A same-side double-output joint motor for a quadruped robot

Abstract

The application belongs to the field of robot engineering and discloses a same-side double-output joint motor for a quadruped robot. The same-side double-output joint motor comprises a first component and a second component. The first component comprises a first electromagnetic component and a first reduction component. The second component comprises a second electromagnetic component and a second reduction component. The second reduction component comprises a second output shaft provided with a through hole, and the axis of the through hole coincides with the axis of the second output shaft. The first reduction component comprises a first output shaft rotatably arranged in the through hole about the axis of the first output shaft, and the first output shaft and the second output shaft are arranged on the same side. The first output shaft is in transmission connection with the first electromagnetic component through the first reduction component, and the second output shaft is in transmission connection with the second electromagnetic component through the second reduction component. The torque of the first electromagnetic component is input into the first reduction component, and the torque of the second electromagnetic component is input into the second reduction component.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robot engineering, and particularly relates to a same-side double-output joint motor for a quadruped robot. BACKGROUND

[0002] With the rapid development of robots, the application field of robots is also more and more extensive, and the functions required to be realized by robots are also more and more. The traditional mobile robot mainly includes a tracked mobile robot and a wheeled mobile robot. Compared with the above two kinds of robots, a legged robot can better adapt to the external environment, can travel on irregular and relatively complex ground, and has certain obstacle crossing ability. The first function that a robot needs to meet is its own movement. Especially in a legged robot, how to realize that the robot can simulate the walking state of the animal leg is an important research direction.

[0003] The degree of freedom at the leg structure of the robot is less, and only the bending or stretching of the leg can be realized. The leg structure is relatively rigid during the walking of the robot, which is not conducive to the multidirectional walking of the robot. Therefore, a robot capable of realizing multidirectional action of the leg needs to be designed in order to realize multidirectional walking of the robot. In recent years, a quadruped robot has gradually become a research hotspot of domestic and foreign scholars. At present, the leg mechanism driving of the quadruped robot is mainly through a direct drive mode of a joint. However, the knee joint motor becomes the load of the hip joint motor, and the overall structure is redundant and cumbersome. Therefore, in the design of the leg mechanism of the quadruped robot, it is difficult to design the required driving motor.

[0004] Compared with the traditional wheeled or tracked mobile robot, the legged mobile robot has better flexibility and terrain adaptability. Among the legged robots, the quadruped robot has the optimal stability, load capacity, and control difficulty. In the electrically driven quadruped robot, the joint motor as a core component affects the performance and performance of the quadruped robot. The motor used in the electrically driven quadruped robot is generally a permanent magnet brushless motor or a permanent magnet synchronous motor. Its working principle is simply that when the magnetic field generated by the stator winding of the motor interacts with the magnetic field generated by the rotor magnet, the motor rotor rotates. After the stator of the motor is powered, a magnetic field is generated around it; similarly, a magnetic field is formed around the rotor; when the two magnetic fields are of the same polarity, repulsion occurs, and when they are of different polarities, mutual attraction occurs; in the process of constantly changing the phase sequence of the stator power supply of the motor, the magnetic field of the stator is also constantly changing, and the motor keeps rotating.

[0005] The foot-type robot is divided into two-foot, four-foot, eight-foot, etc. according to the number of feet. Among them, the four-foot robot is widely used. The four legs of the four-foot robot are symmetrical in pairs, each leg can be divided into three sections, which are connected in series by abduction / adduction motor (abad motor), hip joint motor and knee joint motor. And in order to reduce the rotational inertia of the whole leg, the hip joint and knee joint motors are placed in series at the hip joint. The mechanical transmission (belt transmission or connecting rod) is used to realize the movement of the knee joint. Simply speaking, the structure of the four-foot robot includes a trunk and four legs in four directions of the trunk, each leg includes a thigh and a shank. From the function, the shank of each leg is driven by the knee joint motor to make the shank rotate around the thigh (i.e. the folding and unfolding of the shank); the thigh of each leg is controlled by the hip joint motor to control the movement of the leg (thigh and shank as a whole) in the front and back directions of the robot; each leg is controlled by the side swing motor to control the swing of the leg in the left and right directions of the robot. The movement of the leg in three different directions is controlled by the three motors, and the movement of the robot on the complex road surface is further controlled by controlling the four legs (12 motors in total). This way of connecting two single-output joint motors in series at the hip joint is not highly integrated, the installation is complex, affects the compactness and beauty of the structure, and is not conducive to modeling. Most of the existing schemes use two motors in series, which requires additional external connecting structural members, has low integration, and occupies a large space. SUMMARY

[0006] The application provides a same-side double-output joint motor for a four-foot robot, which solves the problems of the structure of the four-foot robot not being compact, the integration being not high, and the modeling being inconvenient.

[0007] To achieve the above-mentioned purpose, the application provides the following technical scheme:

[0008] A same-side double-output joint motor for a four-foot robot, comprising: a first component and a second component; the first component comprises a first electromagnetic component and a first reduction component; the second component comprises a second electromagnetic component and a second reduction component; the second reduction component comprises a second output shaft, the second output shaft is provided with a through hole, the axis of the through hole coincides with the axis of the second output shaft; the first reduction component comprises a first output shaft, the first output shaft is rotatably arranged in the through hole about the axis thereof, and the first output shaft and the second output shaft are arranged on the same side; the first output shaft is in transmission connection with the first electromagnetic component through the first reduction component, and the second output shaft is in transmission connection with the second electromagnetic component through the second reduction component; the torque of the first electromagnetic component is input into the first reduction component, and the torque of the second electromagnetic component is input into the second reduction component.

