Knee motor force storage drive system

Abstract

The utility model relates to robot joint drive technical field especially relates to knee motor force storage drive system, including knee motor module, and the outside gear of having motor, reduction mechanism and the external output power in knee motor module, and the knee motor module includes module shell, and the module shell is assembled with one spring system, still is assembled with the electric locking mechanism of control outside gear locking, the electric clutch mechanism of control spring system connection motor, electric locking mechanism still is provided with the action linkage, and the reduction clutch gear of rotor gear and reduction mechanism of motor is engaged, separates, and the electric clutch mechanism still is provided with the action linkage, and the rotation stop mechanism of spring system is carried out rotation stop. Spring system can store energy in advance, and the required torque of motor can be reduced when cooperating with control motor and outputting when needing, and the accurate control can be realized through the electric locking mechanism locking when the outside gear rotates to the set angle.

Description

Technical Field

[0001] This utility model relates to the field of robot joint drive technology, and in particular to a knee electric drive system. Background Technology

[0002] Small humanoid robots, such as those under 80cm in height, have very limited leg space, necessitating extremely compact motor systems. However, these small systems struggle to output powerful driving force, resulting in weak and slow knee flexion and extension movements, impacting the biomimetic effects of walking, jumping, and other actions. The knee, in particular, requires sufficient torque from the motor system to drive rapid and powerful flexion and extension movements to achieve the desired vivid and powerful biomimetic effects when jumping or squatting and standing up.

[0003] Mechanical systems that store energy from motors to generate explosive force have some common designs. For example, the CT-type energy storage mechanism in a high-voltage SF6 circuit breaker, such as the CT20, is essentially a complete energy storage mechanism.

[0004] However, such conventional systems, which only generate momentary explosive force, cannot be applied to gentle and precise control systems. The knee not only needs to extend quickly and powerfully, but also needs to precisely control the joint angle to express biomimetic movements such as half-squatting, cushioning, and jogging. These movements require the drive system to provide explosive force while also achieving precise adjustment of position and speed. Utility Model Content

[0005] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of this section, the abstract and the title of this utility model. Such simplifications or omissions shall not be used to limit the scope of this utility model.

[0006] In view of the problems existing in the prior art, the present invention is proposed.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution; A knee motor power-storing drive system includes a knee motor module disposed at the knee to drive the robot's lower leg. The knee motor module has an electric motor, a reduction mechanism, and an external gear for outputting power. The knee motor module includes a module housing, within which a spring system is assembled. It also includes an electric locking mechanism for controlling the locking of the external gear and an electric clutch mechanism for controlling the connection between the spring system and the electric motor. The electric locking mechanism further includes a reduction clutch gear that engages and disengages the rotor gear of the electric motor and the reduction mechanism. The electric clutch mechanism also includes an anti-rotation mechanism that prevents the spring system from rotating. When the electric locking mechanism locks the external gear and the rotor gear disengages from the reduction mechanism, the electric motor drives the spring system to store power through the electric clutch mechanism. When the electric locking mechanism releases the lock on the external gear and the anti-rotation mechanism of the spring system disengages, the spring system assists the electric motor in driving the external gear. The direction of the auxiliary force from the spring system is the direction of motion of the robot's lower leg relative to the robot's thigh when it is fully extended.

[0008] The above design, through the intelligent control system controlling the motor, electric locking mechanism, and electric clutch mechanism, enables the spring system to pre-store energy and output it in coordination with the control motor when needed to complete the rapid driving action when jumping, squatting and standing up, which can reduce the torque required by the motor; it can also lock the external gear when it rotates to a set angle through the electric locking mechanism to achieve precise control.

[0009] The knee motor module provides sufficient torque to the electric motor through a spring system to assist in driving the robot's lower leg at the knee, providing explosive force to express rapid and powerful extension movements such as jumping and kicking; and through an electric locking mechanism and an anti-rotation mechanism, it assists in controlling the robot's lower leg, thereby achieving smooth and precise control of the robot when bending and raising its leg, exhibiting a vivid and powerful biomimetic effect.

[0010] The electric clutch mechanism engages and disengages the spring system; the reduction clutch gear controls the engagement and disengagement of the motor and reduction mechanism. Furthermore, when the external gear is locked, the electric locking mechanism disengages the motor and reduction mechanism, facilitating energy storage in the spring system. In assisted operation, the motor continues to drive the system as it releases energy, allowing for real-time adjustment of the output torque, thus achieving both powerful assistance and precise control. Because the spring system provides additional instantaneous torque, a smaller, lower-rated motor can be selected, saving valuable installation space at the robot's knee.

[0011] Preferably, the knee motor module is installed in the robot's lower leg, and the length of the module's outer shell is more than twice its width; the spring system, motor, and reduction mechanism are arranged along the length of the module's outer shell. The module's outer shell is inserted into the robot's lower leg along its length. Arranging the spring system, motor, and reduction mechanism sequentially from bottom to top along the length reduces the module's thickness, making the knee motor module rectangular, which can naturally embed into the robot's lower leg, facilitating the driving of the robot's lower leg at the knee and adapting to the slender leg structure of small robots.

