CN115990872A - Chest executor and robot - Google Patents
Chest executor and robot Download PDFInfo
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- CN115990872A CN115990872A CN202310071325.8A CN202310071325A CN115990872A CN 115990872 A CN115990872 A CN 115990872A CN 202310071325 A CN202310071325 A CN 202310071325A CN 115990872 A CN115990872 A CN 115990872A
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Abstract
The embodiment of the invention provides a chest actuator and a robot, wherein the chest actuator comprises: the motor installation seat is provided with a plurality of driving motors along the axial direction; and the output flange shafts are sequentially rotatably sleeved, one ends of the output flange shafts penetrate into the motor mounting seat along the axial direction of the motor mounting seat and are respectively connected with the driving motors in a driving way, and the other ends of the output flange shafts are provided with flange parts for external connection. According to the technical scheme provided by the embodiment of the invention, each output flange shaft can be independently controlled to output torque, interference can not occur between the output flange shafts, the output flange shafts are sleeved with each other, and the space is reasonably utilized, so that the structure of the actuator is more compact, the occupation of a larger space is avoided, and the control of multi-joint parts such as arms can be realized by matching with a connecting rod mechanism.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a chest actuator and a robot.
Background
In the field of intelligent robots, actuators are typically used to power each joint of the robot so that each joint may perform a corresponding action. However, most of the actuators currently used are in a single-output mode, and have a relatively single function, and can be used only for driving a single joint, and it is difficult to drive components such as an arm having a plurality of movable joints.
Disclosure of Invention
In view of the above, embodiments of the present invention have been made to provide a chest actuator and a robot that solve the above problems.
In one embodiment of the invention, there is provided a chest actuator comprising:
the motor installation seat is provided with a plurality of driving motors along the axial direction;
the motor mounting seat comprises a motor mounting seat, a plurality of output flange shafts, a plurality of motor driving motors, a plurality of flange connecting shafts and a plurality of flange connecting shafts, wherein the output flange shafts correspond to the driving motors in number, the output flange shafts are sequentially rotatably sleeved, one ends of the output flange shafts penetrate into the motor mounting seat along the axial direction of the motor mounting seat and are respectively connected with the driving motors in a driving mode, and the other ends of the output flange shafts are provided with flange parts used for being connected externally.
In some embodiments, the motor mounting seat comprises a plurality of motor mounting main bodies which are axially connected and fixed, and the plurality of driving motors are respectively mounted in the plurality of motor mounting main bodies in pairs;
the output flange shaft whose opposite position is closer to the inner side is connected to a drive motor in the motor mounting body farther from the flange portion in the radial direction.
In some embodiments, a motor cover plate is fixedly arranged on one end, facing the flange part, of the motor mounting seat, and the motor cover plate is annularly arranged on the periphery of a plurality of output flange shafts;
The motor cover plate is rotatably provided with a bearing pressing ring, and the bearing pressing ring is arranged on the periphery of the output flange shafts in a surrounding mode.
In some embodiments, the output flange shaft comprises a tubular body and an output end and a connection end respectively connected to two axial ends of the tubular body;
the output flange shaft is in driving connection with the driving motor through the connecting end;
the output end radially expands relative to the tubular main body to form the flange part, and a plurality of flange parts are sequentially arranged along the axial direction.
In some embodiments, a first bearing is disposed between two adjacent output flange shafts.
In some embodiments, at least one of the plurality of output flange shafts is rotatably sleeved with an arm link connector;
the arm connecting rod connecting piece is provided with a second bearing in the axial direction, and the arm connecting rod connecting piece is connected with the adjacent flange part through the second bearing.
In some embodiments, the tubular body is provided with a first hollow structure.
In some embodiments, the motor mounting body includes a cylindrical body and an annular spacer disposed within and coaxial with the cylindrical body;
Along the both sides of the axial direction of annular baffle, the tube-shape main part with annular baffle forms the mounting groove, be equipped with in the mounting groove driving motor, output flange axle rotate install in annular baffle's centre.
In some embodiments, a plurality of second hollow structures are disposed on the cylindrical main body and the annular partition plate.
In some embodiments, a third bearing is disposed on the two output flange shafts located at the outer side in the radial direction, and the two output flange shafts located at the outer side in the relative position are rotatably connected with the corresponding annular partition plate of the motor mounting body through the third bearing.
In some embodiments, the driving motor is of an annular structure and comprises a motor stator and a motor rotor rotating relative to the motor stator;
and a rotor connecting piece is fixed on the motor rotor, and the motor rotor is connected with the output flange shaft through the rotor connecting piece.
In some embodiments, the rotor connecting piece is in an annular structure, and a plurality of first connecting lugs are arranged on an outer ring of the rotor connecting piece;
the rotor connecting piece is connected with the motor rotor through the first connecting lug;
The inner ring of the rotor connecting piece is sleeved on the output flange shaft and fixedly connected with the output flange shaft.
In some embodiments, the rotor connecting piece is provided with a third hollow structure.
In some embodiments, a fourth bearing is disposed between the rotor connection and the annular spacer.
Correspondingly, the embodiment of the invention also provides a robot, which comprises the chest actuator.
