CN217240497U

CN217240497U - Elastic joint driver

Info

Publication number: CN217240497U
Application number: CN202221109805.6U
Authority: CN
Inventors: 黄东; 刘勇; 黄佳豪; 刘畅; 张家乐; 林玉屏
Original assignee: Huangshan University
Current assignee: Huangshan University
Priority date: 2022-05-10
Filing date: 2022-05-10
Publication date: 2022-08-19
Anticipated expiration: 2032-05-10

Abstract

The utility model relates to a robot joint technical field just discloses an elastic joint driver, including first casing, second casing and third casing, first casing rotates the setting and is in the second casing with between the third casing, third casing internally mounted has the motor, second casing internally mounted has clockwork spring, first casing internally mounted has first pivot, the one end of first pivot with the motor is connected, the other end of first pivot with clockwork spring center is connected, and clockwork spring is by the first pivot rotational energy storage, and when the joint activity is ended, the motor stops the application of force, clockwork spring release elasticity potential energy for first pivot antiport, thereby make first casing gyration reset for the joint driver is automatic kick-backs, reduces energy consumption.

Description

Elastic joint driver

Technical Field

The utility model relates to a robot joint technical field specifically is an elastic joint driver.

Background

A robot is a machine device that automatically performs work. With the development of artificial intelligence technology, the robot has a great progress and increasingly abundant functions. The robot can assist or replace the work of human beings, greatly improves the quality of life and the production efficiency, avoids the danger of manual operation, and is more and more applied to various fields. The robot generally comprises an actuating mechanism, a driver, a detection device, a control system, a complex machine and the like. The driver is a power mechanism for driving the robot to move, and is an indispensable key component of a robot joint.

At present, hand joint drivers of some humanoid robots or mechanical arms need to control hands of the humanoid robots or the mechanical arms to carry out simple grabbing actions, finger joints are required to be bent for the grabbing actions, finger joint springback resetting is required for loosening after grabbing, each joint is mostly driven by a motor to rotate back and forth at the present stage, the overall size of the robot joint is large, the energy consumption is large due to the fact that the robot joint needs to be driven by the motor to rotate back and forth, the joint transmission efficiency is low due to the fact that the structural size of the robot joint is large, and the transmission reliability is poor; thus, the existing needs are not met, for which we propose an elastic joint driver.

SUMMERY OF THE UTILITY MODEL

The utility model provides an elastic joint driver, the beneficial effect who possesses has solved and has relied on the motor to drive every joint round trip rotation in the present stage that mentions among the above-mentioned background art mostly, leads to the robot joint overall dimension to be bigger than normal, and the round trip is to all needing the motor to drive to lead to the power consumption big, and its structural dimension causes joint transmission inefficiency, the relatively poor problem of transmission reliability greatly.

The utility model provides a following technical scheme: the utility model provides an elasticity joint driver, includes first casing, second casing and third casing, first casing rotates to set up the second casing with between the third casing, third casing internally mounted has the motor, second casing internally mounted has clockwork spring, first casing internally mounted has first pivot, the one end of first pivot with the motor is connected, the other end of first pivot with clockwork spring connects at the center.

As an alternative to the elastic joint actuator of the present invention, wherein: the output shaft of motor is connected with the shaft coupling, the shaft coupling with first pivot is connected, first pivot sets up to the hexagonal prism, first pivot with the third casing rotates and is connected.

As an alternative to the elastic joint actuator of the present invention, wherein: the spiral spring is arranged as a spiral spring, the center end of the spiral spring is arranged as a twisting part, the twisting part is arranged as a hexagonal groove, and the twisting part is connected with the first rotating shaft in an inserting mode.

As an alternative to the elastic joint actuator of the present invention, wherein: drive gear is installed in the first pivot outside, the inside rotation of first casing installs the second pivot, drive gear is installed in the first pivot outside, drive gear with drive gear meshing.

