WO2023231806A1

WO2023231806A1 - Driving apparatus and mechanical device

Info

Publication number: WO2023231806A1
Application number: PCT/CN2023/095277
Authority: WO
Inventors: 贺皓; 沈皇; 胡兴国; 张亚青; 杜红伟
Original assignee: 华为技术有限公司
Priority date: 2022-05-28
Filing date: 2023-05-19
Publication date: 2023-12-07
Also published as: CN117175850A

Abstract

The present application relates to the technical field of mechanical devices, and discloses a driving apparatus and a mechanical device, so as to improve the driving reliability of the driving apparatus and reduce the cost of the driving apparatus. The driving apparatus comprises a base, a driving assembly and an output end seat, and the base has a first accommodating groove. The driving assembly is arranged in the first accommodating groove, and a driven block is arranged at the position on the driving assembly close to an output shaft. The output end seat is separately fixedly connected to the output shaft of the driving assembly and an inner wall of the base, and comprises a first end cover, a second end cover and a torsion spring. The first end cover is connected to the second end cover to form an accommodating cavity, the first end cover is provided with a first opening, and the second end cover is provided with a second opening. The torsion spring is arranged in the accommodating cavity, two ends of the torsion spring have a first torsion arm and a second torsion arm, respectively, the first torsion arm extends out of the first opening, and the second torsion arm extends out of the second opening. When the torsion spring is in an energy release state, the first torsion arm abuts against a first side of the driven block, and the second torsion arm abuts against a second side of the driven block.

Description

A driving device and mechanical equipment

Cross-references to related applications

This application claims priority to the Chinese patent application filed with the China Patent Office on May 28, 2022, with application number 202210595234. Applying.

Technical field

The present application relates to the technical field of mechanical equipment, and in particular, to a driving device and mechanical equipment.

Background technique

In the design of mechanical equipment, we often encounter situations where objects are displaced in the vertical direction. During the vertical movement of the object, if the driving device that drives the object suddenly loses power, the object moving in mid-air will be easily affected by gravity. A fall occurs, causing a safety hazard. In addition, when the object moves downward, the gravity of the object can form an assist force for the movement of the object, so the driving force provided by the driving device in this process is relatively small; when the object moves upward, the gravity of the object will form an assist force for the movement of the object. resistance, the driving force required by the driving device during this process is much greater than the driving force during the downward movement. In order to enable the object to operate normally during various movements, when designing the driving device, it is necessary to calculate its rated torque according to the load under the limit state. This results in that during the downward movement of the object, the output torque of the driving device will be much smaller than Its rated torque will inevitably cause a certain amount of waste, and due to the higher rated torque requirements of the driving device, the cost will be relatively high.

Contents of the invention

This application provides a driving device and mechanical equipment to improve the driving reliability of the driving device and reduce the cost of the driving device.

In a first aspect, the present application provides a driving device, which may include a base, a driving assembly and an output terminal base. Wherein, the base has a first receiving groove, the driving component can be arranged in the first receiving groove, and the output shaft of the driving component is arranged at an angle with the central axis of the first receiving groove, and the position of the driving component is close to the output shaft. A driven block can also be provided. The output base can be fixedly connected to the output shaft of the driving assembly and the inner wall of the base respectively to support the driving assembly in the first receiving groove. In this way, when the driving assembly is running, since the output shaft and the base are relatively fixed, the torque output by the output shaft can react on the driving assembly itself, thereby causing the driving assembly to rotate around the output shaft. The output base may include a first end cover, a second end cover and a torsion spring. The first end cover is disposed close to the output shaft, and the second end cover is disposed close to the inner wall of the base. The first end cover and the second end cover can be snap-fitted and connected. A receiving cavity is formed, and the first end cover is provided with a first opening in the circumferential direction, and the second end cover is provided with a second opening in the circumferential direction. The torsion spring can be disposed in the accommodation cavity formed by the first end cover and the second end cover. Both ends of the torsion spring have first torsion arms and second torsion arms respectively. The first torsion arms can extend from the first opening and can Sliding within the first opening, the second twisting arm can extend from the second opening and slide within the second opening. When the torsion spring is in a release state, the first torsion arm can contact the first side of the driven block, and the second torsion arm can contact the second side of the driven block.