According to the technical scheme provided by the embodiment of the invention, each output flange shaft in the plurality of output flange shafts can be independently controlled to output torque, interference can not occur between the output flange shafts, the plurality of output flange shafts are sleeved with each other, the space is reasonably utilized, the structure of the actuator is more compact, the occupation of larger space is avoided, and the control of multi-joint parts such as arms can be realized by matching with a connecting rod mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an exploded construction of a chest actuator according to an embodiment of the present invention;
fig. 2 is a schematic plan view of a chest actuator according to an embodiment of the present invention;
FIG. 3 isbase:Sub>A schematic cross-sectional view taken along the plane A-A in FIG. 2;
FIG. 4 is a schematic diagram of an assembled structure of a plurality of output flange shafts according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a motor mounting body according to an embodiment of the present invention.
Description of the reference numerals
20: a motor mounting seat; 21: a first output flange shaft; 22: a second output flange shaft; 23: arm connecting rod connecting piece; 24: a first bearing washer; 25: a second bearing gasket; 26: a third output flange shaft; 27: a fourth output flange shaft; 28: a first gauge bearing; 29: a second gauge bearing; 210: a bearing press ring; 211: a motor cover plate; 212: a first motor mounting body; 2121: a cylindrical main body; 2122: an annular partition plate; 2123: a second hollow structure; 213: installing a main body positioning ring; 214: a motor stator; 215: a motor rotor; 216: a first motor rotor connection; 217: a second motor rotor connection; 218: a third motor rotor connection; 219: a second motor mounting body; 220: a third specification bearing; 221: a fourth specification bearing; 222: crossed roller bearings.
Detailed Description
In order to enable those skilled in the art to better understand the present invention, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present invention with reference to the accompanying drawings. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the embodiments of the present disclosure.
In the description of embodiments of the present invention, it should be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to include, but are not limited to, processes, methods, systems, products, or apparatus comprising, for example, a series of steps or elements, not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such processes, methods, products, or apparatus.
In addition, in the present application, unless explicitly stated and limited otherwise, the terms "connected," "secured," "mounted," and the like are to be construed broadly, and may be, for example, mechanically or electrically; either directly, or indirectly through intermediaries, or in communication with each other, or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms in this application will be understood to those of ordinary skill in the art.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 isbase:Sub>A schematic diagram of an explosion structure ofbase:Sub>A chest actuator according to an embodiment of the present invention, fig. 2 isbase:Sub>A schematic diagram ofbase:Sub>A plane structure of the chest actuator according to an embodiment of the present invention, and fig. 3 isbase:Sub>A schematic diagram ofbase:Sub>A cross-sectional structure alongbase:Sub>A planebase:Sub>A-base:Sub>A in fig. 2, as shown in fig. 1 to 3.
In one embodiment of the invention, there is provided a chest actuator comprising: the motor mounting base 20, a plurality of driving motors and a plurality of output flange shafts corresponding to the number of the driving motors. Wherein the motor mount 20 is provided with a plurality of driving motors in an axial direction. The plurality of output flange shafts are sequentially rotatably sleeved, one ends of the plurality of output flange shafts penetrate into the motor mounting seat 20 along the axial direction of the motor mounting seat 20 and are respectively connected with the plurality of driving motors in a driving mode, and the other ends of the output flange shafts are provided with flange parts used for being connected externally.
When the chest actuator is used, the plurality of driving motors can respectively and independently drive one output flange shaft connected with the chest actuator to output torque, the output flange shaft can outwards output torque through the flange part, namely, the plurality of conveying flange shafts can respectively and independently output torque, the rotation speed and the rotation direction of each output flange shaft are changed by controlling the operation speed and the rotation direction of each driving motor, the chest actuator is more flexible to use, and the control of multi-joint parts such as arms can be realized by matching with a connecting rod mechanism.
According to the technical scheme provided by the embodiment of the invention, each output flange shaft in the plurality of output flange shafts can be independently controlled to output torque, interference can not occur between the output flange shafts, the plurality of output flange shafts are sleeved with each other, and the space is reasonably utilized, so that the structure of the actuator is more compact, and the occupation of a larger space is avoided. The chest actuator provided by the embodiment of the invention can be suitable for various simulation robots.
With continued reference to fig. 1-3, in some embodiments of the invention, the implementation of the motor mount 20 includes a variety of implementations, one of which is an integrally formed structure of the motor mount 20. Alternatively, the motor mount 20 is a split structure, the motor mount 20 is formed by combining a plurality of components, and in some embodiments, one implementation manner of the motor mount 20 is that the motor mount 20 includes a plurality of motor mount bodies that are axially connected and fixed, and a plurality of driving motors are respectively installed in the plurality of motor mount bodies in pairs. The output flange shaft, which is positioned farther to the inner side than the relative position, is connected to the driving motor in the motor mounting main body, which is positioned farther from the flange portion. Wherein, a plurality of motor installation main bodies are connected in proper order along the axial direction, and the both sides of the axial direction of every motor installation main body are equipped with driving motor respectively. The plurality of output flange shafts are rotatably sleeved in sequence, one ends of the plurality of output flange shafts penetrate into the motor installation main body along the axial direction of the motor installation main body, and each output flange shaft is respectively connected with one driving motor in a driving way.
