WO2023241667A1 - 一种传动轮组件及机械手臂 - Google Patents

一种传动轮组件及机械手臂 Download PDF

Info

Publication number
WO2023241667A1
WO2023241667A1 PCT/CN2023/100517 CN2023100517W WO2023241667A1 WO 2023241667 A1 WO2023241667 A1 WO 2023241667A1 CN 2023100517 W CN2023100517 W CN 2023100517W WO 2023241667 A1 WO2023241667 A1 WO 2023241667A1
Authority
WO
WIPO (PCT)
Prior art keywords
driven wheel
base
bearing
wheel assembly
transmission wheel
Prior art date
Application number
PCT/CN2023/100517
Other languages
English (en)
French (fr)
Inventor
陈永胜
唐明勇
鲁白
王兴
沈徽
Original Assignee
上海商汤智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海商汤智能科技有限公司 filed Critical 上海商汤智能科技有限公司
Publication of WO2023241667A1 publication Critical patent/WO2023241667A1/zh

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • the present application relates to the field of transmission technology, and in particular to a transmission wheel assembly and a robotic arm.
  • clearance fits can be used between the transmission wheel and the bearing, and between the bearing and the bearing seat.
  • the bearings can also be low-cost large clearance bearings. However, this may cause uneven transmission of the transmission wheel assembly.
  • Embodiments of the present disclosure provide a transmission wheel assembly and a robotic arm, which can improve the smoothness of transmission of the transmission wheel assembly.
  • an embodiment of the present disclosure provides a transmission wheel assembly, which includes a base, a driving wheel, a driven wheel and an end limiter.
  • the driving wheel is rotationally connected to the base;
  • the driven wheel is drivingly connected to the driving wheel through a flexible member, the first end of the driven wheel is rotationally connected to the base, and the second end of the driven wheel has a first convex column, and the first convex column has The axis coincides with the rotation axis of the driven wheel;
  • the end limiter is fixedly connected to the base, the end limiter has a resisting portion, and the resisting portion is provided close to the end of the first protruding column to contact the end of the first protruding column.
  • the end portion abuts, thus restricting the movement of the driven wheel in a direction closer to the driving wheel, and the first protruding column can rotate relative to the abutting portion.
  • an embodiment of the present disclosure provides a robotic arm.
  • the robotic arm includes a moving arm and the transmission wheel assembly provided in the first aspect of the embodiment of the present disclosure.
  • One end of the moving arm is fixed to one end of the driven wheel.
  • the second end of the driven wheel has a first protruding column, the first protruding column abuts against the end limiter fixedly connected to the base, and the end limiter will align with the first
  • the support provided by the convex column is beneficial to reducing the degree to which the second end of the driven wheel is pulled toward the driving wheel by the flexible member, and is beneficial to improving the stability of the transmission of the transmission wheel assembly.
  • Figure 1 is a schematic structural diagram of a robotic arm in some embodiments of the present disclosure
  • Figure 2 is an exploded view of a robotic arm from a first perspective in some embodiments of the present disclosure
  • Figure 3 is an exploded view of a robotic arm from a second perspective in some embodiments of the present disclosure
  • Figure 4 is an exploded view of the boom driving portion in some embodiments of the present disclosure.
  • Figure 5 is a schematic structural diagram of the installation of the rotating shaft and the first driven wheel in some embodiments of the present disclosure
  • Figure 6 is a schematic structural diagram of the installation of the rotating shaft and the end cover bearing in some embodiments of the present disclosure from a first perspective;
  • Figure 7 is a schematic structural diagram of the installation of the rotating shaft and the end cover bearing in some embodiments of the present disclosure from a second perspective;
  • Figure 8 is a schematic structural diagram of the installation of the end cover and the end cover bearing in some embodiments of the present disclosure
  • Figure 9 is a schematic structural diagram of the installation of the big arm driving part and the small arm driving part in some embodiments of the present disclosure.
  • Figure 10 is an exploded view of the arm driving part in some embodiments of the present disclosure.
  • Figure 11 is a schematic structural diagram of the arm driving part in some embodiments of the present disclosure.
  • Figure 12 is a schematic structural diagram of a reference skeleton in some embodiments of the present disclosure.
  • first and second are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, features defined as “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present disclosure, unless otherwise specified, "plurality" means two or more.
  • orientation terms such as “upper”, “lower”, “left” and “right” are defined relative to the orientations in which components in the drawings are schematically placed, and it should be understood that these directions Sexual terms are relative concepts and they are used for relative description and clarification, which may change accordingly according to changes in the orientation of the components in the drawings.
  • connection should be understood in a broad sense.
