Self-adaptive structured quadruped robot motor driving system

Abstract

The invention provides a self-adaptive structured quadruped robot motor driving system, and relates to the technical field of quadruped robots, the self-adaptive structured quadruped robot motor driving system is characterized in that the self-adaptive structured quadruped robot motor driving system comprises a heat dissipation shell, a rotor structure and a stator structure, the rotor structure is located on the inner side of the heat dissipation shell, the rotor structure is composed of a plurality of magnet plates, and the lower ends of the magnet plates are provided with mounting bases; the outer side of the mounting base is rotatably connected with a bolt which is detachably connected with the heat dissipation shell, the stator structure is located at the axis position of the heat dissipation shell, the outer side of the stator structure is provided with a bearing seat which is rotatably connected with the mounting base, and the side, away from the mounting base, of the stator structure is detachably connected with a rotating shaft connecting seat; the outer side of the rotating shaft connecting seat is fixedly sleeved with a bearing seat, the bearing seat is detachably connected with the heat dissipation shell, the upper end of the stator is fixedly connected with the rotating shaft connecting seat, and the outer side of the stator is fixedly wound with a copper wire. The method has the advantages that the driving energy consumption is reduced, the operation noise is reduced, and the control flexibility is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robots, and in particular to a self-adaptive structured quadruped robot motor drive system. Background Art

[0002] With the development of unmanned information control technology, more and more quadruped robots with different functions have achieved efficient control, reduced their production costs, and realized large-scale production and use. However, there are large losses in the energy conversion and transmission process in the existing quadruped robot motor drive system, and the overall energy utilization efficiency is low, which seriously affects the overall working time of the robot. At the same time, the drive system has poor flexibility and cannot control the overall output power according to road conditions and actual use conditions. When encountering obstacles, it is easy to cause the robot to lose balance, reducing the overall working reliability, and therefore cannot meet the existing actual use needs. Summary of the invention

[0003] The purpose of the present invention is to provide an adaptive structured quadruped robot motor drive system, which solves the technical problems of high energy consumption and poor control flexibility of the drive system in the prior art, and achieves the technical effect of reducing drive energy consumption and improving the overall control effect.

[0004] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0005] The adaptive structured quadruped robot motor drive system includes a heat dissipation shell, a rotor structure and a stator structure. The heat dissipation shell is cylindrical in shape and has a multi-layer heat dissipation groove on the outside. The rotor structure is located on the inner side of the heat dissipation shell. The rotor structure is composed of a plurality of magnet plates. The magnet plates are distributed around the axis of the heat dissipation shell at equal intervals. A mounting base is provided at the lower end of the magnet plate. The mounting base is in the shape of a hollow disc and has a mounting groove on the upper end to be fixedly connected with the magnet plate. The outer side of the mounting base is rotatably connected with bolts to be detachably connected to the heat dissipation shell. The stator structure is located on the heat dissipation shell. The axis position of the shell, the axis of the rotating shaft part of the stator structure coincides with the axis of the heat dissipation shell, the outer side of the stator structure is provided with a bearing seat and rotatably connected to the mounting base, the side of the stator structure away from the mounting base is detachably connected with a rotating shaft connecting seat, the outer side of the rotating shaft connecting seat is sleeved and fixed with a bearing seat, the lower end of the bearing seat is provided with a mounting plate, and the mounting plate is detachably connected to the heat dissipation shell by bolts, there are twelve stator parts of the stator structure, which are evenly spaced with the axis of the rotating shaft part as the center, the upper end of the stator is fixedly connected to the rotating shaft connecting seat, and the outer side of the stator is wound and fixed with copper wire.

[0006] As an improvement, a heat dissipation cover is provided on the side of the heat dissipation shell away from the rotating shaft connecting seat, the inner side of the heat dissipation cover has a cavity, the heat dissipation cover is fixedly connected to the heat dissipation shell by bolts, a circuit board is fixed on the inner side of the cavity, a wiring port is fixed on the upper end of the circuit board, one end of the wiring port extends out of the heat dissipation cover for external power supply and control circuit.

[0007] As an improvement, a sensor is fixed to the upper end of the circuit board, and the upper end of the sensor is rotatably connected to two sets of gears. The side of the rotating shaft part of the stator structure away from the rotating shaft connecting seat has a transmission gear and is connected to the gear transmission. The sensor is used to measure the rotation angle of the gear and convert it into a corresponding electrical signal.

[0008] As an improvement, a rotating connection seat is fixed on the outer side of the rotating shaft connection seat, and the rotating connection seat is fixedly connected to the rotating shaft connection seat through a fastening ring. The rotating connection seat is located on the inner side of the bearing seat, and a bearing connection seat is fixed on the upper end of the mounting plate. The inner side of the bearing connection seat has a mounting groove for limiting the radial movement of the bearing seat.

