Leg assembly of multi-legged robot

Abstract

The invention discloses a leg assembly of a multi-legged robot, which comprises a first steering engine, a second steering engine, a third steering engine, a crankshaft connecting rod mechanism and ashank support. The first steering engine comprises a first motor and a first speed reducer which are assembled and connected; the second steering engine comprises a second motor and a second speed reducer which are assembled and connected; the third steering engine comprises a third motor and a lead screw mechanism which are assembled and connected; the first motor, the second motor and the thirdmotor each comprise a motor shell and a motor output shaft, a Hall array coding chip is fixedly arranged in the center of the rear end of each motor shell, and a Hall magnet is fixedly arranged at therear end of the motor output shaft; the second motor is arranged at the output end of the first speed reducer, the axial direction of the second motor is perpendicular to the axial direction of the first motor, the third motor is arranged at the output end of the second speed reducer, the axial direction of the third motor is perpendicular to the axial direction of the second motor, and the driving end of the lead screw mechanism is connected with the shank support through the crankshaft connecting rod mechanism. The joint output position is accurate, and the structure is compact.

Description

technical field [0001] The invention relates to the field of robots, in particular to a leg assembly of a multi-legged robot. Background technique [0002] The domestic service robot industry mainly focuses on low-end products, and the four-wheel plus flat-panel solution has seriously affected the international competitiveness of my country's robot industry. The four-wheel drive solution is only suitable for indoor environments, because of the limitation of the wheel structure, Even the indoor environment cannot be fully adapted, so the advantages of legged robots can be displayed. In terms of structural design, the thigh X-axis and Y-axis servos of domestic large-scale multi-legged robots weighing more than 20 kg mostly use BLDC 3 Hall motor plus planetary reducer structure. solution, the single-step error of the motor is large, and the precision of the planetary reducer is poor, and because the rotor position monitoring part of the ordinary motor will significantly increase ...

AI Technical Summary

Problems solved by technology

[0002] The domestic service robot industry mainly focuses on low-end products, and the four-wheel plus flat-panel solution has seriously affected the international competitiveness of my country's robot industry. The four-wheel drive solution is only suitable for indoor environments, because of the limitation of the wheel structure, Even the indoor environment cannot be fully adapted, so the advantages of legged robots can be displayed. In terms of structural design, the thigh X-axis and Y-axis servos of domestic large-scale multi-legged robots weighing more than 20 kg mostly use BLDC 3 Hall motor plus planetary reducer structure. solution, the single-step error of the motor is large, and the precision of the planetary reducer is poor, and because the rotor position monitoring part of the ordinary motor will significantly increase the axial length of the motor, resulting in a significant defect of large size, which cannot be compared with the high-precision encoder composed of an encoder International products of vector electromagnetic control are on a par

The lower leg structure design also adopts simple planetary drive plus crankshaft rod drive, the accuracy cannot be improved

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