  • connection can be a fixed connection, a detachable connection, or an integral body; it can be a direct connection. , can also be connected indirectly through intermediaries.
  • the terms “comprising,” “comprising,” or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements not only includes those elements, but also Includes other elements not expressly listed or elements inherent to the process, method, article or apparatus.
  • an element defined by the statement “comprises a" does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element.
  • words such as “exemplary” or “such as” are used to represent examples, illustrations or explanations. Any embodiment or design described as “exemplary” or “such as” in the embodiments of the present disclosure is not intended to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of the words “exemplarily” or “for example” is intended to present the relevant concepts in a concrete manner.
  • the robotic arm includes motion Arm (please refer to reference numeral 21 or 3, the structure with reference numeral 21 and the structure with reference numeral 3 are two embodiments of the moving arm respectively) and the transmission wheel assembly.
  • One end of the moving arm in its own extension direction is fixed to one end of the driven wheel, and one end of the driven wheel refers to one end of the driven wheel along the axis direction.
  • the transmission wheel assembly provided by the embodiment of the present disclosure includes a driving wheel (please refer to the reference number 121 or 221, the structure with the reference number 121 and the structure with the reference number 221 are two embodiments of the driving wheel respectively), from The driving wheel (please refer to the reference number 122 or 222, the structure with the reference number 122 and the structure with the reference number 222 are two embodiments of the driven wheel respectively) and the flexible member (please refer to the reference number 123 or 223, The structures with reference numbers 123 or 223 are respectively two embodiments of the flexible member).
  • the rotation of the driving wheel can be transmitted to the driven wheel through the flexible member, so that the driving wheel drives the driven wheel to rotate, and the rotation axis of the driving wheel is parallel to the rotation axis of the driven wheel.
  • the flexible member can be implemented in various forms, for example, it can be a belt, a chain, a rope, etc. It should be explained that the transmission wheel assembly provided by the embodiment of the present disclosure is not limited to application on a robotic arm.
  • clearance fit can be used between the driven wheel and the bearing, and between the bearing and the bearing seat.
  • the bearing can also be a low-cost large clearance bearing. However, this will cause uneven transmission of the transmission wheel assembly.
  • the driven wheel When the driving wheel drives the driven wheel to rotate through the flexible member, the driven wheel is susceptible to a large pulling force from the flexible member.
  • the driven wheel In a belt transmission, the driven wheel is susceptible to a large pulling force from the tight edge of the belt.
  • the direction of the pulling force is From the driven wheel to the driving wheel.
  • Using more clearance fits and large clearance bearings can easily make the free end of the driven wheel along the axis move closer to the driving wheel under the pulling force of the flexible member, that is, the driven wheel can easily be pulled tilted, and the driven wheel can easily be tilted.
  • the parallelism between the rotation axis and the rotation axis of the driving wheel is poor, which reduces the stability of the transmission.
  • the load on the driven wheel may also cause the driven wheel to tilt.
  • the moving arm is installed on the driven wheel.
  • the moving arm has a cantilever beam structure.
  • the gravity of the moving arm can easily cause the driven wheel to tilt, especially when the robotic arm includes multiple moving arms connected in sequence. And when multiple moving arms are unfolded.
  • a first aspect of the embodiment of the present disclosure provides a transmission wheel assembly, including a base (please refer to reference numeral 11 or 21, the structure of reference numeral 11 and the appendix The structure marked 21 is respectively two embodiments of the base), the driving wheel, the driven wheel and the end limiter (please refer to reference numeral 13 or 23, the structure marked 13 and the reference numeral 21 are respectively 23 are respectively two embodiments of the end limiter).
  • the driving wheel is rotatably connected to the base; the driven wheel is drivingly connected to the driving wheel through a flexible member, the first end of the driven wheel is rotatably connected to the base, and the second end of the driven wheel has a first protruding post (please refer to the reference numeral 1242 or 2221, the structure with the reference number 1242 and the structure with the reference number 2221 are two embodiments of the first protruding column respectively), the axis of the first protruding column coincides with the rotation axis of the driven wheel; the end limit The component is fixedly connected to the base, and the end limiter has a resisting portion (please refer to reference numeral 131 or 221).
  • the structure labeled 131 and the structure labeled 221 are respectively two implementations of the resisting portion.
  • the abutment portion is provided close to the end of the first protruding column to abut against the end of the first protruding column, thereby restricting the movement of the driven wheel in a direction close to the driving wheel, and the first protruding column can rotate relative to the abutment portion .