[0009] Further, in the same-side double-output articulated motor as above, the axis of the first output shaft and the axis of the second output shaft coincide; the first electromagnetic assembly and the second electromagnetic assembly provide two different electromagnetic torques; the first electromagnetic assembly comprises a first rotor; the first reduction assembly comprises a sun gear; the first rotor and the sun gear are fixedly connected for inputting the torque of the first electromagnetic assembly into the first reduction assembly, and then outputting the torque to the first output shaft.

[0010] Further, in the same-side double-output articulated motor as above, the second electromagnetic assembly comprises a second rotor; the second reduction assembly comprises an eccentric shaft, a gear assembly; the second rotor and the eccentric shaft are fixedly connected, the eccentric shaft and the gear assembly are connected, and the gear assembly and the second output shaft are connected; through the above connection relationship, the torque of the second electromagnetic assembly is input into the second reduction assembly, and then the torque is output to the second output shaft.

[0011] Further, in the same-side double-output articulated motor as above, there is a cavity between the second electromagnetic assembly and the second reduction assembly, for the first output shaft in the first reduction assembly to pass through.

[0012] Further, in the same-side double-output articulated motor as above, comprising: a control circuit; the control circuit is located at the front end of the first electromagnetic assembly; the first electromagnetic assembly and the second electromagnetic assembly are respectively connected with the control circuit, and the control circuit controls the first electromagnetic assembly and the second electromagnetic assembly respectively.

[0013] Further, in the same-side double-output articulated motor as above, a first Hall sensor is arranged in the control circuit; the first Hall sensor cooperates with the first Hall magnet in the first electromagnetic assembly to encode the first electromagnetic assembly, so as to measure the position of the first rotor when rotating.

[0014] Further, in the same-side double-output articulated motor as above, comprising: the front end of the second electromagnetic assembly is provided with a ring-shaped circuit board and a second Hall magnet; the second Hall sensor is arranged on the ring-shaped circuit board, and the second Hall sensor and the second Hall magnet encode the second electromagnetic assembly, so as to measure the position of the second rotor when rotating.

[0015] Further, in the same-side double-output articulated motor as above, the first reduction assembly comprises a planetary gear, a planet carrier and a first ring gear; the planetary gear is fixed on the planet carrier; the first ring gear is fixed on the housing; one side of the planetary gear is meshingly connected with the sun gear; the other side is meshingly connected with the first ring gear; the planetary gear is rotatably connected with the first output shaft for outputting torque to the first output shaft.

[0016] Further, in the same side double output joint motor as above, the first electromagnetic assembly comprises a first stator; the first stator is arranged in the first rotor, the axis of the first stator and the first rotor coincide; the magnetic field generated by the first stator and the magnetic field generated by the first rotor interact to generate torque, which is output by the first output shaft through the sun gear, the planetary gear in turn.

[0017] Further, in the same side double output joint motor as above, the gear assembly comprises a second ring gear, an inner and outer gear; the eccentric shaft is a stepped shaft with an eccentricity and a hollow in the middle, arranged in the middle cavity of the second rotor to transmit the torque input by the second rotor; the inner and outer gear is tubular, one side of the inner wall is provided with a gear, the other side of the inner wall is smooth; the outer wall of the inner and outer gear is provided with a gear on the side away from the inner wall gear, the other side of the outer wall is smooth; the second output shaft is a stepped shaft with a hollow in the middle, and the outermost outer wall is provided with a gear; the outer wall gear of the inner and outer gear is connected with the inner wall gear of the second ring gear; the inner wall gear of the inner and outer gear is connected with the outer wall of the second output shaft; the outer ring of the eccentric part of the middle part of the eccentric shaft is provided with a fifth bearing, and the outer ring of the fifth bearing is installed on the other side of the inner wall of the inner and outer gear; the second rotor rotates, in turn links the eccentric shaft, the inner and outer gear, and then outputs torque through the second output shaft, and the inner and outer gear makes a circular motion in the second ring gear.

[0018] Further, in the same side double output joint motor as above, the first electromagnetic assembly is arranged as an outer rotor permanent magnet brushless motor structure; the first speed reduction assembly is arranged as an NGW type planetary gear reducer structure; the second electromagnetic assembly is arranged as an inner rotor permanent magnet brushless motor structure; the second speed reduction assembly is arranged as a zero tooth difference output planetary reducer.

[0019] The technical scheme of the present application has the following beneficial effects:

[0020] The present application is a same side double output motor structure, which is a joint motor with high integration degree, integrated driving and control, and same side double output. It has two degrees of freedom equivalent to two serial joint motors in function. It occupies smaller space, improves the integration degree of the joint motor, and is more beneficial to the modeling of the quadruped robot. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 FIG. 1 is a same side double output motor schematic diagram of the same side double output joint motor for a quadruped robot according to the present application;

[0022] Figure 2 FIG. 2 is a single leg structure diagram of the same side double output joint motor for a quadruped robot according to the present application;

[0023] Figure 3 A motor section view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0024] Figure 4 A first electromagnetic assembly section view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0025] Figure 5 A first electromagnetic assembly exploded view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0026] Figure 6 A first reduction assembly section view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0027] Figure 7 A first reduction assembly exploded view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0028] Figure 8 A first assembly section view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0029] Figure 9 A second electromagnetic assembly section view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0030] Figure 10 A second electromagnetic assembly exploded view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0031] Figure 11 A second reduction assembly section view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0032] Figure 12 A second reduction assembly exploded view of a same-side double-output joint motor for a quadruped robot according to the present application;

[0033] Figure 13 A second assembly section view of a same-side double-output joint motor for a quadruped robot according to the present application.

