CN216180508U - Modularization executor, arm and robot - Google Patents

Abstract

The utility model provides a modularized executor, a mechanical arm and a robot, wherein the modularized executor comprises: the driving module and the driven module; the driving module comprises a motor shell, a motor positioned in the motor shell and a main driving piece which is driven by the motor and leaks out of the motor shell; the driven module comprises a speed reducer shell detachably connected with the motor shell and a speed reducing assembly positioned in the speed reducer shell; the speed reduction assembly comprises a main transmission piece, the main transmission piece is vertically inserted into the main driving piece to be in transmission connection with the main driving piece, and the main transmission piece is vertically separated from the main driving piece when the shell of the speed reducer is detached from the shell of the motor. The utility model has the beneficial effects that: when different environments are met, different driven modules can be replaced on the driving module according to different requirements, so that different rotating speed outputs are realized under the condition that the performances of the motors are the same, and the universality and the practicability of the actuator are improved.

Description

Modularization executor, arm and robot

Technical Field

The utility model relates to the technical field of modular actuators, in particular to a modular actuator, a mechanical arm and a robot.

Background

With the continuous development of intelligent robot technology, the fields related to the robot are more and more extensive, and the robot is required to adapt to changeable environments. The intelligent flexible actuator used by the current intelligent robot has the following problems: the structure is too single, and every executor all has the motor of different performance parameters separately and the reduction gear of different reduction ratios, and the commonality is low, is unfavorable for forming suitable arm and reply changeable application environment.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the defects of the prior art and provides a modular actuator, a mechanical arm and a robot.

The problem of current flexible executor of intelligence structure too single, every executor all has the motor of different performance parameter separately and the reduction gear of different reduction ratios, the commonality is low, is unfavorable for forming suitable arm and reply changeable application environment is solved.

The utility model is realized by the following technical scheme:

the present invention provides a modular actuator comprising: the driving module and the driven module;

the driving module comprises a motor shell, a motor positioned in the motor shell and a main driving piece which is driven by the motor and leaks out of the motor shell;

the driven module comprises a speed reducer shell detachably connected with the motor shell and a speed reducing assembly positioned in the speed reducer shell; the speed reduction assembly comprises a main transmission piece, the main transmission piece is vertically inserted into the main driving piece to be in transmission connection with the main driving piece, and the main transmission piece is vertically separated from the main driving piece when the shell of the speed reducer is detached from the shell of the motor.

Preferably, the upper end of the motor housing is provided with a first butt joint structure, the lower end of the reducer housing is provided with a second butt joint structure, and the reducer housing is positioned with the motor housing through the butt joint matching of the second butt joint structure and the first butt joint structure.

Preferably, the first abutting structure includes an annular bearing surface and an inner rib portion connected to an inner side of the bearing surface, and the second abutting structure includes an annular outer rib portion sleeved outside the inner rib portion and bearing on the bearing surface.

Preferably, the inner rib portion is provided with a first mounting hole, the outer rib portion is provided with a second mounting hole opposite to the first mounting hole, and the first butt joint structure and the second butt joint structure are locked by a threaded connecting piece inserted into the first mounting hole and the second mounting hole after being butted.

Preferably, the driving module further comprises a motor tail cover detachably connected with the motor housing, a plurality of counter bores are formed in the bottom end of the side wall of the motor tail cover, and the plurality of counter bores are used for being rapidly connected with other actuators of the robot or the structure of the robot.

Preferably, the speed reducing assembly comprises a main transmission member, a planetary gear transmission assembly and an output member in transmission connection with the planetary gear transmission assembly; wherein, first installation end, second installation end and drive stiff end have been seted up to the reduction gear shell, first installation end is used for the installation main drive spare, output member install in the second installation end, planetary gear drive assembly locates first installation end with between the second installation end, the drive stiff end is used for fixing drive module.

Preferably, the main transmission part comprises a primary sun gear, and the planetary gear transmission assembly comprises a middle planet carrier and a primary planetary gear pivoted on one side of the middle planet carrier; the primary planetary gear is meshed with the primary sun gear, an inner gear ring is arranged on the inner wall of the reducer shell, and the primary planetary gear is meshed with the inner gear ring; the middle planet carrier is in transmission connection with the output part.