  • the second end of the driven wheel has a first protruding column, the first protruding column abuts against the end limiter fixedly connected to the base, and the end limiter will align with the first
  • the support provided by the convex column is beneficial to reducing the degree to which the second end of the driven wheel is pulled toward the driving wheel by the flexible member, and is beneficial to improving the smoothness of the transmission of the transmission wheel assembly.
  • first end and the second end of the driven wheel are both ends of the driven wheel along the direction of the rotation axis. It can be understood that the arrangement of the first protrusion makes the contact area between the driven wheel and external structures such as the base and end limiters larger, making the installation of the driven wheel more stable and less likely to be pulled by the flexible member. incline.
  • the robotic arm includes a big arm driving part 1 , a small arm driving part 2 and a small arm 3 .
  • the boom driving part 1 includes a reference plate 11 , a first driving wheel 121 , a first driven wheel 122 , a first flexible member 123 , a rotating shaft 124 and an end cover 13 .
  • the first driving wheel 121 is rotatably connected to the reference plate 11.
  • the first driving wheel 121 is driven by the first motor, and the first driven wheel 122 passes through the first deflector.
  • the flexible member 123 is drivingly connected to the first driving wheel 121, and a tensioner 5 is provided on the first flexible member 123.
  • the rotating shaft 124 is coaxially fixed with the first driven wheel 122, and the first end 1241 of the rotating shaft passes through the first driven wheel 122.
  • the first end of the driven wheel 122 is rotatably connected to the reference plate 11 , so that the first end of the first driven wheel 122 is rotatably connected to the reference plate 11 .
  • the first end 1241 of the rotating shaft is rotationally connected to the reference plate 11 through the reference plate bearing 126.
  • the reference plate 11 is also provided with a reference plate bearing on the side away from the first driven wheel 122.
  • the cover 16 is used to fix the reference plate bearing 126 on the reference plate 11 .
  • the second end 1242 of the rotating shaft passes through the second end of the first driven wheel 122 .
  • the end cover 13 is fixedly connected to the base.
  • the end cover 13 has an end cover abutment portion 131.
  • the end cover abutment portion 131 is provided close to the second end 1242 of the rotating shaft to abut against the second end 1242 of the rotating shaft, thereby limiting the first
  • the driven wheel 122 moves toward the first driving wheel 121 , and the second end 1242 of the rotating shaft can rotate relative to the abutment portion.
  • the end cover 13 will support the second end 1242 of the rotating shaft fixed to the first driven wheel 122 , which is helpful to reduce the degree to which the second end of the first driven wheel 122 is pulled toward the first driving wheel 121 by the flexible member.
  • the arm driving part 2 includes a reference frame 21 , a second driving wheel 221 , a second driven wheel 222 , a second flexible member 223 and a cover plate 23 .
  • the end of the reference frame 21 is fixed to the first end of the first driven wheel 122 .
  • the first end 1241 of the rotating shaft passes through the reference plate 11 , and the reference frame 21 is located on the side of the reference plate 11 away from the first driven wheel 122 .
  • the end of the reference frame 21 can pass through the connection with the rotating shaft.
  • the first end 1241 is fixed to the first end of the first driven wheel 122.
  • the end of the reference frame 21 is flange-connected to the rotating shaft 124.
  • the second driving wheel 221 is rotationally connected to an end of the reference frame 21 close to the first driven wheel 122 , and the second driven wheel 222 is driven by the second motor.
  • a cavity is formed between the end of the reference frame 21 connected to the rotating shaft 124 and the rotating shaft 124 , and the second driving wheel 221 is located in the cavity.
  • the second driven wheel 222 and the second driving wheel 221 are connected through a second flexible member 223, and a tensioner 5 is provided on the second flexible member 223.
  • the first end of the second driven wheel 222 is connected to the reference frame 21 rotationally connected, the second end of the second driven wheel 222 has a boss 2221, the axis of the boss 2221 coincides with the rotation axis of the second driven wheel 222; the cover plate 23 is fixedly connected to the reference frame 21, the cover plate 23 has a cover plate
  • the abutment portion 231 is provided close to the end of the boss 2221 to abut against the end of the boss 2221, thereby restricting the movement of the second driven wheel 222 in a direction close to the second driving wheel 221.
  • the platform 2221 can rotate relative to the abutment portion. In this way, the cover plate 23 can support the boss 2221 fixed on the second driven wheel 222, which is beneficial to reducing the degree to which the second end of the second driven wheel 222 is pulled toward the second driving wheel 221 by the flexible member.
  • the arm driving part 2 also includes an arm driving part housing 25, and a cavity is formed between the arm driving part housing 25 and the cover plate 23.
  • the reference frame 21, the second driving wheel 221, the second driven wheel 222 and the flexible parts are all arranged in the cavity to protect the reference firmware and other components.
