WO2023051806A1

WO2023051806A1 - Shoulder actuator assembly and robot

Info

Publication number: WO2023051806A1
Application number: PCT/CN2022/123421
Authority: WO
Inventors: 罗程; 胡海涛; 王文博; 任睿奇; 向磊
Original assignee: 达闼机器人股份有限公司
Priority date: 2021-09-30
Filing date: 2022-09-30
Publication date: 2023-04-06
Also published as: CN113858172A

Abstract

A shoulder actuator assembly and a robot, wherein the shoulder actuator assembly comprises a first actuator (100), a second actuator (200), and an actuator connector (300). The first actuator (100) comprises a first driving module (160) and a first transmission module (110). The first transmission module (110) is provided with a first output member (150) rotating around the central axis of the first actuator (100), and the first driving module (160) is detachably and fixedly connected to one end of the actuator connector (300). The second actuator (200) comprises a second driving module (260) and a second transmission module (210). The second transmission module (210) is provided with a second output member rotating around the central axis of the second transmission module (210), and the second output member is rotatably connected to the other end of the actuator connector (300).

Description

A shoulder actuator assembly and robot

This application is based on the Chinese patent application with the application number "202111166875.5" and the filing date is September 30, 2021, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference. Apply.

technical field

The present application relates to the technical field of shoulder actuator assemblies, in particular to a shoulder actuator assembly and a robot.

Background technique

With the continuous development of intelligent robot technology, robots are involved in more and more scoring fields. In some fields, robots are required to complete more actions, so robots are required to have a higher degree of freedom, such as industrial robots, medical robots and bionic robots. wait.

However, the robot in the related art needs to be equipped with multiple actuators to complete operations such as raising the hand and rotating, resulting in an increase in manufacturing costs. In addition, multiple actuators are not closely matched, occupy a large space, and the wires are prone to entanglement, which limits the application; in addition, the existing actuators are mostly single-stage deceleration, and the deceleration effect is not significant; It is an urgent problem to be solved to reduce the manufacturing cost and ensure the safety of operation by using fewer actuators to complete the operations of raising the robot's hand and rotating.

Summary of the invention

In a first aspect, the present application provides a shoulder actuator assembly, which includes: a first actuator, a second actuator, and an actuator connector; the first actuator includes a first drive module and a first transmission module; the first drive module is connected to the first transmission module through a first reduction mechanism, the first transmission module has a first output member that rotates around the central axis of the first actuator, and the The first drive module is detachably fixedly connected to one end of the actuator connector; the second actuator includes a second drive module and a second transmission module; the second drive module is connected to the The second transmission module, the second transmission module has a second output member that rotates around the central axis of the second transmission module, and the second output member is rotatably connected to the other end of the actuator connector; wherein, the The second output member drives the first actuator to swing relative to the second actuator through the actuator connecting member.

In a possible implementation, the first actuator and the second actuator are respectively provided with a first wiring structure and a second wiring structure for accommodating wires, and the second wiring structure runs through the second output A wiring connection groove is provided on the actuator connecting piece, and the wiring connection groove is connected between the first wiring structure and the second wiring structure.

In a possible implementation, there are two actuator connectors, which are relatively mirrored on both sides of the first actuator and the second actuator.

In a possible implementation, the first driving module is provided with a spherical concave surface structure, the second transmission module is provided with a spherical end surface structure matching with the spherical concave surface structure, and the two sides of the spherical end surface structure are A tangent structure that cooperates with the actuator connector.

In a possible implementation, the first drive module includes a first motor and a first motor installation body; the first motor is fixed inside the first motor installation body; the first transmission module includes a The first output member of the first deceleration mechanism; the first deceleration mechanism includes a transmission housing fixedly connected to the first motor installation body; the first wiring structure includes a set on the first output member The first central through hole for the wire to pass through; the first wiring structure also includes a first wire groove arranged on the transmission housing, communicating with the first central through hole and penetrating to the side of the first actuator ; The first motor installation body is provided with a second wire slot communicating with the first wire slot, and the second wire slot communicates with the wiring connection slot.

In a possible implementation, the transmission housing includes a first ring gear fixedly connected to the installation body of the first motor; the first reduction mechanism further includes a first ring gear fixed to the motor shaft of the first motor. The driving gear, the first-stage planet carrier, the first-stage planetary gear pivotally connected to the first-stage planet carrier, and the first-stage sun gear fixedly connected to the first-stage planet carrier; The first-stage planetary gear meshes with the first drive gear and the first ring gear, and the first-stage sun gear is in transmission connection with the first output member.

In a possible implementation, the transmission housing further includes a double-teeth cage fixedly connected to the first ring gear, and the first and second-stage sun gears are pivotally connected to the double-teeth cage The first reduction mechanism also includes a first two-stage planetary gear and a first three-stage planetary gear; the first two-stage planetary gear meshes with the first two-stage sun gear; the first three-stage planetary gear It is fixedly connected with the first two-stage planetary gear and pivotally arranged on the upper end and the lower end of the double tooth cage respectively; the first reduction mechanism also includes a The engaged output ring gear meshes.

In a possible implementation, the transmission housing further includes an output fixing cover fixedly connected to the double tooth cage; the first output member further includes an output flange fixed inside the output ring gear; The output flange is pivotally connected in the output fixing cover, and the middle opening of the output flange communicates with the first central through hole.