[0034] Knee joint motor 5, hip joint motor 6, abcd motor 7, first electromagnetic assembly 10, first deceleration assembly 11, second electromagnetic assembly 20, second deceleration assembly 21, bracket 101, first stator 102, first magnetic steel 103, magnetic conductive ring 104, first Hall magnetic steel 105, first ring gear 110, sun gear 111, planet carrier 112, first output shaft 113, planetary gear 114, first screw 116, control circuit 118, rotor core 201, second stator 202, second magnetic steel 203, annular circuit board 204, second Hall magnetic steel 205, second ring gear 220, eccentric shaft 221, inner and outer gears 222, second output shaft 223, first pin 301, first pin 350, bearing 41, first bearing 411, second bearing 412, third bearing 413, fourth bearing 414, fifth bearing 415, sixth bearing 416, seventh bearing 417, pin shaft 501. DETAILED DESCRIPTION

[0035] To make the objects, technical solutions and advantages of the present application clearer, the following further describes the embodiments of the present application with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of the present application.

[0036] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connected" and the like should be understood broadly, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be the communication between two elements inside. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Reference is made to the accompanying drawings Figures 1-13The application provides a same-side double-output joint motor for a quadruped robot. Figure 1 A same-side double-output motor schematic diagram of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 2 A single-leg structure diagram of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 3 A motor cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 4 A first electromagnetic assembly cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 5 A first electromagnetic assembly exploded view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 6 A first reduction assembly cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 7 A first reduction assembly exploded view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 8 A first assembly cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 9 A second electromagnetic assembly cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 10 A second electromagnetic assembly exploded view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 11 A second reduction assembly cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 12 A second reduction assembly exploded view of the same-side double-output joint motor for the quadruped robot is shown in the figure. Figure 13 A second assembly cross-sectional view of the same-side double-output joint motor for the quadruped robot is shown in the figure.

[0039] The application discloses a same-side double-output joint motor for a quadruped robot.

[0040] The same-side double-output joint motor mainly comprises a first assembly, a second assembly, a shell and a control circuit 118.

[0041] The first assembly comprises a first electromagnetic assembly 10 and a first reduction assembly 11.

[0042] The second assembly comprises a second electromagnetic assembly 20 and a second reduction assembly 21.

[0043] The first reduction assembly 11 comprises a first output shaft 113, and the second reduction assembly 21 comprises a second output shaft 223.

[0044] The second output shaft 223 has a through hole, the axis of the through hole coincides with the axis of the second output shaft 223, the first output shaft 113 is rotatably arranged in the through hole along the axis thereof, the first output shaft 113 is arranged on the same side of the second output shaft 223, and the axis of the first output shaft 113 coincides with the axis of the second output shaft 223;

[0045] The first output shaft 113 is in driving connection with the first electromagnetic assembly 10 through the first speed reduction assembly 11, and the second output shaft 223 is in driving connection with the second electromagnetic assembly 20 through the second speed reduction assembly 21.

[0046] The first electromagnetic assembly 10 and the second electromagnetic assembly 20 are respectively connected with the control circuit 118, and the control circuit 118 can control the first electromagnetic assembly 10 and the second electromagnetic assembly 20 respectively.

[0047] In the same-side double-output joint motor, the first electromagnetic assembly 10 and the second electromagnetic assembly 20 can be controlled separately according to actual needs through the control circuit 118, and the first output shaft 113 and the second output shaft 223 can be controlled to output separately.

[0048] In a specific embodiment, the first electromagnetic assembly 10 can be an outer rotor permanent magnet brushless motor structure, the first speed reduction assembly 11 can be a planetary gear reducer structure, the second electromagnetic assembly 20 can be an inner rotor permanent magnet brushless motor structure, and the second speed reduction assembly 21 can be an internal meshing planetary reducer with zero-tooth difference output.

[0049] Specifically, the first electromagnetic assembly 10 includes a first rotor, the first rotor includes a support 101, the first speed reduction assembly 11 includes a sun gear 111, the first rotor and the sun gear 111 are fixedly connected, specifically, the support 101 in the first rotor is fixedly connected with the sun gear 111 in the first speed reduction assembly 11, so as to input the torque of the first electromagnetic assembly 10 into the first speed reduction assembly 11, and then the planet carrier 112 (the planet gear 114 on the planet carrier 112 is connected with the sun gear 111) of the first speed reduction assembly 11 is fixedly connected with the first output shaft 113, so as to output the torque to the first output shaft 113 of the shell.

[0050] The second electromagnetic assembly 20 includes a second rotor, the second rotor includes a rotor core 201, the second speed reduction assembly 21 includes an eccentric shaft 221 and a gear assembly. The rotor core 201 of the second rotor and the eccentric shaft 221 of the second speed reduction assembly 21 are fixedly connected, that is, the second rotor and the eccentric shaft 221 are fixedly connected, the eccentric shaft 221 is connected with the gear assembly, and the gear assembly is connected with the second output shaft 223; through the above connection relationship, the torque of the second electromagnetic assembly 20 is input into the second speed reduction assembly 21, and then the torque is output to the second output shaft 223.

[0051] The second electromagnetic assembly 20 and the second speed reduction assembly 21 have a cavity in between for the first output shaft 113 to pass through.