[0012] Preferably, the mainspring system is decoupled from the motor via an electric clutch mechanism, and an anti-rotation mechanism prevents the mainspring system from rotating, maintaining its charged state. While the mainspring system is in the charged state, an electric locking mechanism releases the lock on the external gear, and the motor's rotor gear engages with a reduction clutch gear and a reduction mechanism. The motor rotates in the charging direction but independently drives the external gear, thus driving the external gear. The mainspring system is decoupled from the motor, maintaining its charged state through the anti-rotation mechanism; the electric locking mechanism releases the lock on the external gear, and the reduction clutch gear re-engages the motor with the reduction mechanism. This allows the motor to drive the external gear independently, while the energy in the mainspring system is preserved, awaiting the next explosive action.

[0013] Preferably, in the locked state, the reduction clutch gear disengages, and in the opposite state, engages; when the mainspring system is connected to the motor, the anti-rotation mechanism disengages, and in the opposite state, it prevents the mainspring system from rotating. When the electric locking mechanism locks the external gear, the reduction clutch gear motor disengages from the reduction mechanism, preventing the motor from interfering with the output shaft during the energy storage process; when the electric clutch mechanism connects the mainspring system to the motor, the anti-rotation mechanism disengages, ensuring that the mainspring system can rotate freely to store or release energy.

[0014] Preferably, the spring system includes a spring barrel and a spring; the spring is a planar spiral spring, with its inner end fixed to the drive shaft and its outer end fixed to the inner wall of the spring barrel; the spring barrel is fixedly connected to the module housing; the planar spiral spring has 2-10 turns. The planar spiral spring provides a large stroke and nearly constant torque output within a small volume, allowing it to store a large amount of energy in a very small space, which is suitable for the limited space at the robot's knee. Simultaneously, the planar spiral spring's large-angle rotation characteristic is compatible with the continuous rotation required by the motor drive shaft for energy storage.

[0015] Preferably, the knee motor module has a module housing, with an external gear mounted close to one side of the module housing, which serves as the mounting surface. The electric locking mechanism includes a recess on the external gear and an electromagnetic telescopic rod. The external gear has recesses arranged in a ring around the shaft. An electromagnetic telescopic rod is mounted inside the module housing, with one end of the electromagnetic telescopic rod protruding from the mounting surface of the module housing as a telescopic plug. The electromagnetic telescopic rod employs a normally closed electromagnetic mechanism and has a retraction trigger signal interface, extending the telescopic plug when power is off. The telescopic plug is arranged correspondingly to the recesses, forming an electric locking mechanism for the external gear. A gear is also mounted on the electromagnetic telescopic rod as a reduction clutch gear. The rotor of the motor has a rotor gear, which meshes with the reduction mechanism via the reduction clutch gear. The range of motion of the electromagnetic telescopic rod driving the reduction clutch gear is not less than the distance at which the reduction clutch gear engages and disengages the rotor gear and the reduction mechanism. Furthermore, when the telescopic plug extends into the recess, the rotor gear and the reduction mechanism are separated by the reduction clutch gear.

[0016] Employing a normally closed electromagnetic mechanism, the extended plug locks in the event of power failure. Even in the event of a power outage or loss of control signal, the external gear remains mechanically locked, preventing accidental energy release from the spring system and thus avoiding uncontrolled movement of the robot's lower legs. This enhances the stability of the robot's lower leg drive system. When the telescopic plug extends into the recess, the rotor gear is separated from the reduction mechanism, ensuring that the motor's power is not accidentally transmitted to the output shaft during the power accumulation process. This prevents unexpected movement of the output shaft during power accumulation, thereby protecting the robot's lower leg drive actuator.

[0017] Preferably, the electric clutch mechanism includes a spring-loaded clutch gear and a push-pull electromagnet; the spring system is assembled inside the module housing, and the spring system includes a power shaft for input and output power, on which a gear, called a spring gear, is fixed; the spring-loaded clutch gear meshes with the spring gear on the power shaft; the spring-loaded clutch gear is assembled on the push rod of a push-pull electromagnet; a shaft hole is provided in the module housing, and the extended end of the push rod is inserted into the shaft hole; the depth of the shaft hole is not less than the push-pull movement length of the push rod, thus the push rod has rotational freedom within its push-pull movement range; a stop is provided at the mating end of the push rod and the shaft hole, and at least one stop is provided at the shaft hole; the length of the spring-loaded clutch gear is configured such that, in the state where the push rod is retracted, one end meshes with the rotor gear, and the other end meshes with the spring gear; in the state where the push rod is extended, one end of the spring-loaded clutch gear separates from the rotor gear, while the other end continues to mesh with the spring gear, and the stop is inserted into the limiting range of the stop block to restrict rotation.

[0018] The electromagnetic telescopic rod has one end that acts as a telescopic plug, which is inserted into the recess of the external gear to lock it in place. Simultaneously, a reduction clutch gear mounted on the electromagnetic telescopic rod moves with the rod, controlling the engagement and disengagement of the rotor gear with the reduction mechanism. This design allows a single electromagnetic actuator to perform two key actions simultaneously, resulting in an extremely compact structure, low cost, and simple control.