Referring to fig. 1 to 4, taking four driving motors as an example, correspondingly, four output flange shafts are taken as an example, and taking the azimuth of fig. 1 to 4 as an example, the plurality of output flange shafts are respectively a first output flange shaft 21, a second output flange shaft 22, a third output flange shaft 26 and a fourth output flange shaft 27 from left to right, one end of the first output flange shaft 21 is provided with a first flange portion 21a, one end of the second output flange shaft 22 is provided with a second flange portion 22a, one end of the third output flange shaft 26 is provided with a third flange portion 26a, and one end of the fourth output flange shaft 27 is provided with a fourth flange portion 27a. The plurality of driving motors are respectively a fourth motor, a third motor, a second motor and a first motor. The motor installation main body is two, is first motor installation main body 212 and second motor installation main body 219 respectively, and the axial both sides of first motor installation main body 212 are equipped with third motor and fourth motor respectively, and the axial both sides of second motor installation main body 219 are equipped with first motor and second motor respectively, and the one end that first motor installation main body 212 was facing away from second motor installation main body 219 is the head end, and the one end that second motor installation main body 219 was facing away from first motor installation main body 212 is the tail end.
Referring to fig. 4, in the radial direction, the first output flange shaft 21 is sleeved in the second output flange shaft 22, the second output flange shaft 22 is sleeved in the third output flange shaft 26, the third output flange shaft 26 is sleeved in the fourth output flange shaft 27, in order to facilitate connection between each output flange shaft and a corresponding driving motor, the lengths of the output flange shafts are gradually shortened from the first output flange shaft 21 to the fourth output flange shaft 27 so as to enable the right end of the third output flange shaft 26 to extend out of the fourth output flange shaft 27, the right end of the second output flange shaft 22 extends out of the third output flange shaft 26, the right end of the first output flange shaft 21 extends out of the second output flange shaft 22, thereby enabling the first output flange shaft 21 to be connected with a first motor, the second output flange shaft 22 is connected with a second motor, the third output flange shaft 26 is connected with a third motor, and the fourth output flange shaft 27 is connected with a fourth motor. Based on the arrangement mode, each output flange shaft can be driven independently and rotate in the independent rotating space, so that the output flange shafts do not interfere with each other.
Further, in order to facilitate connection of the respective output flange shafts with external parts to output torque, the left end of each output flange shaft is also extended from the first output flange shaft 21 to the fourth output flange shaft 27 in turn to the output flange shaft on the opposite outer side thereof, so as to realize that the left end of the third output flange shaft 26 is extended from the fourth output flange shaft 27, the left end of the second output flange shaft 22 is extended from the third output flange shaft 26, the left end of the first output flange shaft 21 is extended from the second output flange shaft 22, and the respective output flange shafts are provided with flange portions by the extended portions.
When the chest actuator is applied to a robot, one end of the motor mounting seat 20, which is far away from the flange portion, is usually arranged in the chest of the robot, and one end, which faces the flange portion, is usually arranged outside the chest, so that the motor mounting seat 20 is exposed to the outside, and a driving motor in the motor mounting seat 20 is protected.
Further, in order to avoid the motor cover 211 from affecting the rotation of the output flange, the motor cover 211 is disposed around the outer circumference of the output flange shafts. In order to be convenient for be connected with the connecting rod of robot arm, the rotatable bearing clamping ring 210 that is equipped with on the motor apron 211, bearing clamping ring 210 is used for being connected with the connecting rod of robot arm, for the connecting rod of robot arm provides the support, can also rotate along with the connecting rod for the control of arm multi-joint part, thereby make the robot arm more nimble when doing corresponding action. In order to avoid mutual interference between the bearing pressing ring 210 and the output flange shafts, the bearing pressing ring 210 is annularly arranged on the outer circumferences of the output flange shafts.
To facilitate the rotation of the bearing ring 210 relative to the motor cover 211 and reduce friction therebetween, the motor cover 211 is provided with a bearing member by which the motor cover 211 is rotatably coupled to the bearing ring 210, the bearing member including, but not limited to, a cross roller bearing 222. The assembly method is that the outer ring of the crossed roller bearing 222 is firstly installed in the bearing pressing ring 210, then the crossed roller bearing 222 and the bearing pressing ring 210 are installed on the motor cover plate 211 as a component and are connected by bolts, the inner ring of the crossed roller bearing 222 is sleeved on the convex wall of the periphery of the central hole of the motor cover plate 211, and then the motor cover plate 211 is fixed on the first motor installation main body 212. The contact area between the bearing press ring 210 and the crossed roller bearing 222 can be increased, and the clamping acting force between the bearing press ring 210 and the motor cover plate 211 is increased, so that the crossed roller bearing 222 is connected more stably, and the bearing press ring 210 rotates more smoothly relative to the motor cover plate 211.
To further ensure accurate mounting locations, in some embodiments of the invention, mounting body locating rings 213 are also provided between the motor cover 211 and the motor mounting body, and between two adjacent motor mounting bodies. Before the motor cover 211 is mounted on the first motor mounting body 212, a mounting body positioning ring 213 may be mounted on the first motor mounting body 212 at a corresponding position, so as to position the mounting position of the motor cover 211, thereby ensuring that the motor cover 211 is mounted on the first motor mounting body 212 through the mounting body positioning ring 213 at an accurate position. The motor cover 211 may be fixedly coupled to the first motor mounting body 212 by fasteners such as screws. Before the first motor mounting body 212 and the second motor mounting body 219 are assembled, the other mounting body positioning ring 213 is mounted on the second motor mounting body 219 at a corresponding position, and then the first motor mounting body 212 and the second motor mounting body 219 are fixed by screws, so that the mounting position between the first motor mounting body 212 and the second motor mounting body 219 is ensured to be accurate.
