CN112454416A - Servo steering wheel module and robot - Google Patents
Servo steering wheel module and robot Download PDFInfo
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- CN112454416A CN112454416A CN202011158136.7A CN202011158136A CN112454416A CN 112454416 A CN112454416 A CN 112454416A CN 202011158136 A CN202011158136 A CN 202011158136A CN 112454416 A CN112454416 A CN 112454416A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to the technical field of robots, in particular to a servo steering engine module and a robot. As shown in fig. 2, when the two driving assemblies rotate in the same direction, since the two driving assemblies are disposed oppositely, it can be seen from the figure that one driving assembly rotates outwards and the other driving assembly rotates inwards, so as to drive the driven driving assembly to rotate synchronously, thereby realizing the rotation output of the first output disc; on the contrary, as shown in fig. 3, when the two driving assemblies rotate in opposite directions, the driven driving assembly is prevented from rotating, and the first output disc is prevented from rotating to output, and at the same time, the first output disc and the connecting frame are driven to rotate by taking the driving assemblies as axes under the action of the two driving assemblies, so that the rotating output of the second output disc is finally realized according to the force transmissibility.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a servo steering engine module and a robot.
Background
The servo steering engine module is a joint movement module of the robot, each servo steering engine module in the prior art only has one rotation output, namely, one servo steering engine module can only realize one-degree-of-freedom movement of the robot, and a leg of the robot is taken as an example for explanation, and generally has 6 degrees of freedom, and 6 servo steering engine modules are required to be correspondingly configured for driving; therefore, the legs of the robot are too heavy, the center of gravity of the whole robot moves downwards, and the movement performance is not promoted conveniently.
Disclosure of Invention
An object of this application is to provide a servo steering wheel module and robot to solve the problem that every servo steering wheel module only has a rotatory output among the prior art.
Technical scheme (I)
In order to achieve the above object, a first aspect of the present invention provides a servo steering engine module, including:
a fixed seat;
the two driving components are oppositely arranged in the fixed seat;
the driven driving assembly is arranged into at least one driven driving assembly, and the at least one driven driving assembly is vertical to the driving assemblies and is meshed with the two driving assemblies;
the first output disc is arranged on the outer side of the driven driving assembly;
one end of the connecting frame is rotatably connected to the driven driving assembly, and the other end of the connecting frame is rotatably connected to one of the driving assemblies;
and the second output disc is arranged on the outer side of the active driving assembly through the connecting frame.
Optionally, the number of the driven driving assemblies is two, and the two driven driving assemblies are arranged oppositely and are engaged with the two driving assemblies.
Optionally, the active driving assembly includes: the driving mechanism comprises a driving mechanism and a driving transmission assembly, wherein the driving transmission assembly is arranged at the output end of the driving mechanism.
Optionally, the driven drive assembly comprises: the output shaft is connected with the driven transmission assembly at one end, is mounted on the connecting frame through a bearing at the other end, and extends out of one end of the connecting frame to be connected with the first output disc.
Optionally, the connection frame includes: the connecting mechanism comprises a connecting seat and at least one connecting arm convexly arranged on the connecting seat, the connecting seat is rotationally connected to the driving mechanism, and the at least one connecting arm is rotationally connected to the output shaft.
Optionally, the second output disc is connected with the connecting seat through a supporting piece, and gaps are formed between the supporting piece and the fixing seat as well as between the second output disc and the fixing seat.
Optionally, the driving transmission assembly and the driven transmission assembly are arranged in a meshed gear structure.
Optionally, the number of teeth of the driving transmission assembly is the same as that of the driven transmission assembly.
Optionally, the number of teeth of the driving transmission assembly is different from the number of teeth of the driven transmission assembly.
Optionally, the output angles of the first output tray and the second output tray are respectively as follows:
∝1＝1/2(θ1+θ2)；
∝2＝1/2(θ1-θ2)；
wherein: theta1Is the output angle of the first active driving component; theta2Is the output angle of the second active driving component; is a direct change1Outputting an angle for the first output disc; is a direct change2The angle is output for the second output disc.
Optionally, the output torques of the first output disc and the second output disc are respectively as follows:
T1＝t1+t2；
T2＝t1-t2；
wherein: t is1Is the output torque of the first output disk, T2Is the output torque of the second output disk, t1Is the output torque of the first active drive component, t2Is the output torque of the second active drive component.