In the above solution, when the driving component drives the driven component to rotate around the output shaft, if the driving component suddenly loses power, the torsion spring can deform to absorb the work done by the gravity of the driven component, so that the driving component can hover. avoid The risk of driven parts falling from heights improves the driving reliability of the driving device. In addition, when the driving device is working normally, the torsion spring can store the positive work done by the gravity of the driven component and release it when its gravity does negative work, thereby reducing the negative work caused by the gravity of the driven component. The output torque under the condition of work can thereby reduce the rated power of the drive device and reduce the cost of the drive device.

In practical applications, the bottom surface of the side of the base away from the driving assembly can be used as a horizontal plane, and the central axis of the first receiving groove is perpendicular to the horizontal plane. In this application, the output shaft of the driving component and the central axis of the first receiving groove can also be perpendicular to each other. In this case, the motion plane where the center of gravity of the driving component is located is a vertical plane perpendicular to the horizontal plane. The driving component and the driven The movement made by the component is rotational movement in the vertical plane.

During specific implementation, the output terminal base and the base can be fixedly connected through fasteners. For example, a fixing post may be provided on the side of the first end cap facing the second end cap, and a threaded hole may be provided on the fixing post. The second end cap may be provided with a through hole at a position corresponding to the threaded hole, and the outer wall of the base may be provided with a through hole. The position of the hole can be provided with a countersunk hole, and the fastener can pass through the countersunk hole and the through hole in sequence and then be tightened in the threaded hole.

In some possible implementations, the first opening of the first end cap and the second opening of the second end cap are circumferentially offset. The first opening has a first end close to the second opening and a second end away from the second opening. Similarly, the second opening also has a first end close to the first opening and a second end away from the first opening. In the direction of the central axis of a receiving slot, the first end of the first opening is located above the second end thereof, and the first end of the second opening is also located above the second end thereof. When the torsion spring is in a released state, the first torsion arm contacts the first end of the first opening, and the second torsion arm contacts the first end of the second opening.

In some possible implementations, when the driven block of the driving assembly drives the first torsion arm to rotate in a direction close to the second end of the first opening, the torsion spring contracts, and the positive work done by the gravity of the driven component can be converted into The elastic potential energy is stored in the torsion spring, causing the torsion spring to enter an energy storage state. At this time, the second torsion arm remains stationary under the abutment of the first end of the second opening.

Similarly, when the driven block of the driving assembly drives the second torsion arm to rotate in a direction close to the second end of the second opening, the torsion spring contracts, and the positive work done by the gravity of the driven component can be converted into elastic potential energy and stored in the torsion In the spring, the torsion spring changes to an energy storage state, and at this time, the first torsion arm remains stationary under the abutment of the first end of the first opening.

In some possible embodiments, the drive assembly may have two output shafts that extend outward from opposite sides of the drive assembly, and the axes of the two output shafts coincide. At this time, the driving device can be provided with two output terminal seats correspondingly, and the two output terminal sockets can respectively fixedly connect the two output shafts to the inner wall of the base, thereby improving the smoothness of the movement of the driving assembly.

In some possible embodiments, the driving assembly may include a motor and a bracket. The bracket may be fixed on an end of the motor away from the base for fixed connection with the driven component, thereby reducing the difficulty of connecting the driven component to the driving assembly.

In some possible implementations, the end of the bracket facing the motor may have a second receiving groove, and the end of the motor facing away from the base may be disposed in the second receiving groove to improve the connection reliability between the motor and the driving assembly.

In some possible implementations, the driven block may be provided on the housing of the motor, or may also be provided on the bracket. It should be noted that when the driven block is arranged on the bracket, an escape hole can be provided on the bracket at the position corresponding to the driven block, so that the driven block can be extended from the second receiving groove of the bracket to complete the cooperation with the output terminal base. Assemble.

In a second aspect, this application also provides a mechanical equipment, which may include a driven component and a driving device in any possible embodiment provided in the first aspect, and the driving assembly of the driving device may be connected to the driven component. Fixed connection to drive the driven component to complete the set movement. This mechanical equipment is safe to use and relatively low cost.

In some possible embodiments, the mechanical device may be a robot. The robot can include a body and a head, The base of the driving device can be fixedly connected to the fuselage, and the driving component can be fixedly connected to the head. At this time, the head is the driven part of the mechanical equipment. The head can swing back and forth or left and right relative to the fuselage driven by the driving device. , to achieve corresponding human-computer interaction functions.

