CN114571497A - Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation - Google Patents

Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation Download PDF

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Publication number
CN114571497A
CN114571497A CN202210248697.9A CN202210248697A CN114571497A CN 114571497 A CN114571497 A CN 114571497A CN 202210248697 A CN202210248697 A CN 202210248697A CN 114571497 A CN114571497 A CN 114571497A
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bevel gear
power
power bevel
motor
motion
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CN114571497B (en
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贾文川
王泽宇
孙翊
蒲华燕
马书根
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation. The pivot type explosive motion joint comprises a left motor, a right motor, a left power bevel gear, a right power bevel gear, a middle power bevel gear, a central inner frame and an outer frame. The left power bevel gear and the right power bevel gear are both meshed with the middle power bevel gear, and the rotation axes of the two bevel gears are coaxial and are recorded as a driving main axis; the rotation axis of the middle power bevel gear is marked as a power main axis, and the output end of the middle power bevel gear is marked as a main power output end. The left motor and the right motor jointly realize the simultaneous control of two freedom degrees of motion, including the rotary motion of the central inner frame around the driving main axis and the rotary motion of the main power output end around the power main axis. The left motor and the right motor enable the motion joint to have the capacity of realizing explosive motion through dynamic distribution and cooperation of power. The invention is suitable for high-dynamic quadruped robot with equal leg arms.

Description

Leg-arm robot pivot type explosive motion joint based on double-motor power cooperation
Technical Field
The invention relates to the technical field of bionic robots, and particularly provides a leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation.
Background
Along with rapid progress of high-power density motors and high-energy density battery technologies, the motors serving as driving sources become mainstream of technical development in the field of high-performance foot-type bionic robots. The powerful energy supply system and the motor driving device provide basic guarantee for the legged arm type robot to realize high dynamic motion, but the higher dynamic motion target of the robot is difficult to realize only by continuously improving the capacity of the electric driving system, because under the condition of the prior art, the improvement of the load capacity and the power of the motor means the synchronous improvement of the weight and the motion inertia of the whole machine, and the latter obviously restricts the realization of the high dynamic motion.
The legged arm type robot such as the quadruped robot and the humanoid robot can realize higher dynamic motion behaviors such as high-speed running, jumping, impact resistance, rapid heavy object carrying and the like, so that the motion capability of the legged arm type robot can be comparable to that of human beings and other real animals, and the legged arm type robot is one of the ultimate targets of the development of the technical field of the bionic robot. Considering that the high dynamic motion behaviors of human beings and other animals depend on the instantaneous explosive force of muscles, how to make the bionic leg-arm robot realize the explosive high dynamic motion is one of the core problems of the continuous forward development of the technical field of the bionic robot.
Disclosure of Invention
The invention provides a leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation, which aims at higher dynamic motion requirements of a four-legged robot and an equilegged-arm robot.
In order to achieve the purpose, the invention adopts the technical scheme that:
the pivot type explosive motion joint comprises a left motor, a right motor, a left power bevel gear, a right power bevel gear and a middle power bevel gear;
the left side motor and the right side motor are both rotary motors and are respectively positioned on two sides of the pivot type explosive motion joint; the left side motor drives the left side power bevel gear to rotate, the right side motor drives the right side power bevel gear to rotate, the rotation axes of the left side power bevel gear and the right side power bevel gear are geometrically coaxial, and the geometric axis is recorded as a driving main axis DrivingAxis; the left power bevel gear and the right power bevel gear are disposed in opposition to each other, and a geometric Axis along the driving main Axis drivingAxis and directed from the left power bevel gear to the right power bevel gear is defined as an Axis Axis1The geometric Axis along the driving main Axis drivingAxis and pointing from the right power bevel gear to the left power bevel gear is taken as the Axis Axis3；
The left power bevel gear, the right power bevel gear and the middle power bevel gear are all bevel gears; the left power bevel gear is meshed with the middle power bevel gear, the intersection angle between the shafts of the two bevel gears is 90 degrees, and the transmission ratio between the left power bevel gear and the middle power bevel gear is recorded as iBGa; the right power bevel gear is meshed with the middle power bevel gear, the intersection angle between the shafts of the two bevel gears is 90 degrees, and the transmission ratio between the right power bevel gear and the middle power bevel gear is recorded as iBGb; the values of the iBGa and the iBGb are equal; recording the geometric axis of rotation of the middle power bevel gear as the power primary axis, DynamicAxis, which geometrically perpendicularly intersects the drive primary axis, DrivingAxis; the geometric Axis along the main power Axis DynamicAxis and pointing from the main drive Axis DrivingAxis in the direction of the mid power bevel gear is taken as the Axis Axis2(ii) a The middle power bevel gearWheel around the Axis Axis2Is recorded as ω2The positive value of the rotation speed value is recorded as being around the Axis2Counter-clockwise direction of (d);
a plane on which the main power axis DynamicAxis and the main drive axis DrivingAxis are located is designated as a plane DynamicPlane, and a rotational speed of the plane DynamicPlane about the main drive axis DrivingAxis is designated as ωcThe positive value of the rotation speed is recorded as being around the Axis1Counter-clockwise direction of (d); observing on the surface dynamic plane, and recording the rotating speed of the left power bevel gear obtained by observation as the rotating speedcω1The positive value of the rotation speed value is recorded as being around the Axis1The observed rotating speed of the right power bevel gear is recorded ascω3The positive value of the rotation speed value is recorded as being around the Axis3Counter-clockwise, i.e. said rotational speedcω1And the rotational speedcω3The rotating speed values are all in a local coordinate system which is jointly formed by taking the dynamic main axis DynamicAxis and the driving main axis DrivingAxis as coordinate axes;
in a global coordinate system, the rotating speed of the left power bevel gear is recorded as omega1The positive value of the rotation speed is recorded as being around the Axis1In the counterclockwise direction, the rotating speed of the right power bevel gear is recorded as omega3The positive value of the rotation speed value is recorded as being around the Axis3In the counterclockwise direction, the global coordinate system is a coordinate system fixed with the housing of the left motor;
for said rotational speed ωcHas omegac＝(ω1-ω3)/2；
For said rotational speedcω1And the rotational speedcω3Is provided withcω1＝cω3＝(ω1+ω3)/2；
For said rotational speed ω2Has omega2＝cω1/iBGa＝cω3/iBGb；
Namely the rotationSpeed omegacAnd said rotational speed ω2Is determined by the rotation speed of the left power bevel gear and the right power bevel gear; further, the rotation speed ωcAnd said rotational speed ω2Is determined by the rotation speed of the left side motor and the right side motor.
