CN114952810A - Actuator and robot - Google Patents

Abstract

The application provides an actuator and a robot, and belongs to the technical field of machinery. Comprises a frame, a power mechanism, a transmission mechanism and an actuating mechanism. The frame includes consecutive first base plate, connecting plate and second base plate. The power mechanism comprises a power driving part and a power shaft, the power driving part is connected with one side of the first substrate, which is far away from the second substrate, the power shaft is respectively and rotatably connected with the first substrate and the second substrate in an inserting mode, and the power shaft is in transmission connection with the power driving part. The transmission mechanism comprises a driving plate, a driven plate and a rigidity adjusting assembly, the driving plate and the driven plate are opposite and are positioned between the first base plate and the second base plate, the driving plate is fixedly sleeved on the power shaft, the driven plate is rotatably sleeved on the power shaft, and the rigidity adjusting assembly is respectively connected with the driving plate and the driven plate and is used for adjusting the connection rigidity between the driving plate and the driven plate; the actuating mechanism is in transmission connection with the driven plate. The adjustable output rigidity of the actuator can be realized.

Description

Actuator and robot

Technical Field

The application belongs to the technical field of machinery, and particularly relates to an actuator and a robot.

Background

An actuator is a kind of power device, which is widely used in various robots.

In the related art, the actuator mainly includes a frame, a power mechanism and an actuator, the frame is installed in the robot to provide an installation basis for the power mechanism and the actuator, the power mechanism is fixedly connected with the frame, and the actuator is in transmission connection with the power mechanism, so that the actuator can be provided with power through the power mechanism to drive the robot to perform actions.

However, the transmission connection between the power mechanism and the actuator is usually rigid, and the rigidity is not adjustable, so that the action of the robot is not compliant enough.

Disclosure of Invention

The embodiment of the application provides an actuator and a robot, and the output rigidity of the actuator can be adjusted. The technical scheme is as follows:

in a first aspect, an embodiment of the present application provides an actuator, which includes a frame, a power mechanism, a transmission mechanism, and an actuator;

the rack comprises a first substrate, a connecting plate and a second substrate which are sequentially connected, wherein the first substrate is opposite to the second substrate;

the power mechanism comprises a power driving piece and a power shaft, the power driving piece is connected with one side of the first substrate, which is far away from the second substrate, the power shaft is respectively and rotatably inserted with the first substrate and the second substrate, and the power shaft is in transmission connection with the power driving piece;

the transmission mechanism comprises a driving plate, a driven plate and a rigidity adjusting assembly, the driving plate and the driven plate are opposite and are positioned between the first base plate and the second base plate, the driving plate is fixedly sleeved on the power shaft, the driven plate is rotatably sleeved on the power shaft, and the rigidity adjusting assembly is respectively connected with the driving plate and the driven plate and is used for adjusting the connection rigidity between the driving plate and the driven plate;

and the actuating mechanism is in transmission connection with the driven plate.

In a second aspect, embodiments of the present application provide a robot comprising an actuator and a robotic arm;

the actuator is the actuator described above;

the mechanical arm is in transmission connection with the actuating mechanism of the actuator.

The technical scheme provided by the embodiment of the application has the following beneficial effects:

when the actuator provided by the embodiment of the application outputs power, the power driving part works, so that the power shaft rotates. In the process of rotating the power shaft, the driving plate is fixedly sleeved on the power shaft, so the driving plate rotates along with the power shaft. Meanwhile, under the action of the rigidity adjusting assembly, the driving plate drives the driven plate to rotate together, and the rotating driven plate drives the actuating mechanism, so that the power output of the actuator is realized.

And the driven plate is rotatably sleeved on the power shaft, namely, no power transmission exists between the power shaft and the driven plate, so that the power transmission between the driving plate and the driven plate depends on the rigidity adjusting component, and the connection rigidity between the driving plate and the driven plate can be effectively and directly adjusted through the rigidity adjusting component. And because the connection rigidity between the driving plate and the driven plate is inversely related to the power output compliance of the actuator, the power output compliance of the actuator can be adjusted to a proper degree, so that the robot applying the actuator can make flexible and accurate actions.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an actuator provided in an embodiment of the present application;

FIG. 2 is a schematic structural diagram of a stiffness adjustment assembly provided in an embodiment of the present application;

FIG. 3 is a schematic winding diagram of an adjustment cord provided by an embodiment of the present application;

FIG. 4 is a schematic winding diagram of an adjustment cord provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of roping between a pair of drive and driven pulleys as provided by an embodiment of the present application;

FIG. 6 is a schematic assembly view of a transmission provided by an embodiment of the present application;

FIG. 7 is a schematic transmission diagram of an actuator provided in an embodiment of the present application;

FIG. 8 is a partial exploded view of an actuator provided by an embodiment of the present application;

FIG. 9 is a side view of an actuator provided by an embodiment of the present application;

FIG. 10 is a schematic diagram of roping between a pair of drive and driven pulleys as provided by an embodiment of the present application;

fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present application.

