CN209441471U - A kind of Novel power system driving legged type robot for electricity - Google Patents
A kind of Novel power system driving legged type robot for electricity Download PDFInfo
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- CN209441471U CN209441471U CN201920202200.3U CN201920202200U CN209441471U CN 209441471 U CN209441471 U CN 209441471U CN 201920202200 U CN201920202200 U CN 201920202200U CN 209441471 U CN209441471 U CN 209441471U
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- magnetic
- friction disk
- electromagnet
- wheel
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Abstract
The utility model discloses a kind of Novel power systems that legged type robot is driven for electricity, including permanent magnet synchronous motor, the fuselage being connected with permanent magnet synchronous motor, pinion gear, small transmission wheel, gear wheel and large drive wheel, pinion gear and small transmission wheel are fixed on the motor shaft of permanent magnet synchronous motor, pinion gear is engaged with gear wheel, small transmission wheel and large drive wheel pass through transmission band connection, gear wheel is coaxial with large drive wheel, the first magnetic-friction disk and the second magnetic-friction disk are respectively fixed on large drive wheel and gear wheel, third magnetic-friction disk is fixed on fuselage, the first electromagnet is separately installed on the mechanical arm of robot, second electromagnet and third electromagnet, three electromagnet respectively with the first magnetic-friction disk, second magnetic-friction disk and third magnetic-friction disk are correspondingly arranged.The utility model commutates by using mechanical commutation instead of electric-machine directly-driven, can greatly improve cruising ability, reduces the unstability of circuit, reduces production cost.
Description
Technical field
The utility model relates to robot power technology field more particularly to it is a kind of for electricity drive legged type robot it is novel
Dynamical system.
Background technique
Legged type robot has many advantages, such as good terrain trafficability, is the research that robot field is very popular in recent years
Direction.Large-scale legged type robot often uses hydraulic power, but its volume is excessive, and the legged type robot minimized then must be using electricity
Machine driving.Existing commercial small size legged type robot generallys use the side of the direct driving machine tool limbs of high-power torque motor
Formula, such as the spot series for coming card dog, Boston power of space tree science and technology.In the prior art, using it is more be using nothing
Brush motor (BLDC), is driven by electron speed regulator, is exported automatic adjustable torque, is directly driven after train of reduction gears is slowed down
Dynamic mechanical limb, when limbs swing back and forth, needs motor frequently to do positive and negative rotation；When robot is static, by motor electromagnetic
Torque keeps posture.The prior art has the disadvantage in that 1) power consumption height, and continue a journey short: motor itself has biggish inertia, machine
The mechanical arm inertia of people also should not be underestimated, and when acceleration and deceleration move back and forth, overcome volume made by motor body inertia and mechanical arm
External power is larger, and the utilization rate of the energy greatly reduced shortens cruise duration；2) huge circuit fluctuation: electromagnetism is generated
The peak current generated when braking is easy to burn out electronic component, is unfavorable for the stability of circuit system, needs bearing capacity bigger
Circuit design；3) at high cost: to need the stronger electric machine controller of withstanding current capability and more powerful motor, increase into
This.
Utility model content
The purpose of the utility model is to provide a kind of Novel power systems that legged type robot is driven for electricity, solve existing skill
Motor direct-drive power consumption height in art, continuation of the journey are short, at high cost, and the problem of the stability difference of circuit system.
In order to solve the above technical problems, the utility model adopts the following technical solution:
The utility model it is a kind of for electricity drive legged type robot Novel power system, including permanent magnet synchronous motor, with
The permanent magnet synchronous motor connected fuselage, pinion gear, small transmission wheel, gear wheel and large drive wheel, the permanent magnet synchronous motor
Motor shaft on be fixed with the pinion gear and the small transmission wheel, the pinion gear is engaged with the gear wheel, the brief biography
Driving wheel and the large drive wheel by transmission band connection, gear wheel setting coaxial with the large drive wheel and turn on the contrary,
The first magnetic-friction disk and the second magnetic-friction disk, the machine are respectively fixed on the large drive wheel and the gear wheel
Body is fixed with third magnetic-friction disk close to the side of the gear wheel, and the first electricity is separately installed on the mechanical arm of robot
Magnet, the second electromagnet and third electromagnet, first electromagnet, second electromagnet and third electromagnet difference
It is correspondingly arranged and sets with the first magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction disk
It is equipped with gap.