Description of the drawings

Figure 1 is a schematic structural diagram of a mechanical equipment provided by an embodiment of the present application;

Figure 2 is a simplified schematic diagram of the movement process of an object in a vertical plane;

Figure 3 is a schematic structural diagram of a driving device provided by an embodiment of the present application;

Figure 4 is an exploded schematic view of the driving device shown in Figure 3;

Figure 5 is an exploded schematic diagram of the partial structure of the driving device provided by the embodiment of the present application;

Figure 6 is a schematic structural diagram of the output terminal socket provided by the embodiment of the present application;

Figure 7 is a schematic structural diagram of the torsion spring of the output terminal seat shown in Figure 6;

Figure 8 is a partial structural side view of the driving device provided by the embodiment of the present application;

Figure 9 is a schematic cross-sectional structural diagram of the driving device shown in Figure 8 at A-A;

Figure 10 is a partial structural side view of the driving device provided by the embodiment of the present application in a working state;

Figure 11 is a schematic cross-sectional structural diagram of the driving device shown in Figure 10 at B-B;

Figure 12 is a partial structural side view of the driving device provided by the embodiment of the present application in another working state;

Fig. 13 is a schematic cross-sectional structural diagram of the driving device shown in Fig. 12 at C-C.

Reference signs:

1-Mechanical equipment, robots; 10-Head; 20-Body;

100-driving device; 110-base; 111-first receiving groove; 112-second counterbore; 120-driving assembly; 121-motor;

1211-output shaft; 12111-first threaded hole; 122-bracket; 1221-second receiving groove; 1222-driven block;

12221-The first side of the driven block; 12222-The second side of the driven block; 123-The first fastener; 130-Output terminal seat;

131-first end cap; 1311-fixing post; 13111-second threaded hole; 1312-first opening;

13121-the first end of the first opening; 13122-the second end of the first opening; 132-the second end cap; 1321-the first counterbore;

1322-the second through hole; 1323-the second opening; 13231-the first end of the second opening; 13232-the second end of the second opening;

133-torsion spring; 1331-first torsion arm; 1332-second torsion arm.

Detailed ways

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

Figure 1 is a schematic structural diagram of a mechanical device provided by an embodiment of the present application. Mechanical equipment 1 can be a robot, a robotic arm, etc. The mechanical equipment 1 shown in Figure 1 is explained using a robot as an example. The robot can be used in various scenarios such as homes, shopping malls, hotels, hospitals or tourist attractions. It should be noted that the robot and the mechanical equipment 1 have the same numbers in the following. The robot 1 may include a head 10 and a body 20. The head 10 can swing back and forth or left and right relative to the body 20 under the driving action of the driving device to achieve corresponding human-computer interaction functions. Of course, in some other embodiments, the mechanical device 1 may also be other forms of devices with a rotation function, such as a pan/tilt. The gimbal is a supporting structure for installing electronic devices with camera functions such as cameras, camcorders or mobile phones. The shooting angle can be adjusted by rotating the electronic device to obtain the desired image.

It can be understood that when the head 10 of the robot 1 swings back and forth, the center of gravity of the head 10 rotates roughly in the plane A; when the head 10 of the robot 1 swings left and right, the center of gravity of the head 10 roughly rotates in the plane B. Rotation motion is performed within the robot, and plane A and plane B are both perpendicular to the plane on which robot 1 stands. That is to say, when the robot 1 is placed on a horizontal surface, whether the head 10 of the robot 1 swings back and forth or left and right, the movement form of the head 10 is in a vertical plane (plane A or plane B) that is perpendicular to the horizontal plane. ) within the rotational motion.

For an object that rotates in a vertical plane, the object will inevitably be affected by gravity during the movement. Refer to Figure 2, which is a simplified schematic diagram of the movement process of an object in a vertical plane. Assume that the object rotates clockwise in the vertical plane. When the object rotates downward, that is, when the object's motion range is in a-c, the object's gravity will give it a positive thrust, thereby forming a gravitational moment that assists the movement of the object. The gravitational moment It is 0 at point a, reaches the maximum value when the object moves to point b, and returns to 0 when it reaches point c. Within this interval, the actual rotational moment of the object is equal to the sum of the output moment of the drive device and the gravity moment. When the object rotates upward, that is, when the object's motion range is in c-a, the object's gravity will give it a reverse pulling force, thereby forming a gravitational moment that hinders the object's movement. The gravitational moment is 0 at point c. When the object moves to d reaches the maximum value at point a, and returns to 0 when it reaches point a. Within this interval, the actual rotational torque of the object is equal to the difference between the output torque of the drive device and the gravity torque.

