CN113734315A - Steering engine foot type robot for foot type robot - Google Patents
Steering engine foot type robot for foot type robot Download PDFInfo
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- CN113734315A CN113734315A CN202110815278.4A CN202110815278A CN113734315A CN 113734315 A CN113734315 A CN 113734315A CN 202110815278 A CN202110815278 A CN 202110815278A CN 113734315 A CN113734315 A CN 113734315A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 210000000689 upper leg Anatomy 0.000 claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 30
- 244000309464 bull Species 0.000 claims description 18
- 244000309466 calf Species 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 abstract description 11
- 230000033001 locomotion Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000010354 integration Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Classifications
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manipulator (AREA)
Abstract
The invention provides a steering engine for a foot robot and the foot robot, which are used in the steering engine of the foot robot, wherein a first output shaft and a second output shaft are both provided with a first end and a second end, the first output shaft and the second output shaft are both rotatably arranged in a machine shell, the first output shaft is a hollow shaft, the first end of the first output shaft extends out of the machine shell, the second output shaft is coaxially arranged in the first output shaft, the first end of the second output shaft extends out of the first end of the first output shaft, and a first motor/a second motor are arranged in the machine shell and are connected with the first output shaft/the second output shaft through a first transmission mechanism/a second transmission mechanism so as to drive the first output shaft/the second output shaft to rotate. The steering engine for the foot type robot has the advantages of high combination control precision of thighs and shanks of the foot type robot, high motion consistency and stability of the thighs and the shanks among leg components, low assembly difficulty, smaller size and high appearance attractiveness.
Description
Technical Field
The invention relates to the technical field of foot robots, in particular to a steering engine foot robot for a foot robot.
Background
A foot robot, such as a quadruped robot, generally adopts a steering engine as power to drive thighs and shanks. In the related technology, each leg assembly of the quadruped robot needs two steering engines to drive thighs and shanks respectively, and the quadruped robot has the defects of high assembly difficulty, high cost, large size, poor attractiveness and poor consistency and stability among the four leg assemblies.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the steering engine for the foot robot has the advantages that the combination control precision of thighs and shanks of the foot robot is high, the movement consistency and stability of the thighs and the shanks among leg assemblies are high, the assembly difficulty is low, the size is smaller, and the appearance attractiveness is high.
The embodiment of the invention also provides a foot type robot.
The steering engine for the legged robot comprises a shell, a first output shaft, a second output shaft, a first motor, a first transmission mechanism, a second motor and a second transmission mechanism, wherein the first output shaft is provided with a first end and a second end, the second output shaft is provided with a first end and a second end, the first output shaft and the second output shaft are both rotatably installed in the shell, the first end of the first output shaft extends out of the shell, the first output shaft is a hollow shaft, the second output shaft is coaxially arranged in the first output shaft, and the first end of the second output shaft extends out of the first end of the first output shaft; the first motor is arranged in the shell and is connected with the first output shaft through the first transmission mechanism so as to drive the first output shaft to rotate; the second motor is installed in the shell and is connected with the second output shaft through the second transmission mechanism so as to drive the second output shaft to rotate.
According to the steering engine for the foot robot, the coaxial arrangement of the first output shaft and the second output shaft is realized without an additional transmission mechanism, so that the energy loss is reduced, and the use performance of the foot robot is improved. Meanwhile, the coaxiality of the first output shaft and the second output shaft is higher, the combined control precision of thighs and shanks is higher, and the motion consistency and stability of each leg assembly are higher.
Moreover, through with first power pack and second unit integration in a casing for every leg subassembly on the sufficient robot only needs a steering wheel can realize the drive to thigh and shank simultaneously, and the equipment degree of difficulty of sufficient robot is low from this, and the volume is littleer, more presses close to reality biology, and the appearance aesthetic property is high.
In some embodiments, the first transmission mechanism includes a first gear train reducer, the second transmission mechanism includes a second gear train reducer, the first motor shaft of the first motor drives the first output shaft to rotate through the first gear train reducer, and the second motor shaft of the second motor drives the second output shaft to rotate through the second gear train reducer.