  • the arm driving part housing 25 is made of polymer material, which is beneficial to reducing the weight of the arm driving part 2 and is also beneficial to reducing costs.
  • the first end of the small arm 3 is fixed to the second end of the second driven wheel 222, and the actuator 4 is provided on the second end.
  • the first end of the small arm 3 is fixed to the second end of the second driven wheel 222 by being fixed to the end of the boss 2221 .
  • the first boss is sleeved with a first bearing (please refer to reference numeral 125 or 224, the structure and drawings reference numeral 125
  • the structures marked 224 are two embodiments of the first bearing respectively)
  • the abutment portion is formed with a mounting groove corresponding to the first bearing (please refer to reference numeral 1311, the structure marked 1311 is two implementations of the mounting groove)
  • the first bearing is cooperatively arranged in the installation groove, so that the first protruding column abuts against the end limiter through the first bearing.
  • the first protruding column abuts against the end limiter through the first bearing, thereby achieving abutment between the first protruding column and the abutting portion and a rotational connection with the abutting portion.
  • the second end 1242 of the rotating shaft is covered with an end cap bearing 125, and a first mounting groove 1311 is formed on the end cap abutment portion 131.
  • the end cap bearing 125 is cooperatively arranged in the first mounting groove 1311 so that the second end 1242 of the rotating shaft abuts against the first mounting groove 1311 through the end cap bearing 125 .
  • the boss 2221 is covered with a cover bearing 224, and the cover abutting portion 231 is formed with a second mounting groove.
  • the cover bearing 224 It is matched and arranged in the second installation groove, so that the boss 2221 abuts against the second installation groove through the cover plate 23 .
  • the mounting groove is formed with an escape through hole (please refer to reference numeral 1312 or 2311, the structure reference numeral 1312 and the structure reference numeral 2311
  • the structures are respectively two embodiments of the avoidance through hole)
  • the avoidance through hole runs through the bottom of the installation groove
  • the avoidance through hole is arranged corresponding to the first protruding column, along the first bearing axial direction
  • the outer contour of the avoidance through hole is located on the first bearing within the outer contour.
  • Such a structure is beneficial to reducing the friction between the first protruding pillar and the bottom of the installation groove.
  • the outer contour of the escape through hole is located within the outer contour of the first bearing, so that the opening of the escape through hole will not greatly affect the contact between the first bearing and the installation groove.
  • the first installation groove 1311 is provided with a first escape through hole 1312, and the first escape through hole 1312 penetrates the bottom of the first installation groove 1311.
  • the first escape through hole 1312 is provided corresponding to the second end 1242 of the rotating shaft.
  • the outer contour of the first escape through hole 1312 is located within the outer contour of the end cap bearing 125 .
  • the second installation groove is provided with a second escape through hole 2311, and the second escape through hole 2311 penetrates the bottom of the second installation groove.
  • the escape through hole 2311 is provided corresponding to the end of the boss 2221.
  • the outer contour of the first escape through hole 1312 is located within the outer contour of the cover bearing 224.
  • An elastic member 15 is provided between the outer ring of the first bearing and the inner wall of the mounting groove.
  • the elastic member 15 is configured to prevent the driven wheel from moving closer to the driving wheel. move.
  • the elastic member 15 is used to prevent the driven wheel from moving in the direction close to the driving wheel, which can reduce the processing and assembly requirements of the mounting groove and the first bearing, and is beneficial to reducing costs.
  • Even if there is a large gap between the mounting groove and the first bearing the arrangement of the elastic member 15 can make the installation of the mounting groove and the first bearing more stable.
  • the driven wheel is pulled by the flexible member, it moves in the direction of the driving wheel. Displacement, the elastic member 15 can elastically deform, thereby hindering the movement of the driven wheel.
  • the elastic member 15 can be implemented in a variety of ways, such as a tension spring or a compression spring.
  • the elastic member 15 is a compression spring, and the compression spring is supported between a side of the first bearing away from the first end of the driven wheel and the bottom surface of the mounting groove.
  • the second end of the driven wheel will move in a direction close to the bottom surface of the installation groove, thereby compressing the compression spring.
  • the second end of the driven wheel will be supported, thereby hindering the movement of the driven wheel.
  • the compression spring is supported between the side of the first end of the first bearing away from the driven wheel and the bottom surface of the installation groove, which can also make the installation of the compression spring more stable and reliable.
  • the compression spring is a wave spring, and the wave spring is coaxial with the first bearing.
  • the wave spring can be installed relatively stably in the installation groove, which is conducive to firmly supporting the second end of the driven wheel.