[0019] Preferably, the push rod of the push-pull electromagnet has an extended state and a retracted state. When the electromagnetic telescopic rod is in the extended state, the telescopic plug is inserted into the recessed hole, locking the external gear. The reduction clutch gear separates the rotor gear from the reduction mechanism, restricting the rotation of the spring system and maintaining its state. When the push rod of the push-pull electromagnet is in the retracted state, one end of the spring clutch gear meshes with the rotor gear, and the other end meshes with the spring gear. The motor rotates in the direction of energy storage in the spring system to perform elastic energy storage. When the electromagnetic telescopic rod is extended, the telescopic plug is inserted into the recessed hole, locking the external gear. Then, the motor is started to rotate in the energy storage direction to store energy. The push-pull electromagnet extends, causing the spring clutch gear to separate from the rotor gear. At the same time, the stop head inserts into the stop block to restrict the rotation of the spring system. The energy of the spring system is stably locked and can be maintained for a long time without continuous power supply from the motor.

[0020] When the push rod of the push-pull electromagnet is in the retracted state, the spring clutch gear simultaneously engages with both the rotor gear and the spring gear, allowing the electric motor to store energy for the spring system. In the extended state, the spring clutch gear disengages from the rotor gear but continues to engage with the spring gear, while the stop head inserts into the limiting range of the stop block, restricting the rotation of the spring gear. This design allows the disengagement and anti-rotation functions to be achieved through the coordinated action of the same electromagnet, eliminating the need for an additional brake. In the extended state, the cooperation between the stop head and the stop block creates a mechanical anti-rotation mechanism, ensuring that even if the electric motor is powered off or the control signal is lost, the energy of the spring system will not be slowly released due to vibration or other reasons. This ensures the reliability of pre-stored energy.

[0021] Preferably, when the telescopic plug disengages from the recess, the locking of the external gear is released; the push rod of the push-pull electromagnet is in the retracted state, one end of the spring clutch gear meshes with the rotor gear, and the other end meshes with the spring gear, causing the stop to disengage from the limiting range of the stop block; the motor rotates in the direction of the spring system's force, and the spring system assists the motor in generating force, jointly driving the external gear. First, the external gear is released from its lock, then the spring system re-engages with the motor through the clutch gear, and finally the motor rotates in the direction of the spring system's force. The energy released by the spring system and the torque of the motor are superimposed, jointly driving the external gear. This cooperative driving method allows the robot's lower leg movements to obtain a starting force far exceeding the rated torque of the motor, significantly improving the response speed. Because the motor still participates in the drive, the impact-type output of traditional power storage mechanisms is avoided, making the driving action smooth.

[0022] Preferably, when the motor rotates in the direction of the spring system's energy storage, the electromagnetic telescopic rod retracts, the telescopic plug disengages from the recess, and the lock on the external gear is released; the push rod of the push-pull electromagnet is in the extended state, one end of the spring clutch gear separates from the rotor gear, while the other end remains engaged with the spring gear. The stop head engages with the stop block, restricting the rotation of the spring gear, and the motor independently drives the external gear. When the motor rotates in the direction of energy storage, the electromagnetic telescopic rod retracts, releasing the lock on the external gear. The spring clutch gear separates from the rotor gear and cannot absorb energy, allowing the motor to independently drive the external gear. This allows the robot to complete the lower leg reset action without consuming the energy of the spring system. Since the spring clutch gear is separated from the rotor gear and the spring system is stopped from rotating, the motor's rotation will not drive the spring system to rotate, thus avoiding the incorrect increase in the spring system's energy storage during the reset process and the extra wasted motor power. In the reset working state, the spring system does not participate in the work; the motor only needs to overcome the load of the external gear and does not need to drive the spring system to rotate additionally, therefore the drive current is small.

[0023] Beneficial effects: This utility model achieves a driving scheme for the robot's lower leg within a limited space in the module shell through the electric motor, reduction mechanism, spring system, electric locking mechanism, and electric clutch mechanism of the knee motor module. It effectively solves the problem of providing sufficient torque drive for the lower leg of a small robot, providing explosive force to express rapid and powerful extension movements such as jumping and kicking; and through the electric locking mechanism and anti-rotation mechanism to assist in controlling the robot's lower leg, it achieves smooth and precise control of the robot when bending and raising its leg, exhibiting a vivid and powerful biomimetic effect. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them: Figure 1 This is a schematic diagram of the robot's lower leg structure in the knee motor power storage drive system of this utility model; Figure 2 This is a schematic diagram of the internal structure of the electric motor in the knee motor energy storage drive system of this utility model; Figure 3 This is a schematic diagram of the internal structure of the electric motor in the knee motor energy storage drive system of this utility model from another perspective. Figure 4 This is a schematic diagram of the external structure of the electric motor in the knee motor energy storage drive system of this utility model; Figure 5This is a cross-sectional view of the stop and stop block of the knee motor power storage drive system of this utility model.

[0025] In the diagram: 1. Electric motor; 11. Rotor gear; 2. Reduction mechanism; 3. External gear; 31. Concave hole; 4. Electromagnetic telescopic rod; 41. Reduction clutch gear; 42. Telescopic plug; 5. Push-pull electromagnet; 51. Spring clutch gear; 52. Thrust rod; 53. Stop; 6. Spring system; 61. Power shaft; 62. Spring gear; 7. Module housing; 71. Stop block; 8. Robot's lower leg; 9. Robot's thigh. Detailed Implementation

[0026] To make the above-mentioned objectives, features and advantages of this utility model more readily understood, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0027] refer to Figure 1 , Figure 2 and Figure 4 The knee motor power storage drive system includes a knee motor module installed at the knee to drive the robot's lower leg 8. The knee motor module has an electric motor 1, a reduction mechanism 2, and an external gear 3 for outputting power.

