmission, friction wheel transmission, and the like.
  • the first transmission mechanism is gear transmission, two driving gears can mesh with the same driven gear to transmit motion and power; when the first transmission mechanism is a friction wheel transmission, it can be two driving friction wheels and the same driven gear. A driven friction wheel is pressed against each other to transmit movement or power through friction.
  • the two ends of the first driving part 010 and the second driving part 020 respectively extend from the two ends of the rotating shaft cylinder 110 into the rotating shaft cylinder 110, and the two output shafts are arranged coaxially; therefore, the first limb connected to the parallel driving joint can be It is arranged perpendicular to the two output shafts; at this time, the first transmission mechanism can be a transmission mode for achieving transmission of intersecting shafts.
  • the first transmission mechanism is a bevel gear transmission
  • the bevel gear transmission mechanism includes a first driving bevel gear 151, a second driving bevel gear 152, and a first driven bevel gear 153.
  • the output shafts of the two driving components located at the two ends of the rotating shaft cylinder 110 extend from the two ends of the rotating shaft cylinder 110 to the inside of the rotating shaft cylinder 110 respectively, and the two driving bevel gears can be respectively fixed on the output shafts of the driving component located inside the rotating shaft cylinder 110.
  • Corresponding driven bevel gears meshing with the two driving bevel gears can also be located inside the rotating shaft barrel 110, and the driven bevel gears can rotate under the common driving of the two driving bevel gears.
  • the side wall of the rotating shaft cylinder 110 may be provided with a through hole for the fixed shaft of the driven bevel gear to pass through; because the bevel gear transmission is a gear transmission between the intersecting shafts composed of bevel gears, the axes of the two driving bevel gears are the same Under the premise of the shaft, the axis of the driven bevel gear is perpendicular to the axes of the output shafts of the two driving parts; and under the common drive of the two driving parts, the driven bevel gear rotates around its own axis; it is used to support the slave
  • the fixed shaft of the moving bevel gear and the driven bevel gear are connected by interference fit or gluing, so the fixed shaft of the driven bevel gear can also rotate around its own axis under the parallel drive of the two driving parts.
  • Two driving bevel gears mesh with the same driven bevel gear, which reduces the number of driven bevel gears of the first transmission mechanism and keeps the joint in a relatively compact structure.
  • two driving bevel gears can also be used.
  • the bevel gear and the two driven bevel gears respectively mesh, for example, if the two driven bevel gears are fixed on the same fixed shaft, the two driving bevel gears can also drive the same driven shaft together.
  • the first bearing 161 can be provided between the two driving bevel gears and the rotating shaft cylinder 110 to realize the connection between the rotating shaft cylinder 110 and the two driving bevel gears.
  • a bearing may also be provided between the fixed shaft of the driven bevel gear and the rotating shaft cylinder 110 to realize the rotation support between the fixed shaft and the rotating shaft cylinder 110.
  • the rotating shaft cylinder 110 can rotate under the drive of two driving bevel gears; its specific rotation speed and rotation direction can be judged by the following methods:
  • the gripping direction of the remaining four fingers of the right hand is the forward rotation direction of the driving bevel gear.
  • the driven bevel gear is still at this time, and the shaft barrel 110 can rotate relative to the driving part due to the support of the bearing; if the second bevel gear on the left side of the shaft barrel 110 is The rotation speed of the driving bevel gear of a driving component 010 is set to V 1 , and the rotation speed of the driving bevel gear of the second driving component 020 located on the right side of the rotating shaft cylinder 110 is set to V 2 , the rotation speed of the rotating shaft cylinder 110 at this time is:
  • the number of teeth of the driving bevel gear on the output shaft of the first driving part 010 is equal to that of the driving bevel gear on the output shaft of the second driving part 020; in addition, the number of teeth of the two driving bevel gears may not be the same;
  • two driven bevel gears can be arranged on the output shaft of the first transmission mechanism, that is, the two driving bevel
  • the invention also discloses a robot, which includes a body and a limb structure.
  • Figure 3 is a front view of the limb structure of the robot
  • Figure 4 is a side view of the limb structure of the robot; as shown in Figures 3 and 4, the limb structure of the robot includes parallel driving joints, a first limb, a second joint, and a second joint.
  • Limb 410 The parallel driving joint, the first limb, the second joint, and the second limb 410 are sequentially connected in series.
  • the limb structure is used to connect with the body of the robot, and can be used for the leg structure of a footed robot or the arm structure of the robot.
  • the limb structure may further include a U-shaped connection frame 170 for connecting the robot body and the parallel driving joint.
  • the U-shaped connecting frame 170 includes end bridging parts for connecting with the body of the robot and fork-shaped side arms for connecting with the first driving part 010 and the second driving part 020.
  • the end bridging part of the U-shaped connecting frame 170 is in the shape of a flange, and it can be connected to the body through a flange.
  • the U-shaped connecting frame 170 has through holes corresponding to the left and right fork-shaped side arms, and the housings 121 of the two driving parts located at the two ends of the rotating shaft cylinder 110 can be installed in the through holes of the two fork-shaped side arms.
  • the specific fixation method can be interference fit or gluing.
  • the first limb can move synchronously with the shaft barrel 110, or rotate around its own axis; when the first limb moves synchronously with the shaft barrel 110, the motion limit position of the first limb is only affected by the U-shaped movement.
  • Limitations of the connecting frame 170 as shown in FIG. 6, when the size of the U-shaped connecting frame 170 is small enough, it can ensure that the first limb has a large enough space for movement.
