CN112208665A - Joint driving mechanism and robot - Google Patents
Joint driving mechanism and robot Download PDFInfo
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- CN112208665A CN112208665A CN202010865641.9A CN202010865641A CN112208665A CN 112208665 A CN112208665 A CN 112208665A CN 202010865641 A CN202010865641 A CN 202010865641A CN 112208665 A CN112208665 A CN 112208665A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 16
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 230000002093 peripheral effect Effects 0.000 claims description 15
- 210000002414 leg Anatomy 0.000 abstract description 18
- 210000001503 joint Anatomy 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 description 3
- 210000001624 hip Anatomy 0.000 description 3
- 230000005284 excitation Effects 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 230000004323 axial length Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides a joint driving mechanism and a robot, wherein the joint driving mechanism comprises a U-shaped connecting piece, a steering engine frame rotationally connected to the U-shaped connecting piece and a joint steering engine fixed in the steering engine frame, the steering engine frame is arranged in a U-shaped space defined by the U-shaped connecting piece, two ends of the steering engine frame are erected between two opposite side walls of the U-shaped connecting piece, and a rotating axis of the steering engine frame and an axis of a rotating output shaft of the joint steering engine form an included angle. According to the joint driving mechanism and the robot, the rotating axis of the steering engine frame and the axis of the rotating output shaft of the joint steering engine form an included angle, so that two degrees of freedom of the joint can be integrated at the U-shaped connecting piece, a driving device is not required to be arranged on a thigh component, the mass center of the leg structure of the robot can be improved, and the driving force required by the leg joint is reduced.
Description
Technical Field
The invention belongs to the technical field of intelligent machines, and particularly relates to a joint driving mechanism and a robot.
Background
In the field of robots, particularly in the field of gait walking of humanoid biped robots, weight distribution of legs is an important index influencing the performance of the robots. The conventional arrangement of the driving joints of the biped robot in the market at present, for example, the driving joints of the hip are usually placed at the thigh structural member and then transmitted to the hip of the robot through the form of a connecting rod or a synchronous belt. Due to the design, the weight of the leg is generally large, the height of the center of mass of the leg from the ground is generally low, the moment of inertia of the leg structure is generally large, and the requirement on leg joint driving force is high. The increase in the driving force also increases the weight of the driving joint, and eventually affects the overall motion performance of the robot.
Disclosure of Invention
The embodiment of the invention aims to provide a joint driving mechanism and a robot, and aims to solve the technical problems that the center of mass of a leg of the robot is lower and the requirement on the driving force of the leg joint is higher due to the fact that a hip driving joint is arranged on a thigh member in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the joint driving mechanism comprises a U-shaped connecting piece, a joint steering engine, wherein the joint steering engine is connected with a steering engine frame of the U-shaped connecting piece in a rotating mode and fixed in the steering engine frame, the steering engine frame is arranged in a U-shaped space enclosed by the U-shaped connecting piece, two ends of the steering engine frame are erected between two opposite side walls of the U-shaped connecting piece, and a rotating axis of the steering engine frame and an axis of a rotating output shaft of the joint steering engine are arranged in an included angle mode.
In one embodiment, the rotation axis of the steering engine frame is perpendicular to the axis of the rotation output shaft of the joint steering engine.
In one embodiment, the U-shaped connecting piece comprises a first side portion, a second side portion and a U-shaped bottom portion, the U-shaped bottom portion is used for connecting the first side portion with the second side portion, a first mounting hole is formed in the first side portion and used for an external driving mechanism to extend into and be connected with the steering engine frame, a second mounting hole is formed in the second side portion, and a supporting assembly used for enabling the steering engine frame to be connected to the second side portion in a rotating mode is arranged in the second mounting hole.
In one embodiment, the support assembly is a first bearing; or, the supporting component is including being fixed in the outer lane subassembly of second mounting hole department, locating in the second mounting hole and with steering wheel frame fixed connection's inner circle subassembly and locating the inner circle subassembly with support bearing between the outer lane subassembly, the outer lane subassembly with the second side is formed with first annular jointly, the inner circle subassembly has the second annular, support bearing's periphery is located in the first annular, support bearing's interior week is located in the second annular.