Referring to fig. 1-4, in some embodiments of the invention, one implementation of the output flange shaft includes a tubular body and output and connecting ends respectively connected to the axial ends of the tubular body. The output flange shaft is in driving connection with the driving motor through a connecting end. The output end radially expands relative to the tubular body to form a flange portion, and a plurality of flange portions are sequentially arranged along the axial direction. For example, the output flange shaft includes a first output flange shaft 21, a second output flange shaft 22, a third output flange shaft 26, and a fourth output flange shaft 27, the output end of the first output flange shaft 21 has a first flange portion 21a, the output end of the second output flange shaft 22 has a second flange portion 22a, the output end of the third output flange shaft 26 has a third flange portion 26a, and the output end of the fourth output flange shaft 27 has a fourth flange portion 27a. The first flange portion 21a, the second flange portion 22a, the third flange portion 26a, and the fourth flange portion 27a are sequentially arranged in the axial direction. In order to realize the limit between the output flange shafts, the diameters of the flange parts of the output flange shafts are larger than the diameters of the tubular main bodies, and the diameters of the flange parts are the same, but the diameters of the flange parts can be different according to different requirements. In the process of sequential sleeving, the flange part on the output flange shaft positioned at the outer side limits the flange part on the output flange shaft positioned at the inner side through the flange part on the output flange shaft positioned at the outer side so as to limit the sleeving distance of the output flange shaft positioned at the inner side.
For example, referring to fig. 1 and 4, when the third output flange shaft 26 is fitted into the fourth output flange shaft 27, the third output flange shaft 26 moves from left to right until the third flange portion 26a of the third output flange shaft 26 abuts against the third flange portion 27a of the fourth output flange shaft 27, and at this time, the third output flange shaft 26 stops moving, and at this time, the third output flange shaft 26 moves in place and can be connected to its corresponding driving motor. By analogy, the second output flange shaft 22 moves from left to right until the second flange portion 22a of the second output flange shaft 22 abuts against the third flange portion 26a of the third output flange shaft 26, and the first output flange shaft 21 moves from left to right until the first flange portion 21a of the first output flange shaft 21 abuts against the second flange portion 22a of the second output flange shaft 22.
With continued reference to fig. 1 and 4, the connection ends of the output flange shafts may be implemented identically or differently. For example, one implementation of the connection end of the first output flange shaft 21 is that a screw hole located on an axial end surface of the first output flange shaft 21 is provided on the connection end of the first output flange shaft 21, and driving connection between the first output flange shaft 21 and the first motor is achieved through screw hole matching screws. The connection ends on the first output flange shaft 21 to the fourth output flange shaft 27 can be realized in this way.
Of course, the implementation manners of the connection ends of the second output flange shaft 22 to the fourth output flange shaft 27 may also be different from the above-described manner, for example, one implementation manner of the connection end of the second output flange shaft 22 is that the connection end of the second output flange shaft 22 is provided with the connection external teeth 2201 which are annularly arranged on the circumferential outer wall, and the connection external teeth 2201 are provided with screw holes for connecting screws. The connection end of the third output flange shaft 26 is provided with connection internal teeth 2601 which are arranged on the circumferential inner wall in a surrounding manner, screw holes for connection screws are arranged on the connection internal teeth 2601, wherein the connection external teeth 2201 are matched with the connection internal teeth 2601, and the connection external teeth 2201 can penetrate out of the third output flange shaft 26 through the tooth gaps of the connection internal teeth 2601. A rotor connector 2701 is fixedly arranged at the connecting end of the fourth output flange shaft 27, and the fourth output flange shaft 27 is connected with the driving motor through the rotor connector 2701.
Further, to avoid friction between the output flange shafts during rotation, in some embodiments of the invention, a first bearing is provided between two adjacent output flange shafts. The first bearing can enable two adjacent output flange shafts to rotate mutually, friction between flange parts on the two output flange shafts is avoided, and smoothness of rotation can be ensured. The first bearing includes, but is not limited to, a deep groove ball bearing. One way of assembling the first bearing is that an assembling groove is formed in the output end of the output flange shaft positioned on the outer side, for example, an assembling groove is formed in the flange portion, the first bearing is assembled in the assembling groove through the outer ring, and the first bearing is fixedly sleeved on the other output flange shaft positioned on the inner side in a sleeved mode through the inner ring.
According to the different positions of setting, a plurality of first bearings can be provided, and the specification of a plurality of first bearings is also different. For example, the first bearing disposed between the first output flange shaft 21 and the second output flange shaft 22 is disposed in an assembly groove on the output end of the second output flange shaft 22 and sleeved on the outer periphery of the first output flange shaft 21, and the diameter of the first output flange shaft 21 is smaller than that of other output flange shafts, so that the first bearing sleeved on the first output flange shaft 21 can be selected as the first-specification bearing 28, and the specification of the first-specification bearing 28 includes, but is not limited to, bearings 40-50-6, and of course, other specifications of bearings can be selected according to different requirements.
Correspondingly, the first bearing disposed between the second output flange shaft 22 and the third output flange shaft 26 is sleeved on the second output flange shaft 22, and optionally, the second bearing 29 is selected, and the second bearing 29 is selected from the group consisting of, but not limited to, bearings 45-55-6, although other bearings may be selected according to different requirements, such as the first bearing 28. The first bearing disposed between the third output flange shaft 26 and the fourth output flange shaft 27 is sleeved on the third output flange shaft 26, and may be selected as a third-specification bearing 220, where the specification of the third-specification bearing 220 includes, but is not limited to, bearings 45-58-7, and of course, other specifications of bearings may be selected according to different requirements, such as a second-specification bearing 29.