Preferably, if necessary, the rotational speed ω is simultaneously satisfiedcAnd said rotational speed ω2Let the said rotation speed omega1And said rotational speed ω3Are respectively as
ω1＝iBGa×ω2+ωc，
ω3＝iBGb×ω2-ωc。
Preferably, if there is | ω1+ω3|>>|ω1-ω3If the angle is greater than the absolute value of the angle, the power output by the left side motor and the right side motor is mainly concentrated on driving the middle power bevel gear to rotate around the power main axis DynamicAxis, so that the pivot type explosive motion joint has the capacity of realizing explosive motion in the motion direction;
further, if the rotating speeds of the left power bevel gear and the right power bevel gear are the same, i.e. ω1＝ω3Then there is ωc0 and ω2＝ω1/iBGa＝ω3/iBGb, in which case the power output by the left side motor and the right side motor is collectively concentrated in driving the rotary motion of the middle power bevel gear around the power main axis DynamicAxis.
Preferably, if there is | ω1+ω3|<<|ω1-ω3If the power output by the left side motor and the power output by the right side motor are mainly concentrated on driving the surface DynamicPlane to rotate around the driving main axis drivingAxis, so that the pivot type explosive movement joint has the capacity of realizing explosive movement in the movement direction;
further, if the rotating speeds of the left power bevel gear and the right power bevel gear are opposite, the rotating speeds are omega1＝-ω3Then there is ωc＝ω1＝-ω3And omega2In this case, the power output from the left side motor and the right side motor is collectively focused on the rotational movement of the plane DynamicPlane about the driving main axis DrivingAxis.
The pivot type explosive motion joint also comprises a central inner frame, an outer frame, a left power bevel gear connecting shaft, a right power bevel gear connecting shaft, a middle power bevel gear connecting shaft, a left bearing, a right bearing and a middle bearing;
the left power bevel gear connecting shaft is used for transmitting the rotating power of the left motor to the left power bevel gear, one end of the left power bevel gear connecting shaft is connected with the axis position of the left power bevel gear, the other end of the left power bevel gear connecting shaft is in a transmission relation with the output shaft of the left motor, preferably, the other end of the left power bevel gear connecting shaft is directly connected with the output shaft of the left motor, and the rotating axis of the left motor is geometrically coaxial with the driving main axis DrivingAxis; the left power bevel gear connecting shaft is connected with the central inner frame through the left bearing at the axial middle position of the left power bevel gear connecting shaft;
the right power bevel gear connecting shaft is used for transmitting the rotating power of the right motor to the right power bevel gear, one end of the right power bevel gear connecting shaft is connected with the axis position of the right power bevel gear, the other end of the right power bevel gear connecting shaft is in a transmission relation with the output shaft of the right motor, preferably, the other end of the right power bevel gear connecting shaft is directly connected with the output shaft of the right motor, and the rotating axis of the right motor is geometrically coaxial with the driving main axis DrivingAxis; the right power bevel gear connecting shaft is connected with the central inner frame through the right bearing at the axial middle position of the right power bevel gear connecting shaft;
the middle power bevel gear connecting shaft is used for outputting the rotating power of the middle power bevel gear, one end of the middle power bevel gear connecting shaft is connected with the axis position of the middle power bevel gear, and the other end of the middle power bevel gear connecting shaft is used as a power output end and is marked as a main power output end; the middle power bevel gear connecting shaft is connected with the central inner frame through the middle bearing at the axial middle position of the middle power bevel gear connecting shaft;
the outer frame is used for fixing the shell of the left side motor and the shell of the right side motor;
the central inner frame is used for connecting the left power bevel gear connecting shaft, the right power bevel gear connecting shaft and the middle power bevel gear connecting shaft, so that the position of the middle power bevel gear connecting shaft is fixed relative to the positions of the left power bevel gear connecting shaft and the right power bevel gear connecting shaft, the power main axis DynamicAxis and the driving main axis DrivingAxis are ensured to be vertically crossed in geometry, and the middle power bevel gear is meshed with the left power bevel gear and the right power bevel gear respectively.
The specific method for forming the leg structure of the quadruped robot based on the scheme of the pivot type explosive motion joint comprises the following steps:
the quadruped robot comprises a body and a leg structure; the leg structure comprises the hinge type explosive motion joint and a leg frame structure;
the hinge type explosive motion joint is fixedly installed on the left side and the right side of the body of the quadruped robot through the outer frame, the direction of the driving main axis DrivingAxis is consistent with the front-back direction of the body, the main power output end is connected with the leg frame structure, and the direction of the leg frame structure is perpendicular to the main power axis DynamicAxis; under the configuration, the rotation motion of the central inner frame around the driving main axis drivingAxis drives the lateral swing motion of the leg structure to realize the lateral swing motion of the quadruped robot, and the rotation motion of the active power output end around the power main axis dynamicAxis drives the front and back motion of the leg structure to realize the hip motion of the quadruped robot; the left motor and the right motor cooperate through power to provide the hip motion and the side swing motion of the quadruped robot with the capacity of realizing explosive motion.
One expansion scheme of the pivot type explosive motion joint is that the joint further comprises a lateral second motor, a middle second power bevel gear, a lateral second power bevel gear, a middle second power bevel gear connecting shaft, a lateral second bearing and a middle second bearing;
the second lateral motor is a rotary motor and is positioned on either left/right side of the pivot type explosive motion joint; one end of the side second power bevel gear connecting shaft is connected with the axis position of the side second power bevel gear, and the other end of the side second power bevel gear connecting shaft is connected with an output shaft of the side second motor, so that the side second motor drives the side second power bevel gear connecting shaft to rotate, and further synchronously drives the side second power bevel gear to rotate;
the rotational axis of the side second motor, the side second power bevel gear and the primary drive axis DrivingAxis are geometrically coaxial; the axis of rotation of the middle secondary power bevel gear is geometrically coaxial with the main power axis, DynamicAxis;
the side second power bevel gears and the middle second power bevel gears are bevel gears and are meshed with each other, and the intersection angle between the shafts of the two bevel gears is 90 degrees;
if the second lateral motor is positioned on the left/right side of the pivot type explosive movement joint, the shaft section of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is in a circular ring shape, the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is connected in a manner that one end of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is connected with the axis position of the left power bevel gear/the right power bevel gear, the other end of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is in a transmission relationship with the output shaft of the left motor/the right motor, the specific transmission form is preferably belt transmission, the rotation axis of the left motor/the right motor is parallel to the driving main axis DrivingAxis, and the second lateral power bevel gear connecting shaft penetrates through the inside of the structure of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft, the axial middle position of the side second power bevel gear connecting shaft is connected with the inner surface of the left side power bevel gear connecting shaft/the right side power bevel gear connecting shaft through the side second bearing;
the middle second power bevel gear connecting shaft is used for outputting the rotating power of the middle second power bevel gear, one end of the middle second power bevel gear connecting shaft is connected with the axis position of the middle second power bevel gear, and the other end of the middle second power bevel gear connecting shaft is used as a power output end and is marked as a second power output end; the shaft section of the middle power bevel gear connecting shaft is annular, the middle second power bevel gear connecting shaft penetrates through the structure of the middle power bevel gear connecting shaft, and the middle second power bevel gear connecting shaft is connected with the inner surface of the middle power bevel gear connecting shaft at the axial middle position of the middle second power bevel gear connecting shaft through the middle second bearing;
the outer frame is also used for fixing a shell of the side second motor;
the side second motor has two structural forms of containing a built-in speed reducer and not containing the built-in speed reducer.