[0028] The knee motor module includes a module housing 7, within which a spring system 6 is assembled. It also includes an electric locking mechanism for controlling the locking of the external gear 3, and an electric clutch mechanism for controlling the connection between the spring system 6 and the motor 1. The electric locking mechanism is further equipped with a reduction clutch gear 41 that engages and disengages the rotor gear 11 of the motor 1 and the reduction mechanism 2. The electric clutch mechanism is also equipped with an anti-rotation mechanism that prevents the spring system 6 from rotating. When the electric locking mechanism locks the external gear 3 and the rotor gear 11 disengages from the reduction mechanism 2, the motor 1 drives the spring system 6 to store power through the electric clutch mechanism. When the electric locking mechanism releases the lock on the external gear 3 and the anti-rotation mechanism of the spring system 6 disengages, the spring system 6 assists the motor 1 in driving the external gear 3. The direction of the auxiliary force exerted by the spring system 6 is the direction in which the robot's lower leg 8 extends relative to the robot's thigh 9.

[0029] The above design, through the intelligent control system controlling the motor 1, the electric locking mechanism, and the electric clutch mechanism, enables the spring system 6 to pre-store energy and output it in coordination with the control motor 1 when needed, completing the rapid driving action when jumping, squatting and standing up, which can reduce the torque required by the motor 1; it can also lock the external gear 3 when it rotates to a set angle through the electric locking mechanism to achieve precise control.

[0030] The knee motor module provides sufficient torque to the motor 1 through the spring system 6 to assist in driving the robot's lower leg 8 at the knee, providing explosive force to express the rapid and powerful extension movements of jumping and kicking; and through the electric locking mechanism and the anti-rotation mechanism, the robot's lower leg 8 is controlled to achieve smooth and precise control when the robot bends and lifts its leg, exhibiting a vivid and powerful biomimetic effect.

[0031] The electric clutch mechanism engages and disengages the spring system 6; the reduction clutch gear 41 controls the engagement and disengagement of the motor 1 and the reduction mechanism 2, and the electric locking mechanism, when the external gear 3 is locked, disengages the motor 1 and the reduction mechanism 2 to facilitate energy storage in the spring system 6. In assisted operation, the motor 1 continues to drive the spring system 6 as it releases energy, allowing the output torque to be adjusted in real time, thus achieving both explosive power and precise control. Because the spring system 6 can provide additional instantaneous torque, the motor 1 can be selected as a smaller, lower rated power model, saving valuable installation space at the robot's knee.

[0032] Example 1: Reference Figures 2-4 This is the first embodiment of the present utility model.

[0033] Preferably, the knee motor module is installed in the robot's lower leg 8, and the length of the module housing 7 is more than twice its width; the spring system 6, the motor 1, and the reduction mechanism 2 are arranged along the length of the module housing 7; the module housing 7 is inserted into the robot's lower leg 8 along its length. Arranging the spring system 6, the motor 1, and the reduction mechanism 2 sequentially from bottom to top along the length can reduce the thickness of the module, making the knee motor module rectangular, which can be naturally embedded in the robot's lower leg 8, facilitating the driving of the robot's lower leg 8 at the knee and adapting to the slender leg structure of small robots.

[0034] Preferably, the mainspring system 6 is decoupled from the motor 1 via an electric clutch mechanism, and an anti-rotation mechanism prevents the mainspring system 6 from rotating, maintaining its charged state. While the mainspring system 6 is in the charged state, an electric locking mechanism releases the lock on the external gear 3, and the rotor gear 11 of the motor 1 engages with the reduction gear 2 via a reduction clutch gear 41. The motor 1 rotates in the charging direction but independently drives the external gear 3, thus driving the external gear 3. The mainspring system 6 is decoupled from the motor 1, maintaining its charged state via the anti-rotation mechanism; the electric locking mechanism releases the lock on the external gear 3, and the reduction clutch gear 41 re-engages the motor 1 with the reduction gear 2. This allows the motor 1 to drive the external gear 3 independently, while the energy in the mainspring system 6 is reserved for the next explosive action.

[0035] Preferably, in the locked state, the reduction clutch gear 41 of the electric locking mechanism disengages, and in the opposite state, engages; when the mainspring system 6 is connected to the motor 1, the anti-rotation mechanism of the electric clutch mechanism disengages, and in the opposite state, it prevents the mainspring system 6 from rotating. When the electric locking mechanism locks the external gear 3, the reduction clutch gear 41 disengages the motor 1 from the reduction mechanism 2, preventing the motor 1 from colliding with the output shaft during the energy storage process; when the electric clutch mechanism connects the mainspring system 6 to the motor 1, the anti-rotation mechanism disengages, ensuring that the mainspring system 6 can rotate freely to store or release energy.

[0036] Preferably, the spring system 6 includes a spring barrel and a spring; the spring is a planar spiral spring, with its inner end fixed to the drive shaft 61 and its outer end fixed to the inner wall of the spring barrel; the spring barrel is fixedly connected to the module housing 7; the planar spiral spring has 2-10 turns. The planar spiral spring provides a large stroke and nearly constant torque output within a small volume, allowing it to store a large amount of energy in a very small volume, which is suitable for the limited space at the robot's knee. At the same time, the large-angle rotation characteristic of the planar spiral spring is suitable for the continuous rotation required by the motor drive shaft to store energy.