The symbols in the drawings represent the following meanings:

1. a frame; 11. a first substrate; 12. a connecting plate; 13. a second substrate;

2. a power mechanism; 21. a powered drive member; 22. a power shaft; 23. a worm gear; 24. a worm;

3. a transmission mechanism; 31. a driving plate; 311. a first plate body; 3111. a limiting chute; 312. a second plate body; 32. a driven plate; 321. a flange plate; 322. a first reel of rope; 33. a stiffness adjustment assembly; 331. adjusting the driving member; 3311. an output shaft; 332. adjusting the rope; 3321. a wire rope; 3322. an elastic member; 333. a driving pulley; 3331. a driving rope groove; 334. a driven pulley; 3341. a first driven rope groove; 3342. a second driven rope groove; 335. a rope loop; a1, active rope-feeding side; a2, active rope outlet side; b1, driven rope-feeding side; b2, driven rope outlet side;

4. an actuator; 41. a second rope reel; 42. swinging arms; 43. an actuating rope; 44. a sleeve; 45. a locking spring; 46. a top cover; 47. a top cylinder; 48. an elastic sleeve; 49. an execution frame;

51. a first potentiometer; 52. a second potentiometer; 53. a tension sensor;

100. an actuator; 200. provided is a mechanical arm.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

An actuator is a kind of power device, which is widely used in various robots.

In the related art, the actuator mainly includes a frame, a power mechanism and an actuator, the frame is installed in the robot to provide an installation basis for the power mechanism and the actuator, the power mechanism is fixedly connected with the frame, and the actuator is in transmission connection with the power mechanism, so that the actuator can be provided with power through the power mechanism to drive the robot to perform actions.

The transmission between the power mechanism and the actuator is usually a rigid connection or a flexible connection. The rigid connection can effectively improve the action accuracy of the robot, but at the same time, the action of the robot is not flexible enough. The flexible connection can effectively improve the action flexibility of the robot, but can also lead to the action of the robot to be inaccurate. Therefore, the flexibility and accuracy of the robot operation are often not compatible.

In order to solve the above technical problem, an embodiment of the present application provides an actuator, and fig. 1 is a schematic structural diagram of the actuator, and as shown in fig. 1, the actuator includes a frame 1, a power mechanism 2, a transmission mechanism 3, and an actuator 4.

The frame 1 comprises a first base plate 11, a connecting plate 12 and a second base plate 13 which are connected in sequence, wherein the first base plate 11 and the second base plate 13 are opposite. The power mechanism 2 comprises a power driving part 21 and a power shaft 22, the power driving part 21 is connected with one side of the first substrate 11 far away from the second substrate 13, the power shaft 22 is respectively and rotatably inserted with the first substrate 11 and the second substrate 13, and the power shaft 22 is in transmission connection with the power driving part 21. The transmission mechanism 3 comprises a driving plate 31, a driven plate 32 and a rigidity adjusting assembly 33, the driving plate 31 and the driven plate 32 are opposite and are both located between the first base plate 11 and the second base plate 13, the driving plate 31 is fixedly sleeved on the power shaft 22, the driven plate 32 is rotatably sleeved on the power shaft 22, and the rigidity adjusting assembly 33 is respectively connected with the driving plate 31 and the driven plate 32 and is used for adjusting the connection rigidity between the driving plate 31 and the driven plate 32. The actuator 4 is in driving connection with the driven plate 32.

The power transmission path of the actuator will be described to help understand the operation of the actuator.

When the actuator works, the initial output part of the power is the power driving part 21 of the power mechanism 2, the power driving part 21 is a direct current motor, and the output power passes through the power shaft 22, the driving plate 31, the rigidity adjusting assembly 33 and the driven plate 32 in sequence and is finally transmitted to the executing mechanism 4 through the driven plate 32, so that the complete transmission of the power is realized.

When the actuator provided in the embodiment of the present application outputs power, the power driver 21 operates, so that the power shaft 22 rotates. During the rotation of the power shaft 22, the driving plate 31 is fixed on the power shaft 22, so the driving plate 31 rotates along with the power shaft. At the same time, under the action of the stiffness adjusting assembly 33, the driving plate 31 will drive the driven plate 32 to rotate together, and the rotating driven plate 32 will drive the actuator 4, so as to realize the power output of the actuator.

In addition, since the driven plate 32 is rotatably sleeved on the power shaft 22, that is, no power transmission exists between the power shaft 22 and the driven plate 32, the power transmission between the driving plate 31 and the driven plate 32 depends on the stiffness adjusting assembly 33, and the connection stiffness between the driving plate 31 and the driven plate 32 can be effectively and directly adjusted through the stiffness adjusting assembly 33. And because the connection rigidity between the driving plate 31 and the driven plate 32 is inversely related to the power output compliance of the actuator, the power output compliance of the actuator can be adjusted to a proper degree, so that the robot applying the actuator can make flexible and accurate actions.