In some embodiments, the first gear train reducer is a five-stage reducer and includes a first gear shaft, a second gear shaft, a third gear shaft, a fourth gear shaft, and a fifth gear shaft rotatably mounted in the housing, the first gear shaft having a first bull gear and a first pinion coaxially disposed thereon, the second gear shaft having a second bull gear and a second pinion coaxially disposed thereon, the third gear shaft having a third bull gear and a third pinion coaxially disposed thereon, the fourth gear shaft having a fourth bull gear and a fourth pinion coaxially disposed thereon, the fifth gear shaft having a fifth bull gear and a fifth pinion coaxially disposed thereon, the first motor shaft of the first motor having a first input gear coaxially disposed thereon, the first output shaft having a first output gear coaxially disposed at a first end thereof, the first input gear being in mesh with the first bull gear, the first pinion being in mesh with the second bull gear, the second pinion gear is engaged with the third bull gear, the third pinion gear is engaged with the fourth bull gear, the fourth pinion gear is engaged with the fifth pinion gear, and the fifth bull gear is engaged with the first output gear;
the second gear train reducer is a five-stage reducer and comprises a sixth gear shaft, a seventh gear shaft, an eighth gear shaft and a ninth gear shaft which are rotatably arranged in the shell, wherein the sixth gear shaft is coaxially provided with a sixth large gear and a sixth small gear, the seventh gear shaft is coaxially provided with a seventh large gear and a seventh small gear, the eighth gear shaft is coaxially provided with an eighth large gear and an eighth small gear, the ninth gear shaft is coaxially provided with a ninth large gear and a ninth small gear, a second motor shaft of the second motor is coaxially provided with a second input gear, a first end of a second output shaft is coaxially provided with a second output gear, the second input gear is meshed with the sixth large gear, the sixth small gear is meshed with the seventh large gear, the seventh small gear is meshed with the eighth large gear, and the eighth small gear is meshed with the ninth large gear, the ninth pinion gear meshes with the second output gear.
In some embodiments, a gear ratio of the first input gear to the first gearwheel is greater than 1, a gear ratio of the first pinion to the second gearwheel is greater than 1, a gear ratio of the second pinion to the third gearwheel is greater than 1, a gear ratio of the third pinion to the fourth gearwheel is greater than 1, a gear ratio of the fourth pinion to the fifth pinion is greater than 1, and a gear ratio of the fifth gearwheel to the first output gear is equal to 1;
the transmission ratio of the second input gear to the sixth bull gear is greater than 1, the transmission ratio of the sixth pinion to the seventh bull gear is greater than 1, the transmission ratio of the seventh pinion to the eighth bull gear is greater than 1, the transmission ratio of the eighth pinion to the ninth bull gear is greater than 1, and the transmission ratio of the ninth pinion to the second output gear is greater than 1.
In some embodiments, the steering engine for the legged robot further includes a first sensor for detecting a rotation angle of the first output shaft and a second sensor for detecting a rotation angle of the second output shaft, the first sensor is installed in the housing and connected to the fifth gear shaft, and the second sensor is installed in the housing and connected to the second end of the second output shaft.
In some embodiments, the casing includes a bottom cover, a frame and an upper cover connected in sequence, the first motor and the second motor are installed between the bottom cover and the frame, and the first transmission mechanism and the second transmission mechanism are installed between the frame and the upper cover.
In some embodiments, the first motor and the second motor are located at opposite corners of the frame, and the housing further includes a first connecting arm and a second connecting arm, the first connecting arm and the second connecting arm being mounted on opposite sides of the frame.
In some embodiments, the bottom cover is provided with a wiring port, the bottom cover is provided with a control board, and the wiring terminals on the control board are matched in the wiring port.
In some embodiments, a first connecting hole is formed in the first connecting arm, a second connecting hole is formed in the second connecting arm, a first frame connecting hole and a second frame connecting hole are formed in the frame, a first rotation stopping groove and a second rotation stopping groove are formed in the inner side of the frame, a first mounting nut is matched in the first rotation stopping groove, a second mounting nut is matched in the second rotation stopping groove, the first connecting arm is connected with the frame through a first threaded part which penetrates through the first connecting hole and the first frame connecting hole and is in threaded fit with the first mounting nut, and the second connecting arm is connected with the frame through a second threaded part which penetrates through the second connecting hole and the second frame connecting hole and is in threaded fit with the second mounting nut.
The foot type robot comprises a body assembly, thighs, shanks and a steering engine, wherein the thighs are pivotally connected with the body assembly, and the shanks are pivotally connected with the thighs; the steering engine is used for the legged robot as in any one of the above embodiments, one of a first output shaft and a second output shaft of the steering engine is connected with the thigh to drive the thigh to pivot, and the other of the first output shaft and the second output shaft is connected with the shank to drive the shank to pivot.