In a possible implementation, the end of the first motor installation body away from the output fixing cover is connected with a first motor tail cover, and the first motor tail cover is connected to the actuator through the first bolt assembly. one end of the component; and the first motor tail cover has the spherical concave structure.

In a possible implementation, the second drive module includes a vertical transmission member; the second transmission module includes a main housing, one end of the main housing is fixedly connected to the vertical transmission member, and the main housing One side of the other end is provided with a first installation position; the second reduction mechanism is installed in the interior of the main housing in rotation around a transverse axis, and the vertical transmission member is connected to the second reduction mechanism; the second One end of the reduction mechanism is connected with a fixed plate, and the fixed plate is rotatably connected to the first installation position; and the actuator connector on one side is connected to the fixed plate through the second bolt assembly, and the other side is The actuator connecting piece is connected with the second reduction mechanism through a bearing assembly.

In a possible implementation, the main housing includes a fixed end and a connecting end, and the fixed end is fixedly connected to the second drive module; The first installation position and the second installation position of the cut surface structure; the outer surface of the connection end is the spherical end surface structure matched with the spherical concave surface structure of the first motor tail cover.

In a possible implementation, the vertical transmission member includes a face gear and a second stage sun gear fixed coaxially with the face gear; the second reduction mechanism includes a planetary gear transmission assembly, and the second stage A sun gear meshes with the planetary gear assembly.

In a possible implementation, the planetary gear transmission assembly includes an intermediate planetary carrier and a second-stage planetary gear pivotally connected to one side of the intermediate planetary carrier; the second-stage planetary gear and the second-stage The sun gear meshes; the inner wall of the main housing is provided with a second ring gear, the second-stage planetary gear meshes with the second ring gear, and the intermediate planet carrier is connected with the second output member The fixed disc is connected in transmission; the planetary gear transmission assembly also includes a second-stage sun gear fixed on the other side of the intermediate planet carrier and a second-stage planetary gear pivotally connected to the second output member , the second-stage planetary gear meshes with the second-stage sun gear, and the second-stage planetary gear meshes with the second ring gear.

In a possible implementation, the second output member includes a transmission shaft that runs through the planetary gear transmission assembly and has two ends exposed to the main housing, one end of the transmission shaft is fixedly fitted with the fixed plate, and the transmission shaft The other end of the shaft is connected to the corresponding actuator connector through the bearing assembly.

In a possible implementation, the drive module further includes a second motor installation body and a second motor fixed in the second motor installation body; wherein, the vertical transmission member includes a The main drive gear on the motor shaft, the main drive gear meshes with the face gear.

In a possible implementation, the second wiring structure includes a second central through hole opened on the transmission shaft; any side of the main housing is connected to an end cover, and the end cover A third wire groove communicating with the second central through hole is opened on the top, a fourth wire groove communicating with the third wire groove is opened on the second motor installation main body, and the third wire groove is connected with the third wire groove. The wiring connection slots are connected.

In a possible implementation, both the first actuator and the second actuator are equipped with a brake system.

In a possible implementation, both the first actuator and the second actuator are equipped with a position encoding system for collecting the rotational speed of the corresponding motor.

In a second aspect, the present application provides a robot, including the shoulder actuator assembly.

Description of drawings

Figure 1 is a side sectional view of a shoulder actuator assembly provided by some embodiments of the present application;

FIG. 2 is a schematic perspective view of the three-dimensional structure of the shoulder actuator assembly provided by some embodiments of the present application;

Fig. 3 is a schematic perspective view of the three-dimensional structure of the shoulder actuator assembly provided by some embodiments of the present application, where the actuator connector on one side is removed;

Fig. 4 is a schematic perspective view of the first actuator provided in some embodiments of the present application;

Fig. 5 is a side plan view of the first actuator provided by some embodiments of the present application;

Fig. 6 is an exploded schematic diagram of the first actuator provided by some embodiments of the present application;

Fig. 7 is a partially exploded schematic diagram of the first actuator provided by some embodiments of the present application;

Fig. 8 is a first cross-sectional view of the first actuator provided by some embodiments of the present application;

Fig. 9 is a second cross-sectional view of the first actuator provided by some embodiments of the present application;

Fig. 10 is a schematic perspective view of a second actuator provided in some embodiments of the present application;

Fig. 11 is a schematic diagram of the three-dimensional structure of the second actuator provided by some embodiments of the present application without the screw plate;

Fig. 12 is a cross-sectional view of a second actuator provided by some embodiments of the present application;

Fig. 13 is an exploded schematic diagram of the second actuator provided by some embodiments of the present application;

Fig. 14 is an exploded schematic view of the inside of the main casing provided by some embodiments of the present application;

Fig. 15 is a schematic exploded view of the interior of the second motor installation body provided by some embodiments of the present application;

Fig. 16 is a schematic perspective view of a second reduction mechanism connected to a second reduction mechanism provided by some embodiments of the present application;

Fig. 17 is a schematic structural diagram of a second reduction mechanism provided by some embodiments of the present application.

Embodiments of the present invention

In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the accompanying drawings.

The present application provides a shoulder actuator assembly and a robot, which are applied to service robots, medical robots, and industrial robots, etc., which reduce manufacturing costs and have strong flexibility.

Referring to FIGS. 1 to 3 together, the shoulder actuator assembly in the embodiment of the present application includes: a first actuator 100 , a second actuator 200 and an actuator connector 300 . Combining two actuators into a shoulder actuator assembly and assembling it on the robot can effectively reduce the number of required actuators, thereby reducing the manufacturing cost of the robot and facilitating popularization and application.

