Modular joint motor assembly structure type for quadruped robot

Abstract

The utility model discloses a modular joint motor set connecting structure for a quadruped robot, a shutdown motor set is connected with a joint motor set fixing cantilever of a robot trunk, and the joint motor set is mainly composed of a joint motor set fixing frame, a one-axis motor, a two-axis motor, a two-axis motor supporting frame, a three-axis motor supporting frame and a three-axis motor. The joint motor set is high in integration degree, and modularized and standardized design can be achieved; the joint motor set is more convenient to disassemble, assemble and maintain, dependence on manpower is reduced, and efficiency and maintainability are improved; the whole joint motor set is located outside the robot trunk, the influence of motor heat on the robot is reduced, heat dissipation is improved, and product reliability is improved; the joint motor is arranged outside the metal cavity of the robot trunk, electromagnetic interference of the motor to robot hardware is reduced, and product reliability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of quadruped robots, in particular to a modular joint motor group connection structure for quadruped robots. Background Art

[0002] The joint motor group of a quadruped robot generally consists of three motors. In order to achieve the fixation of the joint motor group, one of the motors is usually fixed inside the robot body, and the rotor of the motor extends out of the robot body and is connected to the other two motors. This brings several problems. First, the motor is difficult to assemble and disassemble, the process is complicated, and it is highly dependent on manual labor. Second, the one-axis motor is located inside the robot body and continues to generate heat during the operation of the robot, causing the temperature inside the body to rise, which is not conducive to heat dissipation. Third, once the fixing method of the motor and the body is determined, it is difficult to adapt to other types of motors, which is not conducive to the platformization and standardization of the product body. The motor should generate electromagnetic interference to the hardware inside the robot body. Utility Model Content

[0003] In order to facilitate the disassembly and assembly of the joint motor group, improve the heat dissipation effect of the robot, realize the platformization and standardization of the product body, and reduce the electromagnetic interference of the motor to the robot hardware, the utility model provides a modular joint motor group connection structure for a quadruped robot.

[0004] The technical solution adopted by the utility model is: a modular joint motor group connection structure for a quadruped robot, including four joint motor groups connected to the joint motor group fixed cantilever of the robot torso, the joint motor group consisting of a joint motor group fixing frame, a one-axis motor, a two-axis motor, a two-axis motor support frame and a three-axis motor; the upper and lower ends of the joint motor group fixing frame are connected to the joint motor group fixed cantilever, the one-axis motor is located on one side of the joint motor group fixing frame, the two-axis motor and the three-axis motor are located on the other side of the joint motor group fixing frame, the joint motor group fixing frame is connected to the one-axis motor stator, one end of the two-axis motor support frame is connected to the one-axis motor rotor, and the other end is connected to the two-axis motor stator, and the two-axis motor rotor is connected to the three-axis motor stator.

[0005] Furthermore, the joint motor group fixing cantilever is fixedly connected to the joint motor group fixing frame by means of bolts.

[0006] Furthermore, the fixed cantilever of the joint motor group is fixed to the robot trunk structure by bolts.

[0007] Furthermore, the joint motor assembly fixing frame is fixedly connected to the stator housing of the single-axis motor through bolts.

[0008] Furthermore, the stator of the three-axis motor is connected to the thigh, and the one-axis motor drives the robot leg to swing along the axis of the one-axis motor through the two-axis motor and the three-axis motor.

[0009] Furthermore, the second-axis motor is located inside the three-axis motor and is used to drive the robot's thigh to rotate.

[0010] Furthermore, the three-axis motor rotor is connected to the robot leg through a connecting rod.

[0011] Furthermore, the joint motor assembly fixing frame and the stator part of the single-axis motor are integrated with each other.

[0012] Furthermore, one end of the second and third axis motor support bracket is screwed to the first axis motor rotor.

[0013] Furthermore, the second-axis motor and the third-axis motor are connected to the second-axis and third-axis motor support frames by screws.

[0014] Compared with the prior art, the remarkable effects of the present invention are:

[0015] 1) The joint motor group has a high degree of integration, which can realize modular and standardized design;

[0016] 2) The joint motor unit is easier to disassemble and maintain, reducing dependence on manual labor and improving efficiency and maintainability;

[0017] 3) The joint motor group is located outside the robot body, reducing the impact of motor heat on the robot, improving heat dissipation and enhancing product reliability;

[0018] 4) Targeted joint motors can be customized according to user needs and quickly replaced; thus, the robot trunk can be platformized, improving product versatility and environmental adaptability;

[0019] 5) The joint motor is placed outside the metal cavity of the robot body to reduce the electromagnetic interference of the motor on the robot hardware and improve product reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of a quadruped robot using a joint motor group structure.

[0021] Figure 2 It is the joint motor group.

[0022] Figure 3 It is the connection structure of the joint motor group.

[0023] Among them: 1. Robot torso, 2. Joint motor group, 3. Robot legs, 1.1. Joint motor group fixed cantilever, 2.1. Joint motor group fixed frame, 2.2. One-axis motor, 2.3. Two-axis motor, 2.4. Two- and three-axis motor support frame, 2.5. Three-axis motor. DETAILED DESCRIPTION

[0024] Combine Figures 1 to 3A quadruped robot using a joint motor group connection structure is composed of a robot trunk 1, several joint motor groups 2, and several robot legs 3; the joint motor group 2 is composed of a joint motor group fixing frame 2.1, a single-axis motor 2.2, a second-axis motor 2.3, a second- and third-axis motor support frame 2.4, and a three-axis motor 2.5; in the robot trunk 1, the structure related to the fixed connection of the shutdown motor group 2 is the joint motor group fixing cantilever 1.1.