The left side motor and the right side motor are provided with two structural forms including a built-in speed reducer and not including the built-in speed reducer; if the left side motor/the right side motor comprises a built-in speed reducer, the output shaft of the left side motor/the right side motor is actually the output shaft of the built-in speed reducer of the left side motor/the right side motor.
The specific method for forming the leg structure of the quadruped robot based on the expansion scheme of the pivot type explosive motion joint comprises the following steps:
the quadruped robot comprises a body and a leg structure; the leg structure comprises the pivot type explosive motion joint, a thigh frame structure and a shank frame structure, and one end of the thigh frame structure and one end of the shank frame structure are in axial constraint;
the hinge type explosive motion joint is fixedly installed on the left side and the right side of the body of the four-foot robot through the outer frame, the direction of the driving main axis DrivingAxis is consistent with the front-back direction of the body of the four-foot robot, the driving power output end is connected with the thigh frame structure, the second power output end drives the shank frame structure to move, and the directions of the thigh frame structure and the shank frame structure are both perpendicular to the main power axis DynamicAxis; under the configuration, the rotation motion of the central inner frame around the driving main axis drivingAxis drives the lateral swing motion of the leg structure to realize the lateral swing motion of the quadruped robot, the rotation motion of the active power output end around the power main axis dynamicAxis drives the front and back motion of the thigh frame structure to realize the hip motion of the quadruped robot, and the rotation motion of the second power output end around the power main axis dynamicAxis drives the front and back motion of the shank frame structure to realize the knee motion of the quadruped robot; the left motor and the right motor cooperate through power to provide the hip motion and the side swing motion of the quadruped robot with the capability of realizing explosive motion; the explosive hip motion provides the four-foot robot with the capability of realizing high-speed running and jumping actions, and the explosive side-sway motion provides the four-foot robot with the capability of realizing strong side disturbance resistance and self-recovery from side collapse.
The specific method for constructing the arm structure of the human robot based on the expansion scheme of the pivot type explosive motion joint comprises the following steps:
the humanoid robot comprises a body and an arm structure; the arm structure comprises the pivot type explosive motion joint, a large arm frame structure and a small arm frame structure, and one end of the large arm frame structure and one end of the small arm frame structure are in shaft constraint;
the hinge type explosive motion joint is fixedly installed on the left side and the right side of the body of the humanoid robot through the outer frame, and the hinge type explosive motion joint comprises two installation configuration schemes, wherein one scheme is that the direction of the driving main axis DrivingAxis is perpendicular to the left-right direction of the body of the humanoid robot, and the other scheme is that the direction of the driving main axis DrivingAxis is parallel to the left-right direction of the body of the humanoid robot; under the two installation configuration schemes, the main power output end is connected with the large arm frame structure, the second power output end drives the small arm frame structure to move, and the directions of the large arm frame structure and the small arm frame structure are both perpendicular to the main power axis DynamicAxis; the rotating motion of the central inner frame around the driving main axis drivingAxis drives the arm structure to move, so that the thoracic motion of the human robot is realized, the rotating motion of the main power output end around the power main axis dynamicAxis drives the buckling motion of the large arm frame structure, so that the shoulder motion of the human robot is realized, and the rotating motion of the second power output end around the power main axis dynamicAxis drives the buckling motion of the small arm frame structure, so that the elbow motion of the human robot is realized; the left side motor and the right side motor cooperate through power, and the capacity of realizing explosive motion is provided for the thorax motion and the shoulder motion of the humanoid robot.
Compared with the prior art, the invention has the following beneficial effects:
(1) in the pivot type explosive motion joint, a left motor and a right motor jointly realize the simultaneous control of two freedom degrees of motion, and the two freedom degrees of motion comprise: the central inner frame rotates around the main driving axis drivingAxis and the main power output rotates around the main power axis dynamicAxis. Further, the kinematic joint has the characteristic of a power hub, namely, the left motor and the right motor provide the capability of realizing explosive motion on the two degrees of freedom of motion through the cooperative dynamic distribution of power.
(2) The design scheme of the freedom of motion of the pivot type explosive motion joint can be conveniently applied to the development of legged arm type robot systems such as quadruped robots and humanoid robots. If the robot is applied to a quadruped robot, the left motor and the right motor cooperate with each other through power, and the capability of realizing explosive motion is provided for hip motion and side swing motion of the quadruped robot. During forward high speed running, jumping, power can be highly focused on the explosive hip motion required to achieve these athletic activities; during fast steering, anti-lateral-jerk, lateral-collapse self-recovery, power may be highly focused on the explosive yaw motion required to achieve these motion behaviors.
(3) The driving main axis DrivingAxis and the dynamic main axis DynamicAxis of the pivot type explosive motion joint are vertically intersected in geometry, and the design scheme with highly simplified spatial relationship brings great convenience for the motion analysis and control of the leg structure.
(4) In the working process of the pivot type explosive motion joint, the positions of the left motor, the right motor, the left power bevel gear and the right power bevel gear, and the positions of the lateral second motor and the lateral second power bevel gear are not changed, so that the motion inertia of the robot limb is effectively reduced, and the realization of explosive motion is facilitated.
Drawings
Fig. 1 is a schematic diagram of a principle scheme of a hinge type explosive movement joint of the invention.
FIG. 2 is a schematic structural diagram of one embodiment of a hinge type explosive motion joint according to the present invention; wherein fig. 2(a) is a schematic connection diagram of the structure, and fig. 2(b) is a schematic explosion diagram of the structure.
Fig. 3 is a schematic diagram of another principle scheme of the hinge type explosive movement joint.
FIG. 4 is a schematic structural diagram of another embodiment of a hinge type explosive motion joint according to the present invention; wherein FIG. 4(a) is a schematic connection diagram of the structure and FIG. 4(b) is a schematic explosion diagram of the structure
FIG. 5 is a schematic diagram of a solution for applying the pivot type explosive movement joint of the present invention to a quadruped robot; wherein FIG. 5(a) is a schematic diagram of an embodiment of a hinge-type explosive motion joint applied to a quadruped robot; fig. 5(b) is a schematic diagram of another embodiment of a hinge-type explosive motion joint applied to a quadruped robot.