The rotation connection between the first actuator 100 and the robot realizes the circumferential rotation of 360° (in order to prevent wire winding, it is preferable to rotate forward and reverse within 360°), this circumferential rotation angle can be completely applied to service robots, Work operations such as medical robots and industrial robots. In some embodiments of the present application, the first actuator 100 includes a first driving module and a first transmission module; the first transmission module has a first output member that rotates around the central axis of the first actuator, and the first driving module The mechanism is connected to the first transmission module, and the first driving module is detachably fixedly connected to one end of the actuator connector 300 through a first bolt assembly.

The first bolt assembly includes a plurality of first bolt holes 1641 circumferentially arranged on both sides of the first actuator 100 , and the actuator connector 300 passes through the first inner hexagon that is screwed in one-to-one correspondence with the plurality of first bolt holes 1641 The bolt 320 fixes one end of the first actuator 100, and the first transmission module of the first actuator 100 is connected with the mechanical claw, mechanical arm or other actuators of the robot. One end of the first actuator 100 is fixed on the actuator connector Above, the first output member of the first actuator drives the mechanical gripper, the mechanical arm or other actuators to rotate in a circumferential direction. Complete the rotation operation of the robot.

There are two actuator connectors 300 and the two actuator connectors 300 are relatively mirrored and arranged on both sides of the first actuator 100 and the second actuator 200 . The second actuator 200 includes a second drive module and a second transmission module; the second transmission module has a second output member that rotates around the central axis of the second transmission module, and the second drive module is connected to the second transmission module through a second reduction mechanism , the second output part is rotationally connected with the other end of the actuator connecting part 300 . The second output part of the second actuator 200 is connected to the actuator connector 300, and the second drive module of the second actuator is fixedly connected to the torso of the robot, so that the second output part drives the first actuator through the actuator connector 300. The actuator 100 swings relative to the second actuator 200 . Complete the lifting operation of the robot. The second bolt assembly includes a plurality of second bolt holes 2641 circumferentially arranged on the second transmission assembly, and the actuator connecting member 300 passes through the second inner hexagon bolts 330 that are threadedly matched with the plurality of second bolt holes 2641 one by one. Connect one end of the second actuator 200 to the actuator connector 300; the second actuator 200 rotates in the axial direction of the connection end with the actuator connector 300, so that during the rotation of the second transmission module, it moves toward or away from The direction of the first actuator 100 is rotated to realize the hand-raising operation of the robot; the rotation angle of the second actuator 200 is greater than 270° and less than 360° (there is a certain angle between the actuator connector 300 and the second actuator 200 ) , this lifting angle can be fully applied to work operations such as service robots, medical robots and industrial robots.

At the same time, in order to make the space occupied by the first actuator 100 and the second actuator 200 smaller, the first actuator 100 and the second actuator 200 are in spherical rotation fit. In some embodiments of the present application, the end of the first actuator 100 connected to the actuator connector 300 is provided with a spherical concave structure, and the end of the second actuator 200 located at the second transmission module is provided with a spherical end surface structure that matches the spherical concave structure. , and both sides of the spherical end surface structure are cut surface structures matched with the actuator connector 300 . In addition, in order to prevent wires from being entangled or not suitable for routing, the first actuator 100 and the second actuator 200 are respectively provided with a first routing structure and a second routing structure for accommodating wires, and the second routing structure runs through the first The second output part, the actuator connector 300 is provided with a wiring connection groove 310, and the wiring connection groove 310 is connected between the first wiring structure and the second wiring structure. The first actuator 100 and the second actuator 200 are connected by wires through the wiring connection slot 310 , and the first actuator 100 and the second actuator 200 both reserve wires with matching lengths for the rotation stroke and lifting stroke.

Continuing to refer to FIGS. 4 to 9, the first drive module 160 includes a first drive gear 170, a first motor 162 connected to the first drive gear 170, and a first motor installation body 161. The first motor 162 is fixed on the first motor installation body 161 ; the first transmission module 110 includes a first reduction mechanism (planetary gear transmission assembly) and a first output member 150 connected to the first reduction mechanism; the first reduction mechanism includes a transmission housing fixedly connected to the first motor installation body 161 . The first routing structure includes a first central through hole 151 provided on the first output member 150 for the wire to pass through; the first routing structure also includes a first central through hole 151 provided on the transmission casing and connected A wire groove, the first wire routing structure also includes a second wire groove 1610 provided on the first motor installation body 161 and connected to the first wire groove, and the second wire groove 1610 is used for accommodating wires connected to the first motor 162 . And the second wiring groove 1610 communicates with the wiring connecting groove 310 .

In some embodiments of the present application, the first output member 150 is arranged coaxially with the first driving gear 170 , so the electric actuator is also called an H-type actuator.

The transmission housing includes a first ring gear 120 fixedly connected to the first motor mounting body 61 , a double tooth cage 130 fixedly connected to the first ring gear 120 , and an output output fixedly connected to the double tooth cage 130 The cover 140 is fixed.

