Detection assembly, power unit assembly, joint module and foot-type robot

Abstract

The disclosure provides a detection assembly, a power unit assembly, a joint module and a foot-type robot. The detection assembly is applied to the power unit assembly, and the detection assembly comprises a circuit board, a first gear wheel rotatably connected with the circuit board, a first induction source fixed coaxially with the first gear wheel, and a first sensor arranged on the circuit board and used for detecting the rotation position of the first induction source; wherein the first gear wheel is in driving connection with a motor. The first gear wheel in driving connection with the motor is arranged on the circuit board, and drives the rotation of the first induction source, so that the rotation position of the first induction source can be detected by the first sensor, and the rotation position of the component connected with the output end of the speed reduction mechanism can be indirectly measured through the corresponding relationship between the rotation speed ratio of the first gear wheel relative to the output shaft of the motor and the speed reduction ratio of the speed reduction mechanism. The first gear wheel is not directly connected with the output end, the detection structure of the power unit assembly is simplified, and the miniaturization of the power unit assembly is facilitated.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more specifically, to a detection component, a power unit assembly, a joint module, and a legged robot. Background Technology

[0002] Due to advancements in battery and motor technologies in recent years, electric drive solutions have gradually become the mainstream for legged robots.

[0003] The joint module, as the actuator of the legged robot, is its core component and belongs to the electromechanical coupling component.

[0004] A joint module typically includes a motor, a reduction gear, a detection device, and a driver. The motor converts electrical energy into mechanical energy. Due to the introduction of the reduction gear, the joint module may rotate only once for every multiple rotations of the motor. Therefore, two detection devices are often required in the joint module: one to obtain the accurate position of the motor rotor for motor control, and the other to directly obtain the position of the joint module's output end for accurate posture determination of the legged robot. Utility Model Content

[0005] In view of this, the present disclosure provides a detection component, a power unit assembly, a joint module, and a legged robot, which simplifies the position detection of the output end of the power unit assembly and facilitates the miniaturization of the power unit assembly.

[0006] In a first aspect, a detection component is provided, which is applied to a power unit assembly, the power unit assembly including a motor, a reduction gear drivenly connected to the motor, and an output end drivenly connected to the reduction gear; the detection component includes a circuit board, a first gear rotatably connected to the circuit board, a first sensing source coaxially fixed to the first gear, and a first sensor disposed on the circuit board for detecting the rotational position of the first sensing source; wherein, the first gear can be drivenly connected to the motor.

[0007] In the above technical solution, by using a first gear mounted on a circuit board and connected to a motor for transmission, which drives the first sensing source to rotate, the rotational position of the first sensing source can be detected by a first sensor. Therefore, the rotational position of the component connected to the output end of the reduction mechanism can be indirectly measured by the correspondence between the speed ratio of the first gear relative to the output shaft of the motor and the reduction ratio of the reduction mechanism. This eliminates the need for the first gear to be directly connected to the output end, simplifying the detection structure of the power unit assembly and facilitating its miniaturization.

[0008] In one specific implementation, a gear bracket is provided on the circuit board; the first gear is rotatably connected to the gear bracket. The gear bracket rotatably connects the gear to the circuit board, facilitating the rotational engagement of the gear and the circuit board.

[0009] In one specific implementation, the gear bracket is a ring structure, and the first gear has a protrusion on the side facing the gear bracket; the protrusion is inserted into the gear bracket and rotatably connected to the gear bracket; the first sensing source is embedded in the protrusion. The first sensing source, the first gear, and the gear bracket are assembled in a nested manner, so that the first sensing source and the first sensor can be arranged relative to each other, allowing the first sensor to accurately sense the first sensing source.

[0010] In one specific implementation, the axis around which the first gear rotates is spaced apart from the center line of the circuit board. The first gear avoids the center line of the circuit board (the axis of the motor) to facilitate a transmission connection between the first gear and the output shaft of the motor.

[0011] In one specific implementation, the circuit board is provided with a drive circuit for driving the motor. Thus, a single circuit board can be used to drive the motor and support the first gear and the first sensor.

[0012] In one specific implementation, the system further includes a controller. The controller determines the rotational position of the component connected to the output end of the power unit assembly based on the rotational position of the first sensing source detected by the first sensor, and the correspondence between the speed ratio of the first gear relative to the output shaft of the motor and the reduction ratio of the reduction mechanism. The controller calculates the position of the output end based on this correspondence, facilitating detection.

[0013] In a second aspect, a power unit assembly is provided, the power unit assembly including a motor, a reduction mechanism drivenly connected to the motor, an output end drivenly connected to the reduction mechanism, and a detection component as described in any of the above. The circuit board is located on the side of the motor away from the reduction mechanism; A second gear is coaxially fixed on the output shaft of the motor, and a second induction source is coaxially fixed with the second gear; the second gear meshes with the first gear. A second sensor is provided on the circuit board, which is used to detect the rotational position of the second sensing source.