  • the first limb may include a torsion shaft 210, and the torsion shaft 210 is jointly driven by the first driving part 010 and the second driving part 020. Further, the axis of the torsion shaft 210 can be set perpendicular to the axis of the output shafts of the two drive components, and the driven gear of the first transmission mechanism located in the shaft barrel 110 of the parallel driving joint is fixed on the torsion shaft 210, or the torsion The shaft 210 is fixedly connected with the fixed shaft of the driven gear. The torsion shaft 210 is fixedly connected with the driven gear of the first transmission mechanism, so that the torsion shaft 210 can rotate around its own axis.
  • the torsion shaft 210 can be used as the fixed shaft of the driven gear of the first transmission mechanism; the end of the torsion shaft 210 extends from the through hole on the side wall of the shaft barrel 110 into the shaft barrel 110, and the torsion shaft 210 is connected to the driven gear.
  • the gears are fixedly connected.
  • the shaft barrel 110 can rotate relative to the two drive components.
  • the torsion shaft 210 can also move synchronously with the rotating shaft cylinder 110 during the process of rotation.
  • the first limb may also include a first limb sleeve 220 and a flange. The flange is sleeved on both ends of the torsion shaft 210, and the sleeve 220 is sleeved on the outside of the flange. Further, the rotating shaft cylinder 110 and the torsion shaft 210 are connected by a first flange 211.
  • the rotating shaft cylinder 110 is provided with a flange structure at the through hole through which the torsion shaft 210 passes, and the flange sleeved at the end of the torsion shaft 210 is connected to the rotating shaft cylinder.
  • the flange structure of 110 is connected by screws or bolts, which also realizes the serial connection of the first limb and the parallel driving joint.
  • an eighth bearing 231 may be added between the torsion shaft 210 and the flange.
  • FIG. 5 is a schematic structural diagram of the second joint of the robot limb structure; as shown in FIG. 5, the second joint includes a rotating shaft 320, the axis of the rotating shaft 320 can be arranged perpendicular to the axis of the torsion shaft 210, and the rotating shaft 320 and the torsion shaft 210 are arranged between There is a second transmission mechanism, and the torsion shaft 210 drives the rotating shaft 320 to rotate around its own axis through the second transmission mechanism.
  • the second transmission mechanism may be a bevel gear transmission.
  • the bevel gear transmission includes a third driving bevel gear 332 and a second driven bevel gear 331.
  • the third driving bevel gear 332 of the second transmission mechanism is fixed near the torsion shaft 210 At one end of the second joint, the second driven bevel gear 331 is fixed on the rotating shaft 320.
  • the second joint may further include a U-shaped support frame 310 for supporting the rotating shaft 320.
  • the U-shaped support frame 310 is used to realize the connection between the first limb and the second joint.
  • the U-shaped support frame 310 includes The end bridging portion of the torsion shaft 210 is connected to the end portion and the fork-shaped side arm for connecting with the rotating shaft 320 of the second joint.
  • the end of the U-shaped support frame 310 is flange-shaped, the end of the torsion shaft 210 close to the second joint is sleeved with a second flange 212, the second flange 212 outside the torsion shaft 210 and the end of the U-shaped support frame 310
  • the parts are connected by bolts or screws.
  • a ninth bearing 232 may be provided between the torsion shaft 210 and the flange to realize the rotation support between the torsion shaft 210 and the flange.
  • the two fork-shaped side arms of the U-shaped support frame 310 are provided with shaft holes for fixing the rotating shaft 320; between the rotating shaft 320 and the shaft holes are provided a tenth bearing 341 and an eleventh bearing 342 for supporting the rotating shaft 320 to rotate. .
  • the second limb 410 is fixedly connected to the rotation shaft 320 of the second joint, so that the second limb 410 and the rotation shaft 320 can perform synchronous movement.
  • the second limb 410 and the shaft 320 can be connected by a U-shaped fixed frame.
  • the U-shaped fixed frame 420 also includes an end bridging part for connecting with the second limb 410 and a fork for connecting with the shaft 320 of the second joint. Shaped side arms.
  • the end of the U-shaped fixed frame 420 is provided with a sleeve section, the second limb 410 is fixed in the sleeve shaft hole, and the connection mode can be interference fit, gluing, welding, and the like.
  • the two side arms of the U-shaped fixed frame 420 can be connected to the two ends of the rotating shaft 320 by bolts or screws, respectively. Since the second limb 410 and the rotating shaft 320 move synchronously, the limit position of the movement of the second limb 410 is only restricted by the U-shaped support frame 310; as shown in FIG. 7, when the size of the U-shaped support frame 310 is small enough , which can ensure that the second limb 410 has a large enough space for movement.
  • the outside of the second joint is provided with a joint anti-protection cover 350 for protecting the second transmission mechanism.
  • the joint protective cover 350 is connected to the U-shaped support frame 310, and the second transmission mechanism is encapsulated in a cavity formed by the joint protective cover 350 and the U-shaped support frame 310.
  • the joint protective cover 350 not only improves the aesthetics of the second joint part, but also effectively prevents external particles from causing abrasion to the second transmission mechanism.
  • the two driving components are respectively arranged at both ends of the rotating shaft barrel, and the rotor shaft of the motor is set as a hollow shaft structure, and the first-stage sun gear shaft of the planetary gear reducer is fixed to the through-hole of the rotor shaft.