The technical advantages of the foot robot according to the embodiments of the present invention are the same as those of the above-described steering engine for the foot robot, and are not described herein again.
Drawings
Fig. 1 is a schematic diagram of a steering engine for a legged robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a steering engine for a legged robot with a hidden housing according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a first motor, a first output shaft, a first gear train reducer and a first sensor in a steering engine for a legged robot according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a second motor, a second output shaft, a second gear train reducer and a second sensor in a steering engine for a foot robot according to an embodiment of the present invention.
Fig. 5 is an exploded view of a housing, a first mounting nut, a second mounting nut, a first controller, a second controller, a control board and a connection terminal in a steering engine for a legged robot according to an embodiment of the present invention.
Fig. 6 is another exploded view of a housing, a first mounting nut, a second mounting nut, a first controller, a second controller, a control board and a connection terminal in a steering engine for a legged robot according to an embodiment of the present invention.
Fig. 7 is a schematic view of a steering engine for a foot robot according to an embodiment of the present invention, in which a bottom cover and an upper cover are hidden.
Reference numerals:
a steering engine 100 for a legged robot,
a housing 1, a bottom cover 101, a wire connection port 1011, a frame 102, a first rotation stopping groove 1021, an upper cover 103, a first groove 1031, a second groove 1032, a first output shaft 2, a first output gear 21, a second output shaft 3, a second output gear 31, a first motor 4, a first input gear 41, a second motor 5, a second input gear 51, a first gear train reducer 6, a first gear shaft 61, a first large gear 611, a first small gear 612, a second gear shaft 62, a second large gear 621, a second small gear 622, a third gear shaft 63, a third large gear 631, a third small gear 632, a fourth gear shaft 64, a fourth large gear 641, a fourth small gear 642, a fifth gear shaft 65, a fifth large gear 651, a fifth small gear 652, a second gear train reducer 7, a sixth gear shaft 71, a sixth large gear 711, a sixth small gear 712, a seventh gear shaft 72, a seventh large gear 721, a seventh pinion 722, an eighth pinion shaft 73, an eighth large gear 731, an eighth pinion 732, a ninth gear shaft 74, a ninth large gear 741, a ninth pinion 742, a first sensor 8, a second sensor 9, a control board 11, a connection terminal 12, a first connection arm 13, and a first mounting nut 14.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A steering engine 100 for a legged robot according to an embodiment of the present invention is described below with reference to fig. 1-7.
As shown in fig. 1 to 7, a steering engine 100 for a legged robot according to an embodiment of the present invention includes a housing 1, a first output shaft 2, a second output shaft 3, a first motor 4, a first transmission mechanism, a second motor 5, and a second transmission mechanism. The first output shaft 2 has a first end and a second end and the second output shaft 3 has a first end and a second end. First output shaft 2 and second output shaft 3 all rotationally install in casing 1, and casing 1 is extended to the first end of first output shaft 2, and first output shaft 2 is the hollow shaft, and second output shaft 3 is established coaxially in first output shaft 2 and the first end of second output shaft 3 extends from the first end of first output shaft 2. Specifically, the first output shaft 2 and the second output shaft 3 are both mounted on the housing 1 through bearings, thereby ensuring rotational accuracy and coaxial accuracy of both.
The first motor 4 is installed in the casing 1 and connected with the first output shaft 2 through a first transmission mechanism to drive the first output shaft 2 to rotate. The second motor 5 is installed in the casing 1 and connected with the second output shaft 3 through a second transmission mechanism to drive the second output shaft 3 to rotate. The first motor 4, the first transmission mechanism and the first output shaft 2 form a first power unit for driving the thigh to rotate relative to the trunk assembly, and the second motor 5, the second transmission mechanism and the second output shaft 3 form a second power unit for driving the shank to rotate relative to the thigh.
According to the steering engine 100 for the foot robot, the coaxial arrangement of the first output shaft 2 and the second output shaft 3 is realized without an additional transmission mechanism, so that the energy loss is reduced, and the use performance of the foot robot is improved. Meanwhile, the coaxiality of the first output shaft 2 and the second output shaft 3 is higher, the combined control precision of thighs and shanks is higher, and the motion consistency and stability of each leg assembly are higher.