Further, to facilitate connection of the output flange shafts to external components, such as to a robot arm, one possible way is that at least one of the output flange shafts is rotatably sleeved with an arm link connector 23. The output flange shaft can be in driving connection with an arm of the robot through components such as an arm connecting rod and the like so as to drive the arm of the robot to perform corresponding actions, in order to ensure the stability of the action performed by the arm, one end of the arm connecting rod can be connected with the arm, the other end of the arm connecting rod is in rotating connection with the output flange shaft through an arm connecting rod connecting piece 23, a rotatable fulcrum is provided for the arm connecting rod through the output flange shaft, and the stability of the arm during the corresponding action performed by the arm is ensured.
In order to avoid friction between the arm link connector 23 and the output flange shaft, a second bearing is provided in the axial direction of the arm link connector 23, and the arm link connector 23 is connected to an adjacent flange portion through the second bearing. The second bearing includes, but is not limited to, a deep groove ball bearing, and one assembly mode of the second bearing is that connecting grooves are respectively formed in two ends of the arm connecting rod connecting piece 23 in the axial direction, the second bearing is assembled in the connecting grooves through an outer ring, and the second bearing is fixedly sleeved on a corresponding output flange shaft through an inner ring. For example, the arm link connector 23 is sleeved on the first output flange shaft 21, then the second bearing is fixedly sleeved on the first output flange shaft 21 through the inner ring, for example, the arm link connector 23 is sleeved on the second output flange shaft 22, then the second bearing is fixedly sleeved on the second output flange shaft 22 through the inner ring, and so on.
The specifications of the second bearings are different according to the different positions. For example, the second bearing is fixedly sleeved on the first output flange shaft 21 through the inner ring, and since the diameter of the first output flange shaft 21 is smaller than that of other output flange shafts, the second bearing sleeved on the first output flange shaft 21 can be selected as the bearing 28 with the first specification, and of course, other bearings with different specifications can be selected according to different requirements. For another example, the second bearing is fixedly sleeved on the second output flange shaft 22 through the inner ring, and the second bearing sleeved on the second output flange shaft 22 can be selected as the second specification bearing 29, and of course, other specifications of bearings can be selected according to different requirements. And so on.
In order to avoid interaction between the second bearing and the first bearing, a bearing washer may be provided between the second bearing and the first bearing, and a bearing washer may also be provided between the second bearing and the connecting groove, for example, a first bearing washer 24 provided between the second bearing and the mounting groove, and a second bearing washer 25 provided between the second bearing and the first bearing. The dimensions of the bearing washer are adapted to the dimensions of the second bearing.
In order to further reduce the weight of the chest actuator, in some practical embodiments of the present invention, the tubular body is provided with a first hollow structure, and one practical implementation of the first hollow structure is that the first hollow structure includes a plurality of elongated holes that extend axially and are circumferentially arranged, and the inside and outside of the elongated holes penetrate through the side wall of the tubular body. Through setting up first hollow out construction, on the basis of guaranteeing the rigidity and the intensity of output flange axle, can effectively alleviate the weight of output flange axle to reduce the whole weight of chest executor. Simultaneously, can also let the air get into in the motor installation main part through the inside of output flange axle through first hollow out construction to take away the produced heat of driving motor, thereby play radiating effect.
Referring to fig. 1 and 5, in some implementations of the invention, one implementation of a motor mounting body includes a cylindrical body 2121 and an annular diaphragm 2122 disposed within the cylindrical body 2121 and coaxial with the cylindrical body 2121. Along the two sides of the axial direction of the annular partition 2122, the cylindrical main body 2121 and the annular partition 2122 form a mounting groove, a driving motor is arranged in the mounting groove, and an output flange shaft is rotatably mounted in the middle of the annular partition 2122. The tubular body 2121 forms the main frame of the motor mounting body, provides the basis of support and installation for annular baffle 2122 and driving motor, cooperates annular baffle 2122 to form the mounting groove simultaneously in order to assemble driving motor for driving motor's connection is more stable. The inner ring of the annular diaphragm 2122 may facilitate the passage of the output flange shaft.
Further, in some embodiments of the present invention, a plurality of second hollow structures 2123 are disposed on the cylindrical main body 2121 and the annular partition 2122. Through setting up second hollow out construction 2123, on the basis of guaranteeing the rigidity and the intensity of motor installation main part, can effectively alleviate the weight of motor installation main part to reduce the whole weight of chest executor. Meanwhile, air can enter the motor installation main body through the second hollow structure 2123, and heat generated by the operation of the driving motor can be dissipated from the motor installation main body through the second hollow structure 2123, so that heat generated by the driving motor is taken away, and a heat dissipation effect is achieved.
In order to reduce friction between the output flange shafts and the annular partition 2122, in some embodiments of the present invention, third bearings are provided on the two output flange shafts located at the outer sides in the radial direction, and the two output flange shafts located at the outer sides are rotatably connected to the annular partition 2122 of the corresponding motor mounting body through the third bearings. For example, in the radial direction, the output flange shaft located at the outer side is a fourth output flange shaft 27, and after the connection end of the fourth output flange shaft 27 is in driving connection with the driving motor, in order to ensure stability of the fourth output flange shaft 27, an extension section is further provided on the connection end of the fourth output flange shaft 27, where the extension section extends to the annular partition 2122 on the first motor mounting body 212, and the extension section is rotatably connected with the annular partition 2122 through a third bearing.