  • the overall size of the joint is reduced; in addition, the entire planetary gear reducer is integrated in the housing of the motor, making the structure of the driving joint more compact, and further ensuring that the robot has a more compact Limb structure.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

一种用于超动态仿生机器人的并联驱动关节和机器人，关节包括转轴筒（110）和两个驱动部件（010，020），两个驱动部件（010，020）分别设置在转轴筒（110）的两端，两个驱动部件（010，020）的输出轴分别自转轴筒（110）的端部延伸至转轴筒（110）内，两个驱动部件（010，020）用于并联驱动与关节连接的第一肢体；驱动部件（010，020）包括电机和至少一级的行星减速器，电机的转子轴（124）为空心轴，行星减速器的一级太阳轮轴（141）位于空心轴的通孔内，一级太阳轮轴（141）与转子轴（124）固定连接，行星减速器的内齿圈（143）与电机的外壳（121）固定。

Description

用于超动态仿生机器人的并联驱动关节和机器人 技术领域
本发明涉及机器人技术领域，尤其涉及一种用于超动态仿生机器人的并联驱动关节和机器人。
背景技术
关节驱动装置是机器人肢体结构的动力来源，可为液压式、气动式或电磁式等。液压式驱动装置存在能耗大、漏液、维护费用高等缺点，因而其在机器人中的应用存在一定的限制；气动式驱动装置具有简单易用、成本低等优势，主要被运用在一些由于安全、环境和应用场所所导致电磁驱动不能满足设计要求的场合；电磁驱动是最常见的机器人关节驱动方式，由于电机具有启动速度快、调试范围宽、过载能力强的优势，因而获得广泛应用。
在现有技术中，为了提高机器人肢体结构的运动爆发力，一般采用多个电机并联驱动的方式；并且为了提高电机的输出扭矩，每个电机均通过减速器进行输出。对于机器人的驱动关节，多个电机及减速器的存在使得整个驱动关节的结构尺寸变大，从而导致机器人的整个肢体结构不紧凑。
如何优化并联驱动关节的结构，从而减小整个关节的尺寸，进而提高仿生机器人的灵活性，是一个有待解决的问题。
发明内容
有鉴于此，本发明提供了一种用于超动态仿生机器人的并联驱动关节以及具有该并联驱动关节的机器人，以解决现有技术中存在的一个或多个问题。
根据本发明的一个方面，本发明公开了一种用于超动态仿生机器人的并联驱动关节所述关节包括转轴筒和两个驱动部件，所述两个驱动部件分别设置在所述转轴筒的两端，所述两个驱动部件的输出轴分别自所述转轴筒的端部延伸至所述转轴筒内，所述两个驱动部件用于并联驱动与所述关节连接的第一肢体；
所述驱动部件包括电机和至少一级的行星减速器，所述电机的转子轴为空心轴，所述 行星减速器的一级太阳轮轴位于所述空心轴的通孔内，所述一级太阳轮轴与所述转子轴固定连接，所述行星减速器的内齿圈与所述电机的外壳固定。
在本发明的一些实施例中，所述两个驱动部件的输出轴同轴设置，且所述两个驱动部件的输出轴与所述第一肢体之间设置有第一传动机构。
在本发明的一些实施例中，所述第一传动机构为锥齿轮传动，所述锥齿轮传动包括两个主动锥齿轮和一个从动锥齿轮；
所述两个主动锥齿轮分别固定在所述两个驱动部件的位于所述转轴筒内部的输出轴上，所述主动锥齿轮与所述转轴筒之间均具有轴承，以使所述转轴筒可相对于所述驱动部件做旋转运动；
所述从动锥齿轮的固定轴延伸至所述转轴筒的外部，所述固定轴与所述转轴筒之间设置有轴承，以使所述固定轴可相对于所述转轴筒做旋转运动。
在本发明的一些实施例中，所述两个主动锥齿轮的齿数相等。
在本发明的一些实施例中，所述行星减速器为二级行星减速器，所述二级行星减速器集成在所述电机的壳体内。
在本发明的一些实施例中，所述内齿圈为双联内齿圈，所述行星减速器的行星轮均与所述双联内齿圈啮合。
在本发明的一些实施例中，所述行星减速器包括一级行星架和二级行星架，所述行星减速器的二级太阳轮轴与所述一级太阳轮轴同轴设置，所述二级太阳轮轴与所述一级行星架同步旋转。
在本发明的一些实施例中，所述一级行星架和所述二级行星架均为笼型行星架，所述笼型行星架与所述双联内齿圈之间设置有轴承，以实现所述笼型行星架与所述双联内齿圈之间的旋转支撑。
在本发明的一些实施例中，所述驱动部件还包括编码器支座、编码器和磁柱，所述编码器通过所述编码器支座固定在所述电机的外壳上，所述一级太阳轮轴的端部开设有孔，所述磁柱固定在所述孔内。
本发明还公开了一种机器人，该机器人包括机器人躯体和肢体结构，该肢体结构包括上述实施例中的并联驱动关节，所述肢体结构还包括：
与所述并联驱动关节串联连接的第一肢体，所述第一肢体包括扭力轴，所述驱动部件驱动所述扭力轴绕自身轴线旋转；
与所述第一肢体串联连接的第二关节，所述第二关节包括转轴，所述转轴与所述扭力 轴的轴线垂直，所述扭力轴通过锥齿轮传动机构带动所述转轴绕自身轴线旋转；