Of course, for the head 10 of the robot 1, the motion trajectory of the head 10 is not a full rotational motion, but a swing within a certain angle. When the head 10 rotates forward, backward, left, and right from the center position, simplified to Figure 2, it can be seen as a clockwise rotation or counterclockwise rotation of the object in the a-c interval. At this time, the gravity of the head 10 will It forms a boosting effect on its rotation, that is, the work done by gravity is positive work. When the head 10 is reset to the center position from the front, back, left, and right, simplified to Figure 2, it can be seen as a clockwise rotation or counterclockwise rotation of the object in the c-a interval. At this time, the gravity of the head will affect Its rotation creates a resistance effect, that is, the work done by gravity is negative work.

Assume that the maximum rotation angle of the head 10 of the robot 1 is θ. When the head 10 rotates to the maximum angle position, the gravity moment formed by the gravity of the head 10 is Mgsinθ×R, where M is the mass of the head 10, R is the rotation radius of the head 10 . It can be understood that in the process of gravity doing negative work, the maximum rotation angle position of the head 10 is also the position where the load of the driving device is maximum. Therefore, the rated torque of the driving device needs to be determined according to the load under this limit state during design. , that is to say, _the rated torque N of the driving device needs to be no less than the sum of the gravity moment and the actual _rotation moment F, that is:
N _{amount≥Mgsinθ} ×R+F _rotation

However, since the head 10 of the robot 1 moves in a non-limiting state most of the time, if the maximum load of the driving device is designed according to the above formula, it will result in an output torque of the driving device when the head 10 moves in a non-limiting state. It is far less than its rated torque, which will inevitably cause a certain amount of waste, and due to the higher rated power requirements of the driving device, the cost will be relatively high. In addition, if the driving device suddenly loses power while the head 10 of the robot 1 is rotating, the head 10 of the robot 1 will fall under the action of gravity, thus causing a safety hazard.

In response to the above situation, embodiments of the present application provide a driving device for driving an object to rotate in a vertical plane. This driving device can not only prevent objects from falling quickly in the event of a sudden power outage, improve movement safety, but also The positive work done by gravity when the object rotates can be stored and released when gravity does negative work, thereby reducing the output torque of the drive device when the object's gravity does negative work, thereby reducing the torque of the drive device. rated power, reducing the cost of the drive unit. The driving device will be described below with reference to specific embodiments.

Referring to FIG. 3 , FIG. 3 is a schematic structural diagram of a driving device provided by an embodiment of the present application, and FIG. 4 is an exploded schematic view of the driving device shown in FIG. 3 . The driving device 100 may include a base 110, a driving assembly 120 and an output terminal base 130. The base 110 has a first receiving groove 111, and the driving assembly 120 can be rotated and disposed in the first receiving groove 111 through the output terminal base 130. In a receiving groove 111. When the driving device 100 is applied to a robot, the base 110 can be fixedly connected to the body of the robot, and the driving assembly 120 can be fixedly connected to the head of the robot. In this way, when the driving assembly 120 rotates relative to the base 110, it can drive the head of the robot to rotate, thereby realizing relative movement between the head and the body.

In this embodiment, the bottom surface of the side of the base 110 away from the driving assembly 120 can be regarded as a horizontal plane. It can be understood that the central axis of the first receiving groove 111 is perpendicular to the horizontal plane. The rotation axis of the driving assembly 120 and the central axis of the first receiving groove 111 may have a certain included angle. In this case, the motion plane where the center of gravity of the driving assembly 120 is located is also set at an included angle with the horizontal plane. For example, the rotation axis of the driving assembly 120 and the central axis of the first receiving groove 111 may be perpendicular to each other. In this case, the motion plane where the center of gravity of the driving assembly 120 is located is a vertical plane perpendicular to the horizontal plane.

Please continue to refer to FIGS. 3 and 4 . The driving assembly 120 may include a motor 121 and a bracket 122 . The bracket 122 is fixedly disposed on an end of the motor 121 away from the base 110 to facilitate connection with a driven component (such as the head of a robot). The bracket 122 may have a second receiving groove 1221 , and an end of the motor 121 facing away from the base 110 may be disposed in the second receiving groove 1221 , or it can be understood that the bracket 122 is partially covered on the motor 121 . One end of the bracket 122 facing the base 110 can partially extend into the first receiving groove 111 to improve the structural compactness of the driving device 100 . During specific implementation, the bracket 122 and the motor 121 may be fixedly connected through the first fastener 123 . For example, the number of first fasteners 123 may be multiple to improve the connection reliability between the bracket 122 and the motor 121 .