FIG. 6 is a schematic diagram of a solution for applying the pivot type explosive movement joint of the present invention to a humanoid robot; wherein fig. 6(a) is an embodiment of one embodiment applied to a humanoid robot, and fig. 6(b) is an embodiment of another embodiment applied to a humanoid robot.
Detailed Description
The following embodiments and the accompanying drawings are used to describe in further detail a hinge-type explosive motion joint of a leg-arm robot based on dual-motor power cooperation, but the following embodiments are only illustrative, and the scope of the present invention is not limited by these embodiments.
Fig. 1 is a schematic diagram of a principle scheme of a hinge type explosive motion joint. As shown in fig. 1, the pivot type explosive motor joint comprises a left motor 10, a right motor 30, a left power bevel gear 12, a right power bevel gear 32, and a middle power bevel gear 22.
The left motor 10 and the right motor 30 are both rotary motors and are respectively positioned at two sides of the pivot type explosive motion joint; the left side motor 10 drives the left side power bevel gear 12 to rotate, the right side motor 30 drives the right side power bevel gear 32 to rotate, the rotation axes of the left side power bevel gear 12 and the right side power bevel gear 32 are geometrically coaxial, and the geometric axis is recorded as a driving main axis DrivingAxis; the left power bevel gear 12 and the right power bevel gear 32 are disposed in opposition, and the geometric Axis along the drive primary Axis drivingAxis and pointing from the left power bevel gear 12 to the right power bevel gear 32 is designated as the Axis Axis1The geometric Axis along the drive primary Axis DrivingAxis and pointing from the right side power bevel gear 32 to the left side power bevel gear 12 is designated as Axis Axis3。
The left power bevel gear 12, the right power bevel gear 32 and the middle power bevel gear 22 are all bevel gears; the left power bevel gear 12 is meshed with the middle power bevel gear 22, the intersection angle between the shafts of the two bevel gears is 90 degrees, and the transmission ratio between the left power bevel gear 12 and the middle power bevel gear 22 is recorded as iBGa; the right power bevel gear 32 is meshed with the middle power bevel gear 22, the intersection angle between the axes of the two bevel gears is 90 degrees, and the transmission ratio between the right power bevel gear 32 and the middle power bevel gear 22 is recorded as iBGb; the values of iBGa and iBGb are equal; the geometric rotation axis of the middle power bevel gear 22 is taken as the main power axis DynamicAxis which is geometrically perpendicularly intersected with the main drive axis DrivingAxis; the geometric Axis along the main power Axis DynamicAxis and pointing from the main drive Axis DrivingAxis in the direction of the middle power bevel gear 22 is taken as the Axis2(ii) a Middle power bevel gearWheel 22 is about Axis2Is recorded as ω2The positive value of the rotation speed is recorded as Axis2Counter-clockwise direction of (a).
The plane on which the main power axis DynamicAxis and the main drive axis DrivingAxis are located is designated as a plane DynamicPlane, and the rotational speed of the plane DynamicPlane rotating around the main drive axis DrivingAxis is designated as ωcThe positive value of the rotation speed is recorded as Axis1Counter-clockwise direction of (d); the rotation speed of the left power bevel gear 12 obtained by observation on the surface dynamic plane is recorded ascω1The positive value of the rotation speed is recorded as Axis1The observed rotational speed of the right power bevel gear 32 is recorded ascω3The positive value of the rotation speed is recorded as Axis3Counter-clockwise, i.e. rotational speedcω1And rotational speedcω3The values of the rotation speeds are in a local coordinate system which is formed by taking the main power axis DynamicAxis and the main driving axis DrivingAxis as coordinate axes.
In the global coordinate system, the rotation speed of the left power bevel gear 12 is recorded as ω1The positive value of the rotation speed is recorded as Axis1The rotational speed of the right power bevel gear 32 is denoted as ω3The positive value of the rotation speed is recorded as Axis3The global coordinate system is a coordinate system fixed to the housing of the left motor 10.
For rotational speed omegacHas omegac＝(ω1-ω3)/2；
For rotational speedcω1And rotational speedcω3Is provided withcω1＝cω3＝(ω1+ω3)/2；
For rotational speed omega2Has omega2＝cω1/iBGa＝cω3/iBGb；
I.e. the rotational speed omegacAnd a rotational speed omega2The value of (d) is determined by the rotational speeds of the left power bevel gear 12 and the right power bevel gear 32; further, the rotation speed ωcAnd a rotational speed omega2The value of (b) is determined by the rotation speeds of the left side motor 10 and the right side motor 30.
If necessary, satisfy the rotation speed omegacAnd a rotational speed omega2Let the rotation speed omega1And a rotational speed omega3Are respectively as
ω1＝iBGa×ω2+ωc，
ω3＝iBGb×ω2-ωc。
If there is | ω1+ω3|>>|ω1-ω3If the power output by the left side motor 10 and the power output by the right side motor 30 are mainly concentrated on driving the middle power bevel gear 22 to rotate around the power main axis DynamicAxis, so that the pivot type explosive motion joint has the capability of realizing explosive motion in the motion direction.
Further, if the rotation speeds of the left power bevel gear 12 and the right power bevel gear 32 are the same, i.e., ω is1＝ω3Then there is ωc0 and ω2＝ω1/iBGa＝ω3/iBGb, in this case, the power output from the left side motor 10 and the right side motor 30 are collectively concentrated on the rotation motion of the central power bevel gear 22 around the power principal axis DynamicAxis.
If there is | ω |1+ω3|<<|ω1-ω3If | × iBGa, the power output from the left side motor 10 and the right side motor 30 is mainly concentrated on the rotational movement of the driving surface DynamicPlane around the driving main axis drivingmaxis, so that the pivot type explosive movement joint has the capability of realizing the explosive movement in the movement direction.
Further, if the rotational speeds of the left power bevel gear 12 and the right power bevel gear 32 are opposite, i.e., ω is1＝-ω3Then there is ωc＝ω1＝-ω3And omega2In this case, the power output from the left side motor 10 and the right side motor 30 is collectively concentrated on the rotational movement of the driving surface DynamicPlane about the driving main axis DrivingAxis, which is 0.
Fig. 2 is a schematic structural diagram of an embodiment of a hinge-type explosive motor joint. As shown in fig. 1 and 2, the pivot type explosive motor joint further includes a central inner frame 50, an outer frame 51, a left power bevel gear connecting shaft 11, a right power bevel gear connecting shaft 31, a middle power bevel gear connecting shaft 21, a left bearing 14, a right bearing 34, and a middle bearing 24.