To achieve the above object, a second aspect of the present invention provides a robot comprising: a servo steering engine module according to any preceding claim.
(II) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a servo steering engine module and a robot, as shown in figure 2, when two driving components rotate in the same direction, one driving component rotates outwards and the other driving component rotates inwards as the two driving components are arranged oppositely, so that a driven driving component is driven to rotate synchronously, and the rotary output of a first output disc is realized; on the contrary, as shown in fig. 3, when the two driving assemblies rotate in opposite directions, the driven driving assembly is prevented from rotating, so that the first output disc is prevented from rotating and outputting, and meanwhile, under the action of the two driving assemblies, the first output disc and the connecting frame are driven to rotate by taking the driving assemblies as axes, so that the rotating output of the second output disc is finally realized according to the force transmissibility; the servo steering wheel module of this application can realize the rotatory output of two degrees of freedom through the cooperation of above-mentioned structure to can effectively alleviate robot weight, promote the motion performance.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for a person skilled in the art that other drawings can be obtained according to the drawings without inventive exercise, wherein:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the first output disk rotation configuration of the present invention;
FIG. 3 is a schematic diagram of a second output disk rotation configuration of the present invention;
FIG. 4 is a schematic structural diagram of an active drive assembly according to the present invention;
FIG. 5 is a schematic view showing the construction of the connection frame according to the present invention;
fig. 6 is a schematic view showing a structure in which the connection frame is assembled with the second output tray in the present invention.
1. A fixed seat; 2. a first output tray; 3. a connecting frame; 4. a second output tray; 5. a drive mechanism; 6. an active drive assembly; 7. a driven transmission assembly; 8. an output shaft; 9. a connecting seat; 10. a connecting arm; 11. a support member; 12. an active drive assembly; 13. a driven drive assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the following figures and detailed description:
as shown in fig. 1-6, the present application provides, in a first aspect, a servo steering engine module, including:
a fixed seat 1;
the two driving assemblies 12 are arranged, and the two driving assemblies 12 are oppositely arranged in the fixed seat 1;
at least one driven driving component 13 is arranged, and the at least one driven driving component 13 is perpendicular to the driving components 12 and is meshed with the two driving components 12;
a first output disc 2 mounted on the outside of the driven drive assembly 13;
one end of the connecting frame 3 is rotatably connected to the driven driving component 13, and the other end of the connecting frame is rotatably connected to one of the driving components 12;
the second output disc 4 is mounted on the outer side of the active driving assembly 12 through the connecting frame 3, and specifically, as shown in fig. 1 and 2, the second output disc 4 is disposed on the outer side of the fixing base 1 and connected to the connecting frame 3 through the supporting member 11.
As shown in fig. 2, when the two driving assemblies 12 rotate in the same direction, since the two driving assemblies 12 are disposed opposite to each other, it can be seen from the figure that one of the driving assemblies 12 rotates outwards and the other rotates inwards, so as to synchronously rotate the driving driven assembly 13, thereby realizing the rotation output of the first output disc 2; on the contrary, when the two driving assemblies 12 rotate in opposite directions, similarly, since the two driving assemblies 12 are disposed oppositely, it can be seen from the figure that both the two driving assemblies 12 rotate outwards to prevent the driven driving assembly 13 from rotating, and further prevent the first output disc 2 from rotating and outputting, and at the same time, under the action of the two driving assemblies 12, the first output disc 2 and the connecting frame 3 are driven to rotate around the driving assemblies 12, and finally, the rotating output of the second output disc 4 is realized according to the force transmissibility; the servo steering wheel module of this application can realize the rotatory output of two degrees of freedom through the cooperation of above-mentioned structure, and is exemplary, when being applied to the robot shank, only needs 3 the servo steering wheel module of this application can realize the rotation of 6 degrees of freedom to alleviate robot shank weight, promote the motion performance.