The third bearing includes, but is not limited to, a deep groove ball bearing, and is assembled in such a manner that a transfer groove is formed on a surface of the annular partition plate of the first motor mounting body 212, which faces the output flange shaft, the third bearing is assembled in the transfer groove through an outer ring, and the third bearing is fixedly sleeved on the fourth output flange shaft 27 through an inner ring. The third bearing may be selected from the second size bearing 29 or the third size bearing 220 according to different setting requirements, and other sizes of bearings may be selected according to different requirements.
Further, in some embodiments of the present invention, one implementation of the driving motor is that the driving motor has a ring structure, including a motor stator 214 and a motor rotor 215 rotating relative to the motor stator 214. The motor stator 214 and the motor rotor 215 are both of annular structures, which can facilitate the passing of the output flange shaft which is not connected with the motor stator 214 and the motor rotor, ensure that the motor stator can execute driving action and simultaneously prevent the connection and rotation of other output flange shafts. In order to make the connection between the motor rotor 215 and the output flange shaft more stable, a rotor connecting piece is fixed on the motor rotor 215, and the motor rotor 215 is connected with the output flange shaft through the rotor connecting piece.
Specifically, in some embodiments of the present invention, a first rotor connector 216 is connected to a motor rotor 215 on the first motor, and the first output flange shaft 21 is connected to the motor rotor 215 on the first motor through the first rotor connector 216. A second rotor connector 217 is connected to the motor rotor 215 of the second motor, and the second output flange shaft 22 is connected to the motor rotor 215 of the second motor through the second rotor connector 217. A third rotor connector 218 is connected to the motor rotor 215 on the third motor, and the third output flange shaft 26 is connected to the motor rotor 215 on the third motor via the third rotor connector 218. The fourth output flange shaft 27 is connected to the motor rotor 215 on the fourth motor through a fourth rotor connector, wherein the fourth rotor connector is the rotor connector 2701, and according to different requirements, the rotor connector 2701 can be fixedly arranged on the fourth output flange shaft 27 or the motor rotor 215 of the fourth motor.
It should be noted that the fourth rotor connection member may be provided in two manners, and one manner is that the fourth output flange shaft 27 and the fourth rotor connection member (i.e., the rotor connection member 2701) are in a split structure, and the fourth rotor connection member is connected to the motor rotor 215 on the fourth motor and then connected to the fourth output flange shaft 27. Alternatively, the fourth rotor connector (i.e., the rotor connector 2701) is fixedly disposed on the fourth output flange shaft 27, the fourth rotor connector and the fourth output flange shaft 27 are integrally formed, and the fourth output flange shaft 27 is connected to the motor rotor 215 on the fourth motor through the fourth rotor connector.
The rotor connecting piece can ensure that the torque of the electronic rotor can be stably output, and simultaneously can also play a role in increasing the connection area between the motor rotor 215 and the output flange shaft and increasing the number of connection points, so that the connection firmness and stability are effectively improved, and the motor rotor 215 can stably and smoothly output the torque to the output flange shaft.
In some embodiments of the invention, the different output flange shafts may be connected to the rotor connection in the same or different ways. For example, the rotor connectors of the first output flange shaft 21, the second output flange shaft 22 and the third output flange shaft 26, which are correspondingly connected with each other, may be in a split structure, and after the first output flange shaft 21, the second output flange shaft 22 and the third output flange shaft 26 extend into the motor installation main body, they are respectively fixedly connected with the corresponding rotor connectors through the connecting ends thereof by screws.
The fourth output flange shaft 27 is not required to perform a "penetrating" action because it is disposed at the outermost side of the plurality of output flange shafts, and therefore, the fourth output flange shaft 27 and the rotor connector connected correspondingly thereto may be separately formed, and the rotor connector may be fixed to the fourth output flange shaft 27 by welding or the like, so that the fourth output flange shaft 27 and the rotor connector connected correspondingly thereto are of an integral structure, in other words, the output flange shaft located at the outermost side of the plurality of output flange shafts may be provided with the rotor connector itself to be connected to the motor rotor 215 of the corresponding driving motor.
In some embodiments of the present invention, one implementation manner of the rotor connecting piece is that the rotor connecting piece is in an annular structure, and a plurality of first connecting lugs are arranged on an outer ring of the rotor connecting piece. The rotor connection is connected to the motor rotor 215 via a first connection lug. The inner ring of the rotor connecting piece is sleeved on the output flange shaft and fixedly connected with the output flange shaft. The rotor connecting piece with the annular structure can be convenient for the output flange shaft which is not connected with the rotor connecting piece to pass through, so that the rotor connecting piece can ensure the rotation of the rotor connecting piece and simultaneously can not prevent the connection and rotation of other output flanges. The plurality of first connection lugs may be evenly distributed along the outer circumference of the rotor connection member, thereby increasing the number of connection points between the rotor connection member and the motor rotor 215, making the connection between the rotor connection member and the motor rotor 215 more secure, thereby transmitting torque better and more stably.
Further, in some possible embodiments of the present invention, a plurality of third hollow structures are disposed on the rotor connecting member. Through setting up third hollow out construction, on the basis of guaranteeing the rigidity and the intensity of rotor connecting piece, can effectively alleviate the weight of rotor connecting piece to reduce the whole weight of chest executor. Meanwhile, air can flow in the motor installation main body through the third hollow structure, and heat generated by the operation of the driving motor can be dissipated through the third hollow structure, so that the heat generated by the driving motor is taken away, and the heat dissipation effect is achieved.