  • the elastic member 15 is a wave spring, supported between the side of the end cover bearing 125 away from the first end of the first driven wheel 122 and the bottom surface of the first mounting groove 1311 , the wave spring is coaxial with the end cover bearing 125.
  • the end limiter also includes a connecting arm 132.
  • One end of the connecting arm 132 is fixedly connected to the abutment portion, and the other end extends in a direction close to the base.
  • one end of the connecting arm 132 fixedly connected to the abutment portion is located outside the installation groove.
  • the resisting portion is connected to the base through the connecting arm 132, which is beneficial to making the connection between the resisting portion and the base more stable, thereby enabling the resisting portion to stably support the second end of the driven wheel.
  • the number of connecting arms 132 is two.
  • the two connecting arms 132 are arranged oppositely.
  • the two connecting arms 132 are located at the vertical direction of the extension direction of the flexible member. opposite sides of.
  • two connecting arms 132 are provided, which is beneficial to making the abutment part
  • the connection to the base is more stable.
  • the two connecting arms 132 are located on opposite sides of the flexible member, so that the connecting arms 132 will not interfere with the flexible member, which facilitates the arrangement of the driving wheel, the driven wheel and the flexible member.
  • the end cover 13 also includes a connecting arm 132 , one end of the connecting arm 132 and the end cover abutment part. 131 is fixedly connected, and the other end extends in a direction close to the reference plate 11 to be fixedly connected to the reference plate 11 .
  • One end of the connecting arm 132 is fixedly connected to the end cover abutment portion 131 and is located outside the first mounting groove 1311 .
  • the number of connecting arms 132 is two.
  • the two connecting arms 132 are arranged oppositely. Along the vertical direction of the extension direction of the first flexible member 123 , the two connecting arms 132 are located at Opposite sides of the first flexible member 123 .
  • the transmission assembly also includes a rotating shaft 124.
  • the rotating shaft 124 is coaxially fixed with the driven wheel.
  • the first end 1241 of the rotating shaft is threaded through the first end of the driven wheel.
  • the transmission assembly also includes a rotating shaft 124, which is coaxially fixed with the first driven wheel 122.
  • the first end 1241 of the rotating shaft is passed through the first end of the first driven wheel 122 and is connected with the first driven wheel 122.
  • the reference plate 11 is rotatably connected, so that the first end of the first driven wheel 122 is rotatably connected with the reference plate 11 , and the second end 1242 of the rotating shaft is passed through the second end of the first driven wheel 122 to abut against the end cover 13 .
  • the end limiter is fixed on the base through fasteners, the end limiter has a clearance fit with the base, and the gap of the clearance fit is located at the end.
  • the limiter is close to the side of the driving wheel.
  • a certain assembly margin is reserved in advance at the joint between the end limiter and the reference plate 11.
  • the end cover 13 is fixed on the reference plate 11 through fasteners.
  • the end cover 13 has a clearance fit with the reference plate 11.
  • the clearance fit is located on the side of the end cover 13 close to the first driving wheel 121. .
  • the end limiter also includes a connecting portion 232.
  • the connecting portion 232 is fixedly connected to the base, and one end of the connecting portion 232 is fixedly connected to the abutment portion. , the other end extends along the extension direction of the flexible member, so that a receiving cavity is formed between the base and the connecting portion 232, and the flexible member is received in the receiving cavity.
  • the connecting portion 232 extends along the extension direction of the flexible member.
  • a receiving cavity can be formed between it and the base, so that the driving wheel, the driven wheel and the flexible member are better protected; on the other hand, It is beneficial to increase the contact area between the connecting portion 232 and the base, thereby increasing the force-bearing area and improving the stability of the driven wheel installation.
  • the connecting portion 232 is fixedly connected to the base through a connecting column structure.
  • the connecting column structure includes a support tube 2321 and fasteners. Both ends of the support tube 2321 along the extension direction are respectively in contact with the connection part 232 and the base; fasteners are inserted into the support tube 2321 to fixedly connect the connection part 232 with the base.
  • the support tube 2321 is fixedly connected to the fastener, which facilitates processing and manufacturing.
  • the support tube 2321 provides an installation position for the fastener, can protect the fastener, and can reduce the force on the fastener, which is beneficial to improving the stability of the connection.
  • the base is made of metal material
  • the connecting part 232 is made of polymer material
  • the base is made of metal material so that the base can firmly support the driving wheel and the driven wheel.
  • the connecting part 232 is made of polymer material, which is beneficial to weight reduction and cost reduction.
  • the support tube 2321 and the connecting portion 232 are integrally formed.
  • the support tube 2321 can also be made of polymer material, which is beneficial to weight reduction and cost reduction.
