CN214560956U - Driving device and soft mechanical arm - Google Patents
Driving device and soft mechanical arm Download PDFInfo
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- CN214560956U CN214560956U CN202120517684.8U CN202120517684U CN214560956U CN 214560956 U CN214560956 U CN 214560956U CN 202120517684 U CN202120517684 U CN 202120517684U CN 214560956 U CN214560956 U CN 214560956U
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Abstract
The utility model relates to a driving device and a soft mechanical arm, which aims to solve the technical problem of reducing the size of a motor in the soft mechanical arm, the driving device disclosed by the utility model comprises a motor, a motor bracket, a supporting plate, an external output torque part and a coil spring, wherein the motor bracket is fixedly connected with the motor, and the supporting plate is fixedly connected with the motor bracket; the external output torque part is fixedly connected with an output shaft of the motor, the tail end of the output shaft of the motor is rotatably connected with the supporting plate through a bearing, the coil spring is provided with an inner end part and an outer end part, the inner end part is connected with the external output torque part, the outer end part is connected with the inner side of the supporting plate, and the output shaft of the motor penetrates through a round hole in the middle of the coil spring. The utility model discloses extensively be used for adopting actuating mechanism and software arm of motor as the power supply.
Description
Technical Field
The utility model relates to a software arm technical field particularly, relates to a drive arrangement and software arm.
Background
In the technical field of the soft mechanical arm, in order to adapt to the work of completing large load in a narrow space, the soft mechanical arm is developed towards miniaturization, a driving device in the soft mechanical arm adopts a motor as a power source, and the size of the motor directly influences the size of the driving device, namely the size and the dimension of the soft mechanical arm. The size of the conventional motor and the actually provided torque are approximately in a linear relationship, and when the size of the motor is small, the load that can be borne is correspondingly reduced, so that under the condition of meeting a certain load requirement, how to reduce the size of the motor and further reduce the size of the driving device is a technical problem to be solved by the technical staff in the field.
Disclosure of Invention
The utility model provides a driving device and a soft mechanical arm, which aims to solve the technical problem of how to reduce the size of a motor in the soft mechanical arm.
The utility model provides a driving device, which comprises a motor, a motor bracket, a supporting plate, an external output torque part and a coil spring, wherein the motor bracket is fixedly connected with the motor, and the supporting plate is fixedly connected with the motor bracket; the external output torque part is fixedly connected with an output shaft of the motor, the tail end of the output shaft of the motor is rotatably connected with the supporting plate through a bearing, the coil spring is provided with an inner end part and an outer end part, the inner end part is connected with the external output torque part, the outer end part is connected with the inner side of the supporting plate, and the output shaft of the motor penetrates through a round hole in the middle of the coil spring.
Preferably, the external output torque member is a spool, and an inner end portion of the coil spring is connected to the spool.
Preferably, the external output torque member is a gear, and an inner end portion of the coil spring is connected to an end surface of the gear.
Preferably, an end cap is connected to the support plate and axially positions the bearing.
The utility model also provides a soft mechanical arm, which comprises a flat plate, a spring support, three steel wire ropes, three pulley supports and three groups of driving devices, wherein each pulley support is connected with two outer pulleys, the spring support is connected with three inner pulleys, the spring support is connected with the flat plate, the spring is connected with the spring support, the three steel wire ropes pass through the spring, and the ends of the three steel wire ropes are respectively and fixedly connected with the ends of the spring; the driving device comprises a motor, a motor support, a winding drum and a coil spring, the motor support is fixedly connected with the motor, the flat plate is fixedly connected with the motor support, the winding drum is fixedly connected with an output shaft of the motor, the tail end of an output shaft of the motor is rotatably connected with the flat plate through a bearing, the coil spring is provided with an inner end part and an outer end part, the inner end part is connected with the winding drum, the outer end part is connected with the inner side of the flat plate, and the output shaft of the motor penetrates through a round hole in the middle of the coil spring; the steel wire rope is wound on the winding drum after sequentially passing around the inner pulley and the outer pulley.
The utility model has the advantages that:
the driving device can output large torque and small torque by using one motor. The motor can provide large torque for a small-sized motor, the size of the motor is reduced under the requirement of large torque, the size of the driving device is reduced, the structure does not influence the precision of the motor, and the cost of the motor is reduced.