The left power bevel gear connecting shaft 11 is used for transmitting the rotating power of the left motor 10 to the left power bevel gear 12, one end of the left power bevel gear connecting shaft is connected with the axis position of the left power bevel gear 12, the other end of the left power bevel gear connecting shaft is in a transmission relation with the output shaft of the left motor 10, preferably, the other end of the left power bevel gear connecting shaft is directly connected with the output shaft of the left motor 10, and the rotating axis of the left motor 10 is geometrically coaxial with the driving main axis DrivingAxis, which is the preferred scheme shown in fig. 1 and fig. 2; the left power bevel gear connecting shaft 11 is connected at its axially intermediate position to the center inner frame 50 through the left bearing 14.
The right power bevel gear connecting shaft 31 is used for transmitting the rotating power of the right motor 30 to the right power bevel gear 32, one end of the right power bevel gear connecting shaft is connected with the axis position of the right power bevel gear 32, the other end of the right power bevel gear connecting shaft is in a transmission relation with the output shaft of the right motor 30, preferably, the other end of the right power bevel gear connecting shaft is directly connected with the output shaft of the right motor 30, and the rotating axis of the right motor 30 is geometrically coaxial with the driving main axis drivingAxis, which is the preferred scheme shown in fig. 1 and fig. 2; the right power bevel gear connecting shaft 31 is connected at its axially intermediate position to the center inner frame 50 through the right bearing 34.
The middle power bevel gear connecting shaft 21 is used for outputting the rotating power of the middle power bevel gear 22, one end of the middle power bevel gear connecting shaft is connected with the axis position of the middle power bevel gear 22, and the other end of the middle power bevel gear connecting shaft is used as a power output end and is marked as a main power output end; the middle power bevel gear connecting shaft 21 is connected at its axially middle position to the center inner frame 50 through the middle bearing 24.
And an outer frame 51 for fixing the housing of the left side motor 10 and the housing of the right side motor 30.
And a central inner frame 50 for connecting the left power bevel gear connecting shaft 11, the right power bevel gear connecting shaft 31 and the middle power bevel gear connecting shaft 21, so that the position of the middle power bevel gear connecting shaft 21 is fixed relative to the positions of the left power bevel gear connecting shaft 11 and the right power bevel gear connecting shaft 31, and the power main axis DynamicAxis and the drive main axis DrivingAxis are geometrically and vertically intersected, thereby enabling the middle power bevel gear 22 to be respectively meshed with the left power bevel gear 12 and the right power bevel gear 32.
Fig. 3 and fig. 4 are schematic diagrams of another principle scheme of a hinge type explosive motion joint and a structure diagram of a corresponding embodiment thereof respectively. As shown in fig. 3 and 4, an extension of the pivot type explosive motor joint further includes a lateral second motor 40, a middle second power bevel gear 44, a lateral second power bevel gear 42, a middle second power bevel gear connecting shaft 43, a lateral second power bevel gear connecting shaft 41, a lateral second bearing 45, and a middle second bearing 46.
The second motor 40 on the side part is a rotary motor and is positioned on the left/right any side of the pivot type explosive motion joint; one end of the side second power bevel gear connecting shaft 41 is connected with the axis position of the side second power bevel gear 42, and the other end is connected with an output shaft of the side second motor 40, so that the side second motor 40 drives the side second power bevel gear connecting shaft 41 to rotate, and further synchronously drives the side second power bevel gear 42 to rotate.
The rotational axis of the side second motor 40, the side second power bevel gear 42 and the drive primary axis DrivingAxis are geometrically coaxial; the rotational axis of the middle secondary power bevel gear 44 is geometrically coaxial with the main power axis, DynamicAxis.
The side second power bevel gears 42 and the middle second power bevel gear 44 are bevel gears and are engaged with each other, and the intersection angle between the axes of the bevel gears is 90 degrees.
As shown in fig. 3 and 4, if the second lateral motor 40 is located on the left side of the pivot-type explosive motor joint, the axial cross section of the left power bevel gear connecting shaft 11 is circular, the left power bevel gear connecting shaft 11 is connected in such a manner that one end thereof is connected to the axial center of the left power bevel gear 12, the other end thereof is in a transmission relationship with the output shaft of the left motor 10, the specific form of transmission is preferably belt transmission, the rotation axis of the left motor 10 is parallel to the driving main axis DrivingAxis, and in the example shown in fig. 3 and 4, the output shaft of the left motor 10 is transmitted with the left power bevel gear connecting shaft 11 through the synchronous belt device 13; the side second power bevel gear connecting shaft 41 penetrates the inside of the structure of the left power bevel gear connecting shaft 11, and the side second power bevel gear connecting shaft 41 is connected at its axially intermediate position to the inner surface of the left power bevel gear connecting shaft 11 through a side second bearing 45.
If the second side motor 40 is located at the right side of the pivot type explosive motor joint, the shaft section of the right side power bevel gear connecting shaft 31 is circular, the connection mode of the right side power bevel gear connecting shaft 31 is that one end of the right side power bevel gear connecting shaft is connected with the axis position of the right side power bevel gear 32, the other end of the right side power bevel gear connecting shaft is in transmission relation with the output shaft of the right side motor 30, the specific form of transmission is preferably belt transmission, the rotation axis of the right side motor 30 is parallel to the driving main axis drivingAxis, the second side power bevel gear connecting shaft 41 penetrates through the structure of the right side power bevel gear connecting shaft 31, and the second side power bevel gear connecting shaft 41 is connected with the inner surface of the right side power bevel gear connecting shaft 31 through the second side bearing 45 at the axial middle position of the second side power bevel gear connecting shaft 41.
The middle second power bevel gear connecting shaft 43 is used for outputting the rotation power of the middle second power bevel gear 44, one end of the middle second power bevel gear connecting shaft is connected with the axis position of the middle second power bevel gear 44, and the other end of the middle second power bevel gear connecting shaft is used as a power output end and is marked as a second power output end; the shaft section of the middle power bevel gear connecting shaft 21 is circular, the middle second power bevel gear connecting shaft 43 penetrates through the inside of the structure of the middle power bevel gear connecting shaft 21, and the middle second power bevel gear connecting shaft 43 is connected with the inner surface of the middle power bevel gear connecting shaft 21 through a middle second bearing 46 at the axial middle position of the middle second power bevel gear connecting shaft.
As shown in fig. 4(b), the outer frame 51 is also used to fix the housing of the side second motor 40.
The left motor 10, the right motor 30 and the second lateral motor 40 are provided with two structural forms including a built-in speed reducer and not including the built-in speed reducer; if any of the motors includes an internal speed reducer, the output shaft of the motor is the output shaft of the internal speed reducer, that is, if the left motor 10 includes an internal speed reducer, the output shaft of the left motor 10 is actually the output shaft of the speed reducer included in the left motor 10.