与所述第二关节串联连接的第二肢体，所述第二肢体与所述转轴做同步运动。
本发明实施例中的并联驱动关节，两个驱动部件分别设置在转轴筒的两端，并且将电机的转子轴设为空心轴的结构形式，将行星齿轮减速器的一级太阳轮轴固定在转子轴的通孔内，在并联驱动的前提下，缩小了关节的整体尺寸；除此之外，整个行星齿轮减速器集成在电机的外壳内，使得驱动关节结构更紧凑，进一步确保了机器人具有较为紧凑的肢体结构。
本发明的附加优点、目的，以及特征将在下面的描述中将部分地加以阐述，且将对于本领域普通技术人员在研究下文后部分地变得明显，或者可以根据本发明的实践而获知。本发明的目的和其它优点可以通过在书面说明及其权利要求书以及附图中具体指出的结构实现到并获得。
本领域技术人员将会理解的是，能够用本发明实现的目的和优点不限于以上具体所述，并且根据以下详细说明将更清楚地理解本发明能够实现的上述和其他目的
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，并不构成对本发明的限定。附图中的部件不是成比例绘制的，而只是为了示出本发明的原理。为了便于示出和描述本发明的一些部分，附图中对应部分可能被放大，即，相对于依据本发明实际制造的示例性装置中的其它部件可能变得更大。在附图中：
图1为本发明一实施例中的用于超动态仿生机器人的并联驱动关节的内部结构示意图；
图2为本发明一实施例的用于机器人的肢体结构的结构示意图。
图3为本发明一实施例的用于机器人的肢体结构的正视图。
图4为图3所示的肢体结构的侧视图。
图5为图3所示的肢体结构的第二关节的内部结构示意图。
图6为本发明一实施例中的肢体结构的第一关节的运动极限位置图。
图7为本发明一实施例中的肢体结构的第二关节的运动极限位置图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚明白，下面结合附图对本发明实 施例做进一步详细说明。在此，本发明的示意性实施例及其说明用于解释本发明，但并不作为对本发明的限定。
在此，需要说明的是，为了避免因不必要的细节而模糊了本发明，在附图中仅仅示出了与根据本发明的方案密切相关的结构和/或处理步骤，而省略了与本发明关系不大的其他细节。
应该强调，术语“包括/包含/具有”在本文使用时指特征、要素、步骤或组件的存在，但并不排除一个或更多个其它特征、要素、步骤或组件的存在或附加。
在此，还需要说明的是，本说明书内容中所出现的“左端”、“右端”等方位名词是相对于附图所示的位置方向；如果没有特殊说明，术语“连接”在本文不仅可以指直接连接，也可以表示存在中间物的间接连接。直接连接为两个零部件之间不借助中间部件进行连接，间接连接为两个零部件之间借助其他零部件进行连接。
在下文中，将参考附图描述本发明的实施例。在附图中，相同的附图标记代表相同或类似的部件。
在本发明的一个实施例中，本发明提供了一种用于超动态仿生机器人的并联驱动关节，该并联驱动关节包括转轴筒110和两个驱动部件。如图1所示，第一驱动部件010和第二驱动部件020分别设置在转轴筒110的两端，第一驱动部件010和第二驱动部件020的输出轴分别自转轴筒110的两端延伸至转轴筒110内。转轴筒110的两端可相应的开设用于穿过驱动部件输出轴的通孔；也可直接将转轴筒110的端部设计为敞口状，从而使第一驱动部件010和第二驱动部件020的输出轴从转轴筒110的端部敞口处延伸至转轴筒110的内部。第一驱动部件010和第二驱动部件020可分别固定在位于该并联驱动关节外部的固定架上，此时第一驱动部件010和第二驱动部件020的外壳121可通过螺钉或螺栓与外部固定架连接；第一驱动部件010和第二驱动部件020也可直接通过一个连接架进行连接；进一步的，两个驱动部件与转轴筒110之间均可安装轴承，以实现驱动部件与转轴筒110的旋转及固定支承。
本发明中的并联驱动关节可应用于机器人的肢体结构，该并联驱动关节与机器人的肢体相连接。图2为机器人肢体结构的结构示意图，如图2所示，并联驱动关节与机器人肢体结构的第一肢体相连接，此时该并联驱动关节并联驱动第一肢体做相应的运动。采用并联的驱动方式驱动机器人的肢体，可提高机器人在跑、跳过程中肢体结构所需要的超强爆发力；显然的，具有两个驱动部件的并联驱动关节相比于仅有一个驱动部件的关节，极大地提高了该关节的驱动力。并联驱动关节的驱动部件的数量除了采用两个之外，也可采用 更多个，例如：4个或6个；当驱动部件的数量为4或6时，可将驱动部件分成两组，两组驱动部件分别设置在转轴筒110的两端，此时每组的驱动部件可共同并联驱动一根输出轴，该输出轴再分别自转轴筒110的两端延伸至转轴筒110的内部；驱动部件的数量为4或6时，相比于驱动部件的数量为2的情况下，也极大的提高了关节的驱动力。
