Robot with joint motor quick release structure

Abstract

The invention relates to a robot with a joint motor quick release structure, belongs to the technical field of quadruped robots, and solves the problem that a robot joint motor is inconvenient to disassemble and assemble in the prior art. The robot comprises a robot body, a plurality of leg and foot assemblies arranged on the robot body and joint motor quick release structures matched with the leg and foot assemblies. And each leg and foot assembly can be detachably and fixedly arranged on the machine body in the width direction of the machine body through a group of joint motor quick release structures. The mounting direction of the joint motor is changed through the joint motor quick release structure, and the operation space and convenience of assembly personnel are improved. Compared with the prior art, the disassembly and assembly efficiency of the joint motor is improved, and manpower and time cost can be saved in the assembling and debugging process of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot with a quick-release joint motor structure. Background Technology

[0002] Quadruped robots, also known as legged robots, are a type of robot that mimics the leg movements of humans or animals to move. Currently, the joint motors of quadruped robots mostly adopt a three-joint motor integration method (hip joint motor, thigh motor, and knee joint motor), such as... Figure 1 As shown, this achieves a compact structural layout, lightweight joints, and higher transmission efficiency. Regarding the connection between the joint motor and the chassis, existing solutions typically involve setting a flange structure on the hip joint motor, such as... Figure 2 As shown, assembly is carried out along the front-to-back direction of the entire machine. For industrial-grade, high-load quadruped robots, an additional rotating joint is also provided on the other side of the mounting flange to provide auxiliary support.

[0003] As a key power output component of robots, joint motors require frequent disassembly and assembly during robot research and development. The current installation layout results in significant manpower and time costs for joint motor assembly, specifically in the following ways:

[0004] 1. The joint motors are assembled along the front-to-back direction of the whole machine. Because the robot is usually arranged very compactly, the operating space for the assembly personnel is small.

[0005] 2. The mounting flange of the joint motor needs to be equipped with a sufficient number of screws to increase the connection strength, which also increases the time required for disassembly and assembly;

[0006] 3. When there are additional structural components on the front and rear sides of the joint motor (such as the rotating joint in the example or functional devices such as cameras and radars placed on the front and rear of the whole machine), the front and rear structural components must be removed before the joint motor can be removed. Summary of the Invention

[0007] Based on the above analysis, the present invention aims to provide a robot with a quick-release joint motor structure to solve the problem of inconvenient assembly and disassembly of robot joint motors in the prior art.

[0008] On the one hand, the present invention provides a robot with a quick-release structure for joint motors, including a fuselage, a plurality of leg assemblies arranged on the fuselage, and a quick-release structure for joint motors provided in cooperation with each leg assembly; each leg assembly can be detachably fixed to the fuselage along the width direction of the fuselage through a set of quick-release structures for joint motors; the quick-release structure for joint motors includes a joint motor bracket, and the joint motor bracket includes a support ring and a rectangular beam structure provided on the support ring. There are two rectangular beam structures, symmetrically arranged on the outer peripheral surface of the support ring, one protruding upward and the other protruding downward; the rectangular beam structure includes a first mounting plane, and the first mounting plane extends along the axis direction of the support ring, and the first mounting plane is used for fixedly connecting with the side surface of the fuselage.

[0009] Further, each leg assembly includes a set of joint motors, and the joint motors include hip joint motors.

[0010] Further, the hip joint motor includes a hip joint motor housing, and the quick-release structure for joint motors is provided on the hip joint motor housing.

[0011] Further, the joint motor bracket and the hip joint motor housing are integrally processed and formed.

[0012] Further, motor bracket mounting holes are provided on the first mounting plane.

[0013] Further, there are two or more motor bracket mounting holes, arranged along the axis direction of the support ring.

[0014] Further, a second mounting plane is provided on the fuselage, and motor bracket mating grooves are provided on the second mounting plane.

[0015] Further, the shape and size of the motor bracket mating grooves are adapted to the rectangular beam structure.