As shown in fig. 5(a), a specific method for constructing a leg structure of a quadruped robot by using the pivot type explosive motion joint scheme shown in fig. 2 is as follows:
the quadruped robot 6 comprises a body 61 and four identical leg structures 62; each leg structure 62 includes a hinge-type explosive motion joint 621 and a leg frame structure 622.
The pivot type explosive motion joint 621 is installed and fixed on the left side and the right side of the body 61 of the quadruped robot 6 through the outer frame 51, the direction of the driving main axis drivingAxis is consistent with the front-back direction of the body 61, the main power output end is connected with the leg frame structure 622, and the direction of the leg frame structure 622 is perpendicular to the main power axis dynamicAxis; under the configuration, the rotation motion of the central inner frame 50 around the driving main axis DrivingAxis drives the lateral swing motion of the leg structure 62 to realize the lateral swing motion of the quadruped robot 6, and the rotation motion of the main power output end around the power main axis dynamicAxis drives the front and back motion of the leg frame structure 622 to realize the hip motion of the quadruped robot 6; the left motor 10 and the right motor 30 provide the capability of explosive movement for hip movement and side-sway movement of the quadruped robot 6 through dynamic coordination.
As shown in fig. 5(b), a specific method for constructing the leg structure of the quadruped robot by using the pivot type explosive motion joint scheme shown in fig. 4 is as follows:
the quadruped robot 6 comprises a body 61 and four identical leg structures 62; each leg structure 62 comprises a hinge-type explosive motion joint 621, a thigh frame structure 623 and a lower leg frame structure 624, with one end of the thigh frame structure 623 and one end of the lower leg frame structure 624 being an axial constraint.
The hinge type explosive motion joint is fixedly installed on the left side and the right side of a four-foot robot body 61 through an outer frame 51, the direction of a driving main axis DrivingAxis is consistent with the front-back direction of the four-foot robot body 61, a driving power output end is connected with a thigh frame structure 623, a second power output end drives a shank frame structure 624 to move, and the directions of the thigh frame structure 623 and the shank frame structure 624 are both vertical to the main power axis DynamicAxis; in the example shown in fig. 5(b), the second power output end drives the movement of the lower leg frame structure 624, in particular, by a linkage. Under the configuration, the rotation motion of the central inner frame 50 around the driving main axis DrivingAxis drives the lateral swing motion of the leg structure 62 to realize the lateral swing motion of the quadruped robot 6, the rotation motion of the main power output end around the power main axis dynamicAxis drives the front and back motion of the thigh frame structure 623 to realize the hip motion of the quadruped robot 6, and the rotation motion of the second power output end around the power main axis dynamicAxis drives the front and back motion of the shank frame structure 624 to realize the knee motion of the quadruped robot 6; the left motor 10 and the right motor 30 cooperate through power to provide the capability of realizing explosive motion for hip motion and side-sway motion of the quadruped robot 6; further, the explosive hip motion enhances the ability of the quadruped robot 6 to realize high-speed running and jumping actions, and the explosive side-sway motion enhances the ability of the quadruped robot 6 to resist strong lateral disturbance and self-recovery from lateral collapse.
As shown in fig. 6, a specific method for constructing the arm structure of the human robot by using the pivot type explosive motion joint scheme shown in fig. 4 is as follows:
the humanoid robot 7 comprises a body 71 and two identical arm structures 72; each arm structure 72 includes a pivot-type explosive movement joint 721, a large arm frame structure 723 and a small arm frame structure 724, and one end of the large arm frame structure 723 and one end of the small arm frame structure 724 are constrained by an axis.
The hinge type explosive motion joint is fixedly installed at the left side and the right side of the human type robot body 71 through the outer frame 51, and specifically comprises two installation configuration schemes, wherein one scheme is that the direction of the driving main axis drivingAxis is perpendicular to the left-right direction of the human type robot body 71, as shown in fig. 6 (a); the other is to make the direction of the driving main axis DrivingAxis parallel to the left-right direction of the human type robot body 71, as shown in fig. 6 (b). Under the two installation configuration schemes, the main power output end is connected with the big arm frame structure 723, the second power output end drives the small arm frame structure 724 to move, and the directions of the big arm frame structure 723 and the small arm frame structure 724 are both perpendicular to the main power axis DynamicAxis; in the example shown in fig. 6(a) and 6(b), the second power output end drives the small arm frame structure 724 to move through a link device. The rotary motion of the central inner frame 50 around the driving main axis drivingAxis namely drives the arm structure 72 to move, so that the thoracic motion of the human robot 7 is realized, the rotary motion of the main power output end around the power main axis dynamicAxis namely drives the buckling motion of the large arm frame structure 723 to realize the shoulder motion of the human robot 7, and the rotary motion of the second power output end around the power main axis dynamicAxis namely drives the buckling motion of the small arm frame structure 724 to realize the elbow motion of the human robot 7; the left motor 10 and the right motor 30 cooperate through power to provide the capability of realizing explosive motion for the thorax motion and the shoulder motion of the humanoid robot 7.