Further, the first magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction
The coaxial setting of disk and be that discoid, size is identical.
Further, the first magnetic-friction disk is fixed on the large drive wheel close to the side of the gear wheel,
The second magnetic-friction disk is fixed on the gear wheel close to the side of the fuselage.
Further, the first magnetic-friction disk is arranged in close to the one of the gear wheel in first electromagnet
The second magnetic-friction disk is arranged in close to the side of the fuselage, the third electromagnet in side, second electromagnet
The side of the third magnetic-friction disk far from the fuselage is set.
Further, the fuselage is in F type, and the fuselage includes two transverse slats and a riser, two transverse slats
Left part and the right side of the riser be connected, the permanent magnet synchronous motor is arranged between two transverse slats, described the
Three magnetic-friction disks are connected in the middle and lower part of the riser left side.
Compared with prior art, the advantageous effects of the utility model:
The Novel power system for driving legged type robot for electricity of the utility model replaces electric-machine directly-driven by mechanical commutation
Commutation has the advantage that 1. raising energy utilization rates, reduces the power consumption under leveling tasks intensity, saves airborne power supply, improves
Cruising ability；2. weakening peak current, the probability of circuit damage is reduced, improves the stability of circuit, extends circuit life；
3. the lower electronic component of parameter can be used, production cost is reduced.
The Novel power system for driving legged type robot for electricity of the utility model is a kind of novel drive mechanism, can
Cooperation position sensor and efficient algorithm are more efficiently run so that electricity drives legged type robot dynamical system.It passes through motor
The change of limb motion state can be realized in single direction rotation, does not need the frequent acceleration and deceleration of motor and positive and negative rotation to change mechanical limb
Motion state.
Detailed description of the invention
The utility model is described in further detail for explanation with reference to the accompanying drawing.
Fig. 1 is the schematic perspective view for the Novel power system that the utility model drives legged type robot for electricity；
Fig. 2 is the schematic view of the front view for the Novel power system that the utility model drives legged type robot for electricity；
Fig. 3 is the overlooking structure diagram for the Novel power system that the utility model drives legged type robot for electricity；
Fig. 4 is that the stereochemical structure of another angle for the Novel power system that the utility model drives legged type robot for electricity is shown
It is intended to.
Description of symbols: 1, permanent magnet synchronous motor；2, fuselage；3, pinion gear；4, small transmission wheel；41, transmission belt；5, big
Gear；6, large drive wheel；7, the first magnetic-friction disk；8, the second magnetic-friction disk；9, third magnetic-friction disk；10,
Mechanical arm；11, the first electromagnet；12, the second electromagnet；13, third electromagnet.
Specific embodiment
As shown in Figures 1 to 4, a kind of Novel power system driving legged type robot for electricity, including permanent magnet synchronous motor
1, with the permanent magnet synchronous motor 1 be connected fuselage 2, pinion gear 3, small transmission wheel 4, gear wheel 5 and large drive wheel 6, it is described forever
The pinion gear 3 and the small transmission wheel 4, the pinion gear 3 and the gear wheel are fixed on the motor shaft of magnetic-synchro motor 1
5 engagements, the small transmission wheel 4 are connect with the large drive wheel 6 by transmission belt 41, the gear wheel 5 and the large drive wheel 6
It is coaxial to be arranged and turn on the contrary, being respectively fixed with 7 He of the first magnetic-friction disk on the large drive wheel 6 and the gear wheel 5
Second magnetic-friction disk 8, the fuselage 2 are fixed with third magnetic-friction disk 9, machine close to the side of the gear wheel 5
The first electromagnet 11, the second electromagnet 12 and third electromagnet 13, first electromagnetism are separately installed on the mechanical arm 10 of people
Iron 11, second electromagnet 12 and the third electromagnet 13 respectively with the first magnetic-friction disk 7, second magnetic
Property friction disc 8 and the third magnetic-friction disk 9 are correspondingly arranged and are provided with gap.