[0052] In an optional embodiment, the control circuit 118 of the motor is located at the front end of the first electromagnetic assembly 10 (as shown, the front end is the left side of the first electromagnetic assembly 10) to control the first electromagnetic assembly 10 and the second electromagnetic assembly 20 at the same time. The first Hall sensor in the control circuit 118 cooperates with the circular first Hall magnetic steel 105 in the first electromagnetic assembly 10 to encode the first electromagnetic assembly 10 to measure the position of the first rotor when rotating. Figure 3

[0053] In a specific embodiment, the motor is a permanent magnet brushless motor, and the power system includes a stator, a rotor, and a position sensor. The position sensor generates a position sensing signal at a specific position, which is processed to control the power switch circuit to control the current of the stator winding according to a certain logic relationship. The front end of the second electromagnetic assembly 20 (the left side of the rotor core 201 in Figure 10

[0054] The following will discuss in detail a same-side double-output joint motor for a quadruped robot provided by the present application. The same-side double-output joint motor includes the first electromagnetic assembly 10, the first speed reduction assembly 11, the second electromagnetic assembly 20, the second speed reduction assembly 21, the shell, and the control circuit 118 mentioned in the above embodiments; and further includes bearings 41 (the bearings 41 are divided into multiple types according to different diameters to meet the matching requirements), which include a first bearing 411, a second bearing 412, a third bearing 413, a fourth bearing 414, a fifth bearing 415, a sixth bearing 416, and a seventh bearing 417. Among them, the first electromagnetic assembly 10 and the second electromagnetic assembly 20 provide two different electromagnetic torques for the motor, and the first speed reduction assembly 11 and the second speed reduction assembly 21 increase the torque and reduce the speed for the two electromagnetic assemblies.

[0055] As shown in Figure 4 , Figure 5 The first electromagnetic assembly 10 can be an outer rotor permanent magnet brushless motor structure. The first electromagnetic assembly 10 includes a first rotor and a first stator 102. Among them, the first rotor includes a bracket 101, a magnetic conducting ring 104, and a first magnetic steel 103. The first stator 102 includes a stator core and a winding.

[0056] ​​The support 101 is hub-shaped, with small protrusions evenly distributed along the circumference of one end of its outer wall. A first Hall magnet 105 is located at the center of the support 101. The first Hall magnet 105 is circular and is embedded in the support 101 of the first rotor with a clearance fit, or it can be fixed by adhesive. The first Hall magnet 105 is located at the front end of the sun gear 111 (e.g., ...). Figure 8 As shown, the front end indicates that the first Hall magnet 105 is located to the left of the sun gear 111. The front ends of the first Hall magnet 105 and the sun gear 111 are both fixed to the middle position of the first rotor bracket 101 and are coaxial. The first Hall magnet 105 cooperates with the first Hall sensor on the control circuit 118 to encode the first rotor in the first electromagnetic component 10, which is used to measure the position of the first rotor when it rotates.

[0057] In one specific embodiment, a hole is provided in the central shaft of the bracket 101, and one end of the sun gear 111 extends into the hole to be fixedly connected to the first rotor.

[0058] In one specific embodiment, the central shaft in the middle of the bracket 101 and the sun gear 111 in the first reduction assembly 11 are fixedly connected by a first key, or the connection is an interference fit or a spline connection, so as to transmit the torque generated by the first electromagnetic assembly 10 to the first reduction assembly 11.

[0059] In one specific embodiment, the central axis of the support 101 is provided with a semi-cylindrical recessed groove, which corresponds to the half-cylindrical recessed groove at one end of the sun gear 111 to form a pin hole for placing the first pin 301, so that the sun gear 111 and the support 101 are fixed by the first pin 301. The first pin 301 restricts the relative rotation of the sun gear 111 and the support 101, thereby enabling the first rotor and the sun gear 111 to generate a stable linkage relationship.

[0060] The first magnet 103 can be a radially magnetized magnetic tile structure, with each tile being tile-shaped. Multiple magnetic tiles form a ring, and these tiles are sequentially embedded into the circumferentially distributed gaps formed by the small protrusions of the support 101. The magnetic guide ring 104 is annular and is interference-fitted with the support 101, which is pressed into the magnetic guide ring 104. The first magnet 103 is glued to the inner side of the magnetic guide ring 104. The magnetic guide ring 104 provides a magnetic flux path. The first magnet 103 is evenly distributed along the circumference of the magnetic guide ring 104, relying on the support 101. Both the inner and outer walls of the magnetic guide ring 104 are smooth.

[0061] The first stator 102 is tubular, comprising a stator core and a winding, and is arranged in the first rotor (i.e. the outer rotor). The axis of the first stator 102 coincides with that of the first rotor. The first stator 102 is fixed on the first ring gear 110 of the first speed reducer assembly (the outer ring of the first ring gear 110 is glued to the inner ring of the first stator 102), and is fixed by a second pin to prevent relative rotation. The first stator 102 functions to generate a continuous alternating magnetic field that interacts with the magnetic field provided by the magnetic steel in the first rotor to generate an electromagnetic torque and transmit the torque. The winding of the first stator 102 and the first magnetic steel 103 on the first rotor interact under the control of the control circuit 118 to drive the rotation of the first rotor, that is, the magnetic field generated by the first stator 102 and the magnetic field generated by the first rotor interact to generate a torque, which is sequentially output by the sun gear 111, the planetary gear 114, the planet carrier 112, and the first output shaft 113.

[0062] The first speed reducer assembly 11 is specifically described as follows:

[0063] As shown in Figure 6 , Figure 7 , Figure 8 , the first speed reducer assembly 11 can be an NGW type planetary gear reducer structure, specifically, the first speed reducer assembly 11 can be an NGW type planetary gear reducer structure. The first speed reducer assembly 11 comprises a first ring gear 110, a sun gear 111, a planet carrier 112, a first output shaft 113, a planetary gear 114, a first pin 301, and a first screw 116.

[0064] The first ring gear 110 is annular, and the inner wall is provided with a gear that is connected with the external gear of the planetary gear 114; the outer circumference of the first ring gear 110 is provided with a boss for positioning and fixing the first stator 102. The first ring gear 110 is provided with a plurality of first straight holes, as shown in Figure 7 , the first straight holes are uniformly distributed along the circumference, and the first ring gear 110 is fixed on the shell through the first straight holes by a second screw. The number of the first straight holes is 4-8, for example, 4, 5, 6, 7, 8, preferably 6, and further preferably 6 first straight holes are uniformly distributed along the circumference; the outer ring of the first ring gear 110 is glued to the inner ring of the first stator 102, and is fixed by a second pin to prevent relative rotation, the first ring gear 110 is coaxial with the first stator 102, and the outer circumference of the first ring gear 110 is provided with a boss for axial positioning of the first stator 102.

