CN216180509U

CN216180509U - Anti-twisting actuator, mechanical arm and robot

Info

Publication number: CN216180509U
Application number: CN202122409519.3U
Authority: CN
Inventors: 罗程; 任睿奇; 韩振; 胡海涛; 邓雯珊; 卞磊
Original assignee: Cloudminds Robotics Co Ltd
Current assignee: Cloudminds Shanghai Robotics Co Ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-04-05
Anticipated expiration: 2031-09-30

Abstract

The utility model provides an anti-twisting actuator, a mechanical arm and a robot, wherein the anti-twisting actuator comprises a driving module, a transmission module arranged on the driving module and a flexible flat cable; the flexible flat cable is laid in the first wire groove and extends into the transmission module, one end of the flexible flat cable is connected with the connecting terminal, and the other end of the flexible flat cable penetrates out of the end face of the transmission module. The utility model can effectively avoid the problem of winding or damage of the lead. In addition, the utility model also provides a mechanical arm and a robot.

Description

Anti-twisting actuator, mechanical arm and robot

Technical Field

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

Background

In the fields of industrial robots, service robots, medical robots, and the like, robots are required to perform more operations, and therefore the robots are required to have a high degree of freedom, and a plurality of electric actuators are required to be provided in a plurality of joints of the robots.

SUMMERY OF THE UTILITY MODEL

The utility model provides an anti-twisting actuator, a mechanical arm and a robot, which are used for solving the problem that a wire is easy to wind or damage when the existing robot carries out series control among actuators.

In a first aspect, an anti-twisting actuator is provided, which is applied in the field of robots, such as industrial robots, service robots, and medical robots. In a robot in this field, a plurality of electric actuators are required to be provided in a plurality of joints, and when series control is performed between the actuators, wires are required to be wired and fixed along the outer surfaces of the actuators. In view of the above, the present application provides an anti-twisting actuator.

The anti-twisting actuator comprises a driving module, a transmission module arranged on the driving module and a flexible flat cable; the flexible flat cable is laid in the first wire groove and extends into the transmission module, one end of the flexible flat cable is connected with the connecting terminal, and the other end of the flexible flat cable penetrates out of the end face of the transmission module.

When the transmission module is specifically arranged, the transmission module comprises a transmission shell and a speed reduction assembly arranged in the transmission shell, the transmission module is further provided with a hollow channel penetrating through the speed reduction assembly, the hollow channel is communicated with the first wire guide groove, and the flexible flat cable extends into the hollow channel. The hollow channel is utilized to enable the flexible flat cable to smoothly pass through the speed reducing assembly of the actuator, and the cable cannot be interfered when the speed reducing assembly operates.

When the transmission module is further specifically arranged, the transmission module comprises an output piece which is arranged on one end face of the transmission shell and is in transmission connection with the speed reducing assembly, the hollow channel penetrates through the output piece, and the flexible flat cable penetrates out of the output piece.

When the transmission shell is specifically arranged, a second wire guide groove is formed in the transmission shell, one end of the second wire guide groove is communicated with the hollow channel, the other end of the second wire guide groove is communicated with the first wire guide groove, and the flexible flat cable extends into the hollow channel through the second wire guide groove.

When the transmission housing is further specifically arranged, the transmission housing includes a rotation housing capable of rotating around a transverse axial direction relative to the driving module, the speed reduction assembly is located in the rotation housing, the transmission module includes an auxiliary executing member rotatably connected to the rotation housing, the rotation housing is provided with a third wire guide groove communicated with the hollow channel, a fourth wire guide groove penetrating through to an end face is arranged in the auxiliary executing member, the fourth wire guide groove is communicated with the third wire guide groove, and the flexible flat cable penetrates out of the auxiliary executing member through the third wire guide groove and the fourth wire guide groove.

When the rotating shell is specifically arranged, the rotating shell comprises two hemispherical shells and an arc-shaped part fixedly connected with the two hemispherical shells, the third wire guide groove is formed in one side, close to the hemispherical shells, of the arc-shaped part, and the auxiliary executing part is rotatably connected to the other side of the arc-shaped part.