To the software arm, reduced the size of motor to the structure can not influence the precision of motor, also reduced motor cost, further made the software arm volume littleer, weight is lighter, and the software arm that the volume is littleer is applicable to narrow and small space work scene.
Further features of the invention will be apparent from the description of the embodiments which follows.
Drawings
FIG. 1 is a schematic view of a driving device;
FIG. 2 is a front view of the drive device shown in FIG. 1;
FIG. 3 is a right side view of the drive of FIG. 1;
FIG. 4 is a top view of the drive assembly shown in FIG. 1;
FIG. 5 is a schematic view of the drive unit of FIG. 1 with the end cap removed;
FIG. 6 is a top view of the structure shown in FIG. 5;
FIG. 7 is a cross-sectional view of the structure shown in FIG. 1;
FIG. 8 is a perspective view of the spool;
FIG. 9 is a front view of the spool;
FIG. 10 is a top view of the spool;
FIG. 11 is a perspective view of the spool;
FIG. 12 is a perspective view of the spool;
FIG. 13 is a schematic view of the structure in which the coil spring is mounted on the support plate;
FIG. 14 is a positional relationship diagram of the coil spring and the spool;
FIG. 15 is a positional relationship diagram of the coil spring and the spool;
FIG. 16 is a schematic structural view of a driving apparatus employing gears as external output torque members;
FIG. 17 is a front view of the structure shown in FIG. 16;
FIG. 18 is a front view of the soft mechanical arm;
FIG. 19 is a side view of the soft mechanical arm;
FIG. 20 is a top view of the soft robot arm;
figure 21 is a bottom view of the soft robot arm.
The symbols in the drawings illustrate that:
1. 1-1. an output shaft; 2. the motor comprises a motor support, 3 parts of a support plate, 4 parts of an end cover, 5 parts of a winding drum and 5-1 parts of a connecting part; 6. a coil spring, 6-1, an inner end part, 6-2, an outer end part; 7. connecting column, 9. boss, 10. bearing, 11. gear; 15. the pulley comprises a spring, 16, a spring support, 17, a steel wire rope, 18, a flat plate, 19, a pulley support, 20, an outer pulley and 21, an inner pulley.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.
Example 1
As shown in fig. 1-13, the driving device includes a motor 1, a motor bracket 2, a supporting plate 3, an end cover 4, a winding drum 5, a coil spring 6, a connecting column 7, a boss 9, and a bearing 10, the motor bracket 2 is fixedly connected with the motor 1, and the supporting plate 3 is fixedly connected with the motor bracket 2. The winding drum 5 is sleeved on an output shaft 1-1 of the motor 1, the winding drum 5 is provided with a connecting part 5-1, and a set screw penetrates through a hole in the side surface of the connecting part 5-1 and props against the output shaft 1-1 to realize that the winding drum 5 is fixedly connected to the output shaft 1-1. The tail end of an output shaft 1-1 of the motor 1 is rotatably connected with the supporting plate 3 through a bearing 10, and the end cover 4 is installed on the supporting plate 3 and used for axially positioning the bearing 10. The connecting column 7 is connected with the winding drum 5, the coil spring 6 is provided with an inner end part 6-1 and an outer end part 6-2, the inner end part 6-1 is hooked on the connecting column 7, the boss 9 is connected with the inner side of the supporting plate 3, the outer end part 6-2 is hooked on the boss 9, and the output shaft 1-1 of the motor 1 penetrates through a circular hole in the middle of the coil spring 6.
For the installation of the coil spring 6, the outer end portion 6-2 may be connected to the inner side of the support plate 3 by other structures as long as the outer end portion 6-2 can be fixed. Inner end portion 6-1 may be connected to spool 5 by other structures as long as inner end portion 6-1 is fixed to spool 5.
The spool 5 is used to output torque to the outside.
The operation of the drive is described below:
the arrow direction in fig. 13 indicates the torque direction of the coil spring 6, the solid arrow direction in fig. 14 indicates the torque direction of the coil spring 6, and the dotted arrow direction in fig. 14 indicates the direction in which the motor 1 outputs torque to the outside (i.e., the direction in which the spool 5 outputs torque to the outside).