[0016] Further, first threaded holes are provided on the side walls of the motor bracket mating grooves, and the first threaded holes are arranged in one-to-one correspondence with the motor bracket mounting holes.

[0017] Further, the first mounting planes of the two rectangular beam structures are coplanar.

[0018] Compared with the prior art, the present invention can at least achieve one of the following beneficial effects:

[0019] (1) By designing the joint motor bracket to change the installation direction of the joint motor, the present invention improves the operation space and convenience for assembly personnel. Compared with the prior art solutions, the disassembly and assembly efficiency of the joint motor is improved, and labor and time costs can be saved during the assembly and debugging processes of the robot.

[0020] (2) The quick-release structure of the joint motor of the present invention utilizes the body structure as support, and increases the installation strength between the joint motor and the body through a key-slot-like fit, reduces the number of screws, and improves the installation efficiency and reliability of the joint motor.

[0021] (3) By setting up a motor cable connector, the present invention enables the cable to be connected to the machine body in a pluggable manner, which is convenient and quick to operate.

[0022] (4) The present invention provides a bearing bracket, which is suitable for the arrangement of setting a rotating pair as an auxiliary support on the other side of the joint motor, and is easy and reliable to install.

[0023] (5) The quick-release joint motor solution provided by the present invention has high versatility. In addition to quadruped robots, it can also be applied to bipedal robots, multi-legged robots and wheeled robots, and has the advantage of being widely promoted.

[0024] (6) The quadruped robot with a quick-release joint motor structure proposed in this invention improves the cooling efficiency of the joint motor and the system integration by setting the joint motor cooling system in the quick-release joint motor structure.

[0025] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0026] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0027] Figure 1 This is a schematic diagram and a partial enlarged view of the structure of a quadruped robot in the prior art;

[0028] Figure 2 This is a schematic diagram of the joint motor of a quadruped robot in the prior art;

[0029] Figure 3 This is a schematic diagram of the joint motor support structure of the robot with the quick-release joint motor structure of the present invention.

[0030] Figure 4 This is a schematic diagram of the front bearing bracket structure of the articulated motor of the robot with the quick-release structure of the articulated motor according to the present invention.

[0031] Figure 5This is a schematic diagram of the fan bracket of the robot with a quick-release joint motor structure according to the present invention.

[0032] Figure 6 This is an assembly diagram of the robot with a quick-release joint motor structure according to the present invention;

[0033] Figure 7 This is a diagram showing the quick-release structure and accessories for the articulated motor (articulated motor installed in place).

[0034] Figure label:

[0035] 1-Joint motor bracket; 2-Hip joint motor housing; 3-Rectangular beam structure; 4-Motor bracket mounting hole; 5-Bearing bracket; 6-Bearing bracket mounting hole; 7-Support shaft; 8-Body; 9-Front structural component; 10-Joint motor; 11-Bearing housing; 12-Motor cable connector; 13-Motor bracket mating groove; 14-Fan bracket; 15-Cooling fan; 16-Leg assembly; 17-Fan bracket mounting hole; 18-Cooling fan mounting hole. Detailed Implementation

[0036] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0037] Example 1

[0038] A specific embodiment of the present invention, such as Figures 3 to 7 As shown, a robot with a quick-release joint motor structure is disclosed.

[0039] The robot with a quick-release joint motor structure involved in this invention includes a body 8, a plurality of leg assemblies 16 disposed on the body 8, and a quick-release joint motor structure disposed in conjunction with each leg assembly 16. Each leg assembly 16 is detachably fixed to the body 8 along the width direction of the body 8 by a set of quick-release joint motor structures.

[0040] Specifically, the fuselage 8 is a rectangular block, with four leg assemblies 16 located at the four corners of the rectangular block. Each leg assembly 16 is also provided with a front structural component 9 or a rear structural component on the fuselage 8. Each leg assembly 16 includes a set of articulated motors 10, including a hip joint motor. During assembly, the axis of the hip joint motor is parallel to the length direction of the fuselage 8. The hip joint motor includes a hip joint motor housing 2, and a quick-release structure for the joint motor is provided on the hip joint motor housing 2.