[0009] The beneficial effects of the present invention are as follows: by coaxially arranging multiple bearing seats in conjunction with the rotor structure, kinetic energy waste can be reduced, thereby reducing overall energy consumption, and at the same time, noise during operation can be further reduced, reducing environmental pollution; by arranging a circuit board in conjunction with an adaptive control algorithm, energy loss can be further reduced, and the service life of the battery can be extended; by centrally arranging structures such as the stator and rotor, the center of gravity position of the device can be effectively controlled, thereby improving overall stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A three-dimensional diagram of the motor drive system of the self-adaptive structured quadruped robot of the present invention;

[0011] Figure 2 A three-dimensional diagram of the internal structure of the motor drive system of the self-adaptive structured quadruped robot of the present invention;

[0012] Figure 3 It is a front view of the motor drive system of the adaptive structured quadruped robot of the present invention;

[0013] Figure 4 A rear half-section view of the motor drive system of the adaptive structured quadruped robot of the present invention;

[0014] Figure 5 It is a front view of the internal structure of the motor drive system of the self-adaptive structured quadruped robot of the present invention;

[0015] Figure 6 It is a three-dimensional diagram of the stator structure part of the adaptive structured quadruped robot motor drive system of the present invention.

[0016] In the figure: 1. heat dissipation housing; 2. rotating connection seat; 3. bearing connection seat; 4. mounting plate; 5. rotor structure; 6. mounting base; 7. shaft connection seat; 8. stator structure; 9. heat dissipation cover; 10. wiring port; 11. circuit board; 12. gear. DETAILED DESCRIPTION

[0017] In order to make the content of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. The same parts are represented by the same figure marks. It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to the directions in the drawings, and the words "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0018] like Figures 1 to 6 As shown, the self-adaptive structured quadruped robot motor drive system includes a heat dissipation shell 1, a rotor structure 5 and a stator structure 8. The heat dissipation shell 1 is cylindrical in shape and has a multi-layer heat dissipation groove on the outside. The rotor structure 5 is located on the inner side of the heat dissipation shell 1. The rotor structure 5 is composed of a plurality of magnet plates. The magnet plates are distributed around the axis of the heat dissipation shell 1 at equal intervals. A mounting base 6 is provided at the lower end of the magnet plate. The mounting base 6 is in the shape of a hollow disc, and a mounting groove is provided at the upper end to be fixedly connected with the magnet plate. The outer side of the mounting base 6 is rotatably connected with bolts to be detachably connected with the heat dissipation shell 1. The stator structure 8 is located at the heat dissipation shell 1. The axis position of the housing 1, the axis of the rotating shaft part of the stator structure 8 coincides with the axis of the heat dissipation housing 1, the outer side of the stator structure 8 is provided with a bearing seat and is rotatably connected to the mounting base 6, the side of the stator structure 8 away from the mounting base 6 is detachably connected with a rotating shaft connecting seat 7, the outer side of the rotating shaft connecting seat 7 is sleeved and fixed with a bearing seat, the lower end of the bearing seat is provided with a mounting plate 4, the mounting plate 4 is detachably connected to the heat dissipation housing 1 by bolts, the stator structure 8 has twelve stator parts in total, which are evenly spaced with the axis of the rotating shaft part as the center, the upper end of the stator is fixedly connected to the rotating shaft connecting seat 7, and the outer side of the stator is wound and fixed with copper wire. The inner side of the heat dissipation housing 1 is provided with multiple groups of connecting grooves, the inner side of the connecting grooves is provided with threads for the installation of fixing bolts, which is convenient for further improving the fixing effect of the heat dissipation housing 1 and the mounting base 6, and can further improve the overall strength of the heat dissipation housing 1.

[0019] The heat dissipation housing 1 is provided with a heat dissipation cover plate 9 on the side away from the rotating shaft connection seat 7. The inner side of the heat dissipation cover plate 9 has a cavity. The heat dissipation cover plate 9 is fixedly connected to the heat dissipation housing 1 by bolts. A circuit board 11 is fixed on the inner side of the cavity. A wiring port 10 is fixed on the upper end of the circuit board 11. One end of the wiring port 10 extends out of the heat dissipation cover plate 9 for external power supply and control circuit. A sensor is fixed on the upper end of the circuit board 11. The upper end of the sensor is rotatably connected with two sets of gears 12. The rotating shaft part of the stator structure 8 is provided with a transmission gear on the side away from the rotating shaft connection seat 7 and is transmission-connected with the gear 12. The sensor is used to measure the rotation angle of the gear 12 and convert it into a corresponding electrical signal. A rotating connection seat 2 is sleeved and fixed on the outer side of the rotating shaft connection seat 7. The rotating connection seat 2 is fixedly connected to the rotating shaft connection seat 7 through a fastening ring. The rotating connection seat 2 is located on the inner side of the bearing seat. A bearing connection seat 3 is fixed on the upper end of the mounting plate 4. The inner side of the bearing connection seat 3 has a mounting groove for limiting the radial movement of the bearing seat. The circuit board 11 can be equipped with different sensors and control units according to different usage types. The various control units can be connected through modular standard interfaces, which can also facilitate the replacement of subsequent parts.