When in use, motor shaft drives small the Novel power system for electricity drive legged type robot of the present embodiment when rotating
Driving wheel 4 and pinion gear 3 rotate, since pinion gear 3 is engaged with gear wheel 5, small transmission wheel 4 with large drive wheel 6 passes through transmission belt
41 connections, therefore can drive gear wheel 5 and large drive wheel 6 to rotate respectively, at this time gear wheel 5 and 6 rotation direction of large drive wheel on the contrary,
It wherein is respectively fixed with the first magnetic-friction disk 7 and the second magnetic-friction disk 8 on large drive wheel 6 and gear wheel 5, it is big to be driven
Rotation can drive the first magnetic-friction disk 7 and the second magnetic-friction disk 8 to rotate respectively on wheel 6 and gear wheel 5, mechanical arm 10
Three electromagnet of upper installation respectively with the first magnetic-friction disk 7, the second magnetic-friction disk 8, third magnetic-friction disk 9
It is correspondingly arranged and is equipped between electromagnet and friction disc gap, electromagnet moves a small distance after being powered on the direction of axis
Afterwards, three electromagnet are in close contact the linkage that mechanical arm 10 can be realized with three magnetic-friction disks respectively；It can also be each pair of
Reset spring is installed, when non-energized, electromagnet retracts original position by reset spring, realizes between electromagnet and magnetic-friction disk
With the separation of magnetic-friction disk.
Also, the Novel power system for electricity drive legged type robot of the present embodiment further includes angular transducer, wherein
Angular transducer reads the location information of mechanical arm 10 in real time, and according to the difference of position current value and instruction value, which determines
The revolving speed of electromagnet closure and permanent magnet synchronous motor 1, to control the position of mechanical arm 10.When mechanical arm 10 needs to commutate
When, the first electromagnet 11 or the second electromagnet 12 are first unclamped, third electromagnet 13 is then closed, to consume 10 kinetic energy of mechanical arm,
The second electromagnet 12 or the first electromagnet 11 are reclosed to realize commutation；When mechanical arm 10 needs to brake, third electromagnet 13
Normal open electricity.
The Novel power system for driving legged type robot for electricity of the present embodiment mainly applies to gear drive, driving wheel passes
The transmission principle of frictional force transmission dynamic and between electromagnet and magnetic-friction disk, when the pinion gear 3 being connected with motor shaft and
Small transmission wheel 4 is all when rotating clockwise, and according to drive connection, gear wheel 5 and the second magnetic-friction disk 8 are to rotate counterclockwise
, large drive wheel 6 and the first magnetic-friction disk 7 rotate clockwise.
The present embodiment drives the Novel power system of legged type robot by the way that coaxial double steering magnetic-friction is arranged for electricity
Disc structure, and by the clutch of magnetic-friction disk and electromagnet, it can be achieved that mechanical braking, mechanical commutation, permanent magnet synchronous electric
Machine 1 only needs single direction rotation, and without moving back and forth, the commutation of mechanical arm 10 can be realized.The present embodiment drives sufficient formula machine for electricity
The application of the Novel power system of device people can make legged type robot continuation of the journey lasting, low in cost, widely used.
Specifically, the first magnetic-friction disk 7, the second magnetic-friction disk 8 and the third magnetic-friction
The coaxial setting of disk 9 and be that discoid, size is identical.
In the present embodiment, by the identical magnetic-friction disk of setting size, it can be easily installed, replace, reduction is produced into
This.
Specifically, the first magnetic-friction disk 7 is fixed on the large drive wheel 6 close to the side of the gear wheel 5,
The second magnetic-friction disk 8 is fixed on the gear wheel 5 close to the side of the fuselage 2.
Specifically, the first magnetic-friction disk 7 is arranged in close to the one of the gear wheel 6 in first electromagnet 11
The second magnetic-friction disk 8 is arranged in close to the side of the fuselage 2, the third electricity in side, second electromagnet 12
The side of the third magnetic-friction disk 9 far from the fuselage 2 is arranged in magnet 13.
Specifically, the fuselage 2 is in F type, the fuselage 2 includes two transverse slats and a riser, two transverse slats
Left part and the right side of the riser are connected, and the permanent magnet synchronous motor 1 is arranged between two transverse slats, the third
Magnetic-friction disk 9 is connected in the middle and lower part of the riser left side.