[0014] In the above technical solution, by using a first gear mounted on a circuit board and connected to a motor for transmission, which drives the first sensing source to rotate, the rotational position of the first sensing source can be detected by a first sensor. Therefore, the rotational position of the component connected to the output end of the reduction mechanism can be indirectly measured by the correspondence between the speed ratio of the first gear relative to the output shaft of the motor and the reduction ratio of the reduction mechanism. This eliminates the need for the first gear to be directly connected to the output end, simplifying the detection structure of the power unit assembly and facilitating its miniaturization.

[0015] In one specific implementation, the second gear has fewer teeth than the first gear. This reduces the rotational speed of the first gear, facilitating detection.

[0016] In one specific implementation scheme, the reduction ratio of the reduction mechanism is 1:X; the number of teeth on the first gear is Z1, and the number of teeth on the second gear is Z2; then the following is satisfied: Z1:Z2=M(L:Y); where M is the greatest common divisor of Z1 and Z2, and M≥1; L and Y are coprime positive integers; and L=X. The calculation is performed based on the correspondence between the number of teeth, which facilitates subsequent calculations of the output position.

[0017] In one specific implementation, a housing is also included: The motor, the reduction mechanism, and the detection component are all located inside the housing; the circuit board is fixedly connected to the housing; the first gear and the second gear are both located on the side of the circuit board facing the motor; The output terminal is rotatably connected to the housing. This efficient use of the space within the housing facilitates the miniaturization of the power unit assembly.

[0018] Thirdly, a joint module is provided, comprising a first joint component, a second joint component, and the power unit assembly described in any one of the preceding embodiments; wherein... The first joint component and the second joint component are rotatably connected through the power unit assembly, and the motor is fixed relative to the first joint component; the output end is fixed relative to the second joint component.

[0019] In the above technical solution, by using a first gear mounted on a circuit board and connected to a motor for transmission, which drives the first sensing source to rotate, the rotational position of the first sensing source can be detected by a first sensor. Therefore, the rotational position of the component connected to the output end of the reduction mechanism can be indirectly measured by the correspondence between the speed ratio of the first gear relative to the output shaft of the motor and the reduction ratio of the reduction mechanism. This eliminates the need for the first gear to be directly connected to the output end, simplifying the detection structure of the power unit assembly and facilitating its miniaturization.

[0020] Fourthly, a legged robot is provided, the legged robot comprising a body, joint components, and a power unit assembly as described in any one of the preceding embodiments; wherein, The main body and the joint component are rotatably connected via the power unit assembly; The motor is fixed relative to the main body; the output end is fixed relative to the joint component.

[0021] In the above technical solution, by using a first gear mounted on a circuit board and connected to a motor for transmission, which drives the first sensing source to rotate, the rotational position of the first sensing source can be detected by a first sensor. Therefore, the rotational position of the component connected to the output end of the reduction mechanism can be indirectly measured by the correspondence between the speed ratio of the first gear relative to the output shaft of the motor and the reduction ratio of the reduction mechanism. This eliminates the need for the first gear to be directly connected to the output end, simplifying the detection structure of the power unit assembly and facilitating its miniaturization.

[0022] In one specific implementation, the legged robot is a bipedal robot or a quadrupedal robot. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the embodiments will be briefly described below. These drawings are incorporated in and constitute a part of this specification. They illustrate embodiments conforming to this disclosure and, together with the specification, serve to explain the technical solutions of this disclosure. It should be understood that the following drawings only show some embodiments of this disclosure and should not be considered as limiting the scope. Those skilled in the art can obtain other related drawings based on these drawings without creative effort.

[0024] Figure 1 This illustration shows an application scenario of the power unit assembly provided in this application for a quadruped robot.

[0025] Figure 2 This illustration shows an application scenario of the power unit assembly provided in this embodiment of the application in a bipedal robot.

[0026] Figure 3 A schematic diagram of the power unit assembly provided in an embodiment of this application is shown.

[0027] Figure 4 A cross-sectional view of the power unit assembly provided in an embodiment of this application is shown.

[0028] Figure 5 It shows Figure 4 A magnified view of point A in the diagram.

[0029] Figure 6 A schematic diagram of the detection component provided in an embodiment of this application is shown.

[0030] Figure 7 An exploded view of the detection component provided in an embodiment of this application is shown.

[0031] Figure 8 An exploded view of the power unit assembly provided in an embodiment of this application is shown.

[0032] Explanation of reference numerals in the attached figures: 100-Power Unit Assembly 110-Motor 111-Stator 112-Rotor 120 - Reduction Mechanism; 121 - High-Speed ​​Planetary Reducer; 1211 - First Planetary Cage; 1212 - First Planetary Gear; 1213 - First Ring Gear; 122 - Low-Speed ​​Planetary Reducer; 1221 - Second Planetary Cage; 222 - Second Planetary Gear; 1223 - Second Ring Gear; 1224 - Second Sun Gear 130-Output Flange 140 - Housing; 141 - Main Housing; 142 - Front Cover; 143 - Rear Cover 150 - First Seal 160 - Second Seal 170 - Third Seal 180 - Circuit Board; 181 - First Gear; 182 - First Sensor Source; 183 - Gear Support; 184 - Bearing; 185 - First Sensor; 186 - Second Sensor; 187 - Second Sensor Source; 188 - Second Gear 190-Connecting cable 200-First joint component 300 - Second Joint Component Detailed Implementation To more clearly illustrate the technical solutions in the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0033] To keep the drawings simple, each figure only schematically shows the parts related to the corresponding embodiment, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, some figures only schematically show parts of components with the same structure or function, and there may actually be more or fewer components with the same structure or function.