Moreover, through with first power pack and second unit integration in a casing 1 for every leg subassembly on the sufficient robot only needs a steering wheel can realize the drive to thigh and shank simultaneously, and the equipment degree of difficulty of sufficient robot is low from this, and the volume is littleer, more presses close to reality biology, and the appearance aesthetic property is high.
In some embodiments, the first transmission comprises a first gear train reducer 6 and the second transmission comprises a second gear train reducer 7. The first motor shaft of the first motor 4 drives the first output shaft 2 to rotate through the first gear train reducer 6, and the second motor shaft of the second motor 5 drives the second output shaft 3 to rotate through the second gear train reducer 7.
Therefore, under the condition that the first output shaft 2 and the second output shaft 3 are coaxially matched, the steering engine 100 for the foot type robot is smaller in size while the first motor 4/the second motor 5 can drive the first output shaft 2/the second output shaft 3 to rotate in a gear transmission mode, the appearance of the foot type robot provided with the steering engine is closer to a real creature, and the appearance is more attractive and higher.
In some embodiments, as shown in fig. 2-4, the first gear train reducer 6 is a five-stage reducer and includes a first gear shaft 61, a second gear shaft 62, a third gear shaft 63, a fourth gear shaft 64, and a fifth gear shaft 65 rotatably mounted within the housing 1. A first gearwheel 611 and a first pinion 612 are coaxially arranged on the first gear shaft 61, a second gearwheel 621 and a second pinion 622 are coaxially arranged on the second gear shaft 62, a third gearwheel 631 and a third pinion 632 are coaxially arranged on the third gear shaft 63, a fourth gearwheel 641 and a fourth pinion 642 are coaxially arranged on the fourth gear shaft 64, and a fifth gearwheel 651 and a fifth pinion 652 are coaxially arranged on the fifth gear shaft 65. A first input gear 41 is coaxially arranged on a first motor shaft of the first motor 4, a first output gear 21 is coaxially arranged on a first end of the first output shaft 2, the first input gear 41 is engaged with the first gearwheel 611, the first pinion 612 is engaged with the second gearwheel 621, the second pinion 622 is engaged with the third gearwheel 631, the third pinion 632 is engaged with the fourth gearwheel 641, the fourth pinion 642 is engaged with the fifth pinion 652, and the fifth gearwheel 651 is engaged with the first output gear 21.
The second gear train reducer 7 is a five-stage reducer and includes a sixth gear shaft 71, a seventh gear shaft 72, an eighth gear shaft 73, and a ninth gear shaft 74 rotatably mounted in the housing 1. A sixth large gear 711 and a sixth small gear 712 are coaxially provided on the sixth gear shaft 71, a seventh large gear 721 and a seventh small gear 722 are coaxially provided on the seventh gear shaft 72, an eighth large gear 731 and an eighth small gear 732 are coaxially provided on the eighth gear shaft 73, and a ninth large gear 741 and a ninth small gear 742 are coaxially provided on the ninth gear shaft 74. A second input gear 51 is coaxially arranged on a second motor shaft of the second motor 5, and a second output gear 31 is coaxially arranged at a first end of the second output shaft 3. The second input gear 51 meshes with a sixth large gear 711, the sixth small gear 712 meshes with a seventh large gear 721, the seventh small gear 722 meshes with an eighth large gear 731, the eighth small gear 732 meshes with a ninth large gear 741, and the ninth small gear 742 meshes with the second output gear 31.
Therefore, the first power unit and the second power unit in the machine shell 1 are all meshed by gears to complete transmission, the steering engine 100 for the legged robot is smaller in size, the rotation accuracy of the first output shaft 2 and the second output shaft 3 is higher, and the control accuracy of the first output shaft 2/the second output shaft 3 on thighs/shanks is further guaranteed.
In some embodiments, as shown in fig. 2-4, the transmission ratio of the first input gear 41 to the first gearwheel 611 is greater than 1, the transmission ratio of the first pinion 612 to the second gearwheel 621 is greater than 1, the transmission ratio of the second pinion 622 to the third gearwheel 631 is greater than 1, the transmission ratio of the third pinion 632 to the fourth gearwheel 641 is greater than 1, the transmission ratio of the fourth pinion 642 to the fifth pinion 652 is greater than 1, and the transmission ratio of the fifth gearwheel 651 to the first output gear 21 is equal to 1. The transmission ratio of the second input gear 51 to the sixth large gear 711 is greater than 1, the transmission ratio of the sixth small gear 712 to the seventh large gear 721 is greater than 1, the transmission ratio of the seventh small gear 722 to the eighth large gear 731 is greater than 1, the transmission ratio of the eighth small gear 732 to the ninth large gear 741 is greater than 1, and the transmission ratio of the ninth small gear 742 to the second output gear 31 is greater than 1.