The Novel power system for driving legged type robot for electricity of the utility model is a kind of novel drive mechanism, can
Cooperation position sensor and efficient algorithm are more efficiently run so that electricity drives legged type robot dynamical system.It passes through permanent magnetism
The change of limb motion state can be realized in 1 single direction rotation of synchronous motor, does not need frequent acceleration and deceleration of permanent magnet synchronous motor 1 and just
It inverts to change the motion state of mechanical limb.
The Novel power system for driving legged type robot for electricity of the utility model replaces permanent-magnet synchronous by mechanical commutation
Motor 1 directly drives commutation, can be improved energy utilization rate, reduces the power consumption under leveling tasks intensity, saves airborne power supply, improves continuous
Boat ability；Meanwhile, it is capable to weaken peak current, the probability of circuit damage is reduced, improves the stability of circuit, extends circuit and uses
Service life can reduce production cost by using the lower electronic component of parameter.
Embodiment described above is only that the preferred embodiment of the utility model is described, not to the utility model
Range is defined, and under the premise of not departing from the spirit of the design of the utility model, those of ordinary skill in the art are practical new to this
The various changes and improvements that the technical solution of type is made should all fall into the protection scope that the utility model claims book determines
It is interior.
Claims (5)
1. it is a kind of for electricity drive legged type robot Novel power system, it is characterised in that: including permanent magnet synchronous motor, with it is described
Permanent magnet synchronous motor connected fuselage, pinion gear, small transmission wheel, gear wheel and large drive wheel, the electricity of the permanent magnet synchronous motor
The pinion gear and the small transmission wheel are fixed on arbor, the pinion gear is engaged with the gear wheel, the small transmission wheel
With the large drive wheel by transmission band connection, the gear wheel is coaxial with the large drive wheel to be arranged and turns on the contrary, described
The first magnetic-friction disk and the second magnetic-friction disk are respectively fixed on large drive wheel and the gear wheel, the fuselage leans on
The side of the nearly gear wheel is fixed with third magnetic-friction disk, is separately installed with the first electromagnetism on the mechanical arm of robot
Iron, the second electromagnet and third electromagnet, first electromagnet, second electromagnet and the third electromagnet respectively with
The first magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction disk are correspondingly arranged and are arranged
There is gap.
2. the Novel power system according to claim 1 for driving legged type robot for electricity, it is characterised in that: described first
Magnetic-friction disk, the second magnetic-friction disk and the third magnetic-friction disk it is coaxial setting and be it is discoid,
Size is identical.
3. the Novel power system according to claim 1 for driving legged type robot for electricity, it is characterised in that: described first
Magnetic-friction disk is fixed on the large drive wheel close to the side of the gear wheel, and the second magnetic-friction disk is fixed on
The gear wheel is close to the side of the fuselage.
4. the Novel power system according to claim 3 for driving legged type robot for electricity, it is characterised in that: described first
The first magnetic-friction disk is arranged in close to the side of the gear wheel in electromagnet, and second electromagnet is arranged described
For second magnetic-friction disk close to the side of the fuselage, the third electromagnet setting is remote in the third magnetic-friction disk
Side from the fuselage.
5. driving the Novel power system of legged type robot described in any one of -4 for electricity according to claim 1, feature exists
In: the fuselage is in F type, and the fuselage includes two transverse slats and a riser, and the left part of two transverse slats is erected with described
The right side of plate is connected, and the permanent magnet synchronous motor is arranged between two transverse slats, and the third magnetic-friction disk is solid
It is connected in the middle and lower part of the riser left side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920202200.3U CN209441471U (en) | 2019-02-15 | 2019-02-15 | A kind of Novel power system driving legged type robot for electricity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920202200.3U CN209441471U (en) | 2019-02-15 | 2019-02-15 | A kind of Novel power system driving legged type robot for electricity |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209441471U true CN209441471U (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920202200.3U Expired - Fee Related CN209441471U (en) | 2019-02-15 | 2019-02-15 | A kind of Novel power system driving legged type robot for electricity |
Country Status (1)
| Country | Link |
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| CN (1) | CN209441471U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808790A (en) * | 2019-02-15 | 2019-05-28 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
-
2019
- 2019-02-15 CN CN201920202200.3U patent/CN209441471U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109808790A (en) * | 2019-02-15 | 2019-05-28 | 东北大学秦皇岛分校 | A kind of Novel power system driving legged type robot for electricity |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190927 Termination date: 20210215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |