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Absolute position type multi-legged robot servo steering engine

A multi-legged robot and servo steering gear technology, applied in the field of robotics, can solve problems such as unsafe and precise search actions, increase hardware structure costs, and reduce customer experience, etc., to facilitate miniaturization and modularization, and improve safety and accuracy, size and weight reduction

Pending Publication Date: 2020-09-11
广东鹏行智能有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This kind of application is very inconvenient in legged robots, and the program is cumbersome. It will increase the cost of hardware structure and reduce the customer experience. In certain occasions, the absolute position search action is not safe and precise.

Method used

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  • Absolute position type multi-legged robot servo steering engine
  • Absolute position type multi-legged robot servo steering engine
  • Absolute position type multi-legged robot servo steering engine

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0022] see Figure 1-3 , the present invention relates to an absolute position multi-legged robot servo steering gear, including a motor 1, a reducer 2, the motor 1 includes a motor front cover 11, a motor casing 12, a motor rear cover 13, a motor output shaft 14, a stator 121. Rotor 141, the motor front end cover 11 and the motor rear end cover 13 are respectively covered on the front and rear ends of the motor casing 12, the reducer 2 is fixed on the motor front end cover 11, and the motor output shaft 14 is set On the central axis of the motor housing 12, it is rotatably connected with the motor front end cover 11 and the motor rear end cover 13 respectively. The front end of the motor output shaft 14 extends into the reducer 2 and is connected with the input end of the reducer 2. The rotor 141 is fixed on the peripheral side of the motor output shaft 14, and the stator 121 is fixed on the inner wall of the motor housing 12, and also includes a Hall array encoding chip 17, ...

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Abstract

An absolute position type multi-legged robot servo steering engine comprises a motor and a speed reducer, and further comprises a Hall array encoding chip, a Hall magnet, an angle transmission rod anda Hall switch circuit board. The Hall array encoding chip is fixedly arranged in the center of a motor rear end cover. An annularly-distributed Hall array is arranged on the Hall array encoding chip.A motor output shaft is of a hollow structure. The angle transmission rod is arranged on the center axis of the motor output shaft. The front end of the angle transmission rod extends into the speedreducer and is fixedly connected with the output end of the speed reducer. The Hall magnet is fixedly arranged at the rear end of the angle transmission rod. The Hall switch circuit board is arrangedon the motor rear end cover. According to the absolute position type multi-legged robot servo steering engine, the final output angle is transmitted to the Hall magnet through the angle transmission rod, magnetic field changes of the Hall magnet are inducted by the Hall array encoding chip, and therefore the joint absolute angle is directly obtained, the axial length of the steering engine is reduced, and miniaturization, modularization and high precision are achieved.

Description

technical field [0001] The invention relates to the field of robots, in particular to an absolute position multi-legged robot servo steering gear. Background technique [0002] At present, the steering gear of large-scale multi-legged robots weighing more than 20 kg mostly adopts the structural scheme of BLDC 120-degree Hall motor plus planetary reducer. Joint-type steering gear requires a software system that can obtain the absolute and precise angle of the joint in real time for control. Generally, there are two working methods: absolute position coding, working mode and real-time counting mode. The first mode is to place an encoder at the final output position of the joint, and directly measure the rotation angle of the output end. The second mode is to place a periodic position detection element at the rotor end of the motor to measure the mechanical rotation angle of the motor cumulatively to convert it into angle information corresponding to the joint position. [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12B25J9/16B25J9/08
CPCB25J9/12B25J9/161B25J9/08
Inventor 赵同阳
Owner 广东鹏行智能有限公司
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