[0034] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar words used in this patent application description and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar words mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected,” “coupled,” or “linked” and similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0035] Unless otherwise specified, all embodiments mentioned herein can be combined to form new technical solutions. Furthermore, unless otherwise specified, all technical features and preferred features mentioned herein can be combined to form new technical solutions.

[0036] In this disclosure, the terms "or" and "and / or" describe the relationship between related objects and indicate a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: the presence of only "A", the presence of only "B", and the presence of both "A" and "B", where "A" and "B" can be singular or plural. As another example, "A, B, and / or C" and "A, B, or C" can include: the presence of only "A", the presence of only "B", the presence of only "C", the presence of both "A" and "B", the presence of both "A" and "C", the presence of both "B" and "C", and the presence of both "A", "B", and "C", where "A", "B", and "C" can be singular or plural. Furthermore, the symbol " / " in this disclosure indicates an "or" relationship between the related objects before and after the symbol. In this disclosure, the term "at least one A or B" has the same meaning as "A or B" described above. The term "at least one A, B, or C" has the same meaning as "A, B, or C" above. "One or more" of multiple objects refers to any one or any combination of multiple objects, such as "one or more of A, B, and C" including: "A alone", "B alone", "C alone", "A and B", "A and C", "B and C", or "A, B, and C".

[0037] To facilitate understanding of the detection component provided in this application embodiment, its application scenario is first described. The detection component provided in this application embodiment is applied in a power unit assembly to detect the rotational position of the output end in the power unit assembly. Currently, when detecting the output position of the power unit assembly, it is necessary to connect the detection component to the output end, which complicates the structure of the power unit assembly. Therefore, this application embodiment provides a detection component to simplify the complexity of the detection component for the power unit assembly, facilitating the miniaturization of the power unit assembly. The detection component provided in this application embodiment is described in detail below with reference to specific drawings and embodiments.

[0038] A power unit assembly is used in legged robots to provide the power required for the rotation of joint modules within the robot. For example, a legged robot includes a first joint component and a second joint component, wherein the first joint component and the second joint component are rotatable relative to each other. The power unit assembly connects the first joint component and the second joint component, and drives the second joint component to move relative to the first joint component.

[0039] Please refer to the above. Figure 1 and Figure 2 , Figure 1 and Figure 2 A schematic diagram illustrating an application scenario of the power unit assembly provided in an embodiment of this application is shown. Figure 1 A schematic diagram of the power unit assembly applied to a quadruped robot is shown. Figure 2 A schematic diagram illustrating the application of a power unit assembly in a bipedal robot is shown. Figure 1 and Figure 2 The example illustrates the application of the power unit assembly 100 in a hip joint module. The first joint component 200 is the body of the legged robot, and the second joint component 300 is the leg component. The power unit assembly 100 rotatably connects the body and the leg component and can drive the leg component to rotate relative to the body. In actual operation, the power unit assembly 100 is fixedly connected to the body, while its output end is fixedly connected to the leg component. When the power unit assembly 100 outputs power, the output end can drive the leg component to rotate relative to the body, thereby enabling the legged robot to walk.

[0040] It should be understood that, Figure 1 and Figure 2 The description uses the hip joint module as an example. In this embodiment, the power unit assembly 100 is not limited to the hip joint module in the example above, but can also be applied to other joint modules in legged robots, such as the knee joint module, wrist joint module, and other modules that require relative rotation.

[0041] Please refer to the above. Figure 3 and Figure 4 As shown, Figure 3 A schematic diagram of the power unit assembly provided in an embodiment of this application is shown. Figure 4 A cross-sectional view of the power unit assembly provided in an embodiment of this application is shown. The power unit assembly 100 generally includes a housing 140 and a motor 110, a reduction mechanism 120, and an output flange 130 arranged within the housing 140. The housing 140 is fixedly connected to the first joint component 200, the reduction mechanism 120 is drivenly connected to the motor 110, and the output flange 130 is drivenly connected to the reduction mechanism 120. In addition, the output flange 130 serves as the output end of the power unit assembly 100 and is fixedly connected to the second joint component 300.

[0042] During operation, the motor 110 outputs power, which drives the output flange 130 to rotate via the reduction mechanism 120, thereby causing the second joint component 300 to rotate, thus completing the rotation of the second joint component 300 relative to the first joint component 200. During operation, to better obtain the rotational position of the second joint component 300 relative to the first joint component 200, the rotational position of the output flange 130 is often detected to obtain the attitude of the second joint component 300. Therefore, this application embodiment provides a detection component.