[0065] The sun gear 111 is in the shape of a stepped shaft, and the middle part is provided with a gear. In a specific embodiment, the bottom of the sun gear 111 is provided with a first key groove, and the sun gear 111 is fixedly connected with the first rotor by a first key. One end of the sun gear 111 (such as the end shown in Figure 7The first bearing 411 is installed on the right end of the sun gear 111, and specifically, the inner ring of the first bearing 411 is connected with one end of the sun gear 111, and the outer ring of the first bearing 411 is connected with the first output shaft 113. The sun gear 111 is supported and limited by the first bearing 411, and the rotation of the sun gear 111 relative to the first output shaft 113 is not limited.

[0066] The planet carrier 112 includes a disc which is annular and hollow. The disc of the planet carrier 112 is provided with a plurality of holes, and the number of the holes can be 2-5, for example, 2, 3, 4, or 5. Preferably, the disc of the planet carrier 112 is provided with 3 holes, and further preferably, the 3 holes are uniformly distributed along the circumference of the disc. The holes on the disc of the planet carrier 112 correspond to the central holes of the planet gears 114, and each planet gear 114 is installed on the disc of the planet carrier and the first output shaft by a through pin 501. The inner circumference of the annular disc is provided with a second bearing 412, and specifically, the outer ring of the second bearing 412 is installed on the inner circumference of the annular disc, and the inner ring of the second bearing 412 is installed on the other end of the sun gear 111 or the housing, and the rotation of the planet carrier 112 relative to the housing or the sun gear 111 is not limited.

[0067] The disc of the planet carrier 112 is provided with a plurality of protrusions similar to sectors, which are used to fixedly install the first output shaft 113. The arc side of the sector-shaped protrusion is slightly higher than the sector plane, which plays a role of positioning and fixedly installing. The number of the protrusions is 2-5, for example, 2, 3, 4, or 5. Preferably, the number of the protrusions is 3. Further preferably, the 3 protrusions are uniformly distributed along the circumference of the disc. The protrusions of the planet carrier 112 are provided with second straight holes, and the second straight holes on the protrusions of the planet carrier 112 correspond to the threaded holes of the first output shaft 113, and the planet carrier 112 and the first output shaft 113 are installed by the first screw 116 (specifically, a countersunk screw) which penetrates the second straight holes and is screwed with the threaded holes on the first output shaft 113. That is, the planet carrier 112 and the first output shaft 113 are fixedly connected by the first screw 116 (specifically, a countersunk screw).

[0068] The planetary gears 114 are tubular, that is, the planetary gears 114 are provided with holes in the center; the planetary gears 114 are provided in a number of 2-5, for example, 2, 3, 4, 5, preferably, the planetary gears are 3; the holes in the bottom plate of the above-mentioned planetary carrier 112 correspond to the center holes of the planetary gears 114. The center holes of the planetary gears 114 are provided with a pin shaft 501, which has a fixed support effect on the planetary gears 114. The pin shaft 501 coaxially fixes the holes in the bottom plate of the planetary carrier 112 and the center holes of the planetary gears 114 and the connecting holes on the first output shaft 113, that is, the two ends of the pin shaft 501 are fixed on the holes in the bottom plate of the planetary carrier 112 and the connecting holes on the first output shaft 113, the pin shaft 501 is provided with a third bearing 413, the outer ring of the third bearing 413 is installed in the center hole of the planetary gear 114, and the inner ring of the third bearing 413 is provided with the pin shaft 501, so that the planetary gears 114 can rotate freely around the pin shaft 501 without being limited, that is, the planetary carrier 112 and the planetary gears 114 are fixed through the pin shaft 501 and the first output shaft 113. The planetary gears 114 are uniformly arranged in the space composed of the planetary carrier 112 and the first output shaft 113. The torque generated by the first electromagnetic assembly 10 is output through the first output shaft 113 by the first speed reduction assembly 11.

[0069] The outer side of the planetary gears 114 is provided with a gear, one side of the planetary gears 114 is connected in mesh with the sun gear 111, and the other side of the planetary gears 114 is connected in mesh with the first ring gear 110. Specifically, the sun gear 111 is located in the middle of the three planetary gears 114, and the three planetary gears 114 are uniformly distributed along the inner circumference of the first ring gear 110. That is, the planetary gears 114 make a circular motion along the first ring gear 110, while driving the planetary carrier 112 to rotate along its own axis.

[0070] Specifically, the number of planetary gears 114 corresponds to the number and position of the holes on the bottom plate of the planetary carrier 112; in a specific embodiment, the planetary gears 114 are provided in a plurality and arranged in a circumferential direction around the axis of the sun gear 111, one planetary carrier 112 protrusion is provided between each adjacent two planetary gears 114, and one second straight hole is provided on each of the above-mentioned protrusions; the center hole of the planetary gear 114 corresponds to the hole in the bottom plate of the planetary carrier 112, which is used to install the planetary gear 114 on the planetary carrier 112; the second straight hole on the protrusion of the planetary carrier 112 corresponds to the hole of the first output shaft 113, and then the torque of the first speed reduction assembly 11 is output to the first output shaft 113 of the above-mentioned casing.

[0071] The first output shaft 113 can be columnar, of course, it can also be in the shape of a stepped shaft. The other end of the first output shaft 113 has the first ring gear 110 outside. A plurality of grooves (such as Figure 7The grooves are evenly distributed along the circumference, and the number of grooves can be 4-8, for example, 4, 5, 6, 7, 8, preferably 6, and further preferably 6 grooves are evenly distributed along the circumference, and the groove of the first output shaft 113 is used to connect the linkage mechanism (connecting device).