Preferably, the planetary gear transmission assembly further comprises a secondary sun gear fixed to the other side of the intermediate planet carrier and a secondary planet gear pivoted to the output member, the secondary planet gear is engaged with the secondary sun gear, and the secondary planet gear is engaged with the inner gear ring.

Preferably, the driven module is provided with a hollow channel which axially penetrates through the speed reduction assembly and has two open ends, and the outer walls of the driving module and/or the driven module are provided with wiring structures communicated with the hollow channel.

Preferably, the driven module further includes an end cover installed at one end of the reducer housing, the main transmission member includes a first wire groove located in the end cover and a second wire groove located in the motor housing, the driving module has a connection terminal exposed from the second wire groove, and two ends of the first wire groove are respectively communicated with the main transmission member hollow channel and the second wire groove.

Preferably, the robot arm is characterized by comprising the modular actuator.

Preferably, the robot is characterized by comprising the modular actuator.

The utility model has the beneficial effects that: when different environments are dealt with, different driven modules can be replaced on the driving module according to different requirements, so that different rotating speed outputs are realized under the condition that the performances of the motors are the same, and the universality and the practicability of the actuator are improved.

Drawings

FIG. 1 is a schematic structural diagram of a modular actuator according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a modular actuator according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a motor tail cover of a modular actuator according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a motor housing of a modular actuator according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a reducer housing of a modular actuator according to an embodiment of the present invention;

FIG. 6 is an exploded view of a slave module of a modular actuator according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another embodiment of a modular actuator according to an embodiment of the present invention.

Detailed Description

The following detailed description of specific embodiments of the utility model refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

For convenience in understanding of the modular actuator and the mechanical arm provided by the embodiment of the present application, an application scenario of the modular actuator and the mechanical arm is first described, where the modular actuator provided by the embodiment of the present application is used to provide an actuator suitable for a variable application environment; the structure of the existing intelligent flexible actuator is too single, each actuator is provided with a motor with different performance parameters and a speed reducer with different reduction ratios, the universality is low, and the intelligent flexible actuator is not beneficial to forming a proper mechanical arm and coping with changeable application environments. A modular actuator provided in an embodiment of the present application is described below with reference to the accompanying drawings.

Referring first to fig. 1, fig. 1 is a schematic structural diagram of a modular actuator according to an embodiment of the present invention. As can be seen from fig. 1, the present invention provides a modular actuator comprising a driving module 1, and a driven module 3. Wherein, the driven module 3 can be connected with the driving module 1 through the threaded connection piece 2. When using this application, because driven module 3 is connected with drive module 1 through threaded connection spare 2, consequently this application can be changed different driven module 3 and be connected with drive module 1 according to the demand of difference when dealing with different environment to conveniently deal with different environmental demands. The threaded connection 2 in this application includes, but is not limited to, a jackscrew as is common in the art when specifically configured.

When the driving module 1 is specifically arranged, the driving module 1 comprises a motor tail cover 4 and a motor shell 5. When the motor tail cover 4 is specifically arranged, reference may be made to fig. 3, and fig. 3 is a schematic structural diagram of a motor tail cover of a modular actuator according to an embodiment of the present invention. As can be seen from fig. 3, the bottom end of the side wall of the motor tail cover 3 is provided with a plurality of countersunk holes 7, and the top end of the side wall of the motor tail cover 3 is provided with a plurality of first threaded holes 15. When the motor housing 5 is specifically configured, reference may be made to fig. 4, and fig. 4 is a schematic structural diagram of a motor housing of a modular actuator according to an embodiment of the present invention. A plurality of second threaded holes 16 corresponding to the plurality of first threaded holes 15 one to one are formed in the bottom end of the side wall of the motor housing 5, a first butt joint structure is formed in the top end of the side wall of the motor housing 5, the first butt joint structure comprises an annular bearing surface 6 and an inner rib 9 when the first butt joint structure is specifically arranged, the inner rib 9 is connected to the inner side of the bearing surface 6, and the inner rib 9 is provided with a plurality of first mounting holes 17. Referring to fig. 2, fig. 2 is a schematic cross-sectional view of a modular actuator according to an embodiment of the present invention, and as can be seen from fig. 2, a driving motor is fixedly connected in the motor housing 5, and an output shaft of the driving motor is fixedly connected with a driving gear 70. When the driving module 1 is specifically arranged, the countersunk hole 7 at the bottom end of the side wall of the motor tail cover 4 is used for being rapidly connected with other actuators of a robot or a robot structure, and then the second threaded hole 16 at the bottom end of the side wall of the motor shell 5 is connected with the corresponding first threaded hole 15 through the threaded connecting piece 2, so that the motor shell 5 is connected with the motor tail cover 4.