第一驱动部件010和第二驱动部件020均包括电机和减速器，电机通过减速器输出动力，减速器的输出轴作为驱动部件的输出轴自转轴筒110的端部延伸至转轴筒110内部。进一步的，减速器的类型为一级或更多级的行星齿轮减速器。电机包括外壳121、定子122、转子123和转子轴124，为了便于电机内部零部件的安装和更换，可将电机的外壳121设为端盖125可拆卸的结构；电机外壳121的端盖125与外壳121之间通过螺栓或其他可拆卸的连接方式实现连接。电机的定子122、转子123和转子轴124均位于电机的外壳121内，电机的外壳121的结构形状可为圆柱筒体结构，外壳121的内壁上具有凸起部；相应的，电机外壳121的端盖125也为圆形端盖125，圆形端盖125也相应的设有凸起部；当端盖125与壳体处于组合状态下，外壳121上的凸起部和圆形端盖125上的凸起部分别位于定子的两端，并共同实现定子122的轴向定位；在电机的具体结构中，定子122也可采用其他的轴向定位方式，电机外壳121及端盖125的结构也可根据实际需要做相应改变。电机的转子123套置在转子轴124的外部，且转子123和转子轴124通过过盈配合的方式或胶粘等方式实现固定连接，以使转子123与转子轴124同步旋转。
电机的转子轴124为空心轴结构，行星齿轮减速器的一级太阳轮轴141位于该空心轴的通孔内，且一级太阳轮轴141与转子轴124固定连接，以使一级太阳轮轴141与转子轴124做同步旋转。行星减速器的内齿圈可直接固定在电机的外壳121上，也可固定在单独的内齿圈固定架上。将行星齿轮减速器的一级太阳轮轴141集成在转子轴124的通孔内，减小了驱动部件的结构尺寸，使得该关节更加紧凑。应当理解的是，减速器除了采用行星齿轮减速器之外，也可采用其他类型的减速器，如斜齿轮减速器、行星摩擦式机械无级变速机等，类似的，其他类型减速器的第一级传动轴均可设置在空心轴的通孔内。
在本发明的一个实施例中，第一驱动部件010和第二驱动部件020的减速器均为二级的行星齿轮减速器。二级行星齿轮减速器可包括一级太阳轮轴141、一级行星架142、一级行星轮、二级太阳轮轴144、二级行星架145和二级行星轮。行星齿轮减速器的一级太阳轮轴141位于电机转子轴124的通孔内；电机的转子轴124可为阶梯轴，电机的转子123固定在转子轴124的第二轴段，转子轴124的第一轴段与电机的外壳121或端盖125之间设置第四轴承164及第五轴承165，以实现转子轴124与电机的外壳121或端盖125 的旋转支撑。进一步的，转子轴124的内部通孔的端部可设置有用于与一级太阳轮轴141连接的轴孔，一级太阳轮轴141通过过盈配合或胶粘等方式固定在轴孔内；使得一级太阳轮轴141与转子轴124同步旋转。
一级太阳轮轴141的一端设有一级太阳轮，一级太阳轮、一级行星轮、内齿圈实现行星减速器的一级减速；二级太阳轮轴144的一端设置二级太阳轮，二级太阳轮、二级行星轮、内齿圈实现行星减速器的二级减速。二级行星齿轮减速器进一步的还包括一级行星架142和二级行星架145；二级太阳轮轴144与一级太阳轮轴141同轴设置，且二级太阳轮轴144与一级行星架142做同步运动。为了便于内齿圈的固定，可将第一级行星减速器的内齿圈和第二级行星减速器的内齿圈设计为双联内齿圈143，且一级行星轮、二级行星轮均与该双联内齿圈143啮合。双联内齿圈143可进一步的与电机的外壳121固定；具体固定方式可为：在电机的外壳121的内壁设置有用于与双联内齿圈143的外圈过盈配合的通孔，双联内齿圈143固定在该通孔内。应当理解的是，将二级行星减速器的两级内齿圈设置为双联内齿圈143的方式仅是一种较优的结构，其也可以在行星齿轮减速器的每一级减速器中独立的设置内齿圈。
行星齿轮减速器的一级行星架142和二级行星架145均可为笼型行星架，二级行星架145与电机的外壳之间设有第二轴承162；如图1所述，一级笼型行星架的输出端设置有用于安装二级太阳轮轴144的通孔，二级太阳轮轴144的非齿轮端与该通孔通过过盈配合或胶粘等方式实现固定连接。当电机的转子轴124旋转时，一级太阳轮轴141与转子轴124同步旋转，此时由于一级太阳轮、一级行星轮、双联内齿圈143的啮合，及双联内齿圈143与电机的外壳121之间的固定连接，此时电机的转子轴124经过一级减速后由一级行星架142输出动力。由于二级太阳轮轴144与一级行星架142的输出端固定连接，二级太阳轮轴144与一级行星架142同步运动，由于二级太阳轮、二级行星轮及双联内齿圈143的啮合，及双联内齿圈143与电机外壳121的固定连接，此时电机的转子轴124经过二级减速后由二级行星架145的输出端输出动力。
进一步的，为了实现笼型行星架与双联内齿圈143之间的旋转支撑，在一级笼型行星架与双联内齿圈143和二级笼型行星架与双联内齿圈143之间设置有第六轴承166和第七轴承167。为了实现轴承的轴向定位，可分别在一级笼型行星架和二级笼型行星架上开设用于定位轴承的轴肩。
在图1中，二级行星齿轮减速器仅有二级行星架145的输出端延伸出电机的外壳121，其余部件均集成在电机的外壳121内部；二级行星架145的输出端自转轴筒110的端部延 伸至转轴筒110内作为驱动部件的输出轴，两个主动锥齿轮分别固定在第一驱动部件010和第二驱动部件020的二级行星架145的输出端上，具体的，两个主动锥齿轮与二级行星架145的输出端可通过螺栓或螺钉连接。在本结构中，二级行星齿轮减速器均集成在电机外壳121的内部，减小了整个驱动部件的尺寸，使得驱动关节更为紧凑，因此可适用于尺寸要求较小的机器人中。上述的驱动部件为电机+行星减速器的方式，除此之外，也可以设计为电机+普通减速器的方式；并且减速器的级数可根据实际的需要进行限定，例如，在本发明中，行星减速器也可为一级或更多级的减速器。动力元件除了采用电机之外，也可以采用其他的驱动方式，例如液压驱动等。