The output base 130 can be disposed between the outer wall of the motor 121 and the inner wall of the base 110, and the output base 130 is fixedly connected to the output shaft of the motor 121 and the inner wall of the base 110 respectively, so that the motor 121 can be connected through the output base 130. The support is arranged in the first receiving groove 111 . When the motor 121 is running, since the output shaft and the base 110 are relatively fixed, based on the principle of force interaction, the torque output by the output shaft can reversely act on the motor 121 itself, thereby driving the motor 121 to rotate around the output shaft, and the rotation axis of the motor 121 is also That is the axis of the output shaft.

In some embodiments, the motor 121 may be a dual-output motor. That is to say, the motor 121 may have two output shafts. The two output shafts extend outward from opposite sides of the motor 121 respectively, and the two output shafts The axes coincide. At this time, the two output shafts of the motor 121 can be fixedly connected to the base through the corresponding output bases 130, thereby improving the smoothness of the movement of the motor 121.

Referring to Figures 4 and 5 together, Figure 5 is an exploded schematic diagram of a partial structure of a driving device provided by an embodiment of the present application. The output terminal base 130 may include a first end cover 131, a second end cover 132 and a torsion spring 133. The first end cover 131 may be snap-fitted with the second end cover 132 to form a receiving cavity, and the torsion spring 133 is disposed therein. in the accommodation cavity. When the output base 130 is fixedly connected to the output shaft 1211 of the motor 121 and the base 110 , the first end cover 131 can be located on the side close to the motor 121 , and the second end cover 132 can be located on the side close to the inner wall of the base 110 .

In some embodiments, the output base 130 and the output shaft 1211 of the motor 121 may be fixedly connected through a second fastener (not shown in the figure). During specific implementation, the output shaft 1211 of the motor 121 may be provided with a first threaded hole 12111 disposed along its axial direction, and the first end cover 131 of the output base 130 may be provided with a first through hole at a position corresponding to the first threaded hole 12111. hole. The side of the second end cap 132 away from the first end cap 131 is provided with a first counterbore 1321 corresponding to the first through hole. The second fastener can pass through the first counterbore 1321 and the first through hole in sequence. The hole is screwed into the first threaded hole 12111, thereby achieving relative fixation of the output terminal base 130 and the output shaft 1211.

In some embodiments, the output terminal base 130 and the base 110 may be fixedly connected through a third fastener. At this time, a fixing post 1311 can be provided on the side of the first end cap 131 facing the second end cap 132. The fixing post 1311 can have a second threaded hole 13111 disposed along its axial direction. The second end cap 132 corresponds to the fixing post 1311. A second through hole 1322 may be provided at the position of the column 1311, and a second countersunk hole 112 may be provided on the outer wall of the base corresponding to the second through hole 1322. The third fastener may pass through the second countersunk hole 112 and the second countersunk hole 112 in sequence. The through hole 1322 is then screwed into the second threaded hole 13111 to realize the output terminal base 130 relative to the base 110. In addition, in order to improve the connection strength between the output terminal base 130 and the base 110, the number of second fasteners can be appropriately increased. Correspondingly, the first end cover 131 also needs to be provided with a number that matches the number of second fasteners. A plurality of fixing posts 1311. For example, FIG. 4 shows a case where three fixing posts 1311 are provided on the first end cover 131. For example, the three fixing posts 1311 on the first end cover 131 may be arranged in a triangular form to ensure uniform force bearing on the output terminal base 130 . When the torsion spring 133 is disposed in the accommodation cavity formed by the first end cover 131 and the second end cover 132, the torsion spring 133 can be sleeved on the periphery of the three fixing posts 1311. In this case, the three fixing posts 1311 can also It plays a positioning role for the torsion spring 133.

Referring to Figures 5, 6 and 7 together, Figure 6 is a schematic structural diagram of the output terminal block provided by an embodiment of the present application, and Figure 7 is a schematic structural diagram of the torsion spring of the output terminal block shown in Figure 6. The first end cover 131 is provided with a first opening 1312 along the circumferential direction, and the second end cover 132 is provided with a second opening 1323 along the circumferential direction. After the first end cover 131 and the second end cover 132 are fastened, the first opening 1312 is provided along the circumferential direction. 1312 and the second opening 1323 are offset. The first opening 1312 has a first end 13121 close to the second opening 1323 and a second end 13122 away from the second opening 1323. Similarly, the second opening 1323 also has a first end 13231 close to the first opening 1312 and away from the first opening 1312. Second end 13232 of opening 1312.