As an alternative to the elastic joint actuator of the present invention, wherein: two ends of the first rotating shaft are respectively rotatably inserted into the second shell and the third shell, and two ends of the second rotating shaft are respectively exposed outside the first shell.

As an alternative to the elastic joint actuator of the present invention, wherein: the bearing is installed to first shells inner wall, the bearing is provided with two, two the bearing symmetry sets up the both sides wall of first casing, the both ends of second pivot respectively with two the bearing is connected.

As a resilient joint actuator alternative of the present invention, wherein: the outer end of the clockwork spring is provided with a fixing part, and the fixing part is connected with the second shell in a clamping manner.

As a resilient joint actuator alternative of the present invention, wherein: the inner wall of the second shell is provided with a plurality of clamping grooves, the clamping grooves are arranged in an annular array by taking the center of the second shell as a circle center, and the fixing part is clamped with the clamping grooves in a sliding mode.

The utility model discloses possess following beneficial effect:

1. this elasticity joint driver, regard second casing and third casing as the stiff end, can be connected with the palm of robot or arm, first casing and second casing, the third casing rotates, thereby make up into the knuckle, first casing is the proximal phalanx, motor operation in the third casing, the motor drives first pivot and rotates, make first casing rotate, the proximal phalanx is crooked, the inside clockwork spring of second casing is the energy storage of rotating by first pivot this moment, when the joint activity is ended, the motor stops the application of force, clockwork spring release elasticity potential energy, make first pivot antiport, thereby make first casing gyration reset, make joint driver automatic resilience, reduce energy consumption.

2. This elasticity joint driver rotates the installation second pivot in first casing inboard for the second pivot makes up into the freely movable joint with first casing, and through drive gear and drive gear's meshing, when first pivot rotates, the second pivot also can the rotation when first casing pivoted, realizes the bending of nearly festival phalanx and middle-part phalanx, thereby realizes the transmission of joint, improves the rate of utilization of single motor, reduces the joint volume, improves joint transmission's efficiency.

3. This elastic joint driver, through the block of fixed part and draw-in groove, when the motor fault revolution number surpasses the setting value, clockwork spring self twists reverse extremely to send, and clockwork spring is driven rotatoryly by first pivot, and fixed part roll-off draw-in groove slides to next draw-in groove for clockwork spring and first pivot are not destroyed, accomplish self-protection.

Drawings

Fig. 1 is a schematic view of the three-dimensional structure of the present invention.

Fig. 2 is a schematic view of a partial three-dimensional structure of the present invention.

Fig. 3 is a schematic view of the mainspring structure of the spring of the present invention.

Fig. 4 is a schematic view of the transmission engagement structure of the present invention.

Fig. 5 is a schematic side view of the cross-sectional structure of the present invention.

Fig. 6 is a schematic side view of the cross-sectional structure of the present invention.

In the figure: 110. a first housing; 120. a second housing; 130. a third housing; 121. a card slot; 140. a clockwork spring; 141. a torsion portion; 142. a fixed part; 150. a drive gear; 160. a first rotating shaft; 170. a transmission gear; 180. a second rotating shaft; 190. a motor; 200. a coupling; 210. and a bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

In the present embodiment, the problem that the overall size of the robot joint is large due to the fact that each joint is driven by the motor 190 to rotate back and forth at the present stage, and energy consumption is large due to the fact that the robot joint needs to be driven by the motor 190 to rotate back and forth is solved, please refer to fig. 1, 3, and 5, an elastic joint driver includes a first shell 110, a second shell 120, and a third shell 130, as shown in fig. 1, the first shell 110 is a shell with two circular arc ends, and the second shell 120 and the third shell 130 are cylindrical shells. The first shell 110 is rotatably disposed between the second shell 120 and the third shell 130, which are combined to form a metacarpophalangeal joint, and the first shell 110 is a proximal phalanx.