[0041] In this embodiment, the quick-release structure for the joint motor includes a joint motor bracket 1, which is integrally formed with the hip joint motor housing 2, as shown in the figure. Figure 3 As shown. The joint motor bracket 1 includes a support ring and a rectangular beam structure 3 disposed on the support ring. The inner circumferential surface of the support ring engages with the hip joint motor to form the hip joint motor housing 2.

[0042] The rectangular beam structure 3 protrudes vertically upward or downward from the outer peripheral surface of the support ring, and includes a first mounting plane that extends along the axial direction of the support ring. Two motor bracket mounting holes 4 are provided on the first mounting plane. In a preferred embodiment, two rectangular beam structures 3 are provided, symmetrically arranged on the outer peripheral surface of the support ring, one protruding upward and the other downward, and the first mounting planes of the two rectangular beam structures 3 are coplanar.

[0043] Correspondingly, see Figure 6 The body 8 is provided with a second mounting surface, on which a motor bracket mating groove 13 is provided. The shape and size of the motor bracket mating groove 13 are adapted to the rectangular beam structure 3, and are used to mate with the rectangular beam structure 3 of the joint motor bracket 1 to install the leg assembly 16.

[0044] Figure 6 In the diagram, direction 1 represents the length of the fuselage 8, and direction 2 represents the width of the fuselage 8. Opening slots are provided on both sides of the fuselage 8 to accommodate the articulated motors 10 of the leg assembly 16. Second mounting planes are located on both sides of the fuselage 8, and two motor bracket mating slots 13 are provided on each second mounting plane, located above and below the opening slots, respectively. The shape and size of the motor bracket mating slots 13 are adapted to the rectangular beam structure 3. First threaded holes, corresponding one-to-one with the motor bracket mounting holes 4, are provided on the sidewalls of the motor bracket mating slots 13.

[0045] When the leg assembly 16 needs to be installed, the joint motor 10 is moved along... Figure 6 The rectangular beam structure 3 is inserted into the openings on both sides of the fuselage 8 along the central direction 2 (i.e., the width direction of the fuselage), and the first mounting plane of the rectangular beam structure 3 is brought close to the second mounting plane of the fuselage 8 until it is engaged in the motor bracket mating groove 13. A screw is then inserted through the motor bracket mounting hole 4 and into the first threaded hole on the motor bracket mating groove 13, causing the articulated motor 10 to move along... Figure 6 The center direction 2 (the width direction of the whole machine) is fixed on the body 8.

[0046] When it is necessary to disassemble the leg assembly 16, simply loosen the corresponding screws.

[0047] In this embodiment, since the motor bracket mounting hole 4 on the rectangular beam structure 3 is perpendicular to the axis of the hip joint motor housing 2, the joint motor 10 can be disassembled and assembled along the width of the entire machine, compared to the prior art where the motor mounting direction can only be along... Figure 6Regarding the central direction 1, i.e. the axial direction (length direction of the whole machine) of the hip joint motor housing 2, the present invention avoids interference from the front structural component 9 or the rear structural component, expands the operating space of the assembler, and greatly saves the time for disassembling and assembling the joint motor.

[0048] According to the solution of this embodiment, during the disassembly and assembly of the motor, the leg assembly 16 can maintain its assembly relationship with the joint motor 10, without affecting the disassembly and assembly of the joint motor 10. Because the joint motor 10... Figure 6 The assembly is carried out in the middle direction 2. The front structural component 9 (or the rear structural component) does not affect the assembly process of the motor.

[0049] Furthermore, by using a key-slot-like fit between the rectangular beam structure 3 and the motor bracket groove 13, the installation area of ​​the articulated motor bracket 1 and the body 8 is increased. Simultaneously, the key-slot fit restricts the relative rotation between the articulated motor bracket 1 and the body 8, ensuring that the articulated motor 10 has sufficient installation strength in all directions. This fit allows the mounting screws of the articulated motor bracket 1 to primarily bear axial preload, ensuring the reliability of the screw connection while reducing the number of screws and further improving the assembly and disassembly efficiency of the articulated motor.