  • a reinforcing rib 2322 is provided between the support tube 2321 and the connecting part 232, and one end of the reinforcing rib 2322 away from the connecting part 232 is supported on the base.
  • Such a structural form is conducive to improving the strength and stiffness of the support tube 2321 and improving the stability of the connection of the connecting column structure.
  • the number of connecting column structures is multiple, and the multiple connecting column structures are along the The extending direction of the connecting portion 232 Arranged, multiple connecting column structures are located on the outside of the flexible piece.
  • multiple connecting columns increase the stress-bearing area, which is beneficial to improving stiffness and strength.
  • the multiple connecting column structures arranged along the extension direction of the connecting portion 232 are located outside the flexible member, so that the multiple connecting column structures are not easy to interfere with the flexible member, which is beneficial to the driving wheel, the driven wheel and the flexible member. Arrangement and installation of flexible parts.
  • the cover 23 also includes a connecting part 232.
  • the connecting part 232 is fixedly connected to the reference frame 21.
  • One end of the connecting part 232 is connected to the cover abutting part 231. Fixed connection, the other end extends along the extension direction of the second flexible member 223, so that an accommodation cavity is formed between the reference frame 21 and the connecting portion 232, and the second flexible member 223 is accommodated in the accommodation cavity.
  • the connecting portion 232 is fixedly connected to the reference frame 21 through a connecting column structure, which includes a support tube 2321 and fasteners.
  • both ends of the support tube 2321 along the extension direction are respectively in contact with the connection part 232 and the reference frame 21; fasteners are inserted into the support tube 2321 to fixedly connect the connection part 232 with the reference frame 21.
  • the reference frame 21 is made of metal material
  • the connecting part 232 is made of polymer material
  • the supporting tube 2321 and the connecting part 232 are integrally formed.
  • a reinforcing rib 2322 is provided between the support tube 2321 and the connecting part 232 , and one end of the reinforcing rib 2322 away from the connecting part 232 is supported on the reference frame 21 .
  • the number of connecting column structures is multiple. The multiple connecting column structures are arranged along the extending direction of the connecting portion 232 , and the multiple connecting column structures are located outside the second flexible member 223 .