[0037] Preferably, the knee motor module has a module housing 7, with an external gear 3 mounted close to one side of the module housing 7, which serves as the mounting surface; the electric locking mechanism includes a recess 31 on the external gear 3 and an electromagnetic telescopic rod 4; the external gear 3 has recesses 31 arranged in a ring around the rotating shaft; an electromagnetic telescopic rod 4 is mounted inside the module housing 7, with one end of the electromagnetic telescopic rod 4 protruding from the mounting surface of the module housing 7 as a telescopic plug 42; the electromagnetic telescopic rod 4 has a normally closed electromagnetic mechanism, a retraction trigger signal interface, and extends the telescopic plug 42 when power is off; the telescopic plug 42 is connected to the... The recessed holes 31 are arranged accordingly to form an electric locking mechanism for the external gear 3; a gear is also mounted on the electromagnetic telescopic rod 4 as a reduction clutch gear 41; the rotor of the motor 1 has a rotor gear 11, and the rotor gear 11 and the reduction mechanism 2 are meshed and linked by the reduction clutch gear 41; the range of motion of the electromagnetic telescopic rod 4 driving the reduction clutch gear 41 is not less than the distance at which the reduction clutch gear 41 meshes with and disconnects the rotor gear 11 and the reduction mechanism 2; and when the telescopic plug 42 extends into the recessed hole 31, the rotor gear 11 and the reduction mechanism 2 are separated and disconnected by the reduction clutch gear 41.

[0038] The system employs a normally closed electromagnetic mechanism that locks the extension plug in the event of power failure. Even when the system is powered off or the control signal is lost, the external gear 3 remains mechanically locked, preventing the energy of the spring system 6 from being accidentally released and causing the robot's lower leg 8 to malfunction. This improves the stability of the robot's lower leg 8 drive system. When the telescopic plug 42 extends into the recess 31, the rotor gear 11 is separated from the reduction mechanism 2, ensuring that the power of the motor 1 is not accidentally transmitted to the output shaft during the power storage process. This prevents the output shaft from undergoing undesirable movement during power storage, thereby protecting the robot's lower leg 8 drive actuator.

[0039] When in use, the electromagnetic telescopic rod 4 is initially de-energized, and the telescopic plug 42 extends under the action of the normally closed spring and inserts into the concave hole 31 of the external gear 3 to lock the external gear 3; at the same time, the rotor gear 11 of the motor 1 separates from the reduction mechanism 2.

[0040] The system automatically enters the power-accumulating state: the push-pull electromagnet 5 drives the spring clutch gear 51 to connect the spring system 6 to the motor 1, and then starts the motor 1 to rotate in the power-accumulating direction. The motor 1 drives the spring system 6 to gradually tighten, and the current detection module monitors the current of the motor 1 in real time. When the current exceeds the preset power-accumulating completion threshold, the system determines that the spring is fully charged, immediately controls the electric clutch mechanism to separate the spring system 6 from the motor 1, and at the same time, the anti-rotation mechanism locks the spring system 6, and the spring energy is stably maintained. The motor 1 stops rotating, waiting for the next power-up command.

[0041] When the robot needs to perform a rapid movement of its lower leg 8, the electromagnetic telescopic rod 4 is energized, and the telescopic plug 42 retracts from the recess 31, releasing the lock on the external gear 3. Simultaneously, the deceleration clutch gear 41 moves with the electromagnetic telescopic rod 4, causing the rotor gear 11 to re-engage with the reduction mechanism 2. The electric clutch mechanism then reconnects the spring system 6 to the motor 1, and the anti-rotation mechanism disengages. The spring system 6 releases its stored elastic potential energy, which, combined with the torque of the motor 1, drives the reduction mechanism 2, thus driving the external gear 3. This significantly reduces the power required by the motor 1, greatly enhancing the vivid and powerful biomimetic effect of the small robot's lower leg 8 movements. After the movement is completed, the motor 1 is separated from the reduction mechanism 2, the external gear 3 is locked again, and the spring system 6 is reconnected to the motor 1 to recharge, preparing for the next movement.

[0042] The module housing 7 has a motor 1, a reduction mechanism 2, and a spring system 6 arranged sequentially along its length, resulting in a very small module thickness that allows it to be naturally embedded in the housing at the robot's knee to drive the robot's lower leg 8.

[0043] Example 2: Reference Figure 2 , Figure 3 and Figure 5 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0044] Preferably, the electric clutch mechanism includes a spring-loaded clutch gear 51 and a push-pull electromagnet 5; the spring system 6 is assembled inside the module housing 7, and the spring system 6 includes a power shaft 61 for input and output power, on which a gear, referred to as a spring-loaded gear 62, is fixed; the spring-loaded clutch gear 51 meshes with the spring-loaded gear 62 on the power shaft 61; the spring-loaded clutch gear 51 is assembled on the push rod 52 of the push-pull electromagnet 5; a shaft hole is provided in the module housing 7, and the protruding end of the push rod 52 is inserted into the shaft hole; the depth of the shaft hole is not less than the push-pull extension of the push rod 52. The length of the push rod 52 is such that it has rotational freedom within its push-pull range; a stop 53 is provided at the mating end of the push rod 52 and the shaft hole, and at least one stop 71 is provided at the shaft hole; the length of the spring clutch gear 51 is configured such that, in the retracted state of the push rod 52, one end meshes with the rotor gear 11 and the other end meshes with the spring gear 62; in the extended state of the push rod 52, one end of the spring clutch gear 51 separates from the rotor gear 11, while the other end continues to mesh with the spring gear 62, and the stop 53 is inserted into the limiting range of the stop 71 to restrict rotation.