Specifically, the axis of each of the first motor shaft, the first gear shaft 61, the second gear shaft 62, the third gear shaft 63, and the fourth gear shaft 64 is disposed on a first plane, and the axis of each of the second motor shaft, the sixth gear shaft 71, the seventh gear shaft 72, the eighth gear shaft 73, and the ninth gear shaft 74 is disposed on a second plane. Wherein the first plane and the second plane are parallel to each other and the fifth gear shaft 65 is a transition gear shaft and is located between the first plane and the second plane.
Therefore, the first gear train reducer 6 and the second gear train reducer 7 realize the speed reduction function, the arrangement structure of the first power unit and the second power unit in the machine shell 1 is compact, and the size of the steering engine 100 for the foot type robot is further reduced.
In some embodiments, the steering engine 100 for the legged robot further includes a first sensor 8 for detecting a rotation angle of the first output shaft 2 and a second sensor 9 for detecting a rotation angle of the second output shaft 3, the first sensor 8 is installed in the housing 1 and connected to the fifth gear shaft 65, and the second sensor 9 is installed in the housing 1 and connected to the second end of the second output shaft 3. Therefore, even if the first output shaft 2 and the second output shaft 3 are coaxial, the first sensor 8 and the second sensor 9 can feed back the rotating speed of the corresponding output shafts respectively, so that the accuracy of the combination control of the first output shaft 2 and the second output shaft 3 on the thighs and the calves can be ensured.
In some embodiments, as shown in fig. 5 to 7, the casing 1 includes a bottom cover 101, a frame 102, and an upper cover 103 connected in sequence, and the bottom cover 101, the frame 102, and the upper cover 103 are connected by bolts, so that the assembly and disassembly are convenient. The first motor 4 and the second motor 5 are installed between the bottom cover 101 and the rack 102, and optionally, the first motor 4 and the second motor 5 are respectively limited in two motor limiting cavities formed between the bottom cover 101 and the rack 102.
The first transmission mechanism and the second transmission mechanism are installed between the frame 102 and the upper cover 103. The first sensor 8 and the second sensor 9 are clamped on one side of the frame 102 facing the bottom cover 101, and the lower ends of the fifth gear shaft 65 and the second output shaft 3 penetrate through the frame 102 and are in transmission connection with the first sensor 8 and the second sensor 9 respectively.
In some embodiments, as shown in fig. 5-7, the first motor 4 and the second motor 5 are located at opposite corners of the frame 102, so that the first power unit and the second power unit are more reasonably distributed in the housing 1, the structure is more compact, and the steering engine 100 for the legged robot is smaller in size.
The housing 1 further comprises a first connecting arm 13 and a second connecting arm, the first connecting arm 13 and the second connecting arm being mounted on opposite sides of the frame 102. Therefore, the steering engine 100 for the foot robot can be mounted on the body assembly of the foot robot through the first connecting arm 13 and the second connecting arm, and the steering engine is convenient to mount.
In some embodiments, as shown in fig. 5 and 6, the bottom cover 101 is provided with a connection port 1011, the bottom cover 101 is provided with the control board 11, and the connection terminals 12 on the control board 11 are fitted in the connection port 1011. Thereby facilitating the electrical connection of an external power source to the steering engine 100 for the legged robot.
In some embodiments, the first connecting arm 13 is provided with a first connecting hole, the second connecting arm is provided with a second connecting hole, and the frame 102 is provided with a first frame connecting hole and a second frame connecting hole. The inner side of the frame 102 is provided with a first rotation stopping groove 1021 and a second rotation stopping groove, the first rotation stopping groove 1021 is internally matched with a first mounting nut 14, and the second rotation stopping groove is internally matched with a second mounting nut. As shown in fig. 6, after the first mounting nut 14/the second mounting nut are engaged in the first rotation stopping groove 1021/the second rotation stopping groove, the first rotation stopping groove 1021/the second rotation stopping groove prevents the first mounting nut 14/the second mounting nut from rotating. And the axis of the first mounting nut 14/second mounting nut now substantially coincides with the axis of the first frame attachment hole/second frame attachment hole.