The torsion spring 133 has a first torsion arm 1331 at one end close to the first end cover 131, and a second torsion arm 1332 at an end close to the second end cover 132. The first torsion arm 1331 and the second torsion arm 1332 respectively extend along the torsion direction. The spring 133 extends radially, and the first torsion arm 1331 can extend from the first opening 1312 to the outside of the output terminal base 130 , and the second torsion arm 1332 can extend from the second opening 1323 to the outside of the output terminal base 130 . When the torsion spring 133 is in the initial state, the first torsion arm 1331 contacts the first end 13121 of the first opening 1312 , and the second torsion arm 1332 contacts the first end 13231 of the second opening 1323 . When the first torsion arm 1331 is forced to rotate toward the second end 13122 of the first opening 1312, the torsion spring 133 contracts and changes from the initial energy release state to the energy storage state. The second torsion arm 1332 rotates in the second direction. The first end 13231 of the opening 1323 remains stationary due to the abutment; when the second torsion arm 1332 is forced to rotate in a direction close to the second end 13232 of the second opening 1323, the torsion spring 133 changes from the initial energy release state to In the energy storage state, the first torsion arm 1331 remains stationary under the contact of the first end 13121 of the first opening 1312 .

It should be noted that the energy release state of the torsion spring 133 is relative to its energy storage state. In the embodiment of the present application, when the torsion spring 133 contracts under the action of external force, it can be understood that it is in the energy storage state. When the external force is removed, It can be understood as being in a state of energy release.

Referring to Figures 8 and 9 together, Figure 8 is a partial structural side view of the driving device provided by the embodiment of the present application, and Figure 9 is a schematic cross-sectional structural view of the driving device shown in Figure 8 at A-A. It should be noted that FIG. 8 only shows a part of the structure of the bracket 122 close to the motor 121 , rather than the complete bracket 122 . The bracket 122 is provided with a driven block 1222 close to the output terminal base 130. After the components of the driving device are assembled in sequence, the first torsion arm 1331 and the second torsion arm 1332 of the torsion spring 133 extend in a direction close to the bracket 122. , and the first torsion arm 1331 and the second torsion arm 1332 may be located on both sides of the driven block 1222 respectively. When the torsion spring 133 is in the initial state, the first torsion arm 1331 can also contact the first side 12221 of the driven block 1222 while contacting the first end of the first opening 1312. Similarly, the second torsion arm 1331 can also contact the first side 12221 of the driven block 1222. While 1332 is in contact with the first end of the second opening 1323, it can also be in contact with the second side 12222 of the driven block 1222. That is to say, the first side 12221 of the driven block 1222 and the first end of the first opening 1312 may be substantially located on the same plane, and the second side 12222 of the driven block 1222 and the first end of the second opening 1323 may be substantially located on the same plane. within the same plane.

Of course, in some other embodiments, the above-mentioned driven block can also be provided on the housing of the motor. In this case, an escape hole can be provided on the bracket corresponding to the position of the driven block, so that the driven block can be moved from the second receiving groove of the bracket. Extend it to complete the assembly with the output terminal base.

Referring to Figures 10 and 11 together, Figure 10 is a partial structural side view of the driving device provided by the embodiment of the present application in a working state. Figure 11 is a cross-section of the driving device shown in Figure 10 at B-B. Schematic. When the motor rotates from the initial position around the output shaft to the right (clockwise), the gravity work of the motor 121 and the driven components (such as the bracket and the robot head) is positive. For the output terminal base 130 on the lower side, the torsion spring The first torsion arm 1331 of 133 rotates synchronously with the motor 121 under the driving of the corresponding driven block 1222, and the second torsion arm 1332 contacts the first end 13231 of the second opening 1323 and remains motionless; for the upper output For the end base 130, the first torsion arm 1331 of the torsion spring 133 is in contact with the first end 13121 of the first opening 1312 and remains motionless. The second torsion arm 1332 is driven by the corresponding driven block 1222 to accompany the motor 121. Rotate synchronously. As the motor 121 rotates, the torsion springs 133 on both sides gradually contract. During this process, the positive work done by the gravity of the motor 121 and the driven component can be converted into elastic potential energy and stored in the torsion spring 133, so that the torsion spring 133 Change to energy storage state. When the motor 121 returns to the right side, the gravity of the motor 121 and the driven component does negative work. During this process, in addition to the driving force of the motor 121, the torsion spring 133 will also release the stored potential energy, so it can offset or Partially offset the negative work done by the gravity of the motor 121 and the driven components. It should be noted that the terms “up”, “down”, “left” and “right” used for the driving device in this embodiment are mainly explained based on the display orientation of the driving device in Figures 10 and 11, and do not constitute a contradiction. Limitation of the orientation of the drive device in actual application scenarios.