In the first case, as shown in fig. 14, the direction of the torque output by the motor 1 is opposite to the direction of the torque output by the coil spring 6, the torque output by the motor 1 is totally used for balancing a part of the torque of the coil spring 6, and actually, the torque output by the whole driving device is the residual torque of the coil spring 6. Under the condition, the torque output by the whole driving device is smaller than the torque output by the motor 1, and the driving device is suitable for the situation that the torque required by the outside is not large.
The torque output by the whole driving device is M, and the torque output by the motor 1 is Me0The torque of the coil spring 6 is M0Then, the torque output externally by the whole driving device is M represented by the following formula (1):
M＝Me0+M0 (1)
in the formula (1), the direction of M is taken as the positive direction. M0≥M，Me0≤0。
In the second case, as shown in fig. 15, the direction of the dotted arrow indicates the direction of the torque output from the motor 1 to the outside (i.e. the direction of the torque output from the winding drum 5 to the outside), the direction of the torque output from the motor 1 to the outside is the same as the direction of the torque output from the winding spring 6, and the final torque output from the whole driving device to the outside is the torque output from the motor 1 itself plus the torque output from the winding spring 6. Under the condition, the torque output by the whole driving device is larger than the torque output by the motor 1, and the driving device is suitable for the situation that the torque required by the outside is large.
The torque output by the whole driving device is M, and the torque output by the motor 1 is Me1Torque of coil spring 6 is M'0Then, the torque M output externally by the entire driving apparatus is expressed by the following equation (2):
M＝Me1+M′0 (2)
in the formula (2), Me1≥0，M≥Me1。
The two conditions can be seen that the whole driving device can output large torque and small torque by using one motor. The motor can provide large torque for a small-sized motor, the size of the motor is reduced under the requirement of large torque, the size of the driving device is reduced, the structure does not influence the precision of the motor, and the cost of the motor is reduced.
It should be noted that, when the motor needs to rotate for a certain number of turns, the coil spring still can realize the effect of reducing the load of the motor, and during the rotation of the motor, the energy of the torsion spring is gradually released, and when the coil spring rotates for the maximum number of turns, the residual torque of the coil spring is:
M′0min＝λM0max (3)
for the motor, the working condition is that the negative torque is gradually changed into the positive torque, at the moment, if the absolute values of the positive torque and the negative torque are equal, the motor can exert all the capacity, and the corresponding torsion spring specification is also optimal, namely
Memin＝-Memax (4)
Now, the maximum torque provided by the motor is compared with the maximum torque output by the whole mechanism: when the external output torque is 0, the torque provided by the motor is all used for balancing the torque of the coil spring, namely
Memin＝-M0max (5)
When the torque is output externallyWhen it reaches the maximum value, Mmax＝Memax+M′0minSubstituting the formulas (3), (4) and (5) to obtain:
Mmax＝Memax+λM0max＝Memax+λ(-Memin)＝Memax+λMemax＝(1+λ)Memax (6)
it can be seen from equation (6) that this mechanism is very effective in reducing the motor load.
Note that, the spool 5 may be a gear instead of the spool 5 as an externally output torque member. As shown in fig. 16 and 17, the gear 11 is fixedly connected with the output shaft 1-1 of the motor 1, and the inner end portion 6-1 of the spring is fixedly connected with the end face of the gear 11.