在本发明的一个实施例中，位于转轴筒110两端的第一驱动部件010和第二驱动部件020还可包括编码器132、编码器支座131和磁柱133。编码器支座131可通过螺钉或螺栓安装在电机的外壳121或端盖125上，编码器132进而通过螺钉或螺栓固定在编码器支座131上。编码器132用于测量电机的转角及转速，可将磁柱133进一步的与电机的转子轴124或一级太阳轮轴141固定连接。如图1所示，将一级太阳轮轴141设计为空心轴的结构，磁柱133可固定在一级太阳轮轴141的非齿轮端的轴孔内。
在本发明的一实施例中，位于转轴筒110两端的第一驱动部件010和第二驱动部件020的输出轴同轴设置，两个驱动部件与第一肢体之间设有第一传动机构；两个驱动部件通过第一传动机构并联驱动第一肢体做相应运动，第一传动机构可为齿轮传动、摩擦轮传动等。当第一传动机构为齿轮传动时，可通过两个主动齿轮与同一个从动齿轮相互啮合以传递运动和动力；当第一传动机构为摩擦轮传动时，可为两个主动摩擦轮与同一个从动摩擦轮互相压紧，从而通过摩擦力传递运动或动力。第一驱动部件010和第二驱动部件020的两端分别自转轴筒110的两端延伸至转轴筒110内，并且两个输出轴同轴设置；因此与该并联驱动关节连接的第一肢体可垂直于两个输出轴设置；此时第一传动机构可为用于实现相交轴传动的传动方式。
进一步的，第一传动机构为锥齿轮传动，该锥齿轮传动机构包括第一主动锥齿轮151、第二主动锥齿轮152和一个第一从动锥齿轮153。位于转轴筒110两端的两个驱动部件的输出轴自转轴筒110的两端分别延伸至转轴筒110内部，两个主动锥齿轮可分别固定在驱动部件的位于转轴筒110内部的输出轴上。相应的与两个主动锥齿轮相啮合的从动锥齿轮也可位于转轴筒110的内部，在两个主动锥齿轮的共同驱动下，从动锥齿轮可做旋转运动。转轴筒110的侧壁上可设有供从动锥齿轮的固定轴穿过的通孔；由于锥齿轮传动为由锥齿轮组成的相交轴间的齿轮传动，在两个主动锥齿轮的轴线同轴的前提下，从动锥齿轮的轴 线与两个驱动部件的输出轴的轴线垂直；并且在两个驱动部件的共同驱动下，从动锥齿轮绕其自身轴线做旋转运动；用于支撑从动锥齿轮的固定轴与从动锥齿轮通过过盈配合或胶粘等方式连接，因此从动锥齿轮的固定轴在两个驱动部件的并联驱动下也可绕自身轴线旋转。两个主动锥齿轮与同一个从动锥齿轮相啮合，减少了第一传动机构的从动锥齿轮的数量，使该关节保持了较为紧凑的结构；除此之外，也可以采用两个主动锥齿轮与两个从动锥齿轮分别啮合的情况，例如将两个从动锥齿轮均固定在同一根固定轴上，也可实现两个主动锥齿轮共同驱动同一根从动轴。
进一步的，当两个主动锥齿轮均位于转轴筒110内部时，两个主动锥齿轮与转轴筒110之间均可设置有第一轴承161，以实现转轴筒110与两个主动锥齿轮间的旋转支撑。从动锥齿轮的固定轴与转轴筒110之间也可设置有轴承，以实现固定轴与转轴筒110之间的旋转支撑。转轴筒110在两个主动锥齿轮的驱动下可做旋转运动；其具体的旋转速度及旋转方向可通过下述方法判断：
假设将右手大拇指自第一驱动部件010指向第二驱动部件020，此时右手其余四指的握向作为主动锥齿轮的正向旋转方向。当两个主动锥齿轮转向和转速均相同时，从动锥齿轮此时静止不动，而转轴筒110由于轴承的支撑可相对于驱动部件做旋转运动；若将位于转轴筒110左侧的第一驱动部件010的主动锥齿轮的转速设为V 1，位于转轴筒110右侧的第二驱动部件020的主动锥齿轮的转速设为V 2，此时转轴筒110的转动速度为：
Figure PCTCN2020096210-appb-000001
类似的，从动锥齿轮及固定轴的转向及转速可通过下列公式判断：将第一驱动部件010的主动锥齿轮的齿数设为Z 1，第二驱动部件020的主动锥齿轮的齿数设为Z 2，从动锥齿轮的齿数设为Z 3，从动锥齿轮的转速设为V 3；在Z 1＝Z 2的情况下，从动锥齿轮的转速为：
Figure PCTCN2020096210-appb-000002
上述的位于第一驱动部件010输出轴上的主动锥齿轮与位于第二驱动部件020输出轴上的主动锥齿轮齿数相等；除此之外，两个主动锥齿轮的齿数也可以不相等；当两个主动锥齿轮的齿数不相等时，并且两个驱动部件的输出轴同轴设置时，可在第一传动机构的输出轴上设置两个从动锥齿轮，即两个主动锥齿轮分别与两个从动锥齿轮相啮合同样可传递运动和动力。
本发明还公开了一种机器人，该机器人包括躯体和肢体结构。图3为机器人的肢体结构的正视图，图4为机器人的肢体结构的侧视图；如图3、图4所示，机器人的肢体结构包括并联驱动关节、第一肢体、第二关节和第二肢体410。并联驱动关节、第一肢体、第 二关节和第二肢体410依次串联连接。该肢体结构用于与机器人的躯体连接，可用于足式机器人的腿部结构也可用于机器人的手臂结构。