In order to reduce friction between the rotor connection and the annular diaphragm, in some practical embodiments of the invention, a fourth bearing is provided between the rotor connection and the annular diaphragm. The fourth bearing includes, but is not limited to, a deep groove ball bearing, and one assembly mode of the fourth bearing is that a positioning groove is formed in one face, facing the rotor connecting piece, of the annular partition plate of the first motor mounting main body 212, the fourth bearing is assembled in the positioning groove through an outer ring, and the fourth bearing is fixedly sleeved on the rotor connecting piece through an inner ring. The fourth bearing may be selected from the fourth specification bearing 221 or the third specification bearing 220 according to different setting requirements, and other specifications of bearings may be selected according to different requirements.
In the following, how the chest actuator according to the embodiments of the present invention is assembled will be described with reference to a specific embodiment, and it should be noted that the following assembly process is only an exemplary assembly process, and is not meant to be a undue limitation of the embodiments of the present invention.
Referring to fig. 1 to 3, a chest actuator for a simulation robot, comprising: the first output flange shaft 21, the second output flange shaft 22, the arm link connector 23, the first bearing washer 24, the second bearing washer 25, the third output flange shaft 26, the fourth output flange shaft 27, the first specification bearing 28, the second specification bearing 29, the bearing press ring 210, the motor cover plate 211, the first motor mounting body 212, the mounting body positioning ring 213, the motor stator 214, the motor rotor 215, the first motor rotor connector 216, the second motor rotor 215 connector, the third motor rotor 215 connector, the second motor mounting body 219, the third specification bearing 220, the fourth specification bearing 221, and the cross roller bearing 222. Also included are a number of fasteners for attachment, including but not limited to screws, bolts, and steel pins.
Wherein, the first size bearing 28 has a size of 40-50-6, the second size bearing 29 has a size of 45-55-6, the motor stator 214 is optionally an A140 motor stator 214, the motor rotor 215 is optionally an A140 motor rotor 215, the third size bearing 220 has a size of 45-58-7, the fourth size bearing 221 has a size of 50-65-7, and the cross roller bearing 222 has a size of 22280-96-8.
Each orientation of the assembly process taking the orientation of fig. 1 and 3 as an example, the assembly steps of the chest actuator include, but are not limited to, the following steps:
first, four motor stators 214 are fixed to the first motor mounting body 212 and the second motor mounting body 219 with dedicated glue and steel pins as preforms.
Then, the outer ring of the cross roller bearing 222 is fitted into the bearing press ring 210, and then the cross roller bearing 222 and the bearing press ring 210 are fitted as an assembly to the motor cover 211 and the three are fixed with screws.
Subsequently, one motor rotor 215 is screwed with the fourth output flange shaft 27, after which the fourth-sized bearing 221 is mounted to the corresponding position on the first motor mounting body 212, and then the fourth output flange shaft 27 is mounted to the inner ring of the fourth-sized bearing 221 until the correct step position is reached.
After the above steps are completed, the mounting body positioning ring 213 is mounted to the first motor mounting body 212 at the corresponding position, and the assembly composed of the motor cover 211 is mounted to the first motor mounting body 212 using screws for fixing.
Thereafter, the third-sized bearing 220 is mounted to the first motor mounting body 212 at a corresponding position, and the third motor rotor 215 connector and the other motor rotor 215 are screwed as an assembly ready for use.
The second-sized bearing 29 is mounted to the leftmost bearing mounting position of the fourth output flange shaft 27, and the third output flange shaft 26 is mounted to the corresponding position of the second-sized bearing 29 through the fourth output flange shaft 27. The assembly of the third motor rotor 215 connection is then mounted to the right-most end of the third output flange shaft 26 and secured with screws.
Then, the arm connecting rod connector 23 is sleeved on the second output flange shaft 22 through two second-specification bearings 29, and then the arm connecting rod connector 23 and the second output flange shaft 22 are taken as a component to penetrate from left to right from the middle of the third output flange shaft 26 until the left end of the second output flange shaft 22 is mounted at the limit position of the second-specification bearings 29. After this step, the motor rotor 215 is connected to the second motor rotor 215 by screws. The motor rotor 215 is then screwed to the second output flange shaft 22 as a component of the second motor rotor 215 connection.
Thereafter, the other mounting body positioning ring 213 is mounted to the second motor mounting body 219 at the corresponding position, then the two third bearings are mounted to the second motor mounting body 219 at the corresponding position, finally the second motor mounting body 219 with the bearing and the electronic stator mounted thereon is mounted to the first motor mounting body 212 and fixed with screws, and then tapped with a rubber hammer or the like at the left end of the second output flange shaft 22 until mounted to a limit.
Finally, the first output flange shaft 21 is threaded into the second output flange shaft 22 until the left end reaches the limit position of the first-specification bearing 28, and then the assembly formed by the rightmost motor rotor 215 and the first motor rotor connecting piece 216 is connected by screws, so that the assembly of the chest actuator is completed.
When the chest actuator is used, the four motor rotors 215 can respectively and independently drive the four output flange shafts to output torque, and the rotation speed and the rotation direction of the four output flange shafts are changed by controlling the operation speed and the rotation direction of the four driving motors, so that the chest actuator is more flexible to use.
Further, based on the technical scheme provided by the embodiment, correspondingly, the embodiment of the invention also provides a robot, which comprises the chest actuator in the embodiment. It should be noted that, under the circumstance that the structures do not conflict, the implementation manner of the chest actuator can be referred to and borrowed from the implementation manner of the chest actuator described in the above embodiment, and will not be described in detail herein.