When the driving module is specifically arranged, the driving module comprises two motors, the transmission module comprises the transmission shell, two support frames arranged in the transmission shell and two speed reducing components respectively arranged on the two support frames, the two speed reducing components are respectively in transmission connection with the two motors, and each speed reducing component comprises an output end gear; the transmission shell comprises a rotating shell and a fixed shell fixed with the driving shell, the supporting frame is fixed on the fixed shell, and the rotating shell is rotatably arranged relative to the supporting frame; the transmission module further comprises an executing part which is rotatably connected to the rotating shell, the executing part comprises an executing end gear, and the executing end gear is respectively meshed with the two output end gears; when the two output end gears rotate reversely, the actuating element is driven to rotate around an X axis relative to the rotating shell, and when the two output end gears rotate in the same direction, the rotating shell is driven to rotate around a Y axis relative to the supporting frame.

When the executing piece and the auxiliary executing piece are specifically arranged, the executing piece is installed at one end of the rotating shell, the other end of the rotating shell is rotatably connected with the auxiliary executing piece, and the auxiliary executing piece can rotate coaxially with the executing piece.

In the embodiment of the application, the two output end gears are respectively fixed on the output piece, and the output piece is rotatably connected with a planetary gear; an inner gear ring is arranged on the inner wall of the support frame, the planet gear is meshed with the inner gear ring and is also meshed with a sun gear, and the sun gear is coaxially and fixedly connected with the face gear; the two end face gears are respectively engaged with a transmission gear, and the two transmission gears are respectively in rotating connection with the fixed shell and are respectively in transmission connection with the two motors through a duplicate gear.

When the output member is arranged, the two output members respectively penetrate through two opposite ends of the rotating shell through the rotation of the hollow shaft, the two hollow shafts correspondingly penetrate through the two face gears, and the two hollow shafts are oppositely communicated and internally form the hollow channel.

When the duplicate gears are arranged, the two duplicate gears are respectively in rotating connection with the fixed shell; the dual gear comprises an upper gear and a lower gear which are coaxially fixed; the two upper gears are correspondingly meshed with the two transmission gears, and the two lower gears are correspondingly connected with the two motors in a transmission manner.

When the motors are arranged specifically, the two motors are coaxially arranged up and down, and the two motors are respectively provided with a rotor cover; the motor is characterized in that a central shaft is fixedly arranged on a rotor cover of the motor in a penetrating mode below, a first gear is fixedly arranged on a rotor cover of the motor above, the central shaft rotates to penetrate through the motor above, the first gear is fixedly arranged at the end of the central shaft, and a second gear is coaxially arranged with the first gear and correspondingly meshed with the two lower gears.

In a specific embodiment, the two motors are respectively and fixedly installed in the driving shell, and the PCB board is fixedly installed in the driving shell and located between the two motors.

When the second wire groove is specifically arranged, the second wire groove is positioned in the middle of the transmission module and extends up and down, and the flexible flat cable extends into the transmission module and then bends to be L-shaped and is laid along the second wire groove.

In a second aspect, there is provided a robot arm comprising: an actuator as described above.

In a third aspect, a robot is provided, comprising: an actuator as described above.

Drawings

FIG. 1 is a cross-sectional view of an anti-twist actuator according to an embodiment of the present invention

FIG. 2 is an exploded view of a rotary member provided in accordance with an embodiment of the present invention;

FIG. 3 is an exploded view of an anti-twist actuator provided in accordance with an embodiment of the present invention;

FIG. 4 is a perspective view of an anti-twist actuator provided in accordance with an embodiment of the present invention;

FIG. 5 is a side view of an anti-twist actuator provided in accordance with an embodiment of the present invention;

FIG. 6 is a perspective view of a T-shaped actuator;

FIG. 7 is a cross-sectional view of the T-shaped actuator of FIG. 6;

fig. 8 is a perspective view of an L-shaped actuator.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.