Example 2
This embodiment is a specific application of the driving apparatus of embodiment 1, and is applied to a soft mechanical arm. As shown in fig. 18-21, the soft mechanical arm includes a spring 15, a spring support 16, three steel cables 17, a flat plate 18, three pulley supports 19, and three sets of driving devices, wherein two outer pulleys 20 are installed on each pulley support 19, three inner pulleys 21 are installed on each spring support 16, each spring support 16 is connected with the flat plate 18, the spring 15 is connected with the spring support 16, the three steel cables 17 penetrate through the spring 15, and the ends of the three steel cables 17 are respectively fixedly connected with the ends of the spring 15. The driving device comprises a motor 1, a motor support 2, a winding drum 5, a coil spring 6, a connecting column 7, a boss 9 and a bearing 10, wherein the motor support 2 is fixedly connected with the motor 1, and a flat plate 18 is fixedly connected with the motor support 2. The winding drum 5 is sleeved on an output shaft 1-1 of the motor 1, the winding drum 5 is provided with a connecting part 5-1, and a set screw penetrates through a hole in the side surface of the connecting part 5-1 and props against the output shaft 1-1 to realize that the winding drum 5 is fixedly connected to the output shaft 1-1. The tail end of an output shaft 1-1 of the motor 1 is rotatably connected with a flat plate 18 through a bearing 10, a connecting column 7 is connected with a winding drum 5, a coil spring 6 is provided with an inner end part 6-1 and an outer end part 6-2, the inner end part 6-1 is hooked on the connecting column 7, a boss 9 is connected with the inner side of the flat plate 18, the outer end part 6-2 is hooked on the boss 9, and the output shaft 1-1 of the motor 1 penetrates through a circular hole in the middle of the coil spring 6. The wire rope 17 is wound around the drum 5 after passing around the inner pulley 21 and the outer pulley 20 in this order. The three steel wire ropes are arranged in the same mode, one group of driving devices controls one steel wire rope, and the three groups of driving devices respectively control the three steel wire ropes.
The reel rotates to apply force to the spring 15, and the three steel wire ropes can be matched with each other to control the posture and the shape of the spring.
Due to the special design of the driving device, the small-size motor can provide large torque, the size of the motor is reduced under the condition of meeting the requirement of large torque, the structure cannot influence the precision of the motor, the motor cost is reduced, the size of the soft mechanical arm is further smaller, the weight is lighter, and the soft mechanical arm with the smaller size is suitable for narrow and small space working scenes.
The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.
Claims (5)
1. A driving device is characterized by comprising a motor, a motor support, a support plate, an external output torque component and a coil spring, wherein the motor support is fixedly connected with the motor, and the support plate is fixedly connected with the motor support; the external output torque component is fixedly connected with an output shaft of the motor, the tail end of the output shaft of the motor is rotatably connected with the supporting plate through a bearing, the coil spring is provided with an inner end part and an outer end part, the inner end part is connected with the external output torque component, the outer end part is connected with the inner side of the supporting plate, and the output shaft of the motor penetrates through a round hole in the middle of the coil spring.
2. The drive of claim 1, wherein said outward output torque member is a spool, and an inner end of said coil spring is connected to the spool.
3. The drive of claim 1, wherein said externally outputting torque member is a gear, and an inner end portion of said coil spring is connected to an end face of the gear.
4. A drive arrangement according to claim 1, 2 or 3, wherein an end cap is attached to the support plate, the end cap locating the bearing axially.
5. A soft mechanical arm is characterized by comprising a flat plate, springs, spring supports, three steel wire ropes, three pulley supports and three groups of driving devices, wherein each pulley support is connected with two outer pulleys, each spring support is connected with three inner pulleys, each spring support is connected with the flat plate, each spring is connected with each spring support, the three steel wire ropes penetrate through the corresponding spring, and the tail ends of the three steel wire ropes are fixedly connected with the tail ends of the corresponding springs respectively; the driving device comprises a motor, a motor support, a winding drum and a coil spring, the motor support is fixedly connected with the motor, the flat plate is fixedly connected with the motor support, the winding drum is fixedly connected with an output shaft of the motor, the tail end of the output shaft of the motor is rotatably connected with the flat plate through a bearing, the coil spring is provided with an inner end part and an outer end part, the inner end part is connected with the winding drum, the outer end part is connected with the inner side of the flat plate, and the output shaft of the motor penetrates through a round hole in the middle of the coil spring; and the steel wire rope sequentially bypasses the inner pulley and the outer pulley and then is wound on the winding drum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120517684.8U CN214560956U (en) | 2021-03-11 | 2021-03-11 | Driving device and soft mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120517684.8U CN214560956U (en) | 2021-03-11 | 2021-03-11 | Driving device and soft mechanical arm |
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| Publication Number | Publication Date |
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| CN214560956U true CN214560956U (en) | 2021-11-02 |
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| CN202120517684.8U Active CN214560956U (en) | 2021-03-11 | 2021-03-11 | Driving device and soft mechanical arm |
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- 2021-03-11 CN CN202120517684.8U patent/CN214560956U/en active Active
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