The invention discloses a motor-driven two-degree-of-freedom robot joint assembly which comprises a first motor assembly, a speed reducing mechanism assembly and a second motor assembly. An inner gearring of the speed reducing mechanism assembly is in rigid connection with a second motor shell of the second motor assembly, the speed reducing mechanism assembly is connected to a first motor shellof the first motor assembly through a crossed roller bearing, and the speed reducing mechanism assembly can rotate relative to the first motor shell. The speed reducing mechanism assembly comprises two sets of planetary speed reducing gear trains, and the two sets of planetary speed reducing gear trains are used for amplifying the output torque of hip joint and knee joint motors respectively. According to the motor-driven two-degree-of-freedom robot joint assembly, the two sets of planetary reduction gear trains share one inner gear ring and both adopt one-stage reduction, so that the structural complexity is remarkably simplified, the robot joint has the advantages of good reverse driving performance, simple and compact structure and the like, and the assembly can be used for a motor-driven quadruped robot and can also be used for other motor-driven legged robots besides the motor-driven quadruped robot.
本发明公开一种电机驱动两自由度机器人关节总成,包括第一电机总成、减速机构总成和第二电机总成;减速机构总成的内齿圈与第二电机总成的第二电机壳体刚性连接,减速机构总成通过交叉滚子轴承连接到第一电机总成的第一电机壳体上,且减速机构总成可相对第一电机壳体转动;减速机构总成包括两套行星减速轮系,两套行星减速轮系分别用于实现髋关节和膝关节电机输出扭矩的放大。本发明中的电机驱动两自由度机器人关节总成,两组行星减速轮系共用一件内齿轮圈,且均采用一级减速,显著简化了结构复杂度,使机器人关节具有较好的逆驱性,结构简单紧凑等优点,除用于电机驱动四足机器人外,还可用于其他电机驱动腿足机器人。
Motor-driven two-degree-of-freedom robot joint assembly
一种电机驱动两自由度机器人关节总成
2020-07-14
Patent
Electronic Resource
Chinese
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