为了实现机器人躯体与并联驱动关节之间的连接，该肢体结构还可包括用于连接机器人躯体与并联驱动关节的U型连接框架170。该U型连接框架170包括用于与机器人的躯体连接的端部桥接部位和用于与第一驱动部件010和第二驱动部件020连接的叉状侧臂。该U型连接框架170的端部桥接部位呈法兰状，其可与躯体之间通过法兰实现连接。该U型连接框架170的左右两个叉状侧臂上对应的开设有通孔，位于转轴筒110两端的两个驱动部件的外壳121可通过设置在该两个叉状侧臂的通孔内以实现固定；具体的固定方式可为过盈配合或胶粘等。在该并联驱动关节中，第一肢体可与转轴筒110同步运动，也可绕自身轴线旋转；当第一肢体与转轴筒110同步运动的过程中，第一肢体的运动极限位置仅受U型连接框架170的限制；如图6所示，在U型连接框架170的尺寸足够小的情况下，能保证第一肢体具有足够大的运动空间。
第一肢体可包括扭力轴210，扭力轴210通过第一驱动部件010和第二驱动部件020共同驱动。进一步的，扭力轴210的轴线可与两个驱动部件的输出轴的轴线垂直设置，位于并联驱动关节的转轴筒110内部的第一传动机构的从动齿轮固定在该扭力轴210上，或者扭力轴210与从动齿轮的固定轴固定连接。扭力轴210与第一传动机构的从动齿轮固定连接，可使扭力轴210绕自身轴线作旋转运动。示例性的，扭力轴210可作为第一传动机构的从动齿轮的固定轴；扭力轴210的端部从转轴筒110侧壁的通孔伸入至转轴筒110内，扭力轴210与从动齿轮之间固定连接。
在该肢体结构中，若转轴筒110与两个驱动部件的外壳121和输出齿轮之间设有第三轴承163和第一轴承161，此时转轴筒110可相对于两个驱动部件做旋转运动，并且扭力轴210在进行自转的过程中，也可随着转轴筒110做同步运动。第一肢体还可以包括第一肢体套管220和法兰，法兰套置在扭力轴210的两端，套管220套置在法兰的外部。进一步的，转轴筒110与扭力轴210通过第一法兰211实现连接，转轴筒110在扭力轴210经过的通孔处设置法兰结构，套置在扭力轴210端部的法兰与转轴筒110的法兰结构通过螺钉或螺栓进行连接，即也实现了第一肢体与并联驱动关节的串联连接。为了实现扭力轴210与第一法兰211之间的旋转支撑，还可在扭力轴210与法兰之间加装第八轴承231。
图5为机器人肢体结构的第二关节的结构示意图；如图5所示，第二关节包括转轴320，转轴320的轴线可与扭力轴210的轴线垂直设置，转轴320与扭力轴210之间设置有第二传动机构，扭力轴210通过第二传动机构带动转轴320绕自身轴线旋转。第二传动 机构可为锥齿轮传动，该锥齿轮传动包括一个第三主动锥齿轮332和一个第二从动锥齿轮331，第二传动机构的第三主动锥齿轮332固定在扭力轴210的靠近第二关节的一端，第二从动锥齿轮331固定在转轴320上。
进一步的，第二关节还可包括用于支撑转轴320的U型支撑框架310，该U型支撑框架310用于实现第一肢体与第二关节的连接，该U型支撑框架310包括用于与扭力轴210的端部连接的端部桥接部位和用于与第二关节的转轴320连接的叉状侧臂。U型支撑框架310的端部呈法兰状，扭力轴210的靠近第二关节的一端套置有第二法兰212，扭力轴210外部的第二法兰212与U型支撑框架310的端部通过螺栓或螺钉连接。扭力轴210与法兰之间可设置有第九轴承232，以实现扭力轴210与法兰之间的旋转支撑。U型支撑框架310的两个叉状侧臂上均设有用于固定转轴320的轴孔；转轴320与轴孔之间均设有用于支撑转轴320旋转的第十轴承341和第十一轴承342。
进一步的，第二肢体410与第二关节的转轴320固定连接，以使第二肢体410和转轴320可做同步运动。第二肢体410与转轴320之间可通过U型固定框架连接，U形固定框架420也包括用于与第二肢体410连接的端部桥接部位和用于与第二关节的转轴320连接的叉状侧臂。U形固定框架420的端部设置有套筒段，第二肢体410固定在套筒轴孔内，连接方式可选用过盈配合、胶粘、焊接等方式。U形固定框架420的两个侧臂可分别与转轴320的两端通过螺栓或螺钉连接。由于第二肢体410与转轴320做同步运动，因此第二肢体410的运动极限位置仅受U型支撑框架310的限制；如图7所示，在U型支撑框架310的尺寸足够小的情况下，能保证第二肢体410具有足够大的运动空间。
进一步的，第二关节的外部具有用于防护第二传动机构的关节防保护罩350。该关节保护罩350与U型支撑框架310连接，第二传动机构被封装在关节保护罩350与U型支撑框架310形成的腔室内。关节保护罩350不仅提高了第二关节部位的美观度，还有效的防止了外部颗粒对第二传动机构造成磨损。
通过上述实施例可以发现，两个驱动部件分别设置在转轴筒的两端，并且将电机的转子轴设为空心轴的结构形式，将行星齿轮减速器的一级太阳轮轴固定在转子轴的通孔内，在并联驱动的前提下，缩小了关节的整体尺寸；除此之外，整个行星齿轮减速器集成在电机的外壳内，使得驱动关节的结构更为紧凑，进一步确保机器人具有较为紧凑的肢体结构。
本发明中，针对一个实施方式描述和/或例示的特征，可以在一个或更多个其它实施方式中以相同方式或以类似方式使用，和/或与其他实施方式的特征相结合或代替其他实施方式的特征。