Therefore, the first connecting arm 13 is connected with the frame 102 through a first threaded part which penetrates through the first connecting hole and the first frame connecting hole and is in threaded fit with the first mounting nut 14, and the second connecting arm is connected with the frame 102 through a second threaded part which penetrates through the second connecting hole and the second frame connecting hole and is in threaded fit with the second mounting nut, so that the first connecting arm 13 and the second connecting arm can be mounted on the frame 102.
Alternatively, the steering engine 100 for the legged robot may be mounted on the body assembly by a mounting nut in the present embodiment.
As shown in fig. 1, the upper cover 103 is provided with a through hole for the first end of the first output shaft 2 to pass through, the upper surface of the upper cover 103 is provided with a first groove 1031 and a second groove 1032 for calibrating the initial positions of the thigh and the calf of the legged robot, respectively, the first groove 1031 and the second groove 1032 are crossed at the through hole, and the extending direction of the first groove 1031 is perpendicular to the extending direction of the second groove 1032. Thereby ensuring the combined control precision of the thigh and the shank.
The legged robot comprises a body assembly, thighs, shanks and steering engines. The upper legs are pivotally connected to the torso assembly and the lower legs are pivotally connected to the upper legs. The steering engine is the steering engine 100 for the legged robot according to any one of the embodiments, one of the first output shaft 2 and the second output shaft 3 of the steering engine is connected with the thigh to drive the thigh to pivot, and the other of the first output shaft 2 and the second output shaft 3 is connected with the shank to drive the shank to pivot.
The technical advantages of the foot robot according to the embodiments of the present invention are the same as those of the above-described steering engine 100 for the foot robot, and thus, the detailed description thereof is omitted.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of 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 at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A steering engine for a legged robot, comprising:
a machine shell, a first cover plate and a second cover plate,
the first output shaft is provided with a first end and a second end, the second output shaft is provided with a first end and a second end, the first output shaft and the second output shaft are both rotatably installed in the machine shell, the first end of the first output shaft extends out of the machine shell, the first output shaft is a hollow shaft, the second output shaft is coaxially arranged in the first output shaft, and the first end of the second output shaft extends out of the first end of the first output shaft;
the first motor is arranged in the shell and is connected with the first output shaft through the first transmission mechanism so as to drive the first output shaft to rotate; and
the second motor is arranged in the shell and is connected with the second output shaft through the second transmission mechanism so as to drive the second output shaft to rotate.
2. The steering engine for the foot robot according to claim 1, wherein the first transmission mechanism comprises a first gear train reducer, the second transmission mechanism comprises a second gear train reducer, a first motor shaft of the first motor drives the first output shaft to rotate through the first gear train reducer, and a second motor shaft of the second motor drives the second output shaft to rotate through the second gear train reducer.
3. The steering engine for the legged robot as claimed in claim 2, wherein said first gear train reducer is a five-stage reducer and comprises a first gear shaft, a second gear shaft, a third gear shaft, a fourth gear shaft and a fifth gear shaft rotatably mounted in said housing, said first gear shaft is coaxially provided with a first large gear and a first small gear, said second gear shaft is coaxially provided with a second large gear and a second small gear, said third gear shaft is coaxially provided with a third large gear and a third small gear, said fourth gear shaft is coaxially provided with a fourth large gear and a fourth small gear, said fifth gear shaft is coaxially provided with a fifth large gear and a fifth small gear, said first motor shaft is coaxially provided with a first input gear, said first output shaft is coaxially provided with a first output gear, said first input gear is engaged with said first large gear, the first pinion gear is meshed with the second gearwheel, the second pinion gear is meshed with the third gearwheel, the third pinion gear is meshed with the fourth gearwheel, the fourth pinion gear is meshed with the fifth pinion gear, and the fifth gearwheel is meshed with the first output gear;
the second gear train reducer is a five-stage reducer and comprises a sixth gear shaft, a seventh gear shaft, an eighth gear shaft and a ninth gear shaft which are rotatably arranged in the shell, wherein the sixth gear shaft is coaxially provided with a sixth large gear and a sixth small gear, the seventh gear shaft is coaxially provided with a seventh large gear and a seventh small gear, the eighth gear shaft is coaxially provided with an eighth large gear and an eighth small gear, the ninth gear shaft is coaxially provided with a ninth large gear and a ninth small gear, a second motor shaft of the second motor is coaxially provided with a second input gear, a first end of a second output shaft is coaxially provided with a second output gear, the second input gear is meshed with the sixth large gear, the sixth small gear is meshed with the seventh large gear, the seventh small gear is meshed with the eighth large gear, and the eighth small gear is meshed with the ninth large gear, the ninth pinion gear meshes with the second output gear.