The utility model provides an actuator, which is applied to a robot, wherein the robot can be an industrial robot, a service robot or a medical robot. The actuator is applied to the robot and used for solving the problem that a wire is easy to wind, twist or damage when the existing robot carries out series control among the actuators.

Referring collectively to fig. 1-5, the anti-twist actuator comprises a drive module, a transmission module mounted on the drive module, and a flexible flat cable 1. The driving module is provided with a PCB (printed circuit board) 2, the PCB 2 is provided with a connecting terminal, a driving shell 14 of the driving module is provided with a first wire groove 3 connected to the transmission module, the connecting terminal is exposed out of the first wire groove 3, a flexible flat cable 1 is laid in the first wire groove 3 and extends into the transmission module, one end of the flexible flat cable 1 is connected to the connecting terminal, and the other end of the flexible flat cable penetrates out of the end face of the transmission module.

In one embodiment, the flexible flat cable 1 is an FPCB board, and the conductive wires are replaced with the FPCB board. The FPCB board has the advantages that a plurality of metal wires in the FPCB board are fixed by the external insulating part to be shaped, and the condition that a plurality of wire stranded wires are entangled and pulled apart is avoided.

The transmission module comprises a transmission shell and a speed reduction assembly arranged in the transmission shell. The transmission module is also provided with a hollow channel 4 penetrating through the speed reducing assembly, the hollow channel 4 is communicated with the first wire groove 3, and the flexible flat cable 1 extends into the hollow channel 4. The hollow channel 4 is utilized to enable the flexible flat cable 1 to smoothly pass through the speed reducing assembly of the actuator, and the flexible flat cable 1 cannot be interfered when the speed reducing assembly operates, so that the flexible flat cable 1 can be effectively prevented from being twisted or damaged.

In addition, the transmission module comprises an output piece 19 which is arranged on one end face of the transmission shell and is in transmission connection with the speed reducing assembly, the hollow channel 4 penetrates through the output piece 19, and the flexible flat cable 1 penetrates out of the output piece 19. And a second wire groove 5 is arranged in the transmission shell, one end of the second wire groove 5 is communicated with the hollow channel 4, the other end of the second wire groove 5 is communicated with the first wire groove 3, and the flexible flat cable 1 extends into the hollow channel 4 through the second wire groove 5.

In an embodiment of the application, the transmission housing comprises a rotation housing rotatable about a transverse axial direction with respect to the drive module, and the reduction assembly is located in the rotation housing. The transmission module is connected in including rotating the supplementary executive component 6 of shell rotates, the shell rotates and is equipped with the third metallic channel 7 with hollow channel 4 intercommunication, is equipped with the fourth metallic channel 8 that runs through to the terminal surface in the supplementary executive component 6, and fourth metallic channel 8 communicates with third metallic channel 7, and flexible flat cable 1 wears out from supplementary executive component 6 through third metallic channel 7 and fourth metallic channel 8.

Furthermore, the rotating shell comprises two hemispherical shells 9 and an arc-shaped part 10 fixedly connected with the two hemispherical shells 9, the third wire groove 7 is arranged on one side of the arc-shaped part 10, which is close to the hemispherical shells 9, and the auxiliary executing part 6 is rotatably connected to the other side of the arc-shaped part 10. The middle of the arc-shaped part 10 is fixedly connected with the two hemispherical shells 9 through bolts respectively, and the two ends of the arc-shaped part 10 are correspondingly and fixedly connected with the ends of the circle centers deviating from the two hemispherical shells 9 through bolts.

The drive module comprises two motors 11, the transmission module comprises a transmission shell, two support frames 12 arranged in the transmission shell and two speed reduction assemblies respectively arranged on the two support frames 12, and the two speed reduction assemblies are respectively in transmission connection with the two motors 11.

The reduction assembly comprises an output gear 13; the transmission housing comprises the rotating housing and a fixed housing 15 fixed with the driving housing 14, the supporting frame 12 is fixed on the fixed housing 15, and the rotating housing is rotatably arranged relative to the supporting frame 12. The two hemispherical shells 9 of the rotating shell can rotate relative to the supporting frame 12 by being limited and clamped with the limiting clamping grooves on the two supporting frames 12.