The first reduction mechanism also includes a first-stage planetary carrier 131, at least two first-stage planetary gears 132 pivotally connected to the first-stage planetary carrier 131, and a first-stage planetary gear 132 fixedly connected to the first-stage planetary carrier 131. The first-stage and second-stage sun gear 133 ; the first-stage planetary gear 132 meshes with the first driving gear 170 , and the first-stage and second-stage sun gear 133 is in transmission connection with the first output member 150 . In some embodiments of the present application, the number of the first-stage planetary gears 132 is three, and the first-stage planetary gears 132 are evenly arranged around the first drive gear 170, and each first-stage planetary gear 132 is simultaneously connected with the first drive gear 70 meshes with the internal teeth of the first ring gear 120 . In some embodiments of the present application, the first driving gear 170 is equivalent to a first-stage sun gear.

In some embodiments of the present application, the first stage planet carrier 131 is pivotally connected to the central axis of the double tooth cage 130 through the first stage two sun gear 133, so that the first stage planet carrier 131 and the double tooth The cage 130 is pivotally connected; the first reduction mechanism also includes an output ring gear 142 fixedly connected to the first output member 150, at least two first-stage planetary gears 134 and a first three-stage planetary gear 141; the first two-stage planetary gear The gear 134 meshes with the first and second-stage sun gear 133; the first and third-stage planetary gears 141 are fixedly connected to the first and second-stage planetary gears 134 in one-to-one correspondence and pivotally connected to the double-teeth cage 130; the first and third-stage planetary gears 141 meshes with the output ring gear 142. The output ring gear 142 is pivotally connected in the output fixing cover 140 . In some embodiments of the present application, the number of the first three-stage planetary gear 141 and the first two-stage planetary gear 134 are both four. The first three-stage planetary gear 141 meshes with the internal teeth of the output ring gear 142 to drive the output ring gear 142 to rotate.

In some embodiments of the present application, the middle part of each first-stage planetary gear 134 has a rotating shaft extending toward the double-teeth cage 130 , and each first third-stage planetary gear 141 and the corresponding first-stage planetary gear 134 have a rotating shaft An interference fit passes through one end of the duplex tooth cage 130 . An output flange is provided on a side of the output ring gear 142 facing the first output member 150 so as to be fixedly connected to the first output member 150 through the output flange.

The first wire groove includes the first groove portion 135 of the double tooth cage 130 and the second groove portion 125 on the first ring gear 120; the first groove portion 135 communicates with the middle part of the double tooth cage 130 and On the side wall, the center of the output ring gear 142 is provided with a wire passing hole 1420 , and the wire passing hole 1420 communicates with the first hollow through hole 151 of the first output member 150 and the first groove portion 135 of the first wire groove.

When working, the driving module 160 outputs rotation to the first transmission module 110 through the first driving gear 170, the first driving gear 170 drives the first-stage planetary gear 132 to rotate, and the first-stage planetary gear 132 passes through the first-stage planet carrier 131 drives the first and second stage sun gear 133 to rotate, the first and second stage sun gear 133 drives the first and second stage planetary gear 134 and the first and third stage planetary gear 141 to rotate, and the first and third stage planetary gear 141 is driven by the output ring gear 142 The first output member 150 rotates, thereby realizing the transmission of the first driving gear 170 to the first output member 150 . The first output member 150 is rotatably connected with the shoulder fixing part of the robot, so as to realize the rotation operation.

Continuing to refer to FIGS. 6-8 , the first driving module 160 further includes a first PCB board 163 , and the second wire groove 1610 is used for accommodating wires connected to the first motor 162 and the PCB board 163 . In some embodiments of the present application, the second wire slots 1610 are respectively connected to the wire terminals of the first motor 162 and the first PCB board 163; that is, the second wire slots 1610 are used to hold the first motor 162 and the first PCB board respectively. 163 wires. The first driving module 160 also includes a first motor tail cover 164 and a first wire cover 165 , the first motor tail cover 164 is mounted on the bottom of the first motor installation body 161 and protects the first PCB board 163 . The first wire cover 165 is disposed on the second wire slot 1610 and the first wire slot corresponding to the installation cover. The first motor tail cover 164 is connected to one end of the actuator connector 300 through a first bolt assembly; and the first motor tail cover 164 has a spherical concave structure 180 that is spherically fitted with the second actuator 200 .

The first PCB board 163 includes an encoder; the first motor 162 includes a first motor shaft 1620 , and the first motor shaft 1620 runs through the first motor 162 ; the first motor is an outer rotor motor. The first drive gear 170 is installed on the end of the first motor shaft 1620 close to the first transmission module 110 , and the other end of the first motor shaft 1620 is fixed with a first magnet 621 and is arranged close to the first PCB board 163 for the first PCB board 163 The encoder on the top records the number of revolutions of the first motor shaft 1620. In some embodiments of the present application, the encoder on the first PCB 163 records the number of rotations of the first magnet 1621 to change the magnetic field, thereby recording the number of rotations of the first motor 162 .

The first drive module 160 also includes a first brake 166 and a first brake locking piece 167 installed in the first motor installation body 161. The first brake locking piece 167 is fixedly connected to the first motor shaft 1620, and the first brake locking piece 167 is fixedly connected to the first motor shaft 1620. The brake 166 acts on the first brake locking piece 167 to limit the rotation of the first motor shaft 1620 . In some embodiments of the present application, when the first brake 166 is powered on, the first motor shaft 1620 can rotate freely, and when the first brake 166 is powered off, the first brake 166 restricts the rotation of the first brake locking piece 167 Thus, the rotation of the first motor shaft 1620 is restricted.