Specifically, as shown in fig. 2, the basis for determining whether the clock is clockwise or counterclockwise is: when the two driving assemblies 12 synchronously rotate clockwise as seen from the input end to the output end, because the two driving assemblies 12 are arranged oppositely, as can be seen from the figure, one driving assembly 12 rotates outwards, and the other driving assembly rotates inwards, so as to drive the driven driving assembly 13 to rotate clockwise, and further realize the clockwise rotation output of the first output disc 2; on the contrary, the driving assembly 12 connected to the connecting frame 3 is set as a first driving assembly, and the other driving assembly 12 is set as a second driving assembly, as shown in fig. 3, the first driving assembly rotates counterclockwise, and the second driving assembly rotates clockwise, and as can be seen from the figure, both the first driving assembly and the second driving assembly rotate outward, at this time, the driven driving assembly 13 is prevented from rotating, and further the first output disc 2 is prevented from rotating and outputting, and at the same time, under the action of the two driving assemblies 12, the first output disc 2 and the connecting frame 3 are driven to rotate counterclockwise around the driving assembly 12 as an axis, and according to the force transmissibility, the counterclockwise rotation output of the second output disc 4 is finally realized; the servo steering engine module can realize the rotary output of two degrees of freedom through the matching of the structures, specifically, joint structures are respectively assembled on the first output disc 2 and the second output disc 4, the joint structure connected with the second output disc 4 can rotate along the active driving component 12, and the joint structure connected with the first output disc 2 can rotate along with the first output disc 2 and can also rotate along with the second output disc 4; when being applied to the robot shank, only need 3 the rotation that the servo steering wheel module of this application can realize 6 degrees of freedom to alleviate robot shank weight, promote the motion performance.
As shown in fig. 4, the active drive assembly 12 includes: the driving mechanism 5 and the active transmission assembly 6, the active transmission assembly 6 is mounted at the output end of the driving mechanism 5; during assembly, the two driving structures are arranged on two opposite wall surfaces in the fixed seat 1, so that the two driving transmission assemblies 6 are arranged correspondingly.
The driven drive assembly 13 includes: the output shaft 8 is connected with the driven transmission assembly 7 at one end, is arranged on the connecting frame 3 through a bearing at the other end, and extends out of the connecting frame 3 to be connected with the first output disc 2 at one end, wherein the driven transmission assembly 7 is meshed with the two driving transmission assemblies 6; specifically, the driving transmission assembly 6 and the driven transmission assembly 7 are configured as engaged gear structures, preferably, the driving transmission assembly 6 is configured as a sun gear, the driven transmission assembly 7 is configured as a planetary gear, and of course, other engaged gear structures, such as other engaged bevel gears, may also be configured; in order to ensure the consistency of the transmission angles, the number of teeth of the driving transmission assembly 6 is the same as that of the driven transmission assembly 7; of course, the number of teeth of the driving transmission assembly 6 and the number of teeth of the driven transmission assembly 7 can also be set to be different, for example, the number of teeth of the driving transmission assembly 6 can be designed to be smaller than the number of teeth of the driven transmission assembly 7, and at the moment, compared with equal teeth, the rotation speed of the driven transmission assembly 7 can be reduced, so that the control of the rotation speed of the driven transmission assembly 7 is realized.
According to another embodiment of the present invention, in order to ensure the stability of the transmission, as shown in fig. 1, two driven driving assemblies 13 are provided, and two driven driving assemblies 13 are oppositely arranged and are engaged with two driving assemblies 12;
specifically, the basis for judging whether the clockwise or the counterclockwise is as follows: when the input end is viewed to the output end, clockwise is defined as positive direction, taking the case that the number of teeth of the driving transmission assembly 6 is the same as that of the driven transmission assembly 7 as an example, the driven driving assembly 13 connected with the first output disc 2 is set as a first driven driving assembly, the other driven driving assembly 13 is set as a second driven driving assembly, meanwhile, the driving assembly 12 connected with the connecting frame 3 is set as a first driving assembly, the other driving assembly 12 is set as a second driving assembly, and when the driving device is used, the rotating directions of the first driven driving assembly and the second driven driving assembly are the same; as shown in fig. 2, when two driving assemblies 12 synchronously rotate clockwise by an angle θ, because the two driving assemblies 12 are arranged oppositely, the first driving assembly and the second driving assembly both rotate clockwise by an angle θ, and output a rotation torque T, so as to drive the first driven driving assembly and the second driven driving assembly to respectively rotate clockwise by an angle θ and output a rotation torque T, specifically, if the second driven driving assembly has no output shaft 8, the torque will all act on the first driven driving assembly, and the output torque of the first output disc 2 is 2T; meanwhile, the rotation of the first driven driving assembly drives an output disc to synchronously rotate clockwise by an angle theta, so that the clockwise angle theta rotation output of the first output disc 2 is realized, and the rotation torque 2T is output; on the contrary, as shown in fig. 3, the first driving assembly rotates counterclockwise by an angle of- θ and outputs a rotation torque of-T, the second driving assembly rotates clockwise by an angle of θ and outputs a rotation torque T, at this time, the first driven driving assembly and the second driven driving assembly are prevented from rotating, and further the first output disc 2 is prevented from rotating by an angle of θ, so that the rotation torque of the first output disc 2 is 0, and at the same time, under the action of the two driving assemblies 12, the first output disc 2 and the connecting frame 3 are driven to rotate counterclockwise by an angle of- θ around the driving assembly 12, the output rotation torque is-2T, and the counterclockwise rotation- θ rotation output of the second output disc 4 is finally realized according to the force transmissibility.