The transmission module further comprises an executing part 16 which is rotatably connected to the rotating shell, the executing part 16 comprises an executing end gear 17, and the executing end gear 17 is respectively meshed with the two output end gears 13. When the two output end gears 13 rotate reversely, the actuating member 17 is driven to rotate around the X axis relative to the rotating shell, and when the two output end gears 13 rotate in the same direction, the rotating shell is driven to rotate around the Y axis relative to the supporting frame 12.

In this application embodiment, execution end gear 17 and two output end gears 13 are the bevel gear, and when two output end gears 13 syntropy rotated, execution end gear 17 was died by the card, thereby made it rotates to rotate shell relative stand 12, it is spherical to rotate the shell, it then drives executive 16 and supplementary executive 6 and rotates to rotate to the anti-twist thread executor that realizes that this application provides has two degree of freedom pivoted effects.

It should be noted here that the X axis is coaxial with the hollow channel 4, so that during the rotation of the rotatable shell, the flexible flat cable 1 arranged is prevented from twisting, tangling and tearing. The Y-axis is perpendicular to the X-axis in a transverse horizontal plane.

When the actuator 16 and the auxiliary actuator 6 are specifically arranged, the actuator 16 is mounted at one end of the rotating shell, the auxiliary actuator 6 is rotatably connected at the other end of the rotating shell, and the auxiliary actuator 6 can rotate coaxially with the actuator 16. The actuator 16 is driven to rotate and the auxiliary actuator 6 rotates with the actuator 16.

In the embodiment of the application, the two output end gears 13 are respectively and coaxially fixed on the output member 19, and the output member 19 is rotatably connected with the planetary gear 20; the inner wall of the support frame 12 is provided with an inner gear ring 21, the planet gear 20 is meshed with the inner gear ring 21 and is also meshed with a sun gear 22, and the sun gear 22 is coaxially and fixedly connected with an end face gear 23; the two end face gears 23 are respectively engaged with a transmission gear 24, and the two transmission gears 24 are respectively connected with the fixed shell 15 in a rotating way and are respectively connected with the two motors 11 in a transmission way through a duplicate gear.

When the output member 19 is arranged, the two output members 19 respectively penetrate through two opposite ends of the rotating shell through the rotation of the hollow shaft 25, the two hollow shafts 25 correspondingly penetrate through the two end face gears 23, and the two hollow shafts 25 are oppositely communicated and internally form the hollow channel 4. Cables are arranged in the hollow channels 4 formed in the two hollow shafts 25, so that the cables are effectively prevented from being wound, twisted or damaged.

When the duplicate gears are specifically arranged, the two duplicate gears are respectively in rotating connection with the fixed shell 15; the duplicate gear comprises an upper gear 26 and a lower gear 27 which are coaxially fixed; the two upper gears 26 are correspondingly meshed with the two transmission gears 24, and the two lower gears 27 are correspondingly connected with the two motors 11 in a transmission way.

In the embodiment of the present application, the two motors 11 are coaxially disposed up and down, and the two motors 11 respectively have a rotor cover; a central shaft 28 is fixedly arranged on the rotor cover of the lower motor 11 in a penetrating way, a first gear 29 is fixedly arranged on the rotor cover of the upper motor 22, the central shaft 28 rotatably penetrates through the upper motor 11 and the first gear 29, a second gear 18 is fixedly arranged at the end part, and the second gear 18 and the first gear 29 are coaxially arranged and are correspondingly meshed with the two lower gears 27.

