The invention relates to the technical field of robot joints, and discloses an intelligent service type multifunctional foot-type robot. The robot comprises a first joint composed of a first motor and a speed reducer assembly and a second joint composed of a second motor assembly and a second speed reducer; and a first output connecting rod is fixed to an output shaft of the first motor and speed reducer assembly, the second speed reducer is arranged in the first output connecting rod, and the second motor assembly drives the second speed reducer through a transmission rod. The fixed end of the second motor assembly and the fixed end of the first motor and speed reducer assembly are fixed together, and the situation that the fixed end of a second motor of a conventional robot joint series connection structure is fixed to the output end of the first motor and speed reducer assembly is avoided, so that the output inertia of two output shafts of the two joints of the robot is small, and a power cable penetrating through a second motor assembly of the second joint is omitted.
本发明涉及机器人关节技术领域,公开了一种智能服务型多功能足式机器人,包括第一电机及减速器总成构成的第一关节、第二电机总成和第二减速器构成的第二关节;第一电机及减速器总成的输出轴上固定有第一输出连杆,第二减速器设于所述第一输出连杆内,第二电机总成通过传动杆驱动所述第二减速器。本发明第二电机总成的固定端与第一电机及减速器总成的固定端固定在一起,而不是常规机器人关节串联结构的第二电机固定端固定在第一电机及减速器总成的输出端上,使得该机器人双关节两个输出轴的输出惯量都较小,并且省去了穿到第二关节第二电机总成的动力线缆。
Intelligent service-type multifunctional foot-type robot
智能服务型多功能足式机器人
2021-06-01
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Foot type robot grounding sensing mechanism and foot type robot
Europäisches Patentamt | 2021
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