In one embodiment, the outer ring assembly comprises an outer ring body and a first fastener for fixing the outer ring body to the second side part, the outer ring body is provided with a first flange extending into the second mounting hole, a second flange radially extends from one side of the second mounting hole, which is close to the steering engine frame, and a first annular groove is formed between the first flange and the second flange; the inner ring assembly comprises a first inner ring, a second inner ring fixed with the steering engine frame and a second fastener used for fixing the first inner ring and the second inner ring, the surface of the second inner ring is provided with an annular step, and the first inner ring faces one side of the second inner ring and the annular step together form the second annular groove.
In one embodiment, the steering engine frame is cylindrical, and two bosses which are respectively connected with the support component and the external driving mechanism are arranged on the outer peripheral surface of the steering engine frame in a protruding mode.
In one embodiment, the joint steering engine comprises a motor, a speed reducer arranged at one end of the motor, and an encoder arranged at the other end of the motor and used for detecting the rotation angle of the motor.
In one embodiment, the motor comprises a motor shell, a stator arranged in the motor shell, a rotor and a rotating shaft assembly fixed on the rotor, the motor shell comprises a cylindrical peripheral wall and a motor end cover covering one end of the cylindrical peripheral wall, and the encoder is fixed on the outer side of the motor end cover.
In one embodiment, the cylindrical peripheral wall has an inner cylindrical portion inside, and an annular cover is connected between one end of the cylindrical peripheral wall facing away from the motor end cover and one end of the inner cylindrical portion facing away from the motor end cover, the rotating shaft assembly includes a motor shaft fixed to the rotor and disposed outside the inner cylindrical portion, a transfer shaft fixed to the motor shaft, and a second bearing, the transfer shaft is disposed inside the inner cylindrical portion, and the second bearing is supported between an inner wall of the inner cylindrical portion and an outer wall of the transfer shaft.
The invention further provides a robot which comprises the joint driving structure, a side swing driving mechanism used for driving the steering engine frame to rotate, and a thigh assembly driven by the joint steering engine.
The joint driving mechanism and the robot provided by the invention have the beneficial effects that: compared with the prior art, the joint driving mechanism comprises a U-shaped connecting piece, a steering engine frame and a joint steering engine, wherein the steering engine frame is arranged in a U-shaped space and is rotatably connected to the steering engine frame, the joint steering engine is fixed in the steering engine frame, and the rotating axis of the steering engine frame and the axis of the rotating output shaft of the joint steering engine form an included angle, so that two degrees of freedom of a joint can be integrated at the U-shaped connecting piece, a driving device is not required to be arranged on a thigh component, the mass center of a leg structure of the robot can be improved, and the driving force required by the leg joint is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a perspective view of a joint drive mechanism according to an embodiment of the present invention;
FIG. 2 is a perspective view of a U-shaped connector according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view at the support assembly provided by an embodiment of the present invention;
FIG. 4 is a perspective view of a steering engine frame according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a joint steering engine provided in an embodiment of the present invention;
fig. 6 is a perspective view of a leg structure of a robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
1-a joint drive mechanism; 11-U-shaped connectors; 111-a first side; 1110 — a first mounting hole; 112-a second side; 1120-second mounting hole; 1121 — a second flange; 113-U-shaped bottom; 12-a steering engine frame; 121-boss; 13-joint steering engine; 131-a motor; 1311-motor housing; 13111-cylindrical peripheral wall; 13112-motor end cap; 13113-annular cover; 13114-an inner barrel; 13115-bearing end cap; 1312-a stator; 1313-a rotor; 1314-a rotating shaft component; 13141-motor shaft; 13142-a transfer shaft; 13143 — second bearing; 13144-inner collar; 13145-outer collar; 132-a reducer; 133-an encoder; 14-a support assembly; 141-an outer ring assembly; 1410-a first ring groove; 1411-an outer race body; 14111-a first flange; 1412-a first fastener; 142-an inner race assembly; 1420-a second ring slot; 1421 — first inner ring; 1422 — second inner ring; 14221 — annular step; 1423 — second fastener; 143-support bearings; 2-side swing driving mechanism; 21-side oscillating motor; 22-a transmission assembly; 23-sidesway reducer; 3-a thigh component; 4-lower leg assembly.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
A joint drive mechanism 1 according to an embodiment of the present invention will now be described.