From the foregoing, the stiffness adjustment assembly 33 plays a key role in achieving the adjustable output stiffness of the actuator. The stiffness adjusting assembly 33 will be described below.

Fig. 2 is a schematic structural diagram of the stiffness adjusting assembly 33, and for clearly explaining the assembly relationship of the stiffness adjusting assembly 33, other components having the assembly relationship with the stiffness adjusting assembly 33 are retained in fig. 2, and a part of the adjusting rope 332 is omitted.

Referring to fig. 2, in the present embodiment, the stiffness adjusting assembly 33 includes an adjusting driving member 331, an adjusting rope 332, n driving pulleys 333 and n driven pulleys 334, where n is an integer greater than or equal to 2, and the n driving pulleys 333 and the n driven pulleys 334 are arranged along the circumferential direction of the power shaft 22.

The adjusting driving member 331 is a dc motor, the adjusting driving member 331 is connected to the driving plate 31, and an output shaft 3311 of the adjusting driving member 331 is located on a side of the driving plate 31 close to the driven plate 32 and is parallel to the power shaft 22. The driving pulley 333 is rotatably connected to a side of the driving plate 31 adjacent to the driven plate 32, and a rotation axis of the driving pulley 333 is parallel to the power shaft 22. The n driven pulleys 334 are located inside the n driving pulleys 333, the driven pulleys 334 are rotatably connected to one side of the driven plate 32 close to the driving plate 31, and the rotation axes of the driven pulleys 334 are parallel to the power shaft 22.

Fig. 3 is a schematic winding view of the adjusting rope, fig. 3 is a view in the direction a of fig. 2, and in order to better show the arrangement of the driving pulley 333 and the driven pulley 334, the driven plate 32 is omitted from fig. 3 to avoid the driven pulley 334 being blocked by the driven plate 32.

Referring to fig. 3, a first end of the adjusting rope 332 is connected to the output shaft 3311 of the adjusting driving member 331, a second end of the adjusting rope 332 is sequentially wound around the ith driven pulley 334 and the ith driving pulley 333, i is greater than or equal to 2 and less than or equal to n, and is an integer, so as to form a rope loop 335 sleeved on the driven pulley 334 and the driving pulley 333, and the second end of the adjusting rope 332 is elastically connected to a side of the driving plate 31 close to the driven plate 32.

In the above implementation, by adjusting the winding of the rope 332 on the driving pulley 333 and the driven pulley 334, the corresponding driving pulley 333 and driven pulley 334 can be bound in the same rope loop 335, thus being one piece. In this way, when the driving plate 31 rotates about the power shaft 22, the driving pulley 333 also rotates about the power shaft 22, and under the influence of the rope ring 335, the driving pulley 333 drives the driven pulley 334 to rotate about the power shaft 22, so that the driven plate 32 rotates about the power shaft 22, and further the power transmission from the driving plate 31 to the driven plate 32 is realized.

In addition, since the first end of the adjusting rope 332 is connected to the adjusting driver 331 and the second end of the adjusting rope 332 is elastically connected to the active plate 31, the pretightening force of the adjusting rope 332 can be adjusted by winding or unwinding the adjusting rope 332 by the adjusting driver 331. It is easy to understand that, the adjusting driving member 331 winds back the adjusting rope 332 to increase the pretightening force of the adjusting rope 332, and conversely, the pretightening force of the adjusting rope 332 is reduced by unwinding the adjusting rope 332. The larger the preload of the adjustment rope 332 is, the greater the rigidity of the connection between the driving plate 31 and the driven plate 32 is, and the smaller the preload of the adjustment rope 332 is, the smaller the rigidity of the connection between the driving plate 31 and the driven plate 32 is. It is easy to understand that, since the adjusting driver 331 and the driving pulley 333 are both located on the driving plate 31, the relative position between the adjusting driver 331 and the driving pulley 333 will not change after the driving plate 31 rotates, and the pretightening force of the adjusting rope 332 will not be affected.

With continued reference to fig. 3, the manner in which the adjustment cord 332 is wrapped around the drive pulley 333 and the driven pulley 334 will be described.

Exemplarily, the two sides of the driving pulley 333 in the radial direction of the power shaft 22 are a driving rope-in side a1 and a driving rope-out side a2, respectively. The two sides of the driven pulley 334 in the radial direction of the power shaft 22 are a driven rope inlet side b1 and a driven rope outlet side b2, respectively, the driven rope inlet side b1 is located on the same side as the driving rope inlet side a1, and the driven rope outlet side b2 is located on the same side as the driving rope outlet side a 2.

Note that the driving rope entry side a1 and the driving rope exit side a2 refer to the orientations of the driving pulley 333 on both sides in the radial direction of the power shaft 22, and the driven rope entry side b1 and the driven rope exit side b2 refer to the orientations of the driven pulley 334 on both sides in the radial direction of the power shaft 22. Therefore, the positions of the lead wires corresponding to the driving rope inlet side a1, the driving rope outlet side a2, the driven rope inlet side b1 and the driven rope outlet side b2 in fig. 3 are indicated by corresponding directions, and are not specific components.