[0072] In a specific embodiment, a groove (or hole) for mounting the first screw 116 is provided on the other end surface of the first output shaft 113, and the groove (or hole) of the first output shaft 113 corresponds to the second straight hole on the protrusion of the planet carrier 112, and then the torque output of the first reduction assembly 11 is output to the first output shaft 113 of the above-mentioned housing. The second straight hole on the protrusion of the planet carrier 112 and the groove (or hole) of the first output shaft 113 are fixedly connected by the first screw 116; specifically, a threaded hole is provided on the other end surface of the first output shaft 113, which corresponds to the second straight hole on the protrusion of the planet carrier 112, and the planet carrier 112 (i.e. the second straight hole on the protrusion of the planet carrier 112) and the first output shaft 113 (i.e. the threaded hole of the first output shaft 113) are fixedly connected by the first screw 116. The linkage of the planet carrier 112 and the first output shaft 113 is realized through the connection relationship of the above-mentioned threaded hole and the planet carrier 112.

[0073] In a specific embodiment, a first output shaft 113 connecting hole is provided on the other end surface of the first output shaft 113, which corresponds to the hole on the bottom plate of the planet carrier 112, i.e. the center hole of the planet gear 114, and is fixed by a pin shaft 501. Through the connection relationship of the pin shaft 501 with the planet gear 114, the planet carrier 112 and the first output shaft 113, the linkage of the planet gear 114, the planet carrier 112 and the first output shaft 113 is realized.

[0074] In specific use, the first rotor rotates, driving the sun gear 111, linking the planet gear 114 and the planet carrier 112, and outputting to the first output shaft 113.

[0075] The first electromagnetic assembly 10 and the first reduction assembly 11 are introduced above, and the second electromagnetic assembly 20 and the second reduction assembly 21 are introduced below.

[0076] As shown in Figure 9 , Figure 10 The second electromagnetic assembly 20 can be an inner rotor permanent magnet brushless motor structure. The second electromagnetic assembly 20 includes the second rotor, the second stator 202 in the above-mentioned embodiment, and further includes an annular circuit board 204 and a second Hall magnetic steel 205.

[0077] The second rotor (which belongs to the inner rotor) comprises a rotor core 201 and second magnetic steel 203. The second magnetic steel 203 is provided with a plurality of sheet bodies, which form a ring and push the rotation of the second rotor by cooperating with the electromagnetic coil provided on the second stator 202. The rotor core 201 is tubular, the inner wall is smooth, and the outer wall is provided with a plurality of recesses, and each recess is provided with a sheet body of the second magnetic steel 203. That is, the second magnetic steel 203 is fixed in the recess on the outer wall of the rotor core 201. The second rotor is arranged in the middle cavity of the second stator 202. The second stator 202 is fixed on the shell by the third screw, and the second rotor is fixed on the eccentric shaft 221 of the second speed reduction assembly 21, which will be described in detail below.

[0078] The eccentric shaft 221 of the second speed reduction assembly 21 is arranged in the middle cavity of the second rotor. The second rotor is fixed on the eccentric shaft 221, specifically, the second rotor and the eccentric shaft 221 of the second speed reduction assembly 21 are fixedly connected by the second key (or by the pin), or the above connection is an interference connection, so that the second rotor and the eccentric shaft 221 are linked. The torque generated by the second electromagnetic assembly 20 is transmitted to the eccentric shaft 221 of the second speed reduction assembly 21 by the second rotor, and is output through the second output shaft 223.

[0079] The second stator 202 is tubular, and the outer wall is smooth. The outer wall of the second stator 202 is fixed on the shell, specifically, the outer wall of the second stator 202 is fixed on the shell by the third screw, or the outer wall of the second stator 202 is glued on the shell. The second rotor is located in the middle cavity of the second stator 202, and the axis of the second rotor and the second stator 202 coincides.

[0080] The annular circuit board 204 is circular, and the second Hall magnetic steel 205 is arranged at the front end of the second rotor (at the left side of the rotor core 201 in Figure 9 、 Figure 10 the middle) along the circumferential direction of the annular circuit board 204. The second Hall magnetic steel 205 cooperates with the corresponding Hall sensor on the annular circuit board 204 to encode the second rotor. The annular circuit board 204 is located at the front end of the second electromagnetic assembly 20 (at the left side of the rotor core 201 in Figure 9 、 Figure 10 the middle), and is fixed on the shell. The annular circuit board 204 and the rotor core 201 are coaxial.

[0081] The second Hall magnetic steel 205 is evenly distributed along the circumference of the annular circuit board 204, and is used to detect the position of the second rotor. The number of the second Hall magnetic steel 205 is matched with the change logic of the winding current of the second stator 202, and can be one or more, for example, 1, 3, 6, for example, 3 are evenly distributed, and a position signal is generated every 120° of the second rotor; if 6 are evenly distributed, a position signal is generated every 60° of the second rotor, and there can also be a magnetic ring form. The first Hall magnetic steel 105 is radially magnetized, and the control circuit 118 has a first Hall sensor (the first Hall sensor and the second Hall sensor are different), which can measure the angle of rotation of the first stator 102.

[0082] As shown in Figure 11 , Figure 12 , Figure 13 , the second speed reduction assembly 21 can be a few-tooth difference internal meshing (N-type) planetary reducer with zero-tooth difference output. The second speed reduction assembly 21 includes the eccentric shaft 221, the second output shaft 223, and the gear assembly mentioned in the above embodiments.

[0083] The gear assembly includes the second ring gear 220 and the inner and outer gear 222.

[0084] The second ring gear 220 is tubular and fixed on the casing, and the inner wall is provided with a gear that is in meshing connection with the outer wall gear of the inner and outer gear 222.