The first actuator 100 also includes a plurality of first screw 190, the first screw 190 is connected to the first motor mounting body 161 and the first ring gear 120, so that the first motor mounting body 161 and the first ring gear 120 lock tight. In some embodiments of the present application, the first motor installation body 161 is axially matched with the first ring gear 120 and locked by the first jacking screw 190 , and the transmission module 110 can be quickly replaced by removing the first jacking screw 190 . It can be understood that the output fixing cover 140 and the double tooth holder 130 are also fixed by the first jacking wire 190 .

The first actuator 100 communicates with the first central through hole 151 of the first output member 150 and the second wire groove 1610 of the first motor installation body 161 through the first wire groove of the transmission casing, so that the wires can be connected to the first The motor 162, the first PCB board 163 and the second actuator 200 avoid the problem of winding or damage of wires during the working process. The close cooperation between the first driving gear 170 of the driving module 160 and the first reduction mechanism and the first output member 150 of the first transmission module 110 is compact.

The first driving gear 170 meshes with the first-stage planetary gear 132, and is transmitted to the first-stage sun gear 133 through the first-stage planet carrier 131 to realize a reduction ratio of 9:1; and the first-stage planetary gear 134 After driving the first three-stage planetary gear 141 to rotate, the transmission ratio of the first three-stage planetary gear 141 to the first output member 150 through the output ring gear 142 is 4.5:1, so the first drive gear 170 is finally transmitted to the first The deceleration ratio of the output member 150 is 9×4.5=40.5; thereby achieving greater deceleration, meeting the requirements of flexible execution, and ensuring safe and reliable operation.

Continue to refer to Figures 10-17, the second actuator 200 includes a second transmission module 210 and a second drive module 260; the second actuator also includes a number of second top screws 290, the second top screws 290 are used to connect the second transmission module module 210 and the second driving module 260, so that the second transmission module 210 and the second driving module 260 are locked. The second driving module 260 includes a second driving gear 270 and is in drive connection with the second transmission module 210 through the second driving gear 270 .

The second transmission module 210 includes a main housing 220 , a vertical transmission member 230 , a second reduction mechanism 240 and a second output member fixedly connected to the second reduction mechanism 240 . The main housing 220 includes a connection end with a first installation position 221 and a second installation position 222 and a fixed end 223 with an integral structure with the connection end. The first installation position 221 is opposite to the second installation position 222; the first installation position 221 For installing the vertical transmission member 230 , the main housing 220 and the second installation position 22 are used for installing the second reduction mechanism 240 ; the fixed end 223 is used for fixing the second driving module 260 . The vertical transmission member 230 is meshed with the second drive gear 270 to convert the rotation of the second drive gear 270 into vertical rotation through the transmission of the vertical transmission member 230, that is, the rotation of the second drive gear 270 and the vertical transmission member 230 The axes are arranged perpendicular to each other. The second deceleration mechanism 240 is used to transmit the deceleration of the rotation of the vertical transmission member 230 to the second output member.

Referring to Fig. 12 to Fig. 15 together, in some embodiments of the present application, the main casing 220 is arranged in a T-shape, that is, the first installation position 221, the second installation position 222 and the fixed end 223 are arranged in a T-shape distribution, wherein the first The installation position 221 is opposite to the second installation position 222 . Therefore, the second actuator 200 is also called a T-type electric actuator. The first mounting position 221 is opposite to the second mounting position 222 to form a tangent structure matching with the actuator connector 300; the outer surface of the connecting end is a spherical end surface structure 280 matching with the spherical concave structure 180 of the first motor tail cover 164 .

In some embodiments of the present application, the central axis of the first installation location 221 is aligned with the central axis of the second installation location 222 , and the central axis of the fixed end 223 is perpendicular to the central axes of the first installation location 221 and the second installation location 222 . The interior of the main housing 220 is hollow, and the hollow interior of the main housing 220 communicates with the first mounting position 221 , the second mounting position 222 and the fixed end 223 respectively. The inner wall of the main housing 220 is provided with inner teeth for engaging with the second reduction mechanism 240 correspondingly.

A peripheral portion of the side of the vertical transmission member 230 facing the main casing 220 is a face gear 231 , and the face gear 231 meshes with the second driving gear 270 . A second stage sun gear 232 extends from the center of the vertical transmission member 230 toward the main housing 220 . The vertical transmission member 230 also includes a positioning ring platform 233 arranged between the face gear 231 and the second-stage sun gear 232; the second transmission module 210 also includes a first bearing 211 sleeved on the positioning ring platform 233, the The first bearing 211 is installed on the first installation position 221 to receive the vertical transmission member 230 . In some embodiments of the present application, the vertical transmission member 230 is hollow along the axial direction for the second output member to pass through and output from the first installation position 221 and the second installation position 222 .

Wherein, the second transmission module 210 further includes an end cover 213 installed on the first installation position 221 , and the end cover 213 is provided on the vertical transmission member 230 . The second wire routing structure includes a third wire groove 2130 on the end cover 213, and the two ends of the third wire groove 2130 respectively communicate with the vertical transmission member 230 and the planetary gear transmission assembly of the second reduction mechanism 240 and the second drive module 260 to install wires.