The second end of the adjusting rope 332 sequentially passes through the ith driven rope inlet side b1, the ith driving rope inlet side a1, the ith driving rope outlet side a2 and the ith driven rope outlet side b 2. With such a design, the rope loop 335 can be formed reasonably and easily on the driving pulley 333 and the driven pulley 334, thereby forming stable power transmission.

In addition, by changing the number of the rope rings 335, the range of the stiffness that can be adjusted by the stiffness adjusting assembly 33 can be effectively adjusted. For example, if the rope loop 335 is wound around all of the corresponding driving pulley 333 and driven pulley 334 as shown in fig. 3, the maximum stiffness and the minimum stiffness that can be adjusted by the stiffness adjusting assembly 33 are the highest levels. As the number of rope loops 335 is reduced, i.e., the rope loops 335 are wound out only partially around the corresponding driving pulley 333 and driven pulley 334 (as shown in fig. 4), both the maximum stiffness and the minimum stiffness that can be adjusted by the stiffness adjustment assembly 33 will be reduced. That is, by changing the number of the rope rings 335, the reconfiguration of the stiffness adjusting assembly 33 can be effectively achieved, so that the actuator can have a higher operating bandwidth and a wider application scenario.

It should be noted that, although fig. 3 and 4 illustrate 6 pairs of driving pulleys 333 and driven pulleys 334 (one pair of corresponding driving pulley 333 and one pair of corresponding driven pulleys 334), in other embodiments, the number of driving pulleys 333 and driven pulleys 334 can be adjusted according to actual needs, for example, 4, 5, etc., which is not limited in this application.

As can be seen from the foregoing, when the adjusting rope 332 is wound around the driving pulley 333 and the driven pulley 334, the adjusting rope 332 is fed from the driven pulley 334 and is also fed from the driven pulley 334, so that the adjusting rope 332 is wound around the driven pulley 334 twice. In order to avoid interference of the adjusting rope 332 on the driven pulley 334, in the embodiment, fig. 5 is a schematic winding diagram of the adjusting rope 332, and in combination with fig. 5, the outer circumferential wall of the driving pulley 333 has a driving rope groove 3331 extending circumferentially, and the adjusting rope 332 wound on the driving pulley 333 is located in the driving rope groove 3331. The outer peripheral wall of the driven pulley 334 has a first driven rope groove 3341 and a second driven rope groove 3342 extending circumferentially, the first driven rope groove 3341 and the second driven rope groove 3342 are axially spaced apart, the adjusting rope 332 wound around the driven pulley 334 from the driven rope inlet side b1 is positioned in the first driven rope groove 3341, the adjusting rope 332 wound around the driven pulley 334 from the driven rope outlet side b2 is positioned in the second driven rope groove 3342.

In the above embodiment, the adjusting rope 332 on the driven rope-in side b1 is wound in the first driven rope groove 3341, and the adjusting rope 332 on the driven rope-out side b2 is wound in the second driven rope groove 3342, so that the adjusting rope 332 on the driven rope-in side b1 and the adjusting rope 332 on the driven rope-out side b2 can be separated by the first driven rope groove 3341 and the second driven rope groove 3342, and interference between them can be avoided.

Referring again to fig. 4, in this embodiment, the adjustment cable 332 includes a wire rope 3321 and an elastic member 3322. A first end of the wire rope 3321 is connected to the output shaft 3311 of the adjustment driving member 331, a second end of the wire rope 3321 is connected to a first end of the elastic member 3322, and the middle portion of the wire rope 3321 is wound around the driving pulley 333 and the driven pulley 334. The second end of the elastic member 3322 is connected to the active plate 31.

The wire rope 3321 is used to effect winding between the driving pulley 333 and the driven pulley 334 to form a rope loop 335. An elastic member 3322 is connected between the wire rope 3321 and the active plate 31 to thereby achieve elastic connection between the adjusting rope 332 and the active plate 31.

Illustratively, the elastic member 3322 is a variable rate coil spring having a first end connected to the second end of the wire 3321 and a second end connected to the active plate 31. By such design, when the elastic member 3322 is stretched, the rigidity of the elastic member 3322 can be changed along with the stretching, so that the adjustment of the connection rigidity between the driving plate 31 and the driven plate 32 is facilitated. Moreover, when the elastic member 3322 is stretched by the adjusting driving member 331, the elastic member 3322 is elastically deformed, so that the elastic member 3322 can store the power output by the adjusting driving member 331 in the form of elastic potential energy, and release the power when necessary, thereby reducing the energy consumption of the adjusting driving member 331.

Fig. 6 is an assembly diagram of the transmission mechanism 3, and a part of the structure is cut away in fig. 6 in order to show the assembly relationship among the components.