The motor 190 is installed inside the third casing 130, the motor 190 is a micro motor, the clockwork spring 140 is installed inside the second casing 120, the first rotating shaft 160 is installed inside the first casing 110, one end of the first rotating shaft 160 is connected with the motor 190, and the other end of the first rotating shaft 160 is connected with the center of the clockwork spring 140. Specifically, as shown in fig. 5, the output shaft of the motor 190 is connected to a coupler 200, the coupler 200 is connected to the first rotating shaft 160, the first rotating shaft 160 is a hexagonal prism, and the first rotating shaft 160 is rotatably connected to the third housing 130. The second shell 120 and the third shell 130 are fixed ends and can be connected with a palm of a robot or a mechanical arm, the first shell 110, the second shell 120 and the third shell 130 rotate, the motor 190 drives the first rotating shaft 160 to rotate, and the first rotating shaft 160 drives the first shell 110 to rotate, so that the rotation of the proximal phalanx is completed.

Referring to fig. 3, the spiral spring 140 is provided as a spiral spring, a central end of the spiral spring 140 is provided as a torsion portion 141, the torsion portion 141 is provided as a hexagonal groove, and the torsion portion 141 is inserted into the first rotating shaft 160. The first rotating shaft 160 drives the spiral spring 140 to store energy by torsion, and when the first rotating shaft 160 is loosened, the spiral spring 140 releases elastic potential energy to drive the first rotating shaft 160 to rotate, so that the metacarpophalangeal joint rebounds.

In this embodiment: the second shell 120 and the third shell 130 are fixed ends and can be connected with a palm of a robot or a mechanical arm, the motor 190 drives the first rotating shaft 160 to rotate, the first rotating shaft 160 drives the first shell 110 to rotate, the first rotating shaft 160 drives the clockwork spring 140 to twist and store energy, when the first rotating shaft 160 is loosened, the clockwork spring 140 releases elastic potential energy and can drive the first rotating shaft 160 to rotate, and metacarpophalangeal joint rebound is achieved, that is, when joint movement is finished, the motor 190 stops operating and stops applying force, and the clockwork spring 140 releases elastic potential energy, so that the first rotating shaft 160 rotates reversely, the first shell 110 resets in a rotating mode, the joint driver rebounds automatically, and energy consumption is reduced.

Example 2

Specifically, referring to fig. 2, 4, 5 and 6, a driving gear 150 is installed outside a first rotating shaft 160, a second rotating shaft 180 is installed inside a first housing 110 in a rotating manner, a transmission gear 170 is installed outside the first rotating shaft 160, and the driving gear 150 is engaged with the transmission gear 170. Referring to fig. 2 and 4, two ends of the first rotating shaft 160 are rotatably inserted into the second housing 120 and the third housing 130, respectively, and two ends of the second rotating shaft 180 are exposed outside the first housing 110, respectively, for external connection. The second rotating shaft 180 and the first shell 110 are combined into a movable joint, and through the meshing of the driving gear 150 and the transmission gear 170, when the first rotating shaft 160 rotates, the second rotating shaft 180 also rotates when the first shell 110 rotates, so that the bending of the proximal phalanx and the middle phalanx is realized, and the transmission of the joint is realized. The movement of the two joints only needs one motor 190 to operate, so that the energy consumption is reduced, the joint size is reduced, the possibility of more joint movements is realized, and the transmission reliability is improved.

Referring to fig. 5 and 6, the bearings 210 are installed on the inner wall of the first housing 110, two bearings 210 are provided, the two bearings 210 are symmetrically arranged on two side walls of the first housing 110, and two ends of the second rotating shaft 180 are respectively connected with the two bearings 210, so that friction generated by rotation of the second rotating shaft 180 is reduced, and the efficiency of joint transmission is improved.

In this embodiment: the second rotating shaft 180 and the first shell 110 are combined into a movable joint, and through the meshing of the driving gear 150 and the transmission gear 170, when the first rotating shaft 160 rotates, the second rotating shaft 180 can rotate while the first shell 110 rotates, so that the bending of the proximal phalanx and the middle phalanx is realized, the transmission of the joint is realized, the utilization rate of a single motor is improved, the volume of the joint is reduced, and the transmission efficiency of the joint is improved.