[0050] Furthermore, motor cable connectors 12 are arranged on the left and right sides of the fuselage 8. The motor cable connectors 12 are located adjacent to the motor bracket mating slots 13. The insertion and removal direction of the motor cables is also along... Figure 6 In the middle direction 2, the assembler can directly plug and unplug the motor cable during the disassembly and assembly of the joint motor 10, which is convenient and quick.

[0051] In a preferred embodiment, the quick-release structure also includes a bearing bracket 5. The structure of the bearing bracket 5 is as follows: Figure 4 As shown, the bearing bracket 5 includes a mounting portion and a support shaft 7. The mounting portion has a third mounting plane that extends vertically, and two horizontally extending bearing bracket mounting holes 6 are provided on the third mounting plane. The support shaft 7 protrudes horizontally outward from the middle of one side of the mounting portion, and the axial direction of the support shaft 7 is perpendicular to the axial direction of the bearing bracket mounting holes 6.

[0052] Correspondingly, see Figure 6 The fuselage 8 has a fourth mounting surface on each of its two sides. The fourth mounting surface is parallel to the second mounting surface and is located on the opposite side of the opening slot relative to the second mounting surface. The fourth mounting surface has a second threaded hole corresponding to the bearing bracket mounting hole 6 on the third mounting surface.

[0053] Meanwhile, a bearing housing 11 is provided on the side of the joint motor 10 away from the hip joint motor. A rolling bearing can be arranged between the support shaft 7 and the bearing housing 11 to achieve a rotational connection with the joint motor 10. During the assembly of the leg and foot assembly 16, the bearing bracket 5 is first connected to the joint motor 10, and then they are moved together along... Figure 6 The center direction 2 is assembled onto the fuselage 8, so that the third mounting surface is in close contact with the fourth mounting surface, and they are fixed together by screws.

[0054] With this configuration, a rotating pair can be arranged on one side of the joint motor 10 as an auxiliary support, and the joint motor 10 can be quickly disassembled through the bearing bracket 5.

[0055] Furthermore, the bearing bracket 5 also includes an annular groove, which is arranged around the outer periphery of the support shaft 7, such as... Figure 4 As shown. By setting this annular groove, it can better fit with the bearing housing 11, providing better support and protection for the rolling bearing.

[0056] Compared with the prior art, the robot with a quick-release joint motor structure provided in this embodiment has at least the following advantages:

[0057] 1. By designing a joint motor bracket, the installation direction of the joint motor is changed, improving the operating space and convenience for assembly personnel. Compared with existing technical solutions, the disassembly and assembly efficiency of the joint motor is increased by more than 80%, saving a significant amount of manpower and time costs during robot assembly and debugging.

[0058] 2. The quick-release structure of the joint motor in this embodiment utilizes the body structure for support, and increases the installation strength between the joint motor and the body through a key-slot-like fit, reduces the number of screws, and improves the installation efficiency and reliability of the joint motor.

[0059] 3. In this embodiment, by setting a motor cable connector, the cable can be connected to the machine body in a pluggable manner, which is convenient and quick to operate.

[0060] 4. This embodiment provides a bearing bracket, which is suitable for an arrangement where a rotating pair is set on the other side of the joint motor for auxiliary support, and is easy and reliable to install.

[0061] 5. The quick-release joint motor solution provided by this invention has high versatility. In addition to quadruped robots, it can also be applied to bipedal robots, multi-legged robots, and wheeled robots, and has the advantage of being widely applicable.

[0062] Example 2

[0063] Another specific embodiment of the present invention, such as Figures 5-7As shown, a quadruped robot with a quick-release joint motor structure is disclosed. Based on embodiment 1, a motor cooling system is also provided in the quick-release joint motor structure.