[0045] One end of the electromagnetic telescopic rod 4 serves as a telescopic plug 42, which is inserted into the recess 31 of the external gear 3 to achieve locking. At the same time, the reduction clutch gear 41 mounted on the electromagnetic telescopic rod 4 moves with the rod body, controlling the engagement and disengagement of the rotor gear 11 with the reduction mechanism 2. This design allows a single electromagnetic actuator to complete two key actions simultaneously, resulting in an extremely compact structure, low cost, and simple control.

[0046] Preferably, the push rod 52 of the push-pull electromagnet 5 has an extended state and a retracted state. When the electromagnetic telescopic rod 4 is in the extended state, the telescopic plug 42 is inserted into the recess 31 to lock the external gear 3. The reduction clutch gear 41 separates the rotor gear 11 from the reduction mechanism 2, restricting the rotation of the spring system 6 and maintaining the state of the spring system 6. When the push rod 52 of the push-pull electromagnet 5 is in the retracted state, one end of the spring clutch gear 51 meshes with the rotor gear 11, and the other end meshes with the spring gear 62. The motor 1 rotates in the direction of storing energy in the spring system 6 to perform elastic energy storage. When the electromagnetic telescopic rod 4 is extended, the telescopic plug 42 is inserted into the recess 31 to lock the external gear 3. Then, the motor 1 is started to rotate in the direction of energy storage to store energy. The push-pull electromagnet 5 extends, causing the spring clutch gear 51 to separate from the rotor gear 11. At the same time, the stop head 53 is inserted into the stop block 71 to restrict the rotation of the spring system 6. The energy of the spring system 6 is stably locked and can be maintained for a long time without continuous power supply from the motor 1.

[0047] When the push rod 52 of the push-pull electromagnet 5 is in the retracted state, the spring clutch gear 51 simultaneously engages the rotor gear 11 and the spring gear 62, allowing the motor 1 to store energy for the spring system 6. In the extended state, the spring clutch gear 51 disengages from the rotor gear 11 but remains engaged with the spring gear 62. Simultaneously, the stop 53 inserts into the limiting range of the stop block 71, restricting the rotation of the spring gear 62. This design allows the disengagement and anti-rotation functions to be achieved through the coordinated action of the same electromagnet, eliminating the need for an additional brake. In the extended state, the cooperation between the stop 53 and the stop block 71 forms a mechanical anti-rotation mechanism, ensuring that even if the motor 1 is de-energized or the control signal disappears, the energy of the spring system 6 will not be slowly released due to vibration or other reasons. This ensures the reliability of pre-stored energy.

[0048] Preferably, when the telescopic plug 42 disengages from the recess 31, it releases the lock on the external gear 3; the push rod 52 of the push-pull electromagnet 5 is in the retracted state, one end of the spring clutch gear 51 meshes with the rotor gear 11, and the other end meshes with the spring gear 62, and the stop head 53 is released from the limiting range of the stop block 71; the motor 1 rotates in the direction of the force exertion of the spring system 6, and the spring system 6 assists the motor 1 in exerting force, together driving the external gear 3. First, the lock on the external gear 3 is released, then the spring system 6 is re-engaged with the motor 1 through the clutch gear, and finally the motor 1 rotates in the direction of the force exertion of the spring system 6. The energy released by the spring system 6 is superimposed with the torque of the motor 1, jointly driving the external gear 3. This cooperative driving method allows the robot's lower leg 8 to obtain a starting force far exceeding the rated torque of the motor 1, and the response speed is significantly improved. Since the motor 1 still participates in the drive, the impact-type output of the traditional power storage mechanism is avoided, making the driving action smooth.

[0049] Preferably, when the motor 1 rotates in the direction of energy storage of the spring system 6, the electromagnetic telescopic rod 4 retracts, the telescopic plug 42 disengages from the recess 31, and the lock on the external gear 3 is released; the push rod 52 of the push-pull electromagnet 5 is in the extended state, one end of the spring clutch gear 51 separates from the rotor gear 11, while the other end remains engaged with the spring gear 62, and the stop head 53 engages with the stop block 71 to restrict the rotation of the spring gear 62, allowing the motor 1 to drive the external gear 3 independently. When the motor 1 rotates in the direction of energy storage, the electromagnetic telescopic rod 4 retracts, releasing the lock on the external gear 3, and the spring clutch gear 51 separates from the rotor gear 11 and cannot absorb energy, allowing the motor 1 to drive the external gear 3 independently. This allows the robot to complete the resetting action of the robot's lower leg 8 without consuming the energy of the spring system 6. Since the mainspring clutch gear 51 is separated from the rotor gear 11 and the mainspring system 6 is stopped from rotating, the motor 1 will not drive the mainspring system 6 to rotate when it rotates. Therefore, the stored power of the mainspring system 6 will not be mistakenly increased during the reset process, thus avoiding extra waste of the motor 1's power. In the reset working state, the mainspring system 6 does not participate in the work, and the motor 1 only needs to overcome the load of the external gear 3 without having to drive the mainspring system 6 to rotate. Therefore, the drive current is small.