Referring to fig. 1, in one embodiment of the present invention, the joint driving mechanism 1 includes a U-shaped connecting member 11, a steering engine frame 12 and a joint steering engine 13, the U-shaped connecting member 11 encloses a U-shaped space, the steering engine frame 12 is disposed in the U-shaped space of the U-shaped connecting member 11, the steering engine frame 12 is rotatably connected to the U-shaped connecting member 11, two ends of the steering engine frame 12 are clamped between two opposite side portions of the U-shaped connecting member 11, and the steering engine frame 12 is driven by an external driving mechanism to rotate relative to the U-shaped connecting member 11. The joint steering engine 13 is fixed in the steering engine frame 12 and rotates along with the steering engine frame 12. The joint steering gear 13 is provided with a rotary output shaft, and the rotary output shaft of the joint steering gear 13 and the rotation axis of the steering gear frame 12 form an included angle, so that the joint steering gear 13 and the external driving structure can be integrated on the U-shaped connecting piece 11 at the same time. When the joint driving mechanism 1 is applied to hip joints, the U-shaped connecting piece 11 is equivalent to a hip joint structural piece, and the joint steering engine 13 and the external driving mechanism can be integrated on the U-shaped connecting piece 11 without being arranged on thigh structural pieces, so that the mass center of a leg structure can be improved.
The joint driving mechanism 1 in the above embodiment, including U-shaped connecting piece 11, steering wheel frame 12 and joint steering wheel 13, steering wheel frame 12 is located in U type space, and rotate and connect in steering wheel frame 12, joint steering wheel 13 is fixed in steering wheel frame 12, and the axis of the rotation axis of steering wheel frame 12 is the contained angle setting with the axis of the rotatory output shaft of joint steering wheel 13, make two degrees of freedom of joint all integratable in U-shaped connecting piece 11 department, need not to set up drive arrangement on thigh component, can improve the barycenter of robot leg structure, reduce the required drive power of leg joint.
Optionally, the rotation axis of the steering engine frame 12 is perpendicular to the axis of the rotation output shaft of the joint steering engine 13, so that the external driving mechanism and the joint steering engine 13 are orthogonally arranged, and can be used for realizing side-swing motion of thighs and front-swing motion of thighs respectively, and the leg-bending mechanism is more anthropomorphic. In other embodiments, the included angle between the rotation axis of the steering engine frame 12 and the axis of the rotation output shaft of the joint steering engine 13 may also be between 80 ° and 90 °, such as 85 °, 87 °, 89 °.
In one embodiment of the present invention, referring to fig. 2, the U-shaped connecting member 11 includes a first side portion 111, a second side portion 112, and a U-shaped bottom portion 113, the U-shaped bottom portion 113 connects the first side portion 111 and the second side portion 112, and two ends of the steering engine frame 12 are erected between the first side portion 111 and the second side portion 112. First mounting hole 1110 has been seted up to first lateral part 111, and outside actuating mechanism can stretch into in the U-shaped space from first mounting hole 1110, and is connected with steering wheel frame 12 to drive steering wheel frame 12 and rotate relative U-shaped connecting piece 11. Optionally, an external driving structure is rotatably connected to the first mounting hole 1110; or, the steering engine frame 12 extends into the first mounting hole 1110 and is rotatably connected to the first side portion 111; alternatively, the steering engine frame 12 is rotatably connected to the first side portion 111 via the support assembly 14. Second side 112 has seted up second mounting hole 1120, is equipped with supporting component 14 in the second mounting hole 1120, and steering wheel frame 12 passes through supporting component 14 and rotates to be connected in second side 112.
Referring to fig. 3, the support assembly 14 includes an outer ring assembly 141, an inner ring assembly 142, and a support bearing 143. The outer ring assembly 141 is fixed on the second side portion 112, the inner ring assembly 142 is fixedly connected with the steering engine frame 12, and the support bearing 143 is arranged between the inner ring assembly 142 and the outer ring assembly 141 so as to realize the rotary connection between the steering engine frame 12 and the U-shaped connecting piece 11. The outer ring component 141 is fixed around the second mounting hole 1120, the outer ring component 141 and the second side portion 112 form a first ring groove 1410 together, and the first ring groove 1410 can also be directly formed on the outer ring component 141. The inner race assembly 142 has a second race 1420. The outer ring of the support bearing 143 is disposed in the first ring groove 1410, and the inner ring of the support bearing 143 is disposed in the second ring groove 1420, so that the inner ring component 142 can rotate relative to the outer ring component 141, and rotation of the steering engine frame 12 relative to the U-shaped connecting member 11 is achieved.