[0085] The eccentric shaft 221 is a stepped shaft with an eccentricity, and is hollow in the middle and arranged in the middle cavity of the second rotor. The eccentric shaft 221 is fixedly connected with the second rotor through the second key or the first pin 350, and then transmits the torque input by the second rotor.

[0086] As shown in Figure 13 , the inner ring of the middle eccentric part of the eccentric shaft 221 is provided with the fourth bearing 414 for supporting the eccentric shaft 221. The axis of the hole for installing the fourth bearing is coaxial with the axis of the second output shaft; the outer ring of the fourth bearing 414 is mounted on the inner ring of the eccentric part, and the inner ring of the fourth bearing 414 is mounted on the casing, so that the rotation of the eccentric shaft 221 relative to the casing is not limited.

[0087] The outer ring of the middle eccentric part of the eccentric shaft 221 is provided with the fifth bearing 415 for supporting the eccentric part of the eccentric shaft. The axis of the first stepped surface (the first stepped surface of the eccentric shaft) for installing the fifth bearing 415 has an eccentricity from the axis of the second output shaft; the outer ring of the fifth bearing 415 is mounted on the other side of the inner wall of the inner and outer gear, and the inner ring of the fifth bearing 415 is mounted on the outer ring of the eccentric part of the eccentric shaft 221. The eccentric shaft 221 rotates relative to the other side of the inner wall of the inner and outer gear, and due to the existence of the eccentricity, the inner and outer gear 222 will make a circular motion in the second ring gear 220 while the eccentric shaft 221 rotates.

[0088] The outer ring of the right end of the eccentric shaft 221 is provided with a sixth bearing 416 for supporting the non-eccentric part of the eccentric shaft. The axis of the second stepped surface (the second stepped surface of the eccentric shaft) on which the sixth bearing is installed coincides with the axis of the second output shaft, the inner ring of the sixth bearing 416 is installed on the outer ring of the right end of the non-eccentric part of the eccentric shaft 221, and the outer ring of the sixth bearing 416 is installed on the inner ring of the second output shaft 223, thereby allowing the second output shaft 223 to rotate relative to the eccentric shaft 221 without restriction.

[0089] The right end of the second output shaft 223 is provided with a seventh bearing 417 for fixedly supporting the second output shaft 223. The axis of the seventh bearing coincides with the axis of the second output shaft 223, the inner ring of the seventh bearing 417 is installed on the right end of the second output shaft 223, and the outer ring of the seventh bearing is installed on the casing, thereby allowing the second output shaft 223 to rotate relative to the casing around its central axis without restriction.

[0090] The inner and outer gear 222 is tubular, one side of the inner wall is provided with a gear, and the other side is smooth; the side of the outer wall away from the gear of the inner wall is provided with a gear, and the other side is smooth. The outer wall gear of the inner and outer gear 222 is meshed and connected with the inner wall gear of the second ring gear 220, and the inner wall gear of the inner and outer gear 222 is meshed and connected with the outer wall gear of the second output shaft 223. The inner and outer gear 222 is fixedly installed on the outer ring of the middle eccentric part of the eccentric shaft 221 through the fifth bearing 415, thereby transmitting the torque input by the eccentric shaft 221 to the second output shaft 223 through the inner and outer gear 222.

[0091] The second output shaft 223 is in the shape of a stepped shaft, hollow in the middle, and the outermost wall is provided with a gear. A plurality of grooves are arranged on the annular surface of one end of the second output shaft 223, and the number of grooves can be 4-8, such as 4, 5, 6, 7, 8, preferably 6, and further preferably 6 grooves are uniformly distributed along the circumference; the grooves of the second output shaft 223 are used to connect the linkage mechanism. The torque is output through the second output shaft 223.

[0092] According to the above connection relationship, the torque generated by the second rotor of the second electromagnetic assembly 20 rotates the eccentric shaft 221. Due to the existence of the eccentricity, when the eccentric shaft 221 rotates, the inner and outer gear 222 will make a circular motion in the second ring gear 220 (a small-tooth-difference planetary reduction). The outer gear of the inner and outer gear 222 cooperates with the inner wall gear of the second ring gear 220. The gear on the outer wall of the second output shaft 223 cooperates with the gear on the inner wall of the inner and outer gear 222, and the number of teeth is the same, forming a zero-tooth-difference output mechanism. The torque generated by the second electromagnetic assembly 20 is transmitted to the eccentric shaft 221 in the second reduction assembly 21 by the second rotor, and is output by the second output shaft 223 through the inner and outer gear 222. That is, the second rotor rotates, in turn links the eccentric shaft 221, the inner and outer gear 222, and then outputs the torque through the second output shaft 223 (the second output shaft 223 rotates around its center axis), and the inner and outer gear 222 makes a circular motion in the second ring gear 220 under the action of the eccentric part of the eccentric shaft 221.

[0093] The components composed of the second electromagnetic assembly 20 and the second reduction assembly 21 are hollow structures, which provide the mounting positions (i.e. the above-mentioned perforations) of the planet carrier 112 and the first output shaft 113 in the first reduction assembly 11, thereby facilitating the first output shaft 113 to pass through.

[0094] Through the above description, we understand that the application provides a same-side double-output joint motor design scheme for a quadruped robot, to solve the problems of the structure not being compact, the integration degree being not high, and the modeling being not convenient in the scheme of serially connecting two single-output joint motors for the hip joint of an electrically driven quadruped robot.

[0095] For those skilled in the art, the application can be implemented by other embodiments without departing from the spirit or essential characteristics thereof. Obviously, the application is not limited to the details of the above exemplary embodiments, but can be implemented in other specific forms without departing from the spirit or essential characteristics thereof. Therefore, from any point of view, it is only an example, not the only one, and the embodiments should be regarded as exemplary and non-limiting, and the scope of the application is defined by the appended claims, not the above description, and it is intended to include all changes falling within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be regarded as limiting the claims involved. All changes within the scope of the application or within the scope equivalent to the application are included in the application.