Referring to fig. 6, in the present embodiment, the active plate 31 includes a first plate body 311 and a second plate body 312. The first plate body 311 is a circular structural member, the first plate body 311 is coaxially and fixedly sleeved on the power shaft 22, and the n driving pulleys 333 are located on the first plate body 311. The second plate 312 and the first plate 311 are located in the same plane, and the adjusting driving member 331 is located on the second plate 312.

The first plate 311 is used for carrying the driving pulley 333, and the second plate 312 is used for carrying the adjustment driving member 331 and the elastic member 3322. In this way, the driving pulley 333 and the adjusting driving member 331 are spaced from each other, the adjusting driving member 331 and the elastic member 3322 do not affect the winding of the adjusting rope 332 on the driving pulley 333, and the reliability of the transmission mechanism 3 is ensured.

Illustratively, the first plate body 311 and the second plate body 312 are a one-piece structural member, thereby improving the structural integrity of the active plate 31.

Optionally, the first plate 311 and the power shaft 22 are connected by a spline to ensure that power can be reliably transmitted between the power shaft 22 and the first plate 311, so that the driving plate 31 can synchronously rotate with the power shaft 22.

When the connection rigidity between the driving plate 31 and the driven plate 32 is adjusted, since the adjusting rope 332 is lengthened or shortened, the driving plate 31 is fixedly connected with the power shaft 22, and the driven plate 32 is rotatably connected with the power shaft 22, the driven plate 32 rotates relative to the driving plate 31 under the influence of the adjusting rope 332. In order to ensure the stability of the driven plate 32 during rotation, optionally, with continued reference to fig. 6, the side of the first plate body 311 adjacent to the driven plate 32 has a limit slide slot 3111. The limit sliding groove 3111 is annular and coaxial with the power shaft 22, and one end of each of the n driven pulleys 334 close to the driving plate 31 is slidably inserted into the limit sliding groove 3111.

In the above implementation, one end of the driven pulley 334 is connected to the driven plate 32, and the other end is slidably inserted into the limit sliding groove 3111, so that the stability of the driven plate 32 in rotation relative to the driving plate 31 can be improved through the cooperation between the driven pulley 334 and the limit sliding groove 3111.

With continued reference to fig. 6, in this embodiment, the driven plate 32 includes a flange 321 and a first reel 322. One side of the flange 321 close to the driving plate 31 is connected with the n driven pulleys 334, and one side of the flange 321 far away from the driving plate 31 is connected with the first rope coiling disc 322. The first reel 322 is coaxial with the power shaft 22.

In the above implementation, the flange 321 is used for carrying the driven pulley 334, and the first rope winding disc 322 is used for cooperating with the actuator 4 to transmit power to the actuator 4, so that the actuator 4 can be actuated. Based on the same principle as the driving plate 31, the driven pulley 334 and the actuator 4 can be spaced from each other, the actuator 4 does not affect the winding of the adjusting rope 332 on the driven pulley 334, and the reliability of the transmission mechanism 3 is ensured.

Illustratively, the flange 321 and the first tether reel 322 are a unitary structural member, thereby improving the structural integrity of the driven plate 32.

Optionally, the flange 321 and the power shaft 22, and the first rope reel 322 and the power shaft 22 are connected by bearings. That is, the inner peripheral wall of the flange 321 contacts the outer ring of the bearing, the outer peripheral wall of the power shaft 22 contacts the inner ring of the bearing, the inner peripheral wall of the first rope reel 322 contacts the outer ring of the bearing, and the outer peripheral wall of the power shaft 22 contacts the inner ring of the bearing.

Illustratively, the bearings are deep groove ball bearings. Of course, the flange 321 and the first rope winding disc 322 can share one bearing, and can also respectively correspond to two bearings, and the two bearings are spaced apart by a shaft sleeve, which is not limited in this application.

Fig. 7 is a schematic transmission diagram of the actuator 4, and referring to fig. 7, the actuator 4 includes a second rope reel 41, a swing arm 42 and an actuator rope 43. The second rope coiling disc 41 is positioned outside the rack 1, the rotation axis of the second rope coiling disc 41 is parallel to the power shaft 22, one end of the swing arm 42 is connected with the second rope coiling disc 41, and the execution rope 43 is sleeved on the first rope coiling disc 322 and the second rope coiling disc 41 at the same time.

In the above implementation, by executing the rope 43, power can be transmitted from the first rope winding disc 322 to the second rope winding disc 41, that is, synchronous rotation between the first rope winding disc 322 and the second rope winding disc 41 is realized. In the process of rotating the second rope winding disc 41, the swing arm 42 rotates with the rotation axis of the second rope winding disc 41 as the shaft, so that the robot is driven to act. For example, if the swing arm 42 is connected to a mechanical arm of the robot, the swing arm 42 can drive the mechanical arm, so that the robot performs corresponding actions.