Optionally, referring to fig. 3, the collar assembly 141 includes a collar body 1411 and a first fastener 1412, the collar body 1411 is fixed to the second side portion 112, and the first fastener 1412 is used for fixing the collar body 1411 to the second side portion 112. The outer ring body 1411 can be fixed on the side of the second side portion 112, which faces away from the U-shaped space, and is fixed on the periphery of the second mounting hole 1120, the outer ring body 1411 has a first flange 14111 extending into the second mounting hole 1120, a second flange 1121 is radially extended from one side of the second mounting hole 1120, which is close to the steering engine frame 12, and a first annular groove 1410 is formed by the side surface of the first flange 14111, the inner wall of the second mounting hole 1120, and the side wall of the second flange 1121. The inner ring assembly 142 includes a first inner ring 1421, a second inner ring 1422, and a second fastener 1423, the second fastener 1423 can fix the first inner ring 1421 and the second inner ring 1422 to each other, the surface of the second inner ring 1422 has an annular step 14221, the side of the first inner ring 1421 facing the second inner ring 1422 and the annular step 14221 form a second annular groove 1420, and the first annular groove 1410 and the second annular groove 1420 face each other to accommodate the support bearing 143, so that the inner ring and the outer ring of the support bearing 143 are stopped. In other embodiments, the inner ring assembly 142 includes only the first inner ring 1421 and the second inner ring 1422, and the first inner ring 1421 and the second inner ring 1422 are integrally formed, and the second ring channel 1420 is formed on the first inner ring 1421 or the second inner ring 1422. The first fastener 1412 and the second fastener 1423 may be screws, pins, or the like.
In one embodiment of the present invention, please refer to fig. 4, the steering engine frame 12 is cylindrical, and two bosses 121 are convexly disposed on the outer circumferential surface of the steering engine frame 12, wherein one boss 121 is used for being connected to an external driving mechanism, and the other boss 121 is used for being connected to the support component 14, and specifically, may be fixedly connected to the second inner ring 1422 of the support component 14. The steering engine frame 12 can be hollowed, so that the weight of the steering engine frame 12 can be reduced, and the joint steering engine 13 can dissipate heat more easily.
In one embodiment of the present invention, referring to fig. 5, the joint steering engine 13 includes a motor 131, a speed reducer 132 and an encoder 133, the speed reducer 132 and the encoder 133 are respectively disposed at two ends of the motor 131, the speed reducer 132 is used for reducing the output rotation speed of the motor 131 to adapt to the rotation speed of the robot joint, and the encoder 133 is used for detecting the rotation angle of the motor 131 for position feedback. Reducer 132 may be selected as a harmonic reducer, RV reducer, planetary reducer, cycloidal pin gear reducer, or the like. The encoder 133 may be selected from a photoelectric encoder, a magnetic encoder, a capacitive encoder, a rotary transformer, a potentiometer, and the like. The reducer 132 may be fixed to one end of the steering engine frame 12, the reducer 132 is exposed out of the steering engine frame 12, and the motor 131 and the encoder 133 are disposed in the steering engine frame 12.
Optionally, the motor 131 includes a motor housing 1311, a stator 1312, a rotor 1313, and a rotating shaft assembly 1314, the stator 1312, the rotor 1313, and the rotating shaft assembly 1314 are disposed in the motor housing 1311, the stator 1312 is fixed to the motor housing 1311, the rotor 1313 is disposed inside the stator 1312, and when the motor 131 is in operation, the stator 1312 generates an excitation magnetic field and the rotor 1313 is driven to rotate by the excitation magnetic field. The rotating shaft assembly 1314 is fixedly connected with the rotor 1313, and the rotating motion of the motor 131 is output through the rotating shaft assembly 1314. The motor housing 1311 includes a cylindrical peripheral wall 13111 and a motor cover 13112, the motor cover 13112 is fixed to one end of the cylindrical peripheral wall 13111, and the encoder 133 is fixed to the outside of the motor cover 13112. The encoder 133 is disposed inside the steering engine frame 12, and an encoder cover is not required to be additionally disposed, so that the number of structural members of the joint driving mechanism 1 can be reduced.