Referring to FIGS. 15-17 together, the planetary gear transmission assembly includes an intermediate planetary carrier 241, at least two second-stage planetary gears 242 pivotally connected to the intermediate planetary carrier 241, and second and second stage planetary gears 242 fixedly connected to the intermediate planetary carrier 241. The first-stage sun gear 243; the second-stage planetary gear 241 meshes with the second-stage sun gear 232. In some embodiments of the present application, the number of second-stage planetary gears 242 is five, which are distributed around the circumference and pivotally connected to the intermediate planet carrier 241 respectively, and each second-stage planetary gear 242 meshes with the second-stage sun gear 232 At the same time, it also meshes with the second ring gear of the main housing 220 to maintain the stable operation of the second-stage planetary gear 242 . The second-stage planetary gear 242 surrounds and engages around the second-stage sun gear 232; when the second drive gear 270 rotates to drive the vertical transmission member 230 to rotate, the second-stage sun gear 232 rotates and drives the first stage through the meshing relationship. The second-stage planetary gear 242 rotates by itself, and due to meshing with the internal teeth of the main housing 220, the second-stage planetary gear 242 will also move along the internal teeth of the main housing 220 while rotating, that is, around the second-stage sun. The gear 232 revolves, and this revolution drives the middle planet carrier 241 to rotate, thereby driving the second-stage sun gear 243 to rotate.

The second reduction mechanism 240 further includes a second-stage planetary carrier 244 and at least two second-stage planetary gears 245 pivotally connected to the second-stage planetary carrier 244 . In some embodiments of the present application, the number of the second-stage planetary gears 245 is five, and the second-stage planetary gears 245 are distributed around the circumference and pivotally connected to the second-stage planetary carriers 244 respectively. The second-stage planetary gear 245 surrounds and meshes with the second-stage sun gear 243 . When the second-stage sun gear 243 rotates, the second-stage planetary gear 245 drives the second-stage planet carrier 244 to rotate. In some embodiments of the present application, each second-stage planetary gear 245 and the second-stage sun gear When the gear 243 meshes, it also meshes with the internal teeth of the main casing 220 .

In some embodiments of the present application, the second transmission module 210 further includes a second bearing 212 sleeved on the second-stage planet carrier 244, and the second bearing 212 is installed on the second installation position 222 to receive the second reduction mechanism 40 for 2 pieces.

The second output member includes a transmission shaft 250 and a fixed disc 251 fixedly connected to the second-stage planet carrier 244 . In some embodiments of the present application, one end of the drive shaft 250 near the second installation position 222 extends radially outwards to connect with the fixed disk 251 , and the fixed disk 251 is connected to the second-stage planetary carrier 244 by clamping or threaded connection. fixed. The transmission shaft 250 passes through the vertical transmission member 230 and the second reduction mechanism 240 . The other end of the transmission shaft 250 is connected to the corresponding actuator connector through a bearing assembly.

The second wiring structure includes: a second central through hole 252 provided on the transmission shaft 250 for the wires to pass through. The position of the second central through hole 252 close to the first mounting position 221 communicates with the third wire groove 2130, and the position of the second central through hole 252 close to the second mounting position 222 is used to connect with the first actuator 100, avoiding the wire from the outside Connecting, causing wires to become entangled or damaged.

The first installation position 221 of the main housing 220 can also be connected to the screw plate 214 through the bearing assembly, and the screw plate 214 and the fixed plate 251 have a plurality of second bolt holes 2141 in the circumferential direction, passing through the actuator connector 300 The second inner hexagon bolts 330 are threadedly connected with a plurality of second bolt holes 2141 , so that when the decelerated fixed disk 251 rotates, it rotates along the axial direction of the connecting part of the actuator. In this application, one-sided transmission can be adopted, and the other side can be assisted by a bearing assembly to rotate; similarly, both installation positions can be rotated to assemble the fixed plate 251, and the two ends of the transmission shaft 250 are extended and fixedly connected to the fixed plates on both sides. .

Continue referring to FIG. 15 , the second driving module 260 includes a second motor installation body 261 , a second motor 262 fixed in the second motor installation body 261 , and a second PCB board 263 fixed at the bottom of the second motor installation body 261 .

The second wiring structure also includes a fourth wire slot 2610 on the second motor installation main body 261 , and the fourth wire slot 2610 communicates with the third wire slot 2130 . In other words, the third wire groove 2130 communicates with the second central through hole 252 of the transmission shaft 250 and the fourth wire groove 2610 of the second driving module 260 . In some embodiments of the present application, the fourth wire slot 2610 is respectively connected to the wire terminals of the second motor 262 and the second PCB board 263; that is, the fourth wire slot 2610 is used to accommodate the second motor 262 and the second PCB board respectively. 263 wires. Moreover, the third wiring groove 2130 communicates with the wiring connection groove 310 . The second driving module 260 also includes a second motor tail cover 264 and a second wire cover 265 , the second motor tail cover 264 is mounted on the bottom of the second motor installation body 261 and protects the second PCB board 263 . The second wire cover 265 is disposed on the fourth wire groove 2610 corresponding to the installation cover.

The second PCB board 263 includes an encoder; the second motor 262 includes a second motor shaft 2620, and the second motor shaft 2620 runs through the second motor 262; the second motor shaft 2620 is installed near one end of the second transmission module 210 with a second drive gear 270 , the other end of the second motor shaft 2620 is fixed with a second magnet 2621 and arranged close to the second PCB board 263 , so that the encoder on the second PCB board 263 can record the number of rotations of the second motor shaft 2620 . In some embodiments of the present application, the encoder on the second PCB board 263 records the number of rotations of the second magnet 2621 to change the magnetic field, thereby recording the number of rotations of the second motor 262 .