Example 3

The present embodiment is intended to facilitate solving the problem that when the motor 190 fails, the output shaft of the motor 190 rotates more than the number of turns of the clockwork spring 140, which results in the damage of the clockwork spring 140 and the first rotating shaft 160, and the present embodiment is an improvement made on the basis of embodiment 2, specifically, referring to fig. 3 and fig. 6, the outer end of the clockwork spring 140 is provided with a fixing portion 142, and the fixing portion 142 is engaged with the second housing 120. The inner wall of the second housing 120 is provided with a plurality of slots 121, the slots 121 are arranged in an annular array around the center of the second housing 120, and the fixing portion 142 is slidably engaged with the slots 121. The clockwork spring 140 is twisted to the extreme, the clockwork spring 140 is driven by the first rotating shaft 160 to rotate, the fixing part 142 slides out of the clamping groove 121 and slides to the next clamping groove 121 at the moment, the circulation is repeated until the motor 190 stops, and the fixing part 142 is clamped in the clamping groove 121, so that the normal use of the clockwork spring 140 is not influenced.

In this embodiment: when the number of failed revolutions of the motor 190 exceeds a set value, the clockwork spring 140 is twisted to the extreme, the clockwork spring 140 is driven by the first rotating shaft 160 to rotate, and the fixing part 142 slides out of the clamping groove 121 and slides to the next clamping groove 121, so that the clockwork spring 140 and the first rotating shaft 160 are not damaged, and self-protection is completed.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the technical principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An elastic joint driver comprising a first housing (110), a second housing (120), and a third housing (130), characterized in that: first casing (110) rotate to set up second casing (120) with between third casing (130), third casing (130) internally mounted has motor (190), second casing (120) internally mounted has clockwork spring (140), first casing (110) internally mounted has first pivot (160), the one end of first pivot (160) with motor (190) are connected, the other end of first pivot (160) with clockwork spring (140) center is connected.

2. The elastic joint actuator of claim 1, wherein: the output shaft of motor (190) is connected with shaft coupling (200), shaft coupling (200) with first pivot (160) are connected, first pivot (160) set up to hexagonal prism, first pivot (160) with third casing (130) rotate to be connected.

3. The elastic joint actuator of claim 2, wherein: the spiral power spring is characterized in that the spiral power spring (140) is arranged to be a spiral spring, the center end of the spiral power spring (140) is arranged to be a twisting portion (141), the twisting portion (141) is arranged to be a hexagonal groove, and the twisting portion (141) is connected with the first rotating shaft (160) in an inserting mode.

4. The elastic joint actuator of claim 1, wherein: drive gear (150) is installed in first pivot (160) outside, first casing (110) internal rotation installs second pivot (180), drive gear (170) are installed in first pivot (160) outside, drive gear (150) with drive gear (170) meshing.

5. The resilient articulation driver according to claim 4, wherein: two ends of the first rotating shaft (160) are rotatably inserted into the second shell (120) and the third shell (130), and two ends of the second rotating shaft (180) are exposed outside the first shell (110).

6. The resilient articulation driver according to claim 4, wherein: the bearing (210) is installed to first casing (110) inner wall, bearing (210) are provided with two, two bearing (210) symmetry sets up the both sides wall of first casing (110), the both ends of second pivot (180) are respectively with two bearing (210) are connected.

7. The elastic joint actuator of claim 1, wherein: the outer end of the clockwork spring (140) is provided with a fixing part (142), and the fixing part (142) is connected with the second shell (120) in a clamping manner.

8. The elastic joint actuator of claim 7, wherein: the inner wall of the second shell (120) is provided with a plurality of clamping grooves (121), the clamping grooves (121) are arranged in an annular array by taking the center of the second shell (120) as a circle center, and the fixing part (142) is clamped with the clamping grooves (121) in a sliding mode.