The invention discloses a modular joint of a biped robot. The joint comprises a speed reducer, a hollow motor, an input shaft, a motor encoder, a joint output encoder and a motor driving plate. On thepremise that design parameter requirements are met, due to the fact that the number of joints of the biped robot is large, in order to meet the maximum torque/weight parameter and give considerationto the feasibility of production and manufacturing, a hollow motor bearing and a speed reducer are shared, and a motor rotor output shaft and a speed reducer input shaft are shared at the same time, therefore, the transmission connection precision of the motor and the speed reducer is higher. A plurality of functions are integrated in one joint, so that the torque/weight value is increased; the structure is more compact, the assembly links are reduced, and the assembly positioning precision is higher; the use of one bearing is reduced, so that the friction loss is smaller, and the sensitivityof the current monitoring feedback torque is higher.
本发明公开了一种双足机器人模块化关节,该关节包括减速器、中空电机、输入轴、电机编码器、关节输出编码器和电机驱动板。在满足设计参数需求的前提下,由于双足机器人关节较多,为了满足扭矩/重量这项参数最大,同时兼顾生产制造的可行性,本发明同时将中空电机轴承与减速器共用,电机转子输出轴与减速器输入轴共用,使得电机和减速器在传动连接上精度更高。将多个功能集成在一个关节内,提高了扭矩/重量的值;使得结构更加的紧凑,装配环节减少,装配定位精度更高;减少一个轴承的使用,摩擦损耗更小,使得电流监测反馈力矩的灵敏度更高。
Modular joint of biped robot
一种双足机器人模块化关节
2020-12-18
Patent
Elektronische Ressource
Chinesisch