The second driving module 260 also includes a second brake 266 and a second brake locking piece 267 installed in the second motor installation main body 261, the second brake locking piece 267 is fixedly connected with the second motor shaft 2620, through the second The brake 266 acts on the second brake locking plate 267 to limit the rotation of the second motor shaft 2620 . In some embodiments of the present application, when the second brake 266 is powered on, the second motor shaft 2620 can rotate freely, and when the second brake 266 is powered off, the second brake 266 restricts the rotation of the second brake locking piece 267 Thus, the rotation of the second motor shaft 2620 is restricted.

The second actuator, through the close cooperation between the second driving gear 270 of the second driving module 260 and the main casing 220 , the vertical transmission member 230 , the second reduction mechanism 240 and the transmission shaft 250 , is compact. The second center through hole 252 of the transmission shaft 250 runs through the vertical transmission member 230 and the second reduction mechanism 240, and communicates with the fourth wire groove 2610 of the third wire groove 2130 and the second drive module 260, so that the wires are connected to the second wire groove respectively. The motor 262, the second PCB board 263 and the external first actuator 100 avoid the problem of wire winding or damage.

The second drive gear 270 meshes with the vertical transmission member 230 to realize a reduction ratio of 2.75; and the transmission ratios of the vertical transmission member 230 and the intermediate planetary carrier 241, the intermediate planetary carrier 241 and the second secondary planetary carrier 244 are 4: 1. Therefore, the reduction ratio of the second drive gear 270 finally transmitted to the transmission shaft 250 is 2.75×4×4=44; thereby realizing a relatively large reduction and meeting the requirement of flexible execution.

In this application, through the close cooperation between the first actuator and the second actuator, the space occupied by the shoulder actuator assembly is reduced, and the robot can complete operations such as raising the hand and rotating, and the application of fewer actuators reduces manufacturing costs. Safe and reliable operation.

In addition, the present application also provides a robot, which includes the aforementioned shoulder actuator assembly.

The first drive module of the first actuator of the shoulder actuator assembly is fixedly connected to the actuator connector, and the first output member of the first actuator is connected to the mechanical claw, mechanical arm or other actuators in the robot, so as to realize the robot rotation operation.

The second output part of the second actuator is rotatably connected with the actuator connection part, and the second drive module of the second actuator is fixedly connected with the torso in the robot, so that the second output part drives the first actuator through the actuator connection part Swing relative to the second actuator, so as to realize the lifting operation of the robot.

The above are only some specific implementations of the present application, but the protection scope of the present application is not limited thereto. Anyone familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, and should covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A shoulder actuator assembly, comprising: a first actuator (100), a second actuator (200), and an actuator connector (300);

The first actuator (100) includes a first drive module (160) and a first transmission module (110); the first drive module (160) is connected to the first transmission module (110) through a first reduction mechanism , the first transmission module (110) has a first output member (150) that rotates around the central axis of the first actuator (100), and the first drive module (160) is connected to the actuator connector ( 300) is detachably fixedly connected at one end;

The second actuator (200) includes a second drive module (260) and a second transmission module (210); the second drive module (260) is connected to the second transmission module through a second reduction mechanism (240) (210), the second transmission module (210) has a second output member rotating around the central axis of the second transmission module (210), the second output member is connected to the actuator connection member (300) The other end is connected by rotation;

Wherein, the second output member drives the first actuator (100) to swing relative to the second actuator (200) through the actuator connecting member (300).
The shoulder actuator assembly according to claim 1, wherein the first actuator (100) and the second actuator (200) are respectively provided with a first routing structure and a second routing structure for accommodating wires , the second wiring structure runs through the second output member, the actuator connector (300) is provided with a wiring connection groove (310), and the wiring connection groove (310) is connected to the first Between the first wiring structure and the second wiring structure.
The shoulder actuator assembly according to claim 1, wherein there are two actuator connectors (300) and they are relatively mirrored and arranged on the first actuator (100) and the second actuator (200) ) on both sides.
The shoulder actuator assembly according to claim 2, wherein the first driving module (160) is provided with a spherical concave structure (180), and the second transmission module (210) is provided with the spherical concave structure (180) a matched spherical end surface structure (280), and both sides of the spherical end surface structure (280) are cut surface structures matched with the actuator connecting piece (300).
The shoulder actuator assembly according to claim 4, wherein the first driving module (160) comprises a first motor (162) and a first motor installation body (161);

The first motor (162) is fixed inside the first motor installation body (161);

The first transmission module (110) includes the first output member (150) connected to the first reduction mechanism;

The first reduction mechanism includes a transmission housing fixedly connected to the installation body (161) of the first motor (162);

The first wiring structure includes a first central through hole (151) provided on the first output member (150) for the wire to pass through;

The first wire routing structure also includes a first wire groove provided on the transmission housing to communicate with the first central through hole (151) and penetrate to the side of the first actuator (100); the first The motor installation main body (161) is provided with a second wire groove (1610) communicating with the first wire groove, and the second wire groove (1610) communicates with the wiring connection groove (310).
The shoulder actuator assembly according to claim 5, wherein the transmission housing includes a first inner ring gear (120) fixedly connected to the first motor installation body (161);

The first reduction mechanism also includes a first drive gear (170) fixed to the motor shaft of the first motor (162), a first-stage planet carrier (131), and a first-stage planet carrier (131), which is pivotally connected to the first-stage planet The first-stage planetary gear (132) on the frame (131), the first-stage sun gear (133) fixedly connected with the first-stage planetary carrier (131); the first-stage planetary gear ( 132) meshes with the first driving gear (170) and the first ring gear (120), and the first secondary sun gear (133) is in drive connection with the first output member (150).
The shoulder actuator assembly according to claim 6, wherein, the transmission housing is further connected with a double tooth cage (130) fixedly connected with the first ring gear (120), the first two The stage sun gear (133) is pivotally connected to the double tooth cage (130);