[0050] In operation, initially, the electromagnetic telescopic rod 4 is de-energized, the telescopic plug 42 extends to lock the external gear 3, and the reduction clutch gear 41 separates the rotor gear 11 from the reduction mechanism 2; the push-pull electromagnet 5 is in the extended state, one end of the spring clutch gear 51 is separated from the rotor gear 11, while the other end remains engaged with the spring gear 62, and simultaneously the stop head 53 inserts into the stop block 71 to limit the rotation, thus mechanically stopping the spring system 6. The spring system 6 uses a flat spiral spring as the spring spring, adapting to the continuous rotation required by the motor drive shaft to store power in the working mode.

[0051] When the system needs to pre-charge, it enters the charging state: First, the push-pull electromagnet 5 is energized, the push rod 52 retracts, one end of the spring clutch gear 51 meshes with the rotor gear 11, and the other end meshes with the spring gear 62. The stop head 53 disengages from the stop block 71, allowing the spring system 6 to rotate freely. Then, the motor 1 is controlled to rotate in the charging direction, and the planar spiral spring is gradually tightened. Since the output torque of the planar spiral spring is basically constant within 2-10 turns, the load on the motor 1 is stable. The current detection module monitors the current in real time. When the current exceeds the threshold, it is determined that the charging is complete. The system controls the push-pull electromagnet 5 to be de-energized, the push rod 52 extends, the spring clutch gear 51 disengages from the rotor gear 11, and at the same time, the stop head 53 re-inserts into the stop block 71, locking the spring system 6 and maintaining the energy indefinitely. The motor 1 is then de-energized and put to rest.

[0052] When the robot needs to move its lower leg 8, the system enters the assisted working state: the control electromagnetic telescopic rod 4 is energized, the telescopic plug 42 retracts to unlock the external gear 3, and at the same time, the deceleration clutch gear 41 engages the rotor gear 11 with the reduction mechanism 2; the control push-pull electromagnet 5 is energized, the push rod 52 retracts, the spring clutch gear 51 re-engages the rotor gear 11, the stop 53 disengages from the stop block 71, and the spring system 6 is released from its anti-rotation state; then the control motor 1 rotates in the direction of the force exerted by the spring system 6. The energy released by the spring is superimposed with the torque of the motor 1, driving the external gear 3 through the reduction mechanism 2. The rotation of the external gear 3 drives the robot's lower leg 8 to perform the expected action. Because the torque attenuation of the planar spiral spring is very small during release, the torque is sufficient and stable during the action. Combined with the real-time adjustment of the motor 1, a continuously adjustable output from gentle to explosive can be achieved.

[0053] When a slow reset is required, the system enters the reset state: the control motor 1 rotates in the energy storage direction, but the spring clutch gear 51 of the spring system 6 is stopped and disengaged, unable to absorb energy; the control electromagnetic telescopic rod 4 is energized, unlocking the external gear 3; the push-pull electromagnet 5 remains de-energized and extended, the spring clutch gear 51 is disengaged from the rotor gear 11, and the spring system 6 remains locked and stopped. The motor 1 independently drives the external gear 3 to rotate in the opposite direction, completing the reset or fine position adjustment.

[0054] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A knee motor power storage drive system, comprising a knee motor module disposed at the knee to drive the robot's lower leg (8), the knee motor module having an electric motor (1), a reduction mechanism (2) and an external gear (3) for external power output, characterized in that: The knee motor module includes a module housing (7), within which a spring system (6) is assembled; It is also equipped with an electric locking mechanism that controls the locking of the external gear (3) and an electric clutch mechanism that controls the spring system (6) and connects to the motor (1); The electric locking mechanism is also equipped with a speed reduction clutch gear (41) that is linked to the rotor gear (11) of the motor (1) and the speed reduction mechanism (2) to engage and disengage. The electric clutch mechanism is also equipped with an anti-rotation mechanism that is linked to the action to prevent the rotation of the spring system (6); When the electric locking mechanism locks the external gear (3) and the rotor gear (11) is separated from the reduction mechanism (2), the electric motor (1) drives the spring system (6) to store power through the electric clutch mechanism; When the electric locking mechanism releases the lock on the external gear (3) and the anti-rotation mechanism of the spring system (6) disengages, the spring system (6) assists the motor (1) to drive the external gear (3) together. The direction of the auxiliary force of the spring system (6) is the direction of motion of the robot's lower leg (8) relative to the robot's thigh (9) as it extends.

2. The knee motor power storage drive system according to claim 1, characterized in that: The spring system (6) is disconnected from the motor (1) through the electric clutch mechanism, and the anti-rotation mechanism stops the spring system (6) from rotating, maintaining the spring system (6) in the power storage state; When the spring system (6) is in a charged state, the electric locking mechanism releases the lock on the external gear (3), and the rotor gear (11) of the motor (1) meshes with the reduction clutch gear (41) and the reduction mechanism (2); The electric motor (1) rotates in the direction of energy storage, but independently drives the external gear (3), thus driving the external gear (3).

3. The knee motor power storage drive system according to claim 1, characterized in that: When the electric locking mechanism is locked, the reduction clutch gear (41) is disengaged; otherwise, it is engaged. When the spring system (6) is connected to the motor (1), the anti-rotation mechanism disengages; otherwise, it prevents the spring system (6) from rotating.