With continued reference to fig. 2 and 5, the slave module 3 may be specifically configured, and fig. 5 is a schematic structural diagram of a reducer housing of a modular actuator according to an embodiment of the present invention. As can be seen from fig. 2 and 5, the driven module 3 includes a reducer housing 8 connected to the motor housing 5, and when the connection is made, a second butt structure is opened at a bottom end of a side wall of the reducer housing 8, and when the connection is made, the second butt structure includes an annular outer rib portion 14, and the outer rib portion 14 is provided with a plurality of second mounting holes 18 corresponding to the plurality of first mounting holes 17 one to one. When the reducer housing 8 is connected with the motor housing 5, the first butt joint structure and the second butt joint structure can be butted together, at this time, the outer rib 14 is sleeved outside the inner rib 9 and is carried on the carrying surface 6, the first mounting hole 17 and the corresponding second mounting hole 18 are correspondingly connected together, then the second mounting hole 18 corresponding to the first mounting hole 17 is connected together through the threaded connector 2, so that the outer rib 14 and the inner rib 9 are fixedly connected together, the reducer housing 8 is connected with the motor housing 5, and the driven module 3 is connected with the driving module 1 to form a complete actuator.

Continuing to refer to fig. 2, the reducer assembly is fixedly connected in the reducer casing 8, when the driven module 3 is connected with the driving module 1, the driving gear 70 of the driving module 1 can be inserted into the reducer casing 8 to be meshed with the face gear 31, when different environments are dealt with, different driven modules 3 are replaced according to different requirements, when the driven modules 3 are replaced, the jackscrews 2 between the first mounting holes 17 and the second mounting holes 18 can be detached, then the old driven modules 3 are detached, then new driven modules 3 are replaced, and thus different requirements are met through different driven modules 3 according to different environments. When the change is particularly large in different environments, the whole actuator can be quickly disassembled and replaced by other actuators.

When the slave module 3 is specifically configured, reference may be made to fig. 6, where fig. 6 is an exploded schematic diagram of a slave module of a modular actuator according to an embodiment of the present invention. As can be seen from fig. 5, the driven module 3 includes a reducer housing 20, a main transmission member 30, a planetary gear assembly 40, and an output transmission shaft 50 fixedly connected to the planetary gear assembly 40. The reducer casing 20 comprises a first mounting end 21, a second mounting end 22 and a driving fixing end 23, wherein the first mounting end 21 and the second mounting end 22 are arranged oppositely; the first mounting end 21 is used for mounting the main transmission member 30, and the reducer shell 20 and the second mounting end 22 are used for mounting the planetary gear transmission assembly 40; the driving fixing end 23 is used for fixing the driving module 60. The main transmission member 30 is engaged with the driving gear 70 to convert the rotation of the driving gear 70 into the rotation in the vertical direction through the transmission of the main transmission member 30, that is, the rotation axes of the driving gear 70 and the main transmission member 30 are arranged perpendicular to each other. The planetary gear assembly 40 is used to transfer the rotation of the main drive member 30 to the output drive shaft 50 at a reduced speed, and with continued reference to fig. 5, the inner wall of the reducer housing 20 is provided with internal teeth to correspondingly engage the planetary gear assembly 40. In the present application, the main transmission member 30 is pivotally connected to the first mounting end 21; the planetary gear assembly 40 is pivotally connected to the second mounting end 22.

The transmission module 10 further comprises an end cap 13 mounted on the first mounting end 21, the end cap 13 being arranged over the main transmission member 30. The end cap 13 is provided with a first wire groove 130, and two ends of the first wire groove 130 are respectively communicated with the main transmission member 30, the middle part of the planetary gear transmission assembly 40 and the driving module 60 to install wires.