It should be understood that during the above process, the maximum rotation angle of the motor 121 to the right can be determined by the rotation angle of the lower first torsion arm 1331 in the first opening 1312. When the first torsion arm 1331 is driven When the block 1222 is driven by the block 1222 and comes into contact with the second end 13122 of the first opening 1312, it can be understood that the motor 121 has rotated to the right extreme position. In practical applications, the size of the first opening 1312 can be designed according to the movement requirements of the mechanical equipment, which will not be described in detail here.

Of course, in other embodiments, the maximum rotation angle of the motor 121 to the right may also be determined by the rotation angle of the upper second torsion arm 1332 in the second opening 1323. When the second torsion arm 1332 is in the driven block, When driven by 1222 and abutting the second end 13232 of the second opening 1323, it can be understood that the motor 121 has rotated to the right extreme position. For example, the size of the first opening 1312 of the lower output terminal 130 and the second opening 1323 of the upper output terminal 130 can be consistent, so that when the motor 121 rotates to the extreme position, the output terminals 130 on both sides can simultaneously Limiting it can improve the working reliability of the driving device.

In addition, it should be noted that by rotatably connecting the two output shafts of the motor 121 to the base through the output base 130, on the one hand, the running stability of the motor 121 can be improved, and on the other hand, the gravity of the motor 121 and the driven components The work done can be shared by the torsion springs 133 of the two output terminal blocks 130 on both sides, so the energy storage requirements for the torsion springs 133 can be reduced, thereby reducing the cost of the output terminal blocks 130 . During specific implementation, since the output terminal bases 130 on both sides have the same structure, they can be shared, so the design and manufacturing costs can be further reduced.

Referring to Figures 12 and 13 together, Figure 12 is a partial structural side view of the driving device provided by the embodiment of the present application in another working state. Figure 13 is a view of the driving device shown in Figure 12 at CC. Cross-sectional structural diagram. When the motor rotates from the initial position around the output shaft to the left (counterclockwise), the gravity of the motor 121 and the driven component does positive work. For the lower output base 130, the first torsion arm 1331 of the torsion spring 133 Abutting the first end 13121 of the first opening 1312 and remaining stationary, the second torsion arm 1332 rotates synchronously with the motor 121 under the drive of the corresponding driven block 1222; for the upper output terminal base 130, the torsion arm 1332 The first torsion arm 1331 of the spring 133 rotates synchronously with the motor 121 under the driving of the corresponding driven block 1222, and the second torsion arm 1332 contacts the first end 13231 of the second opening 1323 and remains stationary. As the motor 121 rotates, the torsion springs 133 on both sides gradually tighten. During this process, the positive work done by the gravity of the motor 121 and the driven component can be converted into elastic potential energy and stored in the torsion spring 133, making the torsion spring 133 changes to the energy storage state. When the motor returns to the right direction from the left side, the gravity of the motor 121 and the driven component does negative work. During this process, in addition to the motor 121 In addition to the driving force, the torsion spring 133 will also release the stored potential energy to offset or partially offset the negative work done by the gravity of the motor 121 and the driven component. It should be noted that the terms “upper”, “lower”, “left” and “right” used for the driving device in this embodiment are mainly explained based on the display orientation of the driving device in Figures 12 and 13, and do not constitute a contradiction. Limitation of the orientation of the drive device in actual application scenarios.

Similarly, in the above process, the maximum rotation angle of the motor 121 to the left can be determined by the rotation angle of the lower second torsion arm 1332 in the second opening 1323. When the second torsion arm 1332 is in the driven block 1222 When the second end 13232 of the second opening 1323 is driven by the motor 121 , it can be understood that the motor 121 has rotated to the left extreme position. Alternatively, the maximum rotation angle of the motor 121 to the left may also be determined by the rotation angle of the upper first torsion arm 1331 in the first opening 1312 . For example, the size of the second opening 1323 of the lower output terminal 130 and the first opening 1312 of the upper output terminal 130 can be consistent, so that when the motor 121 rotates to the extreme position, the output terminals 130 on both sides can simultaneously Limiting it can improve the working reliability of the driving device.