Of course, the output angles of the two drive mechanisms 5 may be different, and the output angles of the first output disc 2 and the second output disc 4 are respectively as follows:
∝1＝1/2(θ1+θ2)；
∝2＝1/2(θ1-θ2)；
wherein:
θ1is the output angle of the first active driving component; theta2Is the output angle of the second active driving component; is a direct change1Is the output angle of the first output disc 2; is a direct change2Is the output angle of the second output disc 4;
from the above formula, it can be seen that the appropriate rotation angle θ can be selected1And theta2Thus, an arbitrary combination of two degrees of freedom ∈ can be obtained1And ∈2。
The output torques of the first output disk 2 and the second output disk 4 are respectively as follows:
T1＝t1+t2；
T2＝t1-t2；
wherein, T1Is the output torque, T, of the first output disc 22Is the output torque, t, of the second output disc 41Is the output torque of the first active drive component, t2Is the output torque of the second active driving component;
from the above formula, it can be seen that only a suitable rotation torque t is selected1And t2Thus, any combination T of torque outputs of two degrees of freedom can be obtained1And T2。
It can also be seen from the formula that the maximum output torque of each output disc is the sum of the output torques of each driving mechanism 5, so that the output torque of each driving mechanism 5 can be halved under the condition that the robot joint requires a certain torque, thereby reducing the volume and weight of the driving mechanism 5 and being beneficial to reducing the weight of the whole robot.
According to an embodiment of the present invention, as shown in fig. 5 and 6, the connection frame 3 includes: the connecting mechanism comprises a connecting seat 9 and at least one connecting arm 10 convexly arranged on the connecting seat 9, wherein the connecting seat 9 is rotatably connected to the driving mechanism 5 through a bearing, and the at least one connecting arm 10 is rotatably connected to the output shaft 8; as shown in fig. 1, when two driven driving components 13 are provided, two corresponding connecting arms 10 are provided, as shown in fig. 2, when two driving components 12 synchronously rotate clockwise, as can be seen from the figure, the first driving component rotates inward, the second driving component rotates outward, so that the first driven driving component and the second driven driving component respectively rotate in the corresponding connecting arms 10, while the corresponding connecting arms 10 are stationary, conversely, as shown in fig. 3, the first driving component rotates counterclockwise, the second driving component rotates clockwise, as can be seen from the figure, the first driving component and the second driving component both rotate outward, at this time, the first driven driving component and the second driven driving component are prevented from rotating, and further, the first output disc 2 is prevented from rotating and outputting, meanwhile, under the action of the two active driving assemblies 12, the first output disc 2 is driven to drive the connecting frame 3 to rotate on the driving mechanism 5, the rotation direction is anticlockwise rotation by taking the active driving assemblies 12 as axes, and the anticlockwise rotation output of the second output disc 4 is finally realized according to the force transmissibility.
According to an embodiment of the present invention, as shown in fig. 3 and 6, the second output disc 4 is connected to the connecting seat 9 through a supporting member 11, specifically, the supporting member 11 is configured as an L-shaped connecting rod, a bent section of the L-shaped connecting rod is connected to the connecting seat 9, a vertical section is connected to the second output disc 4, and a gap is provided between the supporting member 11 and the second output disc 4 and the fixing seat 1; when the connecting frame 3 rotates, the second output disc 4 is driven to synchronously rotate, and the gap is designed to ensure that the second output disc 4 does not collide with the fixed seat 1 when rotating along with the connecting frame 3, so that the normal work of the second output disc is ensured; certainly, in order to facilitate the rotation of the supporting member 11, the shape of the supporting member 11 is adapted to the shape of the contact of the fixing base 1, for example, as shown in fig. 1 and fig. 2, the position where the fixing base 1 is matched with the supporting member 11 is set to be an arc shape, and the corresponding supporting member 11 may also be designed to be an arc shape, and the specific shape may be pre-designed according to the shape of the fixing base 1.