With continued reference to fig. 6, the peripheral portion of the main transmission member 30 on the side facing the reducer case 20 is a face gear 31, and the face gear 31 is meshed with the drive gear 70. The center of the main transmission 30 extends toward the reducer housing 20 with a primary sun gear 32. The main transmission 30 further comprises a positioning ring 33 arranged between the face gear 31 and the primary sun gear 32; the transmission module 10 further includes a first bearing 11 disposed on the positioning ring table 33, and the first bearing 11 is mounted on the first mounting end 21 to receive the main transmission member 30. In the present embodiment, the main transmission member 30 is disposed along the axial direction and is hollow for the output transmission shaft 50 to pass through.

With continued reference to fig. 6, the planetary gear assembly 40 includes a primary planet carrier intermediate carrier 41, at least two primary planet gears 42 pivotally connected to the primary planet carrier intermediate carrier 41, and a secondary sun gear 43 fixedly connected to the primary planet carrier intermediate carrier 41; the primary planetary gears 421 mesh with the primary sun gear 32. Further, the number of the primary planet gears 42 is five, and the primary planet gears 42 are circumferentially distributed and are respectively pivoted on the intermediate planet carrier 41 of the primary planet carrier, and each primary planet gear 42 is meshed with the primary sun gear 32 and simultaneously meshed with the internal teeth of the reducer casing 20, so that the stable operation of the primary planet gear 42 is maintained. The primary planet gears 42 surround and mesh around the primary sun gear 32; when the driving gear 70 rotates to drive the main transmission member 30 to rotate, the primary sun gear 32 rotates and drives the primary planet gears 42 to rotate by utilizing the meshing relationship, and due to the meshing relationship with the internal teeth of the reducer casing 20, the primary planet gears 42 also move along the internal teeth of the reducer casing 20 while rotating, namely, revolve around the primary sun gear 32, and the revolution drives the primary planet carrier intermediate planet carrier 41 to rotate through the primary planet gears 42, so as to drive the secondary sun gear 43 to rotate.

With continued reference to fig. 6, the planetary gear transmission assembly 40 further includes a secondary planet carrier 44 and at least two secondary planet gears 45 pivotally connected to the secondary planet carrier 44. In the present embodiment, the number of the secondary planet gears 45 is five, and the secondary planet gears 45 are circumferentially distributed and are respectively pivoted on the secondary planet carrier 44. The secondary planet gears 45 surround and mesh around the secondary sun gear 43. When the secondary sun gear 43 rotates, the secondary planet carrier 44 is driven to rotate by the secondary planet gear 45, so as to drive the output transmission shaft 50 to rotate. In the present embodiment, each secondary planetary gear 45 meshes with the secondary sun gear 43 and also meshes with the internal teeth of the reducer case 20.

The output transmission shaft 50 is fixedly connected with the second-stage planet carrier 44. Specifically, a fixed disk 51 extends radially outward from the peripheral surface of the output transmission shaft 50 at an end close to the second mounting end 22, and the fixed disk 51 is fixed with the secondary planet carrier 44 by means of clamping or screwing. The output transmission shaft 50 penetrates through the main transmission member 30 and the planetary gear transmission assembly 40; the output drive shaft 50 is provided with a hollow passage 60 for the passage of a wire. The hollow channel 60 is communicated with the first wire guide groove 130 at a position close to the first mounting end 21, and the hollow channel 60 is used for connecting with other actuators at a position close to the second mounting end 22; further, in this application, second metallic channel 61 has been seted up to motor housing 5's outer wall, drive module 1 has the connecting terminal that is exposed by second metallic channel 61, the both ends of first metallic channel 130 communicate the hollow channel 60 and the second metallic channel 61 of main drive spare 30 respectively, the wire can pass first metallic channel 130 in proper order, hollow channel 60, and second metallic channel 61 is connected with connecting terminal, thereby avoided the wire to follow external connection, make the wire winding or damaged problem.

Referring to fig. 7, fig. 7 is a schematic structural diagram of another embodiment of a modular actuator according to an embodiment of the present invention. As can be seen from fig. 7, unlike the structure in which the driving module 1 and the driven module 3 are connected up and down in the above embodiment, the driving module 1 and the driven module 3 in this embodiment are arranged side by side, the driving module 1 is used for driving the driven module 3, and the driven module 3 is used for being connected with the robot arm body of the robot, so as to drive the robot arm body of the robot to move.