Alternatively, the inner wall of the cylindrical peripheral wall 13111 has an inner cylinder part 13114, and one end of the cylindrical peripheral wall 13111 facing away from the motor cover 13112 and one end of the inner cylinder part 13114 facing away from the motor cover 13112 are connected by the ring cover 13113. The rotating shaft assembly 1314 comprises a motor shaft 13141, an adapter shaft 13142 and a second bearing 13143, the motor shaft 13141 is fixedly connected with the rotor 1313, the motor shaft 13141 is arranged outside the inner cylinder part 13114, the adapter shaft 13142 and the second bearing 13143 are arranged inside the inner cylinder part 13114, the second bearing 13143 is not required to be arranged at two ends of the rotating shaft assembly 1314, and the whole structure of the motor 131 can be more compact. One end of the transfer shaft 13142 is fixedly connected to the motor shaft 13143 by extending out of the inner cylinder 13114, and the other end is connected to the speed reducer 132. The second bearing 13143 is used for supporting the adapter shaft 13142, the outer ring of the second bearing 13143 is in interference fit with the inner wall of the inner cylinder 13114, and the inner ring of the second bearing 13143 is in interference fit with the outer wall of the adapter shaft 13142. The number of the second bearings 13143 may be two, and an inner retainer 13144 for stopping an inner race of the second bearings 13143 and an outer retainer 13145 for stopping an outer race of the second bearings 13143 are provided between the two second bearings 13143. The opening of the inner cylinder 13114 facing the end of the speed reducer 132 may be covered with a bearing cover 13115 for stopping the second bearing 13143 in the axial direction, and the adapter shaft 13142 is connected to the speed reducer 132 through the bearing cover 13115.
The invention further provides a robot, please refer to fig. 6, the robot comprises the joint driving structure in any embodiment, a side swing driving mechanism 2 and a thigh component 3, the external driving mechanism in the embodiment is the side swing driving mechanism 2, the side swing driving mechanism 2 is fixed on the U-shaped connecting piece 11 and used for driving the steering engine frame 12 to rotate, and the thigh component 3 is connected to the joint steering engine 13 and drives the thigh component 3 to swing forwards through the joint steering engine 13. The side pendulum driving mechanism 2 and the joint driving mechanism 1 can be integrated at the U-shaped connecting piece 11, a driving device is not required to be arranged on the thigh component 3, the mass center of the leg structure of the robot can be improved, and the driving force required by the leg joint is reduced. The robot may further comprise a lower leg assembly 4, the lower leg assembly 4 being pivotally connected to the thigh assembly 3.
Optionally, the yaw driving mechanism 2 includes a yaw motor 21, a transmission assembly 22, and a yaw reducer 23, and the yaw reducer 23 is connected to the steering engine frame 12 to drive the steering engine frame 12 to rotate. The transmission assembly 22 is connected between the side-sway motor 21 and the side-sway reducer 23, and the side-sway reducer 23 and the side-sway motor 21 are separately provided, so that the axial length of the side-sway driving mechanism 2 can be reduced. In addition, the side-sway motor 21 and the side-sway reducer 23 are both fixed to the first side portion 111, improving the integration of the side-sway drive mechanism 2.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The joint driving mechanism is characterized by comprising a U-shaped connecting piece, a joint steering engine, wherein the joint steering engine is rotatably connected with a steering engine frame of the U-shaped connecting piece and fixed in the steering engine frame, the steering engine frame is arranged in a U-shaped space enclosed by the U-shaped connecting piece, two ends of the steering engine frame are erected between two opposite side walls of the U-shaped connecting piece, and a rotating axis of the steering engine frame and an axis of a rotating output shaft of the joint steering engine are arranged in an included angle mode.
2. The joint drive mechanism according to claim 1, wherein: and the rotation axis of the steering engine frame is perpendicular to the axis of the rotary output shaft of the joint steering engine.
3. The joint drive mechanism according to claim 1, wherein: the U-shaped connecting piece comprises a first side portion, a second side portion and a U-shaped bottom portion, the U-shaped bottom portion is connected with the first side portion and the second side portion, a first mounting hole is formed in the first side portion, an external driving mechanism extends into the first mounting hole, the first mounting hole is connected with the steering engine frame, a second mounting hole is formed in the second side portion, and a supporting component used for enabling the steering engine frame to be rotatably connected to the second side portion is arranged in the second mounting hole.
4. The joint drive mechanism according to claim 3, wherein: the support component is a first bearing; or, the supporting component is including being fixed in the outer lane subassembly of second mounting hole department, locating in the second mounting hole and with steering wheel frame fixed connection's inner circle subassembly and locating the inner circle subassembly with support bearing between the outer lane subassembly, the outer lane subassembly with the second side is formed with first annular jointly, the inner circle subassembly has the second annular, support bearing's periphery is located in the first annular, support bearing's interior week is located in the second annular.