Fig. 8 is a partial exploded view of the actuator 4, and optionally, the actuator 4 further includes a sleeve 44, a locking spring 45, a top cover 46, a top cylinder 47, and an elastic sleeve 48. The first end of the sleeve 44 is inserted into the connecting plate 12 and is in threaded fit, the locking spring 45 is positioned in the threaded sleeve 44, and the first end of the locking spring 45 abuts against the inner flange of the threaded sleeve 44, the first side surface of the top cover 46 abuts against the second end of the locking spring 45, to compress the locking spring 45 between the top cap 46 and the inner flange of the threaded sleeve 44, the top barrel 47 is inserted at the second end of the sleeve 44, and the thread is matched, the execution rope 43 is inserted in the sleeve 44, the locking spring 45, the top cover 46 and the top cylinder 47 in sequence from the first rope coiling disc 322 to the second rope coiling disc 41, the elastic sleeve 48 is sleeved outside the execution rope 43, and the inner wall of the elastic sleeve 48 is contacted with the outer wall of the actuating rope 43, the first end of the elastic sleeve 48 is abutted against the second side surface of the top cover 46, and the second end of the elastic sleeve 48 is abutted against the actuating frame 49 supporting the second rope coiling disk 41.

In the above implementation, since the locking spring 45 is compressed between the top cover 46 and the inner flange of the threaded sleeve 44, when the top cylinder 47 is screwed so that the top cylinder 47 moves away from the connection plate 12, the locking spring 45 will push the top cover 46 to move away from the connection plate 12 with its own elastic force. In this way, the top cover 46 pushes the first end of the elastic sleeve 48, so that the elastic sleeve 48 is compressed and deformed to increase the friction force between the elastic sleeve 48 and the actuating rope 43, thereby playing a role of locking the actuating rope 43 and preventing the actuating rope 43 from falling off from the first rope winding disc 322 and the second rope winding disc 41.

The brake provided by the embodiment can form a Hill muscle model. The Hill muscle model simplifies the muscles of the human body into a spring system comprising active contraction elements CE, passive elastic elements PE and tendons. The active contraction unit CE is stimulated by the nerve signal to generate corresponding contraction, and the force generated by the contraction of the active contraction unit CE acts on the tendon connected with the joint bone to generate the driving force of the joint.

In this embodiment, the combination of the actuating cable 43, the locking spring 45 and the elastic member 3322 is used to simulate the Hill muscle model to simulate the state of the muscle during articulation for the purpose of distal transmission. The active contraction unit CE is an execution rope 43, the parallel elastic element of the passive elastic unit PE is a locking spring 45, and the series elastic element of the passive elastic unit PE is an elastic member 3322.

Fig. 9 is a side view of the actuator, and in the embodiment, the power mechanism 2 further includes a worm wheel 23 and a worm 24, in combination with fig. 9. The worm wheel 23 is fixedly and coaxially sleeved on the power shaft 22, the worm 24 is coaxially connected with an output shaft of the power driving piece 21, and the worm 24 is meshed with the worm wheel 23. By the design, the transmission between the worm wheel 23 and the worm 24 is utilized to play a role in reducing speed and increasing torque.

Alternatively, the power shaft 22 and the first base plate 11, and the power shaft 22 and the second base plate 13 are connected through bearings. That is, the inner peripheral wall of the first base plate 11 is in contact with the outer ring of the bearing, the outer peripheral wall of the power shaft 22 is in contact with the inner ring of the bearing, the inner peripheral wall of the second base plate 13 is in contact with the outer ring of the bearing, and the outer peripheral wall of the power shaft 22 is in contact with the inner ring of the bearing. In order to avoid the bearing from falling off outwards, end covers are arranged at the joint between the first base plate 11 and the power shaft 22 and at the joint between the second base plate 13 and the power shaft 22, the bearing in the first base plate 11 is clamped between one end cover and the driving plate 31, and the bearing in the second base plate 13 is clamped between the other end cover and the driven plate 32.

Illustratively, the bearings are deep groove ball bearings.

With continued reference to fig. 9, in order to detect the torque between the driving plate 31 and the driven plate 32, in the present embodiment, the actuator further includes a first potentiometer 51, a second potentiometer 52, and a tension sensor 53.

The housing of the first potentiometer 51 is connected to the driven plate 32 on the side close to the second substrate 13, and the input shaft of the first potentiometer 51 is coaxially connected to the power shaft 22. The housing of the second potentiometer 52 is connected with one side of the first substrate 11 far away from the active plate 31, and the input shaft of the second potentiometer 52 is coaxially connected with the power shaft 22. The tension sensor 53 is connected between the second end of the adjusting rope 332 and the active plate 31.

In the above implementation, the relative angle between the driving plate 31 and the driven plate 32 can be obtained by the first potentiometer 51, the rotation angle of the power shaft 22 can be obtained by the second potentiometer 52, and the preload of the elastic member 3322 can be obtained by the tension sensor 53.