The two motors 11 correspondingly drive the first gear 29 and the second gear 18 to rotate, the first gear 29 and the second gear 18 drive the two transmission gears 24 to rotate through the connected duplicate gears, the two transmission gears 24 respectively transmit the power of the two motors 11 to the two end face gears 23, the two end face gears 23 transmit the power to the two output members 19 through the sun gear 22 and the planet gear 20, then the output end gears 13 on the two output members 19 are meshed with the execution end gear 17 on the execution member 16 to realize the action of the execution member 16, the auxiliary execution member 6 follows up, when the execution member 16 acts, the two output end gears 13 reversely rotate, at the moment, the execution member 16 rotates relative to the rotating shell, when the two output end gears 13 rotate in the same direction, the execution end gear 17 is blocked, the execution member 16 cannot rotate relative to the rotating shell around the X axis, at the moment, the power output by the two output end gears 13 drives the rotating shell to rotate around the Y axis, the actuating member 16 rotates around the Y axis along with the rotating shell, and the two degrees of freedom of the actuating member 16 are realized by driving the two output end gears 13 to rotate in the same reverse direction.

In a specific embodiment, the two motors 11 are respectively fixedly installed in the driving housing 14, and the PCB board 2 is fixedly installed in the driving housing 14 and located between the two motors 11.

Referring to fig. 1, the second wire groove 5 is located in the middle of the transmission module and extends up and down, and the flexible flat cable 1 is bent into an L shape after extending into the transmission module and laid along the second wire groove 5.

In another embodiment, as shown in fig. 6 and 7, fig. 6 is a perspective view of a T-shaped actuator and fig. 7 is a cross-sectional view of the T-shaped actuator of fig. 6. This T type executor upper portion is transmission module, the lower part is drive module, transmission module installs on drive module, transmission module has the cavity passageway 4 that link up, set up first metallic channel 3 on drive module's the drive casing, and set up second metallic channel 5 in the drive module, first metallic channel 3 communicates with cavity passageway 4 through second metallic channel 5, be used for arranging flexible flat cable FPCB board promptly, can effectively avoid flexible flat cable winding, stranded conductor or damage.

In yet another embodiment, as shown in FIG. 8, FIG. 8 is a perspective view of an L-shaped actuator. This L type executor left side is drive module, and the right side is transmission module, and transmission module installs on drive module, and transmission module has the cavity passageway 4 that link up, sets up first wire casing 3 on drive module's the drive casing, and first wire casing 3 is through second wire casing 5 and cavity passageway 4 intercommunication, is used for arranging flexible flat cable and is the FPCB board, can effectively avoid flexible flat cable winding, stranded conductor or damage on the same principle.

Furthermore, the utility model provides a robot arm comprising an actuator as described above.

In addition, the utility model also provides a robot, which comprises the actuator.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An anti-twist actuator, comprising: the device comprises a driving module, a transmission module arranged on the driving module and a flexible flat cable; wherein the content of the first and second substances,

the flexible flat cable is characterized in that a PCB is arranged in the driving module, a connecting terminal is arranged on the PCB, a first wire groove connected to the transmission module is formed in a driving shell of the driving module, the connecting terminal is exposed out of the first wire groove, the flexible flat cable is laid in the first wire groove and extends into the transmission module, one end of the flexible flat cable is connected to the connecting terminal, and the other end of the flexible flat cable penetrates out of the end face of the transmission module.

2. The anti-twisting actuator according to claim 1, wherein the transmission module comprises a transmission housing and a deceleration assembly disposed in the transmission housing, the transmission module further comprises a hollow channel penetrating through the deceleration assembly, the hollow channel is communicated with the first wire guide groove, and the flexible flat cable extends into the hollow channel.

3. The anti-twisting actuator according to claim 2, wherein the transmission module comprises an output member disposed on an end surface of the transmission housing and drivingly connected to the reduction assembly, the hollow channel extends through the output member, and the flexible flat cable extends out of the output member.

4. The anti-twisting actuator according to claim 2, wherein a second wire guide slot is formed in the transmission housing, one end of the second wire guide slot is communicated with the hollow channel, the other end of the second wire guide slot is communicated with the first wire guide slot, and the flexible flat cable extends into the hollow channel through the second wire guide slot.