上述所列实施例，显示和描述了本发明的基本原理与主要特征，但本发明不受上述实施例的限制，本领域技术人员在没有做出创造性劳动的前提下对本发明做出的修改、等同变化及修饰，均应落在本发明技术方案保护的范围内。

Claims (15)

  1. 一种用于超动态仿生机器人的并联驱动关节，其特征在于，所述关节包括转轴筒和两个驱动部件，所述两个驱动部件分别设置在所述转轴筒的两端，所述两个驱动部件的输出轴分别自所述转轴筒的端部延伸至所述转轴筒内，所述两个驱动部件用于并联驱动与所述关节连接的第一肢体；
    所述驱动部件包括电机和至少一级的行星减速器，所述电机的转子轴为空心轴，所述行星减速器的一级太阳轮轴位于所述空心轴的通孔内，所述一级太阳轮轴与所述转子轴固定连接，所述行星减速器的内齿圈与所述电机的外壳固定。
  2. 根据权利要求1所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述两个驱动部件的输出轴同轴设置，且所述两个驱动部件的输出轴与所述第一肢体之间设置有第一传动机构。
  3. 根据权利要求2所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述第一传动机构为锥齿轮传动，所述锥齿轮传动包括两个主动锥齿轮和一个从动锥齿轮；
    所述两个主动锥齿轮分别固定在所述两个驱动部件的位于所述转轴筒内部的输出轴上，所述主动锥齿轮与所述转轴筒之间均具有轴承，以使所述转轴筒可相对于所述驱动部件做旋转运动；
    所述从动锥齿轮的固定轴延伸至所述转轴筒的外部，所述固定轴与所述转轴筒之间设置有轴承，以使所述固定轴可相对于所述转轴筒做旋转运动。
  4. 根据权利要求3所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述两个主动锥齿轮的齿数相等。
  5. 根据权利要求1所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述行星减速器为二级行星减速器，所述二级行星减速器集成在所述电机的壳体内。
  6. 根据权利要求5所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述内齿圈为双联内齿圈，所述行星减速器的行星轮均与所述双联内齿圈啮合。
  7. 根据权利要求6所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述行星减速器包括一级行星架和二级行星架，所述行星减速器的二级太阳轮轴与所述一级太阳轮轴同轴设置，所述二级太阳轮轴与所述一级行星架同步旋转。
  8. 根据权利要求7所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述一级行星架和所述二级行星架均为笼型行星架，所述笼型行星架与所述双联内齿圈之间设置有轴承，以实现所述笼型行星架与所述双联内齿圈之间的旋转支撑。
  9. 根据权利要求1所述的用于超动态仿生机器人的并联驱动关节，其特征在于，所述驱动部件还包括编码器支座、编码器和磁柱，所述编码器通过所述编码器支座固定在所述电机的外壳上，所述一级太阳轮轴的端部开设有孔，所述磁柱固定在所述孔内。
  10. 一种机器人，所述机器人包括机器人躯体和肢体结构，其特征在于，所述肢体结构包括如权利要求1所述的并联驱动关节，所述肢体结构还包括：
    与所述并联驱动关节串联连接的第一肢体，所述第一肢体包括扭力轴，所述驱动部件驱动所述扭力轴绕自身轴线旋转；
    与所述第一肢体串联连接的第二关节，所述第二关节包括转轴，所述转轴与所述扭力轴的轴线垂直，所述扭力轴通过锥齿轮传动机构带动所述转轴绕自身轴线旋转；
    与所述第二关节串联连接的第二肢体，所述第二肢体与所述转轴做同步运动。
  11. 根据权利要求10所述的机器人，其特征在于，所述两个驱动部件的输出轴同轴设置，且所述两个驱动部件的输出轴与所述第一肢体之间设置有第一传动机构。
  12. 根据权利要求11所述的机器人，其特征在于，所述第一传动机构为锥齿轮传动，所述锥齿轮传动包括两个主动锥齿轮和一个从动锥齿轮；
    所述两个主动锥齿轮分别固定在所述两个驱动部件的位于所述转轴筒内部的输出轴上，所述主动锥齿轮与所述转轴筒之间均具有轴承，以使所述转轴筒可相对于所述驱动部件做旋转运动；
    所述从动锥齿轮的固定轴延伸至所述转轴筒的外部，所述固定轴与所述转轴筒之间设置有轴承，以使所述固定轴可相对于所述转轴筒做旋转运动。
  13. 根据权利要求12所述的机器人，其特征在于，所述两个主动锥齿轮的齿数相等。
  14. 根据权利要求10所述的机器人，其特征在于，所述行星减速器为二级行星减速器，所述二级行星减速器集成在所述电机的壳体内。
  15. 根据权利要求14所述的机器人，其特征在于所述内齿圈为双联内齿圈，所述行星减速器的行星轮均与所述双联内齿圈啮合。
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