In summary, according to the technical scheme provided by the embodiment of the invention, each output flange shaft in the plurality of output flange shafts can be independently controlled to output torque, interference between the output flange shafts is avoided, the plurality of output flange shafts are sleeved with each other, space is reasonably utilized, the structure of the actuator is more compact, larger space is avoided, and control of multi-joint parts such as arms can be realized by matching with a connecting rod mechanism. The chest actuator provided by the embodiment of the invention can be suitable for various simulation robots.
It should be noted that, in the embodiments of the present invention, unless explicitly specified and limited otherwise, terms such as "mounted," "connected," "fixed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of embodiments of the present invention, reference is made to the terms "one embodiment," "some embodiments," "example," "a particular example," or "some examples," etc., meaning that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (15)
1. A chest actuator, comprising:
the motor installation seat is provided with a plurality of driving motors along the axial direction;
the motor mounting seat comprises a motor mounting seat, a plurality of output flange shafts, a plurality of motor driving motors, a plurality of flange connecting shafts and a plurality of flange connecting shafts, wherein the output flange shafts correspond to the driving motors in number, the output flange shafts are sequentially rotatably sleeved, one ends of the output flange shafts penetrate into the motor mounting seat along the axial direction of the motor mounting seat and are respectively connected with the driving motors in a driving mode, and the other ends of the output flange shafts are provided with flange parts used for being connected externally.
2. The chest actuator of claim 1 wherein the motor mount comprises a plurality of motor mount bodies axially fixedly connected, the plurality of drive motors being mounted in the plurality of motor mount bodies in pairs, respectively;
the output flange shaft whose opposite position is closer to the inner side is connected to a drive motor in the motor mounting body farther from the flange portion in the radial direction.
3. The chest actuator of claim 1 wherein a motor cover plate is fixedly arranged on one end of the motor mounting seat facing the flange part, and the motor cover plate is annularly arranged on the peripheries of the output flange shafts;
the motor cover plate is rotatably provided with a bearing pressing ring, and the bearing pressing ring is arranged on the periphery of the output flange shafts in a surrounding mode.
4. The chest actuator of claim 1 wherein the output flange shaft comprises a tubular body and output and connecting ends respectively connected at axial ends of the tubular body;
the output flange shaft is in driving connection with the driving motor through the connecting end;
the output end radially expands relative to the tubular main body to form the flange part, and a plurality of flange parts are sequentially arranged along the axial direction.
5. The chest actuator of claim 4 wherein a first bearing is disposed between adjacent ones of the output flange shafts.
6. The chest actuator of claim 4 wherein at least one of the plurality of output flange shafts is rotatably journaled with an arm link connector;
the arm connecting rod connecting piece is provided with a second bearing in the axial direction, and the arm connecting rod connecting piece is connected with the adjacent flange part through the second bearing.
7. The chest actuator of claim 4 wherein the tubular body is provided with a first hollowed-out structure.
8. The chest actuator of claim 2 wherein the motor mounting body comprises a cylindrical body and an annular spacer disposed within and coaxial with the cylindrical body;
along the both sides of the axial direction of annular baffle, the tube-shape main part with annular baffle forms the mounting groove, be equipped with in the mounting groove driving motor, output flange axle rotate install in annular baffle's centre.
9. The chest actuator of claim 8, wherein the cylindrical body and the annular spacer are provided with a plurality of second hollowed-out structures.
10. The chest actuator of claim 8 wherein the two output flange shafts located on the outside are provided with third bearings in the radial direction, the two output flange shafts located on the outside being rotatably connected to the corresponding annular partition plate of the motor mounting body by the third bearings.
11. The chest actuator of claim 8 wherein the drive motor is of an annular configuration comprising a motor stator and a motor rotor that rotates relative to the motor stator;
and a rotor connecting piece is fixed on the motor rotor, and the motor rotor is connected with the output flange shaft through the rotor connecting piece.
12. The chest actuator of claim 11 wherein the rotor connector is of annular configuration, the outer ring of the rotor connector having a plurality of first connecting lugs thereon;
the rotor connecting piece is connected with the motor rotor through the first connecting lug;
the inner ring of the rotor connecting piece is sleeved on the output flange shaft and fixedly connected with the output flange shaft.
13. The chest actuator of claim 11 wherein the rotor connection is provided with a third hollowed-out structure.
14. The chest actuator of claim 11 wherein a fourth bearing is disposed between the rotor connection and the annular diaphragm.
15. A robot, characterized in that: the robot comprising the chest effector of any one of claims 1 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310071325.8A CN115990872A (en) | 2023-01-16 | 2023-01-16 | Chest executor and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310071325.8A CN115990872A (en) | 2023-01-16 | 2023-01-16 | Chest executor and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115990872A true CN115990872A (en) | 2023-04-21 |
Family
ID=85994940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310071325.8A Pending CN115990872A (en) | 2023-01-16 | 2023-01-16 | Chest executor and robot |
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| Country | Link |
|---|---|
| CN (1) | CN115990872A (en) |
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| CN112959313A (en) * | 2021-04-08 | 2021-06-15 | 山东理工大学 | Rope-driven robot based on rotary quick-change mechanism |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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| CN102290956A (en) * | 2011-07-20 | 2011-12-21 | 陈卫光 | Stepper motor with a plurality of output shafts |
| CN104149089A (en) * | 2014-07-28 | 2014-11-19 | 广东工业大学 | Modular series master robot |
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