5. The joint drive mechanism according to claim 4, wherein: the outer ring assembly comprises an outer ring body and a first fastener for fixing the outer ring body on the second side part, the outer ring body is provided with a first flange extending into the second mounting hole, a second flange radially extends from one side, close to the steering engine frame, of the second mounting hole, and a first annular groove is formed between the first flange and the second flange; the inner ring assembly comprises a first inner ring, a second inner ring fixed with the steering engine frame and a second fastener used for fixing the first inner ring and the second inner ring, the surface of the second inner ring is provided with an annular step, and the first inner ring faces one side of the second inner ring and the annular step together form the second annular groove.
6. The joint drive mechanism according to claim 3, wherein: the steering engine frame is cylindrical, and two bosses which are respectively connected with the supporting component and the external driving mechanism are arranged on the outer peripheral surface of the steering engine frame in a protruding mode.
7. The joint drive mechanism according to claim 1, wherein: the joint steering engine comprises a motor, a speed reducer arranged at one end of the motor and an encoder arranged at the other end of the motor and used for detecting the rotation angle of the motor.
8. The joint drive mechanism according to claim 7, wherein: the motor comprises a motor shell, a stator and a rotor which are arranged in the motor shell, and a rotating shaft assembly fixed on the rotor, wherein the motor shell comprises a cylindrical peripheral wall and a motor end cover arranged at one end of the cylindrical peripheral wall in a covering mode, and the encoder is fixed on the outer side of the motor end cover.
9. The joint drive mechanism according to claim 8, wherein: the inner part of the cylindrical peripheral wall is provided with an inner cylinder part, an annular cover is connected between one end of the cylindrical peripheral wall, which faces away from the motor end cover, and one end of the inner cylinder part, which faces away from the motor end cover, the rotating shaft assembly comprises a motor shaft, a switching shaft and a second bearing, the motor shaft is fixed on the rotor and arranged outside the inner cylinder part, the switching shaft is fixed on the motor shaft, the switching shaft is arranged in the inner cylinder part, and the second bearing is supported between the inner wall of the inner cylinder part and the outer wall of the switching shaft.
10. Robot, its characterized in that: the joint driving structure as claimed in any one of claims 1 to 9, further comprising a side swing driving mechanism for driving the steering engine frame to rotate and a thigh component driven by the joint steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010865641.9A CN112208665B (en) | 2020-08-25 | 2020-08-25 | Joint driving mechanism and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010865641.9A CN112208665B (en) | 2020-08-25 | 2020-08-25 | Joint driving mechanism and robot |
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| CN112208665A true CN112208665A (en) | 2021-01-12 |
| CN112208665B CN112208665B (en) | 2021-12-31 |
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| CN202010865641.9A Active CN112208665B (en) | 2020-08-25 | 2020-08-25 | Joint driving mechanism and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692865A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint |
| CN116803832A (en) * | 2023-08-23 | 2023-09-26 | 深圳逐际动力科技有限公司 | Leg structure, bipedal robot, humanoid robot, robot |
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| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN107985439A (en) * | 2017-12-29 | 2018-05-04 | 北京钢铁侠科技有限公司 | A kind of anthropomorphic robot leg mechanism |
| CN111098951A (en) * | 2019-12-30 | 2020-05-05 | 深圳市优必选科技股份有限公司 | Humanoid robot and leg structure thereof |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692865A (en) * | 2021-01-18 | 2021-04-23 | 之江实验室 | Integrated joint |
| CN116803832A (en) * | 2023-08-23 | 2023-09-26 | 深圳逐际动力科技有限公司 | Leg structure, bipedal robot, humanoid robot, robot |
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| CN112208665B (en) | 2021-12-31 |
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Effective date of registration: 20231211 Address after: Room 601, 6th Floor, Building 13, No. 3 Jinghai Fifth Road, Beijing Economic and Technological Development Zone (Tongzhou), Tongzhou District, Beijing, 100176 Patentee after: Beijing Youbixuan Intelligent Robot Co.,Ltd. Address before: 518000 16th and 22nd Floors, C1 Building, Nanshan Zhiyuan, 1001 Xueyuan Avenue, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen UBTECH Technology Co.,Ltd. |
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Inventor after: Li Kang Inventor after: Li Hailei Inventor after: Dong Hao Inventor before: Li Kang Inventor before: Li Hailei Inventor before: Zhao Mingguo Inventor before: Dong Hao |