Fig. 10 is a schematic diagram of roping between a pair of driving pulleys 333 and a driven pulley 334, and a method of calculating the torque between the driving plate 31 and the driven plate 32 will be described below with reference to fig. 10.

By the geometric relationship between the pair of driving pulleys 333 and driven pulleys 334 one can obtain:

T＝2NF _t a sinγ； (1)

where T is the torque between the driving plate 31 and the driven plate 32, N is the number of the driving pulleys 333 and 334 paired, and F _t A is the shortest distance between the rotational axis of the driving pulley 333 and the rotational axis of the driving plate 31, and γ is the angle between the line connecting the rotational axis of the driving pulley 333 and the rotational axis of the driving plate 31 and the line connecting the rotational axis of the driving pulley 333 and the rotational axis of the driven pulley 334, for the tension of the wire rope 3321.

The tension on each length of wire 3321 is equal without regard to friction. The tension of the steel wire rope 3321 is calculated through the elongation and the pretightening force of the elastic element 3322, and the following formula is obtained:

F _t ＝2KN(b-(a-c))+F ₀ ； (2)

where K is the equivalent stiffness of the wire rope 3321 and the elastic member 3322, b is the shortest distance between the rotational axis of the driving pulley 333 and the rotational axis of the driven pulley 334, c is the shortest distance between the rotational axis of the driven pulley 334 and the rotational axis of the driven plate 32, and F ₀ The elastic piece 3322 is pre-stressed.

Combining equations (1) and (2) yields:

T＝4KN ² a sinγ(b-(a-c))+2Na sinγF ₀ ； (3)

according to the sine theorem and the cosine theorem, the relationship among a, b and c can be obtained:

b ² ＝a ² +c ² -2ac cosθ； (4)

where θ is an angle between a line connecting the rotational axis of the driving pulley 333 and the rotational axis of the driving plate 31 and a line connecting the rotational axis of the driven pulley 334 to the rotational axis of the driven plate 32.

Combining equations (3), (4) and (5) yields:

from the definition of angular stiffness, the output stiffness of the actuator is defined by the following equation:

as can be seen from equation (7), when a, b, c and the maximum pretension force of the elastic element 3322 are determined, the output stiffness of the actuator is only affected by θ, so that the output stiffness of the actuator can be adjusted by adjusting the driving element 331 to wind or unwind the steel wire 3321 to change θ.

Fig. 11 is a schematic structural diagram of a robot, and referring to fig. 11, an embodiment of the present application provides a robot including an actuator 100 and a robot arm 200. The actuator 100 is the actuator shown in fig. 1-10, and the robotic arm 200 is drivingly connected to the actuator mechanism 4 of the actuator 100.

The driving of the robot arm 200 can be achieved by the actuator 100 so that the robot makes corresponding motions. Moreover, since the actuator 100 is the actuator 100 shown in fig. 1 to 10, the robot has all the advantages of the actuator 100, and the details are not described herein.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. An actuator is characterized by comprising a frame (1), a power mechanism (2), a transmission mechanism (3) and an actuating mechanism (4);

the rack (1) comprises a first base plate (11), a connecting plate (12) and a second base plate (13) which are connected in sequence, wherein the first base plate (11) is opposite to the second base plate (13);

the power mechanism (2) comprises a power driving part (21) and a power shaft (22), the power driving part (21) is connected with one side, far away from the second substrate (13), of the first substrate (11), the power shaft (22) is respectively and rotatably connected with the first substrate (11) and the second substrate (13) in an inserted mode, and the power shaft (22) is in transmission connection with the power driving part (21);

the transmission mechanism (3) comprises a driving plate (31), a driven plate (32) and a rigidity adjusting assembly (33), the driving plate (31) and the driven plate (32) are opposite and are located between the first base plate (11) and the second base plate (13), the driving plate (31) is fixedly sleeved on the power shaft (22), the driven plate (32) is rotatably sleeved on the power shaft (22), and the rigidity adjusting assembly (33) is respectively connected with the driving plate (31) and the driven plate (32) and used for adjusting the connection rigidity between the driving plate (31) and the driven plate (32);

the actuating mechanism (4) is in transmission connection with the driven plate (32).

2. Actuator according to claim 1, wherein the stiffness adjustment assembly (33) comprises an adjustment drive (331), an adjustment rope (332), n drive pulleys (333) and n driven pulleys (334), n being an integer and being greater than or equal to 2, the n drive pulleys (333) and the n driven pulleys (334) being arranged along the circumference of the power shaft (22);

the adjusting driving piece (331) is connected with the driving plate (31), and an output shaft (3311) of the adjusting driving piece (331) is positioned on one side, close to the driven plate (32), of the driving plate (31) and is parallel to the power shaft (22);

the driving pulley (333) is rotatably connected with one side of the driving plate (31) close to the driven plate (32), and the rotating axis of the driving pulley (333) is parallel to the power shaft (22);

the n driven pulleys (334) are positioned on the inner sides of the n driving pulleys (333), the driven pulleys (334) are rotatably connected with one side of the driven plate (32) close to the driving plate (31), and the rotating axes of the driven pulleys (334) are parallel to the power shaft (22);

the first end of adjusting rope (332) with adjust output shaft (3311) of driving piece (331) and link to each other, the second end of adjusting rope (332) is convoluteed in proper order on ith driven pulley (334) and ith on driving pulley (333), 2 is more than or equal to i and is less than or equal to n, and is the integer to form the cover and establish driven pulley (334) with rope ring (335) on driving pulley (333), the second end of adjusting rope (332) with being close to of driving plate (31) one side elasticity of driven plate (32) links to each other.