A second aspect of the present application provides a robot comprising: a servo steering engine module according to any preceding claim.
The embodiments in the present description are all described in a progressive manner, and some of the embodiments are mainly described as different from other embodiments, and the same and similar parts among the embodiments can be referred to each other.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present 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 importance; the words "bottom" and "top", "inner" and "outer" refer to directions toward and away from, respectively, a particular component geometry.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the communication may be direct, indirect via an intermediate medium, or internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. The utility model provides a servo steering wheel module which characterized in that includes:
a fixed seat (1);
the two driving components (12) are arranged, and the two driving components (12) are oppositely arranged in the fixed seat (1);
at least one driven driving component (13) is arranged, and at least one driven driving component (13) is perpendicular to the driving components (12) and is meshed with the two driving components (12);
a first output disc (2) mounted on the outside of the driven drive assembly (13);
one end of the connecting frame (3) is rotatably connected to the driven driving assembly (13), and the other end of the connecting frame is rotatably connected to one of the driving assemblies (12);
and the second output disc (4) is arranged on the outer side of the active driving assembly (12) through the connecting frame (3).
2. The servo steering engine module according to claim 1, wherein two driven driving assemblies (13) are provided, and the two driven driving assemblies (13) are disposed opposite to each other and are engaged with the two driving assemblies (12).
3. The servo steering engine module according to claim 2, wherein the active drive assembly (12) comprises: the device comprises a driving mechanism (5) and an active transmission assembly (6), wherein the active transmission assembly (6) is arranged at the output end of the driving mechanism (5).
4. Servo steering engine module according to claim 3, characterized in that the driven drive assembly (13) comprises: the automatic feeding device comprises a driven transmission assembly (7) and an output shaft (8), wherein one end of the output shaft (8) is connected with the driven transmission assembly (7), the other end of the output shaft is installed on a connecting frame (3) through a bearing, and one end extending out of the connecting frame (3) is connected with a first output disc (2).
5. Servo steering engine module according to claim 3, characterized in that the connection frame (3) comprises: the connecting mechanism comprises a connecting base (9) and at least one connecting arm (10) which is convexly arranged on the connecting base (9), wherein the connecting base (9) is rotatably connected to a driving mechanism (5), and the at least one connecting arm (10) is rotatably connected to an output shaft (8).
6. The servo steering engine module according to claim 5, wherein the second output disc (4) is connected to the connecting seat (9) via a support member (11), and gaps are provided between the support member (11) and the fixing seat (1) and between the second output disc (4) and the fixing seat (1).
7. Servo steering engine module according to claim 4, characterized in that the driving transmission assembly (6) and the driven transmission assembly (7) are arranged as meshed gear structures.
8. The servo steering engine module according to claim 7, wherein the number of teeth of the driving transmission assembly (6) is the same as the number of teeth of the driven transmission assembly (7).
9. The servo steering engine module according to claim 7, wherein the number of teeth of the driving transmission assembly (6) is different from the number of teeth of the driven transmission assembly (7).
10. The servo steering engine module according to claim 1, wherein the output angles of the first output disk (2) and the second output disk (4) are respectively as follows:
∝1＝1/2(θ1+θ2)；
∝2＝1/2(θ1-θ2)；
wherein: theta1Is the output angle of the first active driving component; theta2Is the output angle of the second active driving component; is a direct change1Is the output angle of the first output disc; is a direct change2Is the output angle of the second output disc.
11. The servo steering engine module according to claim 1, wherein the output torques of the first output disk (2) and the second output disk (4) are respectively as follows:
T1＝t1+t2；
T2＝t1-t2；
wherein: t is1Is the output torque of the first output disk, T2Is the output torque of the second output disk, t1Is the output torque of the first active drive component, t2Is the output torque of the second active drive component.
12. A robot, comprising: the servo steering engine module of any of claims 1-11.
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| CN202011158136.7A CN112454416A (en) | 2020-10-26 | 2020-10-26 | Servo steering wheel module and robot |
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| 陈大勇: "五指仿人灵巧手的结构设计及其控制的研究", 《中国优秀博硕士学位论文全文数据库（硕士）》 * |
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Application publication date: 20210309 |