The first reduction mechanism also includes a first two-stage planetary gear (134) and a first three-stage planetary gear (141); the first two-stage planetary gear (134) and the first two-stage sun gear (133 ) meshing; the first three-stage planetary gear (141) is fixedly connected with the first two-stage planetary gear (134) and pivotally arranged on the upper end and the lower end of the double-teeth cage (130); the The first reduction mechanism further includes an output ring gear (142) meshing with the first three-stage planetary gear (141).
The shoulder actuator assembly according to claim 7, wherein the transmission housing further comprises an output fixed cover (140) fixedly connected to the double tooth cage (130);

The first output member (150) also includes an output flange fixed in the output ring gear (142); the output flange is pivotally connected in the output fixing cover (140), and the output method The middle opening of the blue communicates with the first central through hole (151).
The shoulder actuator assembly according to claim 8, wherein a first motor tail cover (164) is connected to the end of the first motor installation body (161) away from the output fixing cover (140), and the first motor tail cover (164) is connected to the first motor installation body (161). A motor tail cover (164) is connected to one end of the actuator connector (300) through a first bolt assembly; and the first motor tail cover (164) has the spherical concave structure (180).
The shoulder actuator assembly of claim 9, wherein the second drive module (260) comprises a vertical transmission member (230);

The second transmission module (210) includes a main housing (220), one end of the main housing (220) is fixedly connected to the vertical transmission member (230), and the other end of the main housing (220) One side is provided with a first installation position (221);

The second deceleration mechanism (240) is installed inside the main housing (220) in rotation around a transverse axis, and the vertical transmission member (230) is connected to the second deceleration mechanism (240); the second One end of the reduction mechanism (240) is connected with a fixed plate (251), and the fixed plate (251) is rotatably connected to the first installation position (221); and the actuator connector (300) on one side is connected to the The fixed plate (251) is connected through the second bolt assembly, and the actuator connector (300) on the other side is connected with the second reduction mechanism (240) through the bearing assembly.
The shoulder actuator assembly according to claim 10, wherein the main housing (220) comprises a fixed end (223) and a connecting end, the fixed end (223) is connected to the second driving module (260) fixed connection;

The width of the connection end is smaller than that of the fixed end (223), and the first installation position (221) and the second installation position (222) having the cut surface structure are formed opposite to each other;

The outer surface of the connection end is the spherical end surface structure (280) matched with the spherical concave surface structure (180) of the first motor tail cover (164).
The shoulder actuator assembly according to claim 10, wherein the vertical transmission member (230) comprises a face gear (231) and a second-stage sun gear (232) fixed coaxially with the face gear (222) );

The second reduction mechanism (240) includes a planetary gear transmission assembly, and the second-stage sun gear (232) meshes with the planetary gear transmission assembly.
The shoulder actuator assembly according to claim 12, wherein the planetary gear transmission assembly comprises an intermediate planetary carrier (231) and a second-stage planetary gear (242) pivotally connected to one side of the intermediate planetary carrier (231) ); the second-stage planetary gear (242) meshes with the second-stage sun gear (232); the inner wall of the main casing (220) is provided with a second ring gear, and the second-stage The first-stage planetary gear (242) meshes with the second ring gear, and the intermediate planet carrier (231) is in transmission connection with the fixed disk (251) through the second output member;

The planetary gear transmission assembly also includes a second-stage sun gear (243) fixed on the other side of the intermediate planet carrier (231) and a second-stage planetary gear ( 245), the second-stage planetary gear (243) meshes with the second-stage sun gear (243), and the second-stage planetary gear (243) meshes with the second ring gear.
The shoulder actuator assembly according to claim 13, wherein the second output member includes a transmission shaft (250) passing through the planetary gear transmission assembly and having both ends exposed to the main casing (220), so One end of the transmission shaft (250) is fixedly assembled with the fixed plate (251), and the other end of the transmission shaft (250) is connected to the corresponding actuator connector through the bearing assembly.
The shoulder actuator assembly according to claim 14, wherein the drive module further comprises a second motor installation body (261), a second motor (262) fixed in the second motor installation body (261) ;in,

The vertical transmission member (230) includes a main driving gear arranged on the motor shaft of the second motor (262), and the main driving gear meshes with the end gear (222).
The shoulder actuator assembly according to claim 15, wherein the second wiring structure comprises a second central through hole (252) opened on the transmission shaft (250);

An end cover (213) is connected to the mounting position on any side of the main casing (220), and a third wire groove communicating with the second central through hole (252) is opened on the end cover (213) (2130), the second motor installation body (261) is provided with a fourth wire groove (2610) communicating with the third wire groove (213), and the third wire groove (213) is connected to the The wiring connection slot (310) is connected.
The shoulder actuator assembly according to any one of claims 1-16, wherein both the first actuator (100) and the second actuator (200) are equipped with a brake system.
The shoulder actuator assembly according to any one of claims 1 to 16, wherein both the first actuator (100) and the second actuator (200) are equipped with a position for collecting the corresponding motor speed coding system.
A robot comprising the shoulder actuator assembly according to any one of claims 1 to 18.