[0025] In the robot torso 1, the joint motor group fixed cantilever 1.1 is fixedly connected to the robot torso structure by bolts (not limited to this form), and the two can also be integrated with each other; in the joint motor group 2, the difference from other structures is that: a joint motor group fixing frame 2.1 is added to the motor group, and this structure is fixedly connected to the stator housing of the one-axis motor 2.2 by bolts (not limited to this form). The entire joint motor group 2 is a quick-release module, and the joint motor group fixing frame 2.1 can be used to realize the rapid disassembly and assembly of the entire module.

[0026] There is a structural matching relationship and corresponding screw clamping hole positions between the joint motor group fixing frame 2.1 and the joint motor group fixing cantilever 1.1, such as Figure 2 As shown, only four screws are needed to disassemble and assemble the structural part of the shutdown motor group 2; the wiring harness is plugged in and out through the aviation plug, and quick electrical connection and disconnection can also be achieved.

[0027] When the joint motor group 2 needs to be installed on the robot trunk 1, as shown in Figure 3 As shown, first align the matching structure of the joint motor group fixing frame 2.1 in the joint motor group 2 and the joint motor group fixing cantilever 1.1 in the robot torso 1 to achieve the positioning of the joint motor group 2, and then use bolts (not limited to this form) to fix the joint motor group fixing frame 2.1 and the joint motor group fixing cantilever 1.1 together to achieve the fixation of the joint motor group 2 and the robot torso 1.

[0028] When the joint motor group 2 needs to be removed from the robot trunk 1, Figure 3 As shown, first remove the screws between the joint motor group fixing frame 2.1 and the joint motor group fixing cantilever 1.1 (not limited to this form), and then the joint motor group 2 structural parts can be quickly separated from the robot torso 1.

[0029] When the joint motor group 2 itself needs to be disassembled, first disconnect the second and third axis motor support frame 2.4 from the rotor of the first axis motor 2.2 with screws. At this time, the second axis motor 2.3, the second and third axis motor support frame 2.4, and the third axis motor 2.5 are separated from the first axis motor 2.2; then disconnect the joint motor group fixing frame 2.1 from the first axis motor 2.2 with screws; finally, remove the second axis motor 2.3 and the third axis motor 2.5 from the second and third axis motor support frame 2.4 with screws, and the joint motor group 2 can be disassembled. The assembly process of the joint motor group 2 is the opposite of the above and will not be repeated here.

[0030] The joint motor assembly fixing frame 2.1 can also be integrated with the stator part of the single-axis motor 2.2.

[0031] The joint motor group 2 is a modular module as a whole and can be moved as a whole during disassembly, assembly and maintenance.

Claims

1. A modular joint motor assembly structure for a quadruped robot, characterized in that: The invention comprises four joint motor groups (2) connected to the joint motor group fixed cantilever (1.1) of the robot trunk (1), wherein the joint motor group (2) is composed of a joint motor group fixing frame (2.1), a one-axis motor (2.2), a two-axis motor (2.3), a two-axis motor support frame (2.4) and a three-axis motor (2.5); the upper and lower ends of the joint motor group fixing frame (2.1) are connected to the joint motor group fixed cantilever (1.1), the one-axis motor (2.2) is located at the bottom of the fixing frame, and the lower end of the fixing frame is connected to the joint motor group fixed cantilever (1.1). On one side of the joint motor group fixing frame (2.1), the two-axis motor (2.3) and the three-axis motor (2.5) are located on the other side of the joint motor group fixing frame (2.1); the joint motor group fixing frame (2.1) is connected to the stator of the one-axis motor (2.2); one end of the two-axis and three-axis motor support frame (2.4) is connected to the rotor of the one-axis motor (2.2) and the other end is connected to the stator of the two-axis motor (2.3); the rotor of the two-axis motor (2.3) is connected to the stator of the three-axis motor (2.5).

2. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The joint motor group fixed cantilever (1.1) is fixedly connected to the joint motor group fixed frame (2.1) via bolts.

3. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The joint motor group fixed cantilever (1.1) is fixedly connected to the robot trunk structure by bolts.

4. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The joint motor group fixing frame (2.1) is fixedly connected to the stator housing of the single-axis motor (2.2) via bolts.

5. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The stator of the three-axis motor (2.5) is connected to the thigh, and the one-axis motor (2.2) drives the robot leg to swing along the axis of the one-axis motor (2.2) through the two-axis motor (2.3) and the three-axis motor (2.5).

6. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The two-axis motor (2.3) is located inside the three-axis motor (2.5) and is used to drive the robot thigh to rotate.

7. The modular joint motor assembly structure for a quadruped robot according to claim 6, characterized in that: The rotor of the three-axis motor (2.5) is connected to the robot leg through a connecting rod.

8. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The joint motor group fixing frame (2.1) and the stator part of the single-axis motor (2.2) are integrated with each other.

9. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: One end of the second and third axis motor support frame (2.4) is screw-connected to the rotor of the first axis motor (2.2).

10. The modular joint motor assembly structure for a quadruped robot according to claim 1, characterized in that: The second-axis motor (2.3), the third-axis motor (2.5) and the second- and third-axis motor support frames (2.4) are connected by screws.

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