Claims (10)

1. The utility model provides a leg arm robot pivot type explosive motion joint based on bi-motor power is in coordination which characterized in that:
the pivot type explosive motion joint comprises a left motor, a right motor, a left power bevel gear, a right power bevel gear and a middle power bevel gear;
the left side motor and the right side motor are both rotary motors and are respectively positioned on two sides of the pivot type explosive motion joint; the left side motor drives the left side power bevel gear to rotate, the right side motor drives the right side power bevel gear to rotate, the rotation axes of the left side power bevel gear and the right side power bevel gear are geometrically coaxial, and the geometric axis is recorded as a driving main axis DrivingAxis; the left power bevel gear and the right power bevel gear are disposed in opposition to each other, and a geometric Axis along the driving main Axis drivingAxis and directed from the left power bevel gear to the right power bevel gear is defined as an Axis Axis1Will move along the main drive axis drivingAxis and from the right sideThe geometric Axis of the force bevel gear pointing to the direction of the left power bevel gear is recorded as an Axis Axis3；
The left power bevel gear, the right power bevel gear and the middle power bevel gear are all bevel gears; the left power bevel gear is meshed with the middle power bevel gear, the intersection angle between the shafts of the two bevel gears is 90 degrees, and the transmission ratio between the left power bevel gear and the middle power bevel gear is recorded as iBGa; the right power bevel gear is meshed with the middle power bevel gear, the intersection angle between the shafts of the two bevel gears is 90 degrees, and the transmission ratio between the right power bevel gear and the middle power bevel gear is recorded as iBGb; the values of the iBGa and the iBGb are equal; recording the geometric axis of rotation of the middle power bevel gear as the power primary axis, DynamicAxis, which geometrically perpendicularly intersects the drive primary axis, DrivingAxis; the geometric Axis along the main power Axis DynamicAxis and pointing from the main drive Axis DrivingAxis in the direction of the middle power bevel gear is taken as the Axis2(ii) a Winding the middle power bevel gear about the Axis2Is recorded as ω2The positive value of the rotation speed value is recorded as being around the Axis2Counter-clockwise direction of (d);
a plane on which the main power axis DynamicAxis and the main drive axis DrivingAxis are located is designated as a plane DynamicPlane, and a rotational speed of the plane DynamicPlane about the main drive axis DrivingAxis is designated as ωcThe positive value of the rotation speed value is recorded as being around the Axis1Counter-clockwise direction of (d); observing on the surface dynamic plane, and recording the rotating speed of the left power bevel gear obtained by observation as the rotating speedcω1The positive value of the rotation speed is recorded as being around the Axis1The observed rotating speed of the right power bevel gear is recorded ascω3The positive value of the rotation speed value is recorded as being around the Axis3Counter-clockwise, i.e. said rotational speedcω1And the rotational speedcω3The main power axis DynamicAxis and the main driving axis DrivingAxis are used as coordinatesThe rotating speed value in a local coordinate system formed by the shafts together;
in a global coordinate system, the rotating speed of the left power bevel gear is recorded as omega1The positive value of the rotation speed value is recorded as being around the Axis1In the counterclockwise direction, the rotating speed of the right power bevel gear is recorded as omega3The positive value of the rotation speed value is recorded as being around the Axis3In the counterclockwise direction, the global coordinate system is a coordinate system fixed with the housing of the left-side motor;
for said rotational speed ωcHas omegac＝(ω1-ω3)/2；
For said rotational speedcω1And the rotational speedcω3Is provided withcω1＝cω3＝(ω1+ω3)/2；
For said rotational speed ω2Has omega2＝cω1/iBGa＝cω3/iBGb；
Said rotational speed ωcAnd said rotational speed ω2Is determined by the rotational speeds of the left and right power bevel gears together, and further by the rotational speeds of the left and right motors together.
2. The leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation according to claim 1, characterized in that:
if necessary, the rotating speed omega is satisfied at the same timecAnd said rotational speed ω2Let the said rotation speed omega1And said rotational speed ω3Are respectively as
ω1＝iBGa×ω2+ωc，
ω3＝iBGb×ω2-ωc。
3. The leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation according to claim 1, characterized in that:
if there is | ω |1+ω3|>>|ω1-ω3If the angle is greater than the absolute value of the angle, the power output by the left side motor and the right side motor is mainly concentrated on driving the middle power bevel gear to rotate around the power main axis DynamicAxis, so that the pivot type explosive motion joint has the capacity of realizing explosive motion in the motion direction;
if the rotating speeds of the left power bevel gear and the right power bevel gear are the same, the rotating speeds are omega1＝ω3Then there is ωc0 and ω2＝ω1/iBGa＝ω3/iBGb, where the power output from the left and right electric machines is collectively focused on driving the rotational motion of the central power bevel gear about the power primary axis DynamicAxis.
4. The leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation according to claim 1, characterized in that:
if there is | ω1+ω3|<<|ω1-ω3If the power output by the left side motor and the power output by the right side motor are mainly concentrated on driving the surface DynamicPlane to rotate around the driving main axis drivingAxis, so that the pivot type explosive movement joint has the capacity of realizing explosive movement in the movement direction;
if the rotating speeds of the left power bevel gear and the right power bevel gear are opposite, the rotating speed is omega1＝-ω3Then there is ωc＝ω1＝-ω3And omega2In this case, the power output by the left-hand electric motor and the right-hand electric motor is concentrated on the rotational movement of the plane DynamicPlane about the main drive axis DrivingAxis.
5. The leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation according to claim 1, characterized in that:
the pivot type explosive motion joint further comprises a central inner frame, an outer frame, a left power bevel gear connecting shaft, a right power bevel gear connecting shaft, a middle power bevel gear connecting shaft, a left bearing, a right bearing and a middle bearing;
the left power bevel gear connecting shaft is used for transmitting the rotating power of the left motor to the left power bevel gear, one end of the left power bevel gear connecting shaft is connected with the axis position of the left power bevel gear, and the other end of the left power bevel gear connecting shaft is in a transmission relation with the output shaft of the left motor; the left power bevel gear connecting shaft is connected with the central inner frame through the left bearing at the axial middle position of the left power bevel gear connecting shaft;
the right power bevel gear connecting shaft is used for transmitting the rotating power of the right motor to the right power bevel gear, one end of the right power bevel gear connecting shaft is connected with the axis position of the right power bevel gear, and the other end of the right power bevel gear connecting shaft is in a transmission relation with the output shaft of the right motor; the right power bevel gear connecting shaft is connected with the central inner frame through the right bearing at the axial middle position of the right power bevel gear connecting shaft;
the middle power bevel gear connecting shaft is used for outputting the rotating power of the middle power bevel gear, one end of the middle power bevel gear connecting shaft is connected with the axis position of the middle power bevel gear, and the other end of the middle power bevel gear connecting shaft is used as a power output end and is marked as a main power output end; the middle power bevel gear connecting shaft is connected with the central inner frame through the middle bearing at the axial middle position of the middle power bevel gear connecting shaft;
the outer frame is used for fixing the shell of the left side motor and the shell of the right side motor;
the central inner frame is used for connecting the left power bevel gear connecting shaft, the right power bevel gear connecting shaft and the middle power bevel gear connecting shaft, so that the position of the middle power bevel gear connecting shaft is fixed relative to the positions of the left power bevel gear connecting shaft and the right power bevel gear connecting shaft, the power main axis DynamicAxis is ensured to be vertically crossed with the driving main axis DrivingAxis in geometry, and the middle power bevel gear is meshed with the left power bevel gear and the right power bevel gear respectively.