The application also provides a mechanical arm, and the mechanical arm comprises a mechanical arm body and a modularized actuator arranged on the mechanical arm body, wherein the modularized actuator is used for driving the mechanical arm body to move, so that the aim that the robot wants to realize the movement is fulfilled.

In the above embodiment, the modular actuator provided by the embodiment of the present application changes the connection mode between the actuators into a mode capable of being quickly disassembled and assembled, so that different actuators or actuator deceleration modules can be quickly replaced according to different requirements, thereby solving the problem that the existing actuator is too single in structure, not beneficial to forming a suitable mechanical arm and coping with a changeable application environment.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.

Claims (12)

1. A modular actuator, comprising: the driving module and the driven module;

the driving module comprises a motor shell, a motor positioned in the motor shell and a main driving piece which is driven by the motor and leaks out of the motor shell;

the driven module comprises a speed reducer shell detachably connected with the motor shell and a speed reducing assembly positioned in the speed reducer shell; the speed reduction assembly comprises a main transmission piece, the main transmission piece is vertically inserted into the main driving piece to be in transmission connection with the main driving piece, and the main transmission piece is vertically separated from the main driving piece when the shell of the speed reducer is detached from the shell of the motor.

2. The modular actuator of claim 1, wherein the motor housing has a first docking structure at an upper end thereof, and a second docking structure at a lower end thereof, and the housing is positioned with the motor housing by docking the first docking structure with the second docking structure.

3. The modular actuator of claim 2 wherein the first interface structure includes an annular bearing surface and an inner rib portion connected to the inner side of the bearing surface, the second interface structure including an annular outer rib portion that rides on the bearing surface and extends over the inner rib portion.

4. The modular actuator of claim 3, wherein the inner rib has a first mounting hole, the outer rib has a second mounting hole opposite to the first mounting hole, and the first and second docking structures are locked by a threaded connector inserted into the first and second mounting holes after docking.

5. The modular actuator of claim 1, wherein the driving module further comprises a motor tail cover detachably connected to the motor housing, and a plurality of countersunk holes are formed in a bottom end of a side wall of the motor tail cover, and the plurality of countersunk holes are used for quick connection with other actuators of the robot or a structure of the robot.

6. The modular actuator of claim 1 wherein the speed reduction assembly comprises a main drive member, a planetary drive assembly and an output member drivingly connected to the planetary drive assembly; wherein, first installation end, second installation end and drive stiff end have been seted up to the reduction gear shell, first installation end is used for the installation main drive spare, output member install in the second installation end, planetary gear drive assembly locates first installation end with between the second installation end, the drive stiff end is used for fixing drive module.

7. The modular actuator of claim 6 wherein the main drive member comprises a primary sun gear, and the planetary gear assembly comprises an intermediate carrier and a primary planet gear pivotally connected to one side of the intermediate carrier; the primary planetary gear is meshed with the primary sun gear, an inner gear ring is arranged on the inner wall of the reducer shell, and the primary planetary gear is meshed with the inner gear ring; the middle planet carrier is in transmission connection with the output part.

8. The modular actuator of claim 7 wherein the planetary gear assembly further comprises a secondary sun gear fixed to the other side of the intermediate carrier and a secondary planet gear journaled on the output member, the secondary planet gear meshing with the secondary sun gear and the secondary planet gear meshing with the annulus gear.

9. The modular actuator of claim 1, wherein the driven module has a hollow channel which axially penetrates through the speed reducing assembly and is open at two ends, and the outer wall of the driving module and/or the driven module is provided with a wiring structure which is communicated with the hollow channel.

10. The modular actuator of claim 9, wherein the driven module further includes an end cap mounted at one end of the housing of the speed reducer, the routing structure of the driving member includes a first wire groove formed in the end cap and a second wire groove formed in the housing of the motor, the driving module has a connection terminal exposed from the second wire groove, and two ends of the first wire groove are respectively communicated with the hollow channel of the driving member and the second wire groove.

11. A robot arm comprising a modular actuator according to any of claims 1 to 10.

12. A robot comprising a modular actuator according to any of claims 1 to 10.

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