It can be seen from the above analysis that during the process of the motor 121 and the driven component returning to the right direction from the left or right side, the potential energy released by the torsion spring 133 is used to offset or partially offset the gravity force of the motor 121 and the driven component. Negative work is used to reduce the output torque of the motor 121 during the back-to-center process. According to the above, the stage when the gravity of the motor 121 and the driven component does negative work is the stage when the output torque of the motor 121 is the largest. Therefore, by reducing the output torque of the motor 121 during this process, the rated value of the motor 121 can be reduced. For the purpose of power, the specifications of the selected motor 121 can be reduced, and the cost of the motor 121 can be reduced.

In addition, if the power of the motor 121 is suddenly cut off during rotation, and the motor 121 and the driven component rotate to the left or right under the action of gravity and fall, the torsion spring 133 can also absorb the motor 121 and the driven component through contraction and deformation. The work done by the gravity is equivalent to using the torsion spring 133 to brake the motor 121, so the rotation speed of the motor 121 can be gradually reduced to zero, and finally the motor 121 and the driven component can hover at a certain position. , which can avoid the risk of accidents caused by driven parts falling rapidly from high places.

In addition to the above-mentioned sudden power outage, when the driven component receives an impact from an external force, the external impact force will also preferentially act on the torsion spring 133. At this time, the torsion spring 133 can also absorb the work done by the external force through contraction and deformation. Thereby, the impact of impact force on the driven components is alleviated, and the risk of failure of the motor 121 is reduced.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, and all of them should be covered. within the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A driving device is characterized by including a base, a driving assembly and an output terminal base, wherein:

The base has a first receiving groove;

The driving component is disposed in the first receiving groove, and the output shaft of the driving component is arranged at an angle with the central axis of the first receiving groove. The driving component is provided with a position close to the output shaft. driven block;

The output base is fixedly connected to the output shaft of the driving assembly and the inner wall of the base respectively to support the driving assembly in the first receiving groove; the output base includes a first end cover, The second end cap and the torsion spring, the first end cap and the second end cap are snap-fitted and connected to form an accommodation cavity, the first end cap is arranged close to the output shaft, and the first end cap is arranged along the circumference A first opening is provided in the direction, and the second end cover is provided with a second opening along the circumferential direction; the torsion spring is provided in the accommodation cavity, and the two ends of the torsion spring respectively have first torsion arms and second a torsion arm, the first torsion arm extends from the first opening and can slide within the first opening, the second torsion arm extends from the second opening and can slide within the second opening Internal sliding; when the torsion spring is in a release state, the first torsion arm abuts the first side of the driven block, and the second torsion arm abuts the second side of the driven block catch.
The driving device according to claim 1, wherein the output shaft is arranged perpendicularly to the central axis of the first receiving groove.
The driving device according to claim 1 or 2, wherein the first opening and the second opening are circumferentially offset;

The first opening has a first end proximate the second opening and a second end remote from the second opening, and the second opening has a first end proximate the first opening and a second end remote from the first opening. an open second end;

When the torsion spring is in a released state, the first torsion arm contacts the first end of the first opening, and the second torsion arm contacts the first end of the second opening.
The driving device according to claim 3, wherein when the driven block drives the first torsion arm to slide from the first end of the first opening to the second end of the first opening, The torsion spring contracts and changes from an energy releasing state to an energy storing state.
The driving device according to claim 3 or 4, characterized in that when the driven block drives the second torsion arm to slide from the first end of the second opening to the second end of the second opening, When , the torsion spring contracts and changes from the energy release state to the energy storage state.
The driving device according to any one of claims 1 to 5, wherein the driving assembly has two output shafts, and the two output shafts extend outward from opposite sides of the driving assembly, And the axes of the two output shafts coincide;

The number of the output terminal blocks is two, and the two output terminal blocks fixedly connect the two output shafts to the inner wall of the base.
The driving device according to any one of claims 1 to 6, characterized in that the driving assembly includes a motor and a bracket, the bracket is fixedly provided at an end of the motor away from the base, and the bracket is used to communicate with the motor. The driven parts are fixedly connected.
The driving device according to claim 7, wherein the bracket has a second receiving groove, and an end of the motor facing away from the base is disposed in the second receiving groove.
The driving device according to claim 7 or 8, characterized in that the driven block is provided on the housing of the motor; or the driven block is provided on the bracket.
A mechanical equipment, characterized in that it includes a driven component and the driving device according to any one of claims 1 to 9, and the driven component is fixedly connected to the driving assembly.