6. The leg-arm robot pivot type explosive motion joint based on double-motor power cooperation according to claim 5, characterized in that:
the pivot type explosive motion joint also comprises a lateral second motor, a middle second power bevel gear, a lateral second power bevel gear, a middle second power bevel gear connecting shaft, a lateral second bearing and a middle second bearing;
the second lateral motor is a rotary motor and is positioned on either left/right side of the pivot type explosive motion joint; one end of the side second power bevel gear connecting shaft is connected with the axis position of the side second power bevel gear, and the other end of the side second power bevel gear connecting shaft is connected with an output shaft of the side second motor, so that the side second motor drives the side second power bevel gear connecting shaft to rotate, and further synchronously drives the side second power bevel gear to rotate;
the rotational axis of the side second motor, the side second power bevel gear and the primary drive axis DrivingAxis are geometrically coaxial; the rotational axis of the mid secondary power bevel gear is geometrically coaxial with the main power axis, DynamicAxis;
the side second power bevel gears and the middle second power bevel gears are bevel gears and are meshed with each other, and the intersection angle between the shafts of the two bevel gears is 90 degrees;
if the second lateral motor is located on the left/right side of the pivot-type explosive motor joint, the shaft section of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is circular, one end of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is connected with the axis position of the left power bevel gear/the right power bevel gear, the other end of the left power bevel gear connecting shaft/the right power bevel gear connecting shaft is in a transmission relation with the output shaft of the left motor/the right motor, the side second power bevel gear connecting shaft passes through the inside of the structure of the left side power bevel gear connecting shaft/the right side power bevel gear connecting shaft, the axial middle position of the side second power bevel gear connecting shaft is connected with the inner surface of the left side power bevel gear connecting shaft/the right side power bevel gear connecting shaft through the side second bearing;
the middle second power bevel gear connecting shaft is used for outputting the rotating power of the middle second power bevel gear, one end of the middle second power bevel gear connecting shaft is connected with the axis position of the middle second power bevel gear, and the other end of the middle second power bevel gear connecting shaft is used as a power output end and is marked as a second power output end; the shaft section of the middle power bevel gear connecting shaft is annular, the middle second power bevel gear connecting shaft penetrates through the structure of the middle power bevel gear connecting shaft, and the middle second power bevel gear connecting shaft is connected with the inner surface of the middle power bevel gear connecting shaft at the axial middle position of the middle second power bevel gear connecting shaft through the middle second bearing;
the outer frame is also used for fixing a shell of the second motor at the side part;
the side second motor has two structural forms of containing a built-in speed reducer and not containing the built-in speed reducer.
7. The leg-arm robot pivot type explosive motion joint based on dual-motor power cooperation according to claim 5 or 6, characterized in that:
the left side motor and the right side motor are provided with two structural forms including a built-in speed reducer and not including the built-in speed reducer; if the left side motor/the right side motor comprises a built-in speed reducer, the output shaft of the left side motor/the right side motor is actually the output shaft of the built-in speed reducer of the left side motor/the right side motor.
8. The leg-arm robot pivot type explosive motion joint based on double-motor power cooperation according to claim 5, characterized in that:
the specific method for forming the leg structure of the quadruped robot based on the pivot type explosive motion joint comprises the following steps,
the quadruped robot comprises a body and a leg structure; the leg structure comprises the hinge type explosive motion joint and a leg frame structure;
the hinge type explosive motion joint is fixedly installed on the left side and the right side of the body of the quadruped robot through the outer frame, the direction of the driving main axis DrivingAxis is consistent with the front-back direction of the body, the main power output end is connected with the leg frame structure, and the direction of the leg frame structure is perpendicular to the main power axis DynamicAxis; under the configuration, the rotation motion of the central inner frame around the driving main axis drivingAxis drives the lateral swing motion of the leg structure to realize the lateral swing motion of the quadruped robot, and the rotation motion of the active power output end around the power main axis dynamicAxis drives the front and back motion of the leg structure to realize the hip motion of the quadruped robot; the left motor and the right motor cooperate through power to provide the hip motion and the side swing motion of the quadruped robot with the capacity of realizing explosive motion.
9. The leg-arm robot pivot type explosive motion joint based on double-motor power cooperation according to claim 6, characterized in that:
the specific method for forming the leg structure of the quadruped robot based on the pivot type explosive type moving joint comprises the following steps,
the quadruped robot comprises a body and a leg structure; the leg structure comprises the pivot type explosive motion joint, a thigh frame structure and a shank frame structure, and one end of the thigh frame structure and one end of the shank frame structure are in axial constraint;
the hinge type explosive motion joint is fixedly installed on the left side and the right side of the body of the four-foot robot through the outer frame, the direction of the driving main axis DrivingAxis is consistent with the front-back direction of the body of the four-foot robot, the driving power output end is connected with the thigh frame structure, the second power output end drives the shank frame structure to move, and the directions of the thigh frame structure and the shank frame structure are both perpendicular to the main power axis DynamicAxis; under the configuration, the rotation motion of the central inner frame around the driving main axis drivingAxis drives the lateral swing motion of the leg structure to realize the lateral swing motion of the quadruped robot, the rotation motion of the active power output end around the power main axis dynamicAxis drives the front and back motion of the thigh frame structure to realize the hip motion of the quadruped robot, and the rotation motion of the second power output end around the power main axis dynamicAxis drives the front and back motion of the shank frame structure to realize the knee motion of the quadruped robot; the left motor and the right motor cooperate through power to provide the hip motion and the side swing motion of the quadruped robot with the capacity of realizing explosive motion; the explosive hip motion provides the four-foot robot with the capability of realizing high-speed running and jumping actions, and the explosive side-sway motion provides the four-foot robot with the capability of realizing strong side disturbance resistance and self-recovery from side collapse.
10. The leg-arm robot pivot type explosive motion joint based on double-motor power cooperation according to claim 6, characterized in that:
the concrete method for constructing the arm structure of the human robot based on the pivot type explosive motion joint is that,
the humanoid robot comprises a body and an arm structure; the arm structure comprises the pivot type explosive motion joint, a large arm frame structure and a small arm frame structure, and one end of the large arm frame structure and one end of the small arm frame structure are in shaft constraint;
the hinge type explosive motion joint is fixedly installed on the left side and the right side of the body of the humanoid robot through the outer frame, and the hinge type explosive motion joint comprises two installation configuration schemes, wherein one scheme is that the direction of the driving main axis DrivingAxis is perpendicular to the left-right direction of the body of the humanoid robot, and the other scheme is that the direction of the driving main axis DrivingAxis is parallel to the left-right direction of the body of the humanoid robot; under the two installation configuration schemes, the main power output end is connected with the large arm frame structure, the second power output end drives the small arm frame structure to move, and the directions of the large arm frame structure and the small arm frame structure are both perpendicular to the main power axis DynamicAxis; the rotating motion of the central inner frame around the driving main axis drivingAxis drives the arm structure to move, so that the thoracic motion of the human robot is realized, the rotating motion of the main power output end around the power main axis dynamicAxis drives the buckling motion of the large arm frame structure, so that the shoulder motion of the human robot is realized, and the rotating motion of the second power output end around the power main axis dynamicAxis drives the buckling motion of the small arm frame structure, so that the elbow motion of the human robot is realized; the left side motor and the right side motor cooperate through power, and the capacity of realizing explosive motion is provided for the thorax motion and the shoulder motion of the humanoid robot.
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