4. The knee motor power storage drive system according to claim 1, characterized in that: The knee motor module is mounted on the robot's lower leg (8), and the length of the module housing (7) is more than twice its width; The spring system (6), the electric motor (1), and the reduction mechanism (2) are arranged along the long direction of the module housing (7).

5. The knee motor power storage drive system according to claim 1, characterized in that: The spring system (6) includes a spring box and a spring spring. The spring spring is a planar spiral spring. The inner end of the planar spiral spring is fixed on the power shaft (61), and the outer end is fixed on the inner wall of the spring box. The spring box is fixedly connected to the module housing (7); The planar spiral spring has 2-10 coils for energy storage.

6. The knee motor power storage drive system according to claim 1, characterized in that: The knee motor module has a module housing (7), and an external gear (3) is mounted close to one side of the module housing (7), which becomes the mounting surface; The electric locking mechanism includes a recess (31) provided on the external gear (3) and an electromagnetic telescopic rod (4). The external gear (3) is provided with recessed holes (31) arranged in a ring around the shaft. An electromagnetic telescopic rod (4) is installed inside the module housing (7). One end of the electromagnetic telescopic rod (4) extends out from the mounting surface of the module housing (7) as a telescopic plug (42). The electromagnetic telescopic rod (4) has a normally closed electromagnetic mechanism, a retraction trigger signal interface, and a telescopic plug (42) that extends when power is off. The telescopic plug (42) is arranged correspondingly to the recess (31) to form an electric locking mechanism for the external gear (3); The electromagnetic telescopic rod (4) is also equipped with a gear, which serves as a speed reduction clutch gear (41). The rotor of the electric motor (1) has a rotor gear (11), and the rotor gear (11) and the reduction mechanism (2) are meshed and linked by a reduction clutch gear (41); The range of motion of the electromagnetic telescopic rod (4) driving the reduction clutch gear (41) is not less than the distance at which the reduction clutch gear (41) engages and disengages with the rotor gear (11) and the reduction mechanism (2); And when the telescopic plug (42) extends into the recess (31), the rotor gear (11) and the reduction mechanism (2) are separated by the reduction clutch gear (41).

7. The knee motor power storage drive system according to claim 6, characterized in that: The electric clutch mechanism includes a spring-loaded clutch gear (51) and a push-pull electromagnet (5); The spring system (6) is assembled inside the module housing (7). The spring system (6) includes a power shaft (61) for inputting and outputting power. A gear, called the spring gear (62), is fixed on the power shaft (61). The spring clutch gear (51) meshes with the spring gear (62) on the drive shaft (61); The spring-loaded clutch gear (51) is mounted on the push rod (52) of a push-pull electromagnet (5); A shaft hole is provided in the module housing (7), and the protruding end of the thrust rod (52) is inserted into the shaft hole; The depth of the shaft hole is not less than the push-pull movement length of the push rod (52), thus the push rod (52) has rotational freedom within the push-pull movement range; A stop (53) is provided at the end of the thrust rod (52) that is connected to the shaft hole, and at least one stop (71) is provided at the shaft hole. The length of the spring clutch gear (51) is set such that, when the thrust rod (52) is retracted, one end meshes with the rotor gear (11) and the other end meshes with the spring gear (62); When the thrust rod (52) is extended, one end of the spring clutch gear (51) is separated from the rotor gear (11), while the other end continues to mesh with the spring gear (62), and the stop (53) is inserted into the limiting range of the stop block (71) to restrict rotation.

8. The knee motor power storage drive system according to claim 7, characterized in that: The push rod (52) of the push-pull electromagnet (5) has an extended state and a retracted state; When the electromagnetic telescopic rod (4) is in the extended state, the telescopic plug (42) is inserted into the recess (31) to lock the external gear (3). The deceleration clutch gear (41) separates the rotor gear (11) from the deceleration mechanism (2), restricts the rotation of the spring system (6), and maintains the state of the spring system (6). When the push rod (52) of the push-pull electromagnet (5) is in the retracted state, one end of the spring clutch gear (51) meshes with the rotor gear (11), and the other end meshes with the spring gear (62). The motor (1) rotates in the direction of the spring system (6) to store power, thus storing power elastically.

9. The knee motor power storage drive system according to claim 8, characterized in that: When the telescopic plug (42) disengages from the recess (31), the lock on the external gear (3) is released; The push rod (52) of the push-pull electromagnet (5) is in the retracted state, one end of the spring clutch gear (51) meshes with the rotor gear (11), and the other end meshes with the spring gear (62), and the stop (53) gets out of the limiting range of the stop block (71). The electric motor (1) rotates in the direction of the force exerted by the spring system (6), and the spring system (6) assists the electric motor (1) in exerting force, together driving the external gear (3).

10. The knee motor power storage drive system according to claim 8, characterized in that: When the motor (1) rotates in the direction of the spring system (6) to store power, the electromagnetic telescopic rod (4) retracts, the telescopic plug (42) disengages from the concave hole (31), and the lock on the external gear (3) is released; The push rod (52) of the push-pull electromagnet (5) is in the extended state. One end of the spring clutch gear (51) is separated from the rotor gear (11), while the other end continues to mesh with the spring gear (62). The stop head (53) is inserted into the stop block (71) to restrict the rotation of the spring gear (62). The motor (1) independently drives the external gear (3).

Images