  • a second protruding column 211 is formed on the base.
  • a second bearing 225 is set on the second protruding column 211.
  • the outer ring of the second bearing 225 is in contact with the driven wheel.
  • the central hole is fixed so that the first end of the driven wheel is rotatably connected to the base.
  • the reference frame 21 is formed with a second protruding column 211, and a second bearing 225 is set on the second protruding column 211.
  • the outer ring of the second bearing 225 and the center of the second driven wheel 222 The hole is fixed so that the first end of the second driven wheel 222 is rotatably connected to the quasi-frame.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)

Abstract

本公开实施例提供一种传动轮组件及机械手臂，涉及传动技术领域。本公开实施例提供的传动轮组件，包括基座、主动轮、从动轮与端部限位件。其中，主动轮与基座转动连接；从动轮通过挠性件与主动轮传动连接，从动轮的第一端与基座转动连接，从动轮的第二端上具有第一凸柱，第一凸柱的轴线与从动轮的旋转轴线重合；端部限位件与基座固定连接，端部限位件具有抵靠部，抵靠部靠近第一凸柱的端部设置，以与第一凸柱的端部抵靠，进而限制从动轮向靠近主动轮的方向运动，第一凸柱可相对抵靠部转动。本公开实施例提供的传动轮组件用于传递转矩。

Description

一种传动轮组件及机械手臂
相关申请的交叉引用
本申请基于申请号为202210687937.5、申请日为2022年06月16日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式并入本申请。
技术领域
本申请涉及传动技术领域，尤其涉及一种传动轮组件及机械手臂。
背景技术
为了降低生产制造成本与装配成本，传动轮与轴承之间，以及轴承与轴承座之间等可以采用间隙配合，轴承也可以选用低成本大游隙轴承。但是，这样可能会导致传动轮组件传动的不平稳。
发明内容
本公开实施例提供一种传动轮组件及机械手臂，能够提高传动轮组件传动的平稳性。
第一方面，本公开实施例提供一种传动轮组件，该传动轮组件包括基座、主动轮、从动轮与端部限位件。主动轮与基座转动连接；从动轮通过挠性件与主动轮传动连接，从动轮的第一端与基座转动连接，从动轮的第二端上具有第一凸柱，第一凸柱的轴线与从动轮的旋转轴线重合；端部限位件与基座固定连接，端部限位件具有抵靠部，抵靠部靠近第一凸柱的端部设置，以与第一凸柱的端部抵靠，进而限制从动轮向靠近主动轮的方向运动，第一凸柱可相对抵靠部转动。
第二方面，本公开实施例提供一种机械手臂，该机械手臂包括运动臂与本公开实施例第一方面提供的传动轮组件，运动臂的一端与从动轮的一端固定。
本公开实施例提供的传动轮组件，从动轮的第二端具有第一凸柱，第一凸柱与固定连接于基座的端部限位件抵靠，端部限位件会对第一凸柱进行支撑，有利于降低从动轮的第二端被挠性件拉向主动轮的程度，有利于提高传动轮组件传动的稳定性。
附图说明
为了更清楚地说明本发明具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开一些实施例中的机械手臂的结构示意图；
图2为本公开一些实施例中的机械手臂的第一视角的爆炸图；
图3为本公开一些实施例中的机械手臂的第二视角的爆炸图；
图4为本公开一些实施例中的大臂驱动部分的爆炸图；
图5为本公开一些实施例中的转轴与第一从动轮安装的结构示意图；
图6为本公开一些实施例中的转轴与端盖轴承安装的第一视角的结构示意图；
图7为本公开一些实施例中的转轴与端盖轴承安装的第二视角的结构示意图；
图8为本公开一些实施例中的端盖与端盖轴承安装的结构示意图；
图9为本公开一些实施例中的大臂驱动部分与小臂驱动部分安装的结构示意图；
图10为本公开一些实施例中的小臂驱动部分的爆炸图；
图11为本公开一些实施例中的小臂驱动部分的结构示意图；
图12为本公开一些实施例中的基准骨架的结构示意图。
附图标记：
1-大臂驱动部分；11-基准板；121-第一主动轮；122-第一从动轮；123-第一挠性件；
124-转轴；1241-转轴的第一端；1242-转轴的第二端；125-端盖轴承；126-基准板轴承；13-端盖；131-端盖抵靠部；1311-第一安装槽；1312-第一避让通孔；132-连接臂；14-第一电动机；15-弹性件；16-基准板轴承盖；2-小臂驱动部分；21-基准骨架；211-第二凸柱；221-第二主动轮；222-第二从动轮；2221-凸台；223-第二挠性件；224-盖板轴承；225-第二轴承；23-盖板；231-盖板抵靠部；2311-第二避让通孔；232-连接部；2321-支撑筒；2322-加强筋；24-第二电动机；25-小臂驱动部分壳体；3-小臂；4-执行件；5-张紧器。
具体实施方式
需要说明的是，在不冲突的情况下，本公开中的实施例及实施例中的技术特征可以相互组合，具体实施方式中的详细描述应理解为本公开宗旨的解释说明，不应视为对本公开的不当限制。