4. The steering engine for the legged robot as claimed in claim 3, wherein the transmission ratio of the first input gear to the first gearwheel is greater than 1, the transmission ratio of the first pinion to the second gearwheel is greater than 1, the transmission ratio of the second pinion to the third gearwheel is greater than 1, the transmission ratio of the third pinion to the fourth gearwheel is greater than 1, the transmission ratio of the fourth pinion to the fifth pinion is greater than 1, and the transmission ratio of the fifth gearwheel to the first output gear is equal to 1;
the transmission ratio of the second input gear to the sixth bull gear is greater than 1, the transmission ratio of the sixth pinion to the seventh bull gear is greater than 1, the transmission ratio of the seventh pinion to the eighth bull gear is greater than 1, the transmission ratio of the eighth pinion to the ninth bull gear is greater than 1, and the transmission ratio of the ninth pinion to the second output gear is greater than 1.
5. The steering engine for the legged robot according to claim 3, further comprising a first sensor for detecting a rotation angle of the first output shaft and a second sensor for detecting a rotation angle of the second output shaft, wherein the first sensor is installed in the housing and connected to the fifth gear shaft, and the second sensor is installed in the housing and connected to a second end of the second output shaft.
6. The steering engine for the foot robot according to any one of claims 1 to 5, wherein the housing comprises a bottom cover, a frame and an upper cover, the bottom cover, the frame and the upper cover are sequentially connected, the first motor and the second motor are mounted between the bottom cover and the frame, and the first transmission mechanism and the second transmission mechanism are mounted between the frame and the upper cover.
7. The steering engine for a legged robot as claimed in claim 6, wherein said first and second motors are located diagonally of said frame, said housing further comprising first and second link arms mounted on opposite sides of said frame.
8. The steering engine for the foot robot as claimed in claim 6, wherein the bottom cover is provided with a wiring port, the bottom cover is provided with a control board, and a wiring terminal on the control board is fitted in the wiring port.
9. The steering engine for the legged robot as claimed in claim 8, wherein the first connecting arm is provided with a first connecting hole, the second connecting hole is provided with a second connecting hole, the frame is provided with a first frame connecting hole and a second frame connecting hole, the inner side of the frame is provided with a first rotation stopping groove and a second rotation stopping groove, the first rotation stopping groove is internally fitted with a first mounting nut, the second rotation stopping groove is internally fitted with a second mounting nut, the first connecting arm is connected with the frame by a first screw member passing through the first connecting hole and the first frame connecting hole and being in screw-fit with the first mounting nut, and the second connecting arm is connected with the frame by a second screw member passing through the second connecting hole and the second frame connecting hole and being in screw-fit with the second mounting nut.
10. A legged robot, characterized by comprising:
a torso assembly;
the thigh is pivotally connected with the body component, and the calf is pivotally connected with the thigh; and
the steering engine for the legged robot according to any one of claims 1 to 9, wherein one of a first output shaft and a second output shaft of the steering engine is connected with the thigh to drive the thigh to pivot, and the other of the first output shaft and the second output shaft is connected with the shank to drive the shank to pivot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110815278.4A CN113734315A (en) | 2021-07-19 | 2021-07-19 | Steering engine foot type robot for foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110815278.4A CN113734315A (en) | 2021-07-19 | 2021-07-19 | Steering engine foot type robot for foot type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113734315A true CN113734315A (en) | 2021-12-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110815278.4A Pending CN113734315A (en) | 2021-07-19 | 2021-07-19 | Steering engine foot type robot for foot type robot |
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| Country | Link |
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| CN (1) | CN113734315A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024109297A1 (en) * | 2022-11-22 | 2024-05-30 | Oppo广东移动通信有限公司 | Robot |
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| US4504753A (en) * | 1981-09-17 | 1985-03-12 | Kraftwerk Union Aktiengesellschaft | Biaxial electrical compact drive, in particular a positioning drive |
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