5. The anti-twisting actuator according to claim 2, wherein the transmission housing includes a rotation housing capable of rotating around a transverse axis direction with respect to the driving module, the speed reduction assembly is located in the rotation housing, the transmission module includes an auxiliary actuator rotatably connected to the rotation housing, the rotation housing is provided with a third wire guide groove communicated with the hollow channel, a fourth wire guide groove penetrating to an end face is provided in the auxiliary actuator, the fourth wire guide groove is communicated with the third wire guide groove, and the flexible flat cable passes through the third wire guide groove and the fourth wire guide groove and then passes out of the auxiliary actuator.

6. The anti-twisting actuator according to claim 5, wherein the rotating shell comprises two hemispherical shells and an arc-shaped member fixedly connected with the two hemispherical shells, the third wire guide groove is formed on one side of the arc-shaped member, which is close to the hemispherical shells, and the auxiliary actuating member is rotatably connected to the other side of the arc-shaped member.

7. The anti-twisting actuator according to claim 5, wherein the driving module comprises two motors, the transmission module comprises the transmission housing, two support frames arranged in the transmission housing, and two speed reducing assemblies respectively mounted on the two support frames, the two speed reducing assemblies are respectively in transmission connection with the two motors, and each speed reducing assembly comprises an output end gear;

the transmission shell comprises a rotating shell and a fixed shell fixed with the driving shell, the supporting frame is fixed on the fixed shell, and the rotating shell is rotatably arranged relative to the supporting frame;

the transmission module further comprises an executing part which is rotatably connected to the rotating shell, the executing part comprises an executing end gear, and the executing end gear is respectively meshed with the two output end gears;

when the two output end gears rotate reversely, the actuating element is driven to rotate around an X axis relative to the rotating shell, and when the two output end gears rotate in the same direction, the rotating shell is driven to rotate around a Y axis relative to the supporting frame.

8. The anti-twisting actuator according to claim 7, wherein the actuator is mounted to one end of the rotating housing, and the other end of the rotating housing is rotatably connected to the auxiliary actuator, and the auxiliary actuator is rotatable coaxially with the actuator.

9. The anti-twisting actuator according to claim 8, wherein the two output end gears are respectively fixed on an output member, and a planetary gear is rotatably connected to the output member;

an inner gear ring is arranged on the inner wall of the support frame, the planet gear is meshed with the inner gear ring and is also meshed with a sun gear, and the sun gear is coaxially and fixedly connected with the face gear;

the two end face gears are respectively engaged with a transmission gear, and the two transmission gears are respectively in rotating connection with the fixed shell and are respectively in transmission connection with the two motors through a duplicate gear.

10. The anti-twisting actuator according to claim 9, wherein said two output members are rotatably inserted through opposite ends of said rotating housing by hollow shafts respectively, said hollow shafts are correspondingly inserted through said face gears, said hollow shafts are oppositely connected and said hollow passages are formed therein.

11. The anti-twisting actuator according to claim 9, wherein the two duplicate gears are respectively rotatably connected to the fixed housing; the dual gear comprises an upper gear and a lower gear which are coaxially fixed; the two upper gears are correspondingly meshed with the two transmission gears, and the two lower gears are correspondingly connected with the two motors in a transmission manner.

12. The anti-twisting actuator according to claim 11, wherein the two motors are coaxially arranged up and down, and each of the two motors has a rotor cover;

the motor is characterized in that a central shaft is fixedly arranged on a rotor cover of the motor in a penetrating mode below, a first gear is fixedly arranged on a rotor cover of the motor above, the central shaft rotates to penetrate through the motor above, the first gear is fixedly arranged at the end of the central shaft, and a second gear is coaxially arranged with the first gear and correspondingly meshed with the two lower gears.

13. The anti-twisting actuator according to claim 12, wherein the two motors are respectively fixedly mounted in the driving housing, and the PCB is fixedly mounted in the driving housing and located between the two motors.

14. The anti-twisting actuator according to claim 4, wherein the second wire guide groove is located in the middle of the transmission module and extends up and down, and the flexible flat cable is bent into an L shape after extending into the transmission module and laid along the second wire guide groove.

15. A robot arm, comprising: an actuator according to any of claims 1 to 14.

16. A robot, comprising: an actuator according to any of claims 1 to 14.