3. Actuator according to claim 2, wherein the two sides of the driving pulley (333) in the radial direction of the power shaft (22) are a driving rope in side (a1) and a driving rope out side (a2), respectively;

two sides of the driven pulley (334) in the radial direction of the power shaft (22) are a driven rope inlet side (b1) and a driven rope outlet side (b2), the driven rope inlet side (b1) and the driving rope inlet side (a1) are located on the same side, and the driven rope outlet side (b2) and the driving rope outlet side (a2) are located on the same side;

the second end of the adjusting rope (332) sequentially winds through the ith driven rope inlet side (b1), the ith driving rope inlet side (a1), the ith driving rope outlet side (a2) and the ith driven rope outlet side (b 2).

4. Actuator according to claim 3, wherein the outer circumferential wall of the driving pulley (333) has a circumferentially extending driving rope groove (3331), the adjusting rope (332) wound around the driving pulley (333) being located in the driving rope groove (3331);

the peripheral wall of the driven pulley (334) has a first driven rope groove (3341) and a second driven rope groove (3342) extending circumferentially, the first driven rope groove (3341) and the second driven rope groove (3342) are axially spaced, the adjusting rope (332) wound on the driven pulley (334) from the driven rope inlet side (b1) is located in the first driven rope groove (3341), and the adjusting rope (332) wound on the driven pulley (334) from the driven rope outlet side (b2) is located in the second driven rope groove (3342).

5. Actuator according to claim 2, wherein the active plate (31) comprises a first plate (311) and a second plate (312);

the first plate body (311) is a circular structural member, the first plate body (311) is coaxially and fixedly sleeved on the power shaft (22), and the n driving pulleys (333) are positioned on the first plate body (311);

the second plate body (312) and the first plate body (311) are located on the same plane, and the adjusting driving piece (331) is located on the second plate body (312).

6. The actuator according to claim 5, characterized in that the side of the first plate (311) close to the driven plate (32) has a limit runner (3111);

the limiting sliding groove (3111) is annular and coaxial with the power shaft (22), and one end, close to the driving plate (31), of the n driven pulleys (334) is slidably inserted into the limiting sliding groove (3111).

7. Actuator according to claim 2, wherein the driven plate (32) comprises a flange (321) and a first reel (322);

one side of the flange plate (321) close to the driving plate (31) is connected with n driven pulleys (334), and one side of the flange plate (321) far away from the driving plate (31) is connected with the first rope winding disc (322);

the first reel (322) is coaxial with the power shaft (22);

the actuating mechanism (4) comprises a second rope coiling disc (41), a swing arm (42) and an actuating rope (43);

the second rope winding disc (41) is positioned outside the rack (1), and the rotating axis of the second rope winding disc (41) is parallel to the power shaft (22);

one end of the swing arm (42) is connected with the second rope coiling disk (41);

the execution rope (43) is sleeved on the first rope winding disc (322) and the second rope winding disc (41) at the same time.

8. Actuator according to claim 2, wherein the adjusting rope (332) comprises a wire rope (3321) and an elastic member (3322);

the first end of the steel wire rope (3321) is connected with the output shaft (3311) of the adjusting driving piece (331), the second end of the steel wire rope (3321) is connected with the first end of the elastic piece (3322), and the middle part of the steel wire rope (3321) is wound on the driving pulley (333) and the driven pulley (334);

the second end of the elastic member (3322) is connected to the active plate (31).

9. Actuator according to claim 2, wherein the actuator further comprises a first potentiometer (51), a second potentiometer (52) and a tension sensor (53);

the shell of the first potentiometer (51) is connected with one side of the driven plate (32) close to the second substrate (13), and the input shaft of the first potentiometer (51) is coaxially connected with the power shaft (22);

the shell of the second potentiometer (52) is connected with one side of the first substrate (11) far away from the active plate (31), and the input shaft of the second potentiometer (52) is coaxially connected with the power shaft (22);

the tension sensor (53) is connected between the second end of the adjusting rope (332) and the active plate (31).

10. A robot, characterized in that it comprises an actuator (100) and a robot arm (200);

the actuator (100) is the actuator of any one of claims 1-9;

the mechanical arm (200) is in transmission connection with the actuating mechanism (4) of the actuator (100).

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