[0043] Please refer to the above. Figure 5 and Figure 6 As shown, Figure 5 It shows Figure 4 A magnified view of a portion of point A in the diagram. Figure 6 A schematic diagram of the detection component provided in an embodiment of this application is shown. The detection component provided in this embodiment is applied to a power unit assembly 100, which includes a circuit board 180, a first gear 181, a first sensing source 182, and a first sensor 185. The first gear 181 is rotatably connected to the circuit board 180, while the first sensing source 182 is coaxially fixed to the first gear 181, so that the first sensing source 182 rotates synchronously when the first gear 181 rotates. The first sensor 185 is disposed on the circuit board 180 and is used to detect the rotational position of the first sensing source 182.

[0044] In a specific configuration, circuit board 180 may be a drive board or other circuit board in the power unit assembly 100 used to drive motor 110. In a specific arrangement, circuit board 180 may be located on the side of motor 110 away from reduction mechanism 120.

[0045] When the first gear 181 is configured, it can be driven by the motor 110. For example, the first gear 181 is arranged on the side of the circuit board 180 facing the motor 110. When the first gear 181 is driven by the motor 110, it can mesh with a gear on the output shaft of the motor 110, or it can be driven by a synchronous belt. Regardless of the method used, when the output shaft of the motor 110 rotates, the reduction mechanism 120 can drive the output flange 130 to rotate, and simultaneously drive the first gear 181 to rotate.

[0046] When the first sensing source 182 is configured, it is fixedly connected to the first gear 181, and the two are coaxial, so that when the first gear 181 rotates, it can drive the first sensing source 182 to rotate synchronously. When the first sensing source 182 is fixedly connected to the first gear 181, the first sensing source 182 can be embedded into the first gear 181 for a fixed connection via an interference fit, or the first sensing source 182 can be fixedly connected to the first gear 181 by bonding, welding, or a threaded connector. The specific arrangement is not specifically limited in the embodiments of this application.

[0047] The first sensor 185 is arranged on the circuit board 180 and can detect the first sensing source 182. When arranged, it can be positioned on the side of the circuit board 180 facing the first gear 181 to facilitate the detection of the first sensing source 182. Alternatively, the first sensor 185 and the first sensing source 182 can be arranged coaxially or offset, but regardless of the arrangement, it should ensure that the first sensor 185 can detect the first sensing source 182.

[0048] It should be understood that the first sensing source 182 and the first sensor 185 provided in this application embodiment are components capable of detecting rotational position. The first sensing source 182 and the first sensor 185 constitute an encoder, such as a magnetic encoder, an optical encoder, or a capacitive encoder. For example, when using a magnetic encoder, the first sensing source 182 can be a magnetic component, and the first sensor 185 can be a Hall sensor, a magnetoresistive sensor, a magnetic encoder, or other common sensors that detect rotational position through magnetism.

[0049] To facilitate understanding of the detection components provided in the embodiments of this application, the power unit assembly 100 in which they are applied will be used as an example for explanation.

[0050] Continue to refer to Figure 4 and Figure 5As shown. In this embodiment, when the detection component is applied to the power unit assembly 100, the circuit board 180 is arranged on the side of the motor 110 facing away from the reduction mechanism 120, and the circuit board 180 can be used to drive the motor 110. A second gear 188 is coaxially fixed on the output shaft of the motor 110, and a first gear 181 meshes with the second gear 188. When the motor 110 rotates, the second gear 188 drives the first gear 181 to rotate, and synchronously drives the first sensing source 182 to rotate. The rotational position of the first sensing source 182 can be detected by the first sensor 185. Therefore, when the speed ratio between the output flange 130 of the reduction mechanism 120 and the first gear 181 is known, the rotational position of the output flange 130 of the reduction mechanism 120 can be calculated based on the rotational position of the first sensing source 182 detected by the first sensor 185, thereby indirectly detecting the position of the output flange 130 of the reduction mechanism 120. Of course, in addition to the rotation position of the output flange 130 mentioned above, the angle, speed and other physical quantities of the joint module's output flange 130 can also be calculated based on the data detected by the first sensor 185.

[0051] As can be seen from the above technical solution, by using a first gear 181 mounted on the circuit board 180 and connected to the motor 110 for transmission, which drives the first sensing source 182 to rotate, the rotational position of the first sensing source 182 can be detected by the first sensor 185. Therefore, the rotational position of the component connected to the output flange 130 of the reduction mechanism 120 can be indirectly measured by the correspondence between the speed ratio of the first gear 181 relative to the output shaft of the motor and the reduction ratio of the reduction mechanism 120. This eliminates the need for the first gear 181 to be directly connected to the output flange 130, simplifying the detection structure of the power unit assembly 100 and facilitating its miniaturization.

[0052] Continue to refer to Figure 4 and Figure 5 As shown, in an optional embodiment, the first gear 181 is a ring structure, and the first sensing source 182 is embedded in the first gear 181, thereby reducing the size of the detection component in the axial direction of the power unit assembly 100, which facilitates the miniaturization of the power unit assembly 100.

[0053] Continue to refer to Figure 6 and Figure 7As shown, in an optional embodiment, a gear bracket 183 is provided on the circuit board 180. The first gear 181 is rotatably connected to the gear bracket 183 to support the first gear 181, facilitating the installation of the first gear 181 and the circuit board 180. In a specific example, the gear bracket 183 is a ring structure, and the side of the first gear 181 facing the gear bracket 183 has a protruding structure that is inserted into and rotatably connected to the gear bracket 183. When assembling the first sensing source 182, the first sensing source 182 is embedded in the protruding structure. By assembling the first sensing source 182, the first gear 181, and the gear bracket 183 in a nested manner, the first sensing source 182 and the first sensor 185 can be arranged relative to each other, allowing the first sensor 185 to accurately sense the first sensing source 182.

[0054] In addition, at least two legs (not shown in the figure) are provided on the outer side of the gear bracket 181. Figure 7 The example shows three legs. The gear bracket 183 is fixedly connected to the circuit board 180 by threaded fasteners (bolts or screws) to provide stable support for the first gear 181.

[0055] In an alternative embodiment, the gear bracket 183 and the first gear 181 are rotatably connected by a bearing 184 to reduce friction during the rotation of the first gear 181 and improve the detection accuracy of the detection assembly.

[0056] In an alternative embodiment, the detection assembly further includes a coil spring (not shown in the figure), one end of which is fixedly connected to the gear bracket 183 or the circuit board 180, and the other end is fixedly connected to the first gear 181. This coil spring is used to eliminate backlash generated when the first gear 181 meshes with the second gear 188, thereby improving detection accuracy. It should be understood that, in addition to the coil spring shown in the example above, other elastic elements that provide elastic force, such as torsion springs or elastic rubber components, may also be used.

[0057] In an alternative embodiment, the axis around which the first gear 181 rotates is spaced apart from the centerline of the circuit board 180. See also... Figure 4 and Figure 5 As shown, the center line of the circuit board 180 is close to or collinear with the axis of the motor 110. When the axis around which the first gear 181 rotates is spaced apart from the center line of the circuit board 180, sufficient space is provided to assemble the first gear 181. A structure for driving the first gear 181 is provided on the output shaft of the motor 110. In addition, interference between the first gear 181 and the motor 110 can be reduced, making it easier for the first gear 181 to be connected to the output shaft of the motor 110.

[0058] In an optional embodiment, circuit board 180 is provided with a drive circuit for driving motor 110. That is, circuit board 180 serves as a control board for driving motor 110. Of course, the circuit board 180 provided in this embodiment is not limited to the control board described above, but can also be other circuit boards, as long as they can accommodate the devices (first gear 181, first sensing source 182, and first sensor 185) for indirectly detecting the rotational position of output flange 130. When circuit board 180 serves as a control board for driving motor, a single circuit board can be used to drive the motor and support the first gear 181 and the first sensor 185.

[0059] In an alternative embodiment, circuit board 180 may be a printed circuit board to facilitate the arrangement of functional devices on circuit board 180. For example, circuit board 180 may be a double-sided printed circuit board to improve space utilization. Of course, other types of circuit boards may be used besides the aforementioned printed circuit board, and this application embodiment does not specifically limit the application.

[0060] In one alternative, a first port is arranged on the side of the circuit board 180 opposite to the first gear 181. The first port is a power output structure. Information of the power unit assembly 100 can be transmitted to the control center at the back end through the data line connected to the first port to facilitate the monitoring of the working status of the power unit assembly 100.

[0061] In an alternative embodiment, a second port is arranged on the side of the circuit board 180 opposite to the first gear 181; this second port can be a power supply port. The power unit assembly 100 can supply power to the motor 110 via a power supply line connected to the second port.

[0062] The first port mentioned above is not shown in the figure; its specific location can be found in [reference needed]. Figure 3 The example shows two connecting cables 190, which are used for power supply and data transmission, respectively.

[0063] In one specific implementation scheme, a controller is provided on the circuit board 180. The controller determines the rotational position of the component connected to the output flange 130 of the power unit assembly 100 based on the rotational position of the first sensing source 182 detected by the first sensor 185 and the speed ratio of the first gear 181 relative to the output shaft of the motor 110 and the reduction ratio of the reduction mechanism 120. Of course, the controller can be located not only on the circuit board 180, but also on other circuit boards 180 of the power unit assembly 100, the control board of the legged robot, or other locations; its specific location is not specifically limited. However, regardless of its location, the controller can be connected to the first sensor 185 via a data cable. When using the above method, the controller can calculate the position of the output end based on the corresponding relationship, facilitating detection.

[0064] Taking the meshing of the second gear 188 with the first gear 181 to drive the first gear 181 to rotate as an example. The number of teeth of the first gear 181 is Z1, the number of teeth of the second gear 188 is Z2, and the reduction ratio of the reduction mechanism 120 is 1:X. Wherein, Z1:Z2=M(L:Y); where M is the greatest common divisor of Z1 and Z2, and M≥1; L and Y are coprime positive integers.

[0065] For every one revolution of the second gear 188, the first gear 181 rotates Y / L revolutions, while the output flange 130 connected to the reduction mechanism 120 rotates 1 / X revolutions. Therefore, the rotation position of the output flange 130 can be calculated using the rotation position of the first sensing source 182 detected by the first sensor 185, the correspondence between the rotation of the first gear 181 and the output shaft of the motor 110, and the reduction ratio of the reduction mechanism 120. When L=X, when the second gear 188 rotates X revolutions, the first gear 181 rotates Y revolutions, and the output flange 130 of the joint module also rotates exactly one revolution, thus completing one cycle.

[0066] Therefore, after the output flange 130 of the joint module rotates continuously for multiple revolutions, the encoder composed of the first sensing source 182 and the first sensor 185 can still work normally according to the above relationship, and realize the conversion and output of physical quantities such as position, angle, and speed of the output flange 130 of the joint module through the printed circuit board 180.

[0067] Please refer to the above. Figure 4 and Figure 5As shown in the illustration, this application embodiment also provides a power unit assembly 100, which includes a motor 110, a reduction gear 120 driven by the motor 110, an output flange 130 driven by the reduction gear 120, and a detection component for any of the above. The functions and connecting components of the motor 110, the reduction gear 120, and the output flange 130 are described above and will not be repeated here. In a specific configuration, the circuit board 180 is located on the side of the motor 110 away from the reduction gear 120 to fully utilize the space for arranging the circuit board 180.

[0068] In addition to detecting the rotational position of the output flange 130 through the first sensing source 182 and the first sensor 185 in the detection assembly, the power unit assembly 100 provided in this application embodiment can also detect the rotational position of the output shaft of the motor 110 through the cooperation of the second sensing source 187 and the second sensor 186. The second sensing source 187 and the second sensor 186 also form an encoder, the specific structure and function of which can be referred to the first sensing source 182 and the first sensor 185, and will not be repeated here.

[0069] In the specific arrangement of the second sensing source 187, a second gear 188 is coaxially fixed on the output shaft of the motor 110, and the second sensing source 187 is coaxially fixed with the second gear 188. The specific fixing method can be referenced from the fixing method of the first sensing source 182 and the first gear 181, and will not be repeated here. The second sensor 186 is mounted on the circuit board 180 and is used to detect the rotational position of the second sensing source 187. The aforementioned output shaft is located on the rotor 112 of the motor 110 and rotates synchronously with the rotor 112 of the motor 110 when the motor 110 is working.

[0070] Furthermore, in this embodiment, the second gear 188 meshes with the first gear 181, driving the first gear 181 to rotate. This allows the rotational position of the output flange 130 to be indirectly detected by utilizing the correspondence between the number of teeth on the first gear 181 and the rotation of the output flange 130. Additionally, the rotational position of the motor 110 can be detected simultaneously via the second sensing source 187 and the second sensor 186, thereby enabling the detection of the rotational states of both the motor 110 and the output flange 130.

[0071] In practical use, when the output shaft of the motor 110 rotates, it drives the second gear 188 to rotate at the same angular velocity as the second sensing source 187. The second sensing source 187 is detected by the second sensor 186, and the position, angle, speed and other physical quantities of the rotor 112 of the motor 110 can be detected.

[0072] When the second gear 188 rotates, it drives the first gear 181 to rotate, so that the first sensing source 182 can also be sensed by the first sensor 185, realizing indirect detection of physical quantities such as position, angle, and speed of the output flange 130.

[0073] As can be seen from the above description, in this embodiment, by using a first gear 181 mounted on the circuit board 180 and connected to the motor 110, which drives the first sensing source 182 to rotate, the rotational position of the first sensing source 182 can be detected by the first sensor 185. Thus, the rotational position of the component connected to the output flange 130 of the reduction mechanism 120 can be indirectly measured through the correspondence between the speed ratio of the first gear 181 relative to the output shaft of the motor 110 and the reduction ratio of the reduction mechanism 120. This eliminates the need for the first gear 181 to be directly connected to the output flange 130, simplifying the detection structure of the power unit assembly 100 and facilitating its miniaturization. Furthermore, the detection of the motor 110's state is achieved through the cooperation of the second sensing source 187 and the second sensor 186, and the first gear 181 is driven to rotate by the second gear 188 arranged on the output shaft of the motor 110. In an alternative embodiment, the second gear 188 is integrated with the output shaft of the motor 110. For example, the second gear 188 can be directly fabricated on the output shaft of the motor 110.

[0074] In one alternative, the number of teeth of the second gear 188 is less than the number of teeth of the first gear 181, so as to reduce the rotational speed of the first gear 181 and facilitate the detection of the first sensing source 182, which is coaxially fixed thereto.

[0075] In one alternative design, the reduction ratio of the reduction mechanism 120 is 1:X; the number of teeth on the first gear 181 is Z1, and the number of teeth on the second gear 188 is Z2; then the following conditions are met: Z1:Z2=M(L:Y); where M is the greatest common divisor of Z1 and Z2, and M≥1; L and Y are coprime positive integers; and L=X.

[0076] For every one revolution of the second gear 188, the first gear 181 rotates Y / L revolutions, while the output flange 130 connected to the reduction mechanism 120 rotates 1 / X revolutions. Therefore, the rotation position of the output flange 130 can be calculated using the rotational position of the first sensing source 182 detected by the first sensor 185, the correspondence between the rotation of the first gear 181 and the output shaft of the motor 110, and the reduction ratio of the reduction mechanism 120. When L=X, when the second gear 188 rotates X revolutions, the first gear 181 rotates Y revolutions, and the output flange 130 of the joint module also rotates exactly one revolution, completing one cycle. Thus, the calculation can be performed using the correspondence between the number of teeth, facilitating subsequent calculation of the output end position.

[0077] Therefore, after the output flange 130 of the joint module rotates continuously for multiple revolutions, the encoder composed of the first sensing source 182 and the first sensor 185 can still work normally according to the above relationship, and realize the conversion and output of physical quantities such as position, angle, and speed of the output flange 130 of the joint module through the printed circuit board 180.

[0078] Continue to refer to Figure 1 As shown, the power unit assembly 100 provided in this embodiment of the application also includes a housing 140. The aforementioned motor 110, reduction mechanism 120, and detection component are all located within the housing 140 to protect the motor 110, reduction mechanism 120, and detection component. In addition, the output flange 130 is rotatably connected to the housing 140, and a portion of the output flange 130 is exposed outside the housing 140 to facilitate connection between the output flange 130 and the second joint component 300.

[0079] In the specific arrangement of the detection components, the circuit board 180 is fixedly connected to the housing 140 so that the housing 140 supports the circuit board 180 and facilitates its fixation. In addition, the first gear 181 and the second gear 188 are both located on the side of the circuit board 180 facing the motor 110, so that the space inside the housing 140 is used to arrange the first gear 181 and the second gear 188, which facilitates the miniaturization of the power unit assembly.

[0080] In an optional embodiment, the housing 140 provided in this application can be a split structure. For example, the housing 140 includes a main housing 141 with openings at both ends, and a front cover 142 and a rear cover 143 respectively fixedly connected to both ends of the main housing 141. The main housing 141, the front cover 142, and the rear cover 143 form a space to accommodate the motor 110, the reduction mechanism 120, and the detection components. When the housing 140 adopts a split structure, it facilitates the assembly, maintenance, and replacement of the aforementioned components.

[0081] In an alternative embodiment, when the housing 140 adopts a split structure, seals (such as a first seal 150, a second seal 160, and a third seal 170) can be provided at the connection positions of the main housing 141, the front cover 142, and the rear cover 143 to form a sealed environment and protect the aforementioned motor 110, reduction mechanism 120, and detection components.

[0082] In one optional embodiment, the motor 110 provided in this application can be of different types. The motor 110 is an internal rotor motor, which includes a stator 111 and a rotor 112. The stator 111 is fixedly connected to the housing 140, while the rotor 112 is fixedly connected to the reduction mechanism 120. The output shaft of the motor 110 is the aforementioned rotor 112, and the second gear 187 is fixedly connected to the rotor 112.

[0083] Of course, in addition to the internal rotor motor of the example, the motor 110 provided in this application embodiment can also be an external rotor motor, and no specific limitation is made in this application embodiment.

[0084] Continue to refer to Figure 8 In an optional embodiment, the reduction mechanism 120 provided in this application can be a planetary reducer. For example, the reduction mechanism 120 employs a two-stage planetary reducer to achieve a larger reduction ratio. Specifically, the reduction mechanism 120 includes a high-speed planetary reducer 121 and a low-speed planetary reducer 122. The high-speed planetary reducer 121 is driven by the motor 110, and the high-speed planetary reducer 121 is driven by the low-speed planetary reducer 122. The output flange 130 is driven by the low-speed planetary reducer 122.

[0085] The high-speed planetary reducer 121 and low-speed planetary reducer 122 provided in this application both include the common planetary gear reducer structure such as a ring gear, planetary cage, sun gear, and multiple planetary gears. The sun gear meshes with the planetary gears, the planetary gears mesh with the ring gear, and the planetary cage is rotatably connected to the multiple planetary gears.

[0086] For ease of description, the components in the high-speed planetary reducer 121 are named the first ring gear 1213, the first planetary cage 1211, the first sun gear (not shown in the figure), and the first planetary gear 1212, respectively; the components in the low-speed planetary reducer 122 are named the second ring gear 1223, the second planetary cage 1221, the second sun gear 1224, and the second planetary gear 1222, respectively.

[0087] In an optional embodiment, the first gear ring 1213 and the second gear ring 1223 provided in this application are fixedly connected to the housing 140. The first sun gear is fixedly connected to the rotor 112 of the motor 110, and the second sun gear 1224 is fixedly connected to the first planetary cage 1211. During transmission, the power output from the motor 110 is input to the high-speed end planetary reducer 121 through the first sun gear, and output to the second sun gear 1224 through the first planetary cage 1211. The power is then output to the output flange 130 through the second planetary cage 1221 of the low-speed end planetary reducer 122, and finally output to the second joint component 300.

[0088] In an alternative configuration, the output flange 130 is part of the second planetary cage 1221, thereby reducing the size of the power unit assembly 100 in the axial direction and facilitating miniaturization of the power unit assembly 100.

[0089] This application embodiment also provides a joint module, which includes a first joint component 200, a second joint component 300, and a power unit assembly 100 of any of the above; wherein, The first joint component 200 and the second joint component 300 are rotatably connected by the power unit assembly 100, and the motor 110 is fixed relative to the first joint component 200; the output flange 130 is fixed relative to the second joint component 300. For details, please refer to the detailed description above, which will not be repeated here.

[0090] In the above technical solution, a first gear 181 mounted on circuit board 180 is connected to motor 110 for transmission, driving the first sensing source 182 to rotate. The rotational position of the first sensing source 182 can be detected by the first sensor 185. Therefore, the rotational position of the component connected to the output flange 130 of the reduction mechanism 120 can be indirectly measured through the correspondence between the speed ratio of the first gear 181 relative to the output shaft of motor 110 and the reduction ratio of reduction mechanism 120. This eliminates the need for the first gear 181 to be directly connected to the output flange 130, simplifying the detection structure of the power unit assembly 100 and facilitating its miniaturization.

[0091] This application also provides a legged robot, which includes a body, joint components, and a power unit assembly 100 as described above; wherein the body and joint components are rotatably connected via the power unit assembly 100; a motor 110 is fixed relative to the body; and the output flange 130 of the low-speed planetary reducer 122 is fixed relative to the joint components. Figure 1 and Figure 2 As shown, the main body can be a first joint component 200, and the joint component can be a second joint component 300.

[0092] In the above technical solution, a first gear 181 mounted on circuit board 180 is connected to motor 110 for transmission, driving the first sensing source 182 to rotate. The rotational position of the first sensing source 182 can be detected by the first sensor 185. Therefore, the rotational position of the component connected to the output flange 130 of the reduction mechanism 120 can be indirectly measured through the correspondence between the speed ratio of the first gear 181 relative to the output shaft of motor 110 and the reduction ratio of reduction mechanism 120. This eliminates the need for the first gear 181 to be directly connected to the output flange 130, simplifying the detection structure of the power unit assembly 100 and facilitating its miniaturization.

[0093] In one specific feasible implementation, the legged robot is either a bipedal robot or a quadrupedal robot. See the attached document for details. Figure 1 and Figure 2 As shown in the figure, it will not be elaborated further here.

[0094] The embodiments described above are some, but not all, of the embodiments disclosed herein. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0095] Furthermore, the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The scope of protection of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this disclosure. All should be covered within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A detection component applied to a power unit assembly, the power unit assembly including a motor, a reduction gear mechanism drivenly connected to the motor, and an output end drivenly connected to the reduction gear mechanism; characterized in that, The detection component includes a circuit board, a first gear rotatably connected to the circuit board, a first sensing source coaxially fixed to the first gear, and a first sensor disposed on the circuit board for detecting the rotational position of the first sensing source; wherein, the first gear can be drivenly connected to the motor.

2. The detection component according to claim 1, characterized in that, A gear bracket is provided on the circuit board; the first gear is rotatably connected to the gear bracket.

3. The detection component according to claim 2, characterized in that, The gear support is a ring structure, and the first gear has a protrusion on the side facing the gear support; the protrusion is inserted into the gear support and rotatably connected to the gear support. The first sensing source is embedded in the protruding structure.

4. The detection component according to claim 2, characterized in that, The axis around which the first gear rotates is spaced apart from the center line of the circuit board.

5. The detection component according to claim 3, characterized in that, The circuit board is equipped with a drive circuit for driving the motor.

6. A power unit assembly, characterized in that, It includes a motor, a reduction gear mechanism driven by the motor, an output end driven by the reduction gear mechanism, and a detection component as described in any one of claims 1 to 5; The circuit board is located on the side of the motor away from the reduction mechanism; A second gear is coaxially fixed on the output shaft of the motor, and a second induction source is coaxially fixed with the second gear; the second gear meshes with the first gear. A second sensor is provided on the circuit board, which is used to detect the rotational position of the second sensing source.

7. The power unit assembly according to claim 6, characterized in that, The number of teeth on the second gear is less than the number of teeth on the first gear.

8. The power unit assembly according to claim 6, characterized in that, The reduction ratio of the reduction mechanism is 1:X; the number of teeth on the first gear is Z1, and the number of teeth on the second gear is Z2; then the following conditions are met: Z1:Z2=M(L:Y); where M is the greatest common divisor of Z1 and Z2, and M≥1; L and Y are coprime positive integers; and L=X.

9. The power unit assembly according to any one of claims 6 to 8, characterized in that, It also includes the casing: The motor, the reduction mechanism, and the detection component are all located inside the housing; the circuit board is fixedly connected to the housing; the first gear and the second gear are both located on the side of the circuit board facing the motor; The output terminal is rotatably connected to the housing.

10. A joint module, characterized in that, It includes a first joint component, a second joint component, and a power unit assembly as described in any one of claims 6 to 9; wherein, The first joint component and the second joint component are rotatably connected through the power unit assembly, and the motor is fixed relative to the first joint component; the output end is fixed relative to the second joint component.

11. A legged robot, characterized in that, Includes a body, joint components, and a power unit assembly as described in any one of claims 6 to 9; wherein, The main body and the joint component are rotatably connected via the power unit assembly; The motor is fixed relative to the main body; the output end is fixed relative to the joint component.

12. The legged robot according to claim 11, characterized in that, The legged robot is either a bipedal robot or a quadrupedal robot.

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