[0064] See Figure 5 , Figure 6 The motor cooling system includes a fan bracket 14 and a cooling fan 15. The structure of the fan bracket 14 is as follows: Figure 5 As shown, a frame with three side borders is connected sequentially, with the joints perpendicular to each other, forming a semi-square bracket shape. The fan bracket 14 includes a fifth mounting plane and a sixth mounting plane that are parallel to each other. Four fan bracket mounting holes 17 are provided on the fifth mounting plane for fixing the fan bracket 14 to the joint motor bracket 1. Three cooling fan mounting holes 18 are provided on the sixth mounting plane for fixing the cooling fan 15 to the fan bracket 14.

[0065] During the disassembly and assembly of the leg assembly 16, the motor cooling system and the joint motor 10 remain as a unified whole. The cooling fan 15 is fixed to the fan bracket 14 with screws. The fan bracket 14 is installed on the outside of the joint motor bracket 1. With this arrangement, the fan inlet faces the hip joint motor, and the fan outlet faces the joint motor heat sink, thus creating airflow circulation around the motor and improving the motor's cooling efficiency. In addition, compared to the existing technology that places the fan on the body, this layout reduces the distance between the cooling fan and the motor, avoiding reduced airflow due to the fan being too far away or the air duct design, and allowing the cooling fan to perform better.

[0066] Compared to existing technologies, the quadruped robot with a quick-release joint motor structure proposed in this embodiment integrates the joint motor cooling system into the quick-release joint motor structure, thereby improving system integration and joint motor cooling efficiency.

[0067] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot having a joint motor quick release structure, characterized by, The utility model provides a kind of robot, including fuselage (8), multiple leg assemblies (16) being arranged on fuselage (8) and joint motor quick release structure being arranged with each leg assembly (16);Each leg assembly (16) can be detachably fixed on fuselage (8) along the width direction of fuselage (8) by a group of joint motor quick release structure;The joint motor quick release structure includes joint motor support (1), the joint motor support (1) includes support ring and rectangular beam structure (3) being arranged on the support ring, the rectangular beam structure (3) is provided with two, symmetrically arranged on the outer circumferential surface of the support ring, one protrudes upwards, and the other protrudes downwards;The rectangular beam structure (3) includes first installation plane, the first installation plane extends along the axis direction of the support ring, and the first installation plane is used to be fixedly connected with the side surface of the fuselage (8).

2. The robot having a joint motor quick release structure according to claim 1, characterized by, Each leg assembly (16) includes a group of joint motors (10), and the joint motor (10) includes a hip joint motor.

3. The robot with a quick release structure of a joint motor according to claim 2, wherein, The hip joint motor includes a hip joint motor housing (2), and the joint motor quick release structure is arranged on the hip joint motor housing (2).

4. The robot having a joint motor quick release structure according to claim 3, characterized by, The joint motor support (1) is integrally machined and formed with the hip joint motor housing (2).

5. The robot with quick release structure of joint motor according to any one of claims 1-4, characterized in that, The first installation plane is provided with a motor support mounting hole (4).

6. The robot having a joint motor quick release structure according to claim 5, wherein, The motor support mounting hole (4) is provided with two or more and is arranged along the axis direction of the support ring.

7. The robot having a joint motor quick release structure according to claim 6, characterized by, The fuselage (8) is provided with a second installation plane, and the second installation plane is provided with a motor support matching groove (13).

8. The robot with the quick release structure of the joint motor according to claim 7, characterized in that, The motor support matching groove (13) is matched with the rectangular beam structure (3) in shape and size.

9. The robot having a joint motor quick release structure according to claim 8, characterized by, The sidewall of the motor support matching groove (13) is provided with a first threaded hole, and the first threaded hole is provided in one-to-one correspondence with the motor support mounting hole (4).

10. The robot with a quick release structure of a joint motor according to claim 9, wherein, The first installation planes of the two rectangular beam structures (3) are coplanar.

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