在本公开实施例中，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本公开实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
此外，在本公开实施例中，“上”、“下”、“左”以及“右”等方位术语是相对于附图中的部件示意置放的方位来定义的，应当理解到，这些方向性术语是相对的概念，它们用于相对于的描述和澄清，其可以根据附图中部件所放置的方位的变化而相应地发生变化。
在本公开实施例中，除非另有明确的规定和限定，术语“连接”应做广义理解，例如，“连接”可以是固定连接，也可以是可拆卸连接，或成一体；可以是直接相连，也可以通过中间媒介间接相连。
在本公开实施例中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
在本公开实施例中，“示例性的”或者“例如”等词用于表示作例子、例证或说明。本公开实施例中被描述为“示例性地”或者“例如”的任何实施例或设计方案不应被解释为比其他实施例或设计方案更优选或更具优势。确切而言，使用“示例性地”或者“例如”等词旨在以具体方式呈现相关概念。
请参照图1、图2和图3，本公开实施例提供一种机械手臂，该机械手臂包括运动 臂(请参照附图标记21或3，附图标记为21的结构和附图标记为3的结构分别为运动臂的两种实施例)与传动轮组件。运动臂在自身延伸方向上的一端与从动轮的一端固定，从动轮的一端指的是从动轮沿轴线方向的一端。本公开实施例提供的传动轮组件，包括主动轮(请参照附图标记121或221，附图标记为121的结构和附图标记为221的结构分别为主动轮的两种实施例)、从动轮(请参照附图标记122或222，附图标记为122的结构和附图标记为222的结构分别为从动轮的两种实施例)与挠性件(请参照附图标记123或223，附图标记为123或223的结构分别为挠性件的两种实施例)。主动轮的转动能够通过挠性件传递给从动轮，使主动轮带动从动轮转动，主动轮的旋转轴线与从动轮的旋转轴线平行。挠性件可以有多种实现形式，示例性的，可以是皮带、链条或绳等。需要解释说明的是，本公开实施例提供的传动轮组件不限于应用于机械手臂上。
为了降低传动轮组件的生产制造成本与装配成本，从动轮与轴承之间，轴承与轴承座之间等可以采用间隙配合，轴承也可以选用低成本大游隙轴承。但是，这样会导致传动轮组件传动的不平稳。
下面具体分析传动轮组件传动不平稳的原因，分析过程以及结论均为本公开创造性的一部分。
在主动轮通过挠性件带动从动轮转动的过程中，从动轮容易受到挠性件较大拉力，示例性地，皮带传动中，从动轮容易受到皮带紧边的较大的拉力，该拉力方向由从动轮指向主动轮。采用较多的间隙配合与大游隙轴承，容易使得从动轮沿轴线方向的自由端容易在挠性件的拉力作用下向靠近主动轮的方向移动，即从动轮容易被拉斜，从动轮的旋转轴线与主动轮的旋转轴线的平行度较差，降低传动的稳定。此外，从动轮处的负载也有可能会造成从动轮的倾斜。以机械手臂为例，运动臂安装在从动轮上，运动臂呈悬臂梁式结构，运动臂的重力也容易遭成的从动轮的倾斜，尤其是在机械手臂包括多个依次连接的运动臂，且多个运动臂展开的情况下。
鉴于此，请参照图1、图2和图3，本公开实施例第一方面提供一种传动轮组件，包括基座(请参照附图标记11或21，附图标记为11的结构和附图标记为21的结构分别为基座的两种实施例)、主动轮、从动轮与端部限位件(请参照附图标记13或23，附图标记为13的结构和附图标记为23的结构分别为端部限位件的两种实施例)。主动轮与基座转动连接；从动轮通过挠性件与主动轮传动连接，从动轮的第一端与基座转动连接，从动轮的第二端上具有第一凸柱(请参照附图标记1242或2221，附图标记为1242的结构和附图标记为2221的结构分别为第一凸柱的两种实施例)，第一凸柱的轴线与从动轮的旋转轴线重合；端部限位件与基座固定连接，端部限位件具有抵靠部(请参照附图标记131或221，附图标记为131的结构和附图标记为221的结构分别为抵靠部的两种实施例)，抵靠部靠近第一凸柱的端部设置，以与第一凸柱的端部抵靠，进而限制从动轮向靠近主动轮的方向运动，第一凸柱可相对抵靠部转动。
本公开实施例提供的传动轮组件，从动轮的第二端具有第一凸柱，第一凸柱与固定连接于基座的端部限位件抵靠，端部限位件会对第一凸柱进行支撑，有利于降低从动轮的第二端被挠性件拉向主动轮的程度，有利于提高传动轮组件传动的平稳性。
需要解释说明的是，从动轮的第一端与第二端均为从动轮沿旋转轴线方向的端部。可以理解的是，第一凸柱的设置，使得从动轮与外部结构如基座和端部限位件等的接触面积更大，使得从动轮的安装更为稳固，不容易被挠性件拉斜。
以机械手臂为例，请参照图1、图2和图3，在本公开的一些实施例中，机械手臂包括大臂驱动部分1、小臂驱动部分2与小臂3。大臂驱动部分1包括基准板11、第一主动轮121、第一从动轮122、第一挠性件123、转轴124与端盖13。第一主动轮121与基准板11转动连接，第一主动轮121由第一电机驱动，第一从动轮122通过第一挠 性件123与第一主动轮121传动连接，第一挠性件123上设置有张紧器5。5转轴124与第一从动轮122同轴固定，转轴的第一端1241穿设于第一从动轮122的第一端，且与基准板11转动连接，以使第一从动轮122的第一端与基准板11转动连接。在本公开的一些实施例中，转轴的第一端1241通过基准板轴承126与基准板11转动连接，在此基础上，基准板11远离第一从动轮122的一侧还设置有基准板轴承盖16，用于将基准板轴承126固定于基准板11上。转轴的第二端1242穿设于第一从动轮122的第二端。端盖13与基座固定连接，端盖13具有端盖抵靠部131，端盖抵靠部131靠近转轴的第二端1242设置，以与转轴的第二端1242抵靠，进而限制第一从动轮122向靠近第一主动轮121的方向运动，转轴的第二端1242可相对抵靠部转动。这样，端盖13会对固定于第一从动轮122的转轴的第二端1242进行支撑，有利于降低第一从动轮122的第二端被挠性件拉向第一主动轮121的程度。
请参照图1、图2和图3，小臂驱动部分2包括基准骨架21、第二主动轮221、第二从动轮222、第二挠性件223与盖板23。基准骨架21的端部与第一从动轮122的第一端固定。在