[0020] When in use, the mounting base 6 can be connected and fixed to the trunk of the quadruped robot, and the corresponding circuit can be connected through the wiring port 10, and then the mechanical leg part can be fixedly connected through the rotating connection seat 2, and the corresponding control circuit can be connected to the circuit board 11 through the groove on the inner side of the heat dissipation shell 1. After the assembly is completed, it can be put into use. During the operation, the control unit on the circuit board 11 will receive the corresponding control signal and control the power-on operation of the entire device; in this process, the gear 12 will timely and accurately transmit the corresponding motion characteristics of the rotating shaft part of the stator structure 8 to the sensor, and then the sensor will identify the corresponding change signal, and then cooperate with the control algorithm to calculate the corresponding signal data, so as to further improve the control accuracy.

[0021] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. The adaptive structured quadruped robot motor drive system is characterized by: The invention comprises a heat dissipation shell (1), a rotor structure (5) and a stator structure (8). The heat dissipation shell (1) is cylindrical in shape and has a plurality of heat dissipation grooves on the outside. The rotor structure (5) is located on the inside of the heat dissipation shell (1). The rotor structure (5) is composed of a plurality of magnet plates. The magnet plates are arranged at equal intervals around the axis of the heat dissipation shell (1). A mounting base (6) is provided at the lower end of the magnet plate. The mounting base (6) is in the shape of a hollow disk and has a mounting groove on the upper end thereof for fixed connection with the magnet plate. The outer side of the mounting base (6) is rotatably connected with bolts so as to be detachably connected with the heat dissipation shell (1). The stator structure (8) is located at the axial position of the heat dissipation shell (1). The axis of the rotating shaft part of the stator structure (8) coincides with the axis of the heat dissipation housing (1); the outer side of the stator structure (8) is provided with a bearing seat rotatably connected to the mounting base (6); the side of the stator structure (8) away from the mounting base (6) is detachably connected to a rotating shaft connecting seat (7); the outer side of the rotating shaft connecting seat (7) is sleeved and fixed with a bearing seat; the lower end of the bearing seat is provided with a mounting plate (4); the mounting plate (4) is detachably connected to the heat dissipation housing (1) by bolts; the stator structure (8) has twelve stator parts in total, which are evenly spaced and distributed with the axis of the rotating shaft part as the center of the circle; the upper end of the stator is fixedly connected to the rotating shaft connecting seat (7); and the outer side of the stator is wound and fixed with copper wire.

2. The adaptive structured quadruped robot motor drive system according to claim 1, characterized in that: A heat dissipation cover plate (9) is provided on a side of the heat dissipation housing (1) away from the rotating shaft connection seat (7), the heat dissipation cover plate (9) has a cavity on the inner side, the heat dissipation cover plate (9) is fixedly connected to the heat dissipation housing (1) by bolts, a circuit board (11) is fixed on the inner side of the cavity, a wiring port (10) is fixed on the upper end of the circuit board (11), one end of the wiring port (10) extends out of the heat dissipation cover plate (9) for external power supply and control circuit.

3. The adaptive structured quadruped robot motor drive system according to claim 2, characterized in that: A sensor is fixed to the upper end of the circuit board (11), and the upper end of the sensor is rotatably connected to two sets of gears (12). The side of the rotating shaft portion of the stator structure (8) away from the rotating shaft connecting seat (7) is provided with a transmission gear which is transmission-connected to the gear (12), and the sensor is used to measure the rotation angle of the gear (12) and convert it into a corresponding electrical signal.

4. The self-adaptive structured quadruped robot motor drive system according to claim 1, characterized in that: A rotating connection seat (2) is fixedly sleeved on the outer side of the rotating shaft connection seat (7), and the rotating connection seat (2) is fixedly connected to the rotating shaft connection seat (7) via a fastening ring. The rotating connection seat (2) is located on the inner side of the bearing seat. A bearing connection seat (3) is fixed on the upper end of the mounting plate (4), and the inner side of the bearing connection seat (3) is provided with a mounting groove for limiting the radial movement of the bearing seat.

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