Claims

1. A dual-output joint motor on the same side for a quadruped robot, characterized in that, include: First component, second component; The first component includes: a first electromagnetic component (10) and a first deceleration component (11); The second component includes: a second electromagnetic component (20) and a second deceleration component (21); The second deceleration assembly (21) includes a second output shaft (223), the second output shaft (223) is provided with a through hole, and the axis of the through hole coincides with the axis of the second output shaft (223); The first deceleration assembly (11) includes a first output shaft (113), which is rotatably inserted into the through hole about its own axis, and the first output shaft (113) and the second output shaft (223) are arranged on the same side; The first output shaft (113) is connected to the first electromagnetic component (10) via the first reduction assembly (11), and the second output shaft (223) is connected to the second electromagnetic component (20) via the second reduction assembly (21). The torque of the first electromagnetic component (10) is input to the first deceleration component (11), and the torque of the second electromagnetic component (20) is input to the second deceleration component (21); The second electromagnetic component (20) includes a second rotor; The second reduction assembly (21) includes an eccentric shaft (221) and a gear assembly; The second rotor is fixedly connected to the eccentric shaft (221), the eccentric shaft (221) is connected to the gear assembly, and the gear assembly is connected to the second output shaft (223). Through the above connection relationship, the torque of the second electromagnetic component (20) is input to the second deceleration component (21), and then the torque is output to the second output shaft (223). The gear assembly includes a second gear ring (220) and internal and external gears; The eccentric shaft (221) is a stepped shaft with an eccentricity and is hollow in the middle. It is set in the middle cavity of the second rotor to transmit the torque input by the second rotor. The inner and outer gears are tubular, with a gear on one side of the inner wall and a smooth side on the other side. A gear is provided on the side of the outer wall away from the gear on the inner wall, while the other side of the outer wall is smooth; The second output shaft (223) is a stepped shaft with a hollow center and a gear on the outermost outer wall; The outer wall gear of the internal and external gears (222) meshes with the inner wall gear of the second gear ring (220); The inner wall gear of the inner and outer gears (222) meshes with the outer wall of the second output shaft (223); The outer ring of the eccentric portion in the middle of the eccentric shaft (221) is fitted with a fifth bearing (415), and the outer ring of the fifth bearing (415) is mounted on the other side of the inner wall of the internal and external gears (222). The second rotor rotates, sequentially linking the eccentric shaft (221) and the internal and external gears (222), thereby outputting torque through the second output shaft (223), and the internal and external gears (222) make circular motion within the second gear ring (220); The first electromagnetic component (10) is configured as an external rotor permanent magnet brushless motor structure; The second electromagnetic component (20) is configured as an internal rotor permanent magnet brushless motor structure.

2. The same-side dual-output joint motor according to claim 1, characterized in that, The axis of the first output shaft (113) coincides with the axis of the second output shaft (223); The first electromagnetic component (10) and the second electromagnetic component (20) provide two different electromagnetic torques; The first electromagnetic component (10) includes a first rotor; The first reduction gear (11) includes a sun gear (111); The first rotor and the sun gear (111) are fixedly connected to input the torque of the first electromagnetic component (10) into the first reduction component (11), and then output the torque to the first output shaft (113).

3. The same-side dual-output joint motor according to claim 1, characterized in that, There is a cavity between the second electromagnetic component (20) and the second deceleration component (21) for the first output shaft (113) in the first deceleration component (11) to pass through.

4. The same-side dual-output joint motor according to claim 1, characterized in that, include: Control circuit (118); The control circuit (118) is located at the front end of the first electromagnetic component (10); The first electromagnetic component (10) and the second electromagnetic component (20) are respectively connected to the control circuit (118). The control circuit (118) controls the first electromagnetic component (10) and the second electromagnetic component (20) respectively.

5. The same-side dual-output joint motor according to claim 4, characterized in that, A first Hall sensor is provided in the middle of the control circuit (118); The first Hall sensor works in conjunction with the first Hall magnet (105) in the first electromagnetic component (10) to encode the first electromagnetic component (10) in order to measure the position of the first rotor when it rotates.

6. The same-side dual-output joint motor according to claim 4, characterized in that, include: The front end of the second electromagnetic component (20) is provided with a ring circuit board (204) and a second Hall magnet (205). A second Hall sensor is provided on the annular circuit board (204). The second Hall sensor and the second Hall magnet (205) are encoded for the second electromagnetic component (20) to measure the position of the second rotor when it rotates.

7. The same-side dual-output joint motor according to claim 2, characterized in that, The first reduction assembly (11) includes a planetary gear (114), a planetary carrier (112), and a first gear ring (110). The planetary gear (114) is fixed on the planet carrier (112); The first gear ring (110) is fixed to the housing; One side of the planetary gear (114) is meshed with the sun gear (111); the other side is meshed with the first gear ring (110). The planetary gear (114) is rotatably connected to the first output shaft (113) and is used to output torque to the first output shaft (113).

8. The same-side dual-output joint motor according to claim 7, characterized in that, The first electromagnetic component (10) includes a first stator (102); The first stator (102) is disposed inside the first rotor, and the axes of the first stator (102) and the first rotor coincide; The magnetic field generated by the first stator (102) and the magnetic field generated by the first rotor interact to generate torque, which is output through the sun gear (111), the planet gear (114) and the first output shaft (113).

9. The same-side dual-output joint motor according to claim 1, characterized in that, The first reduction assembly (11) is configured as an NGW-type planetary gear reducer structure; The second reduction component (21) is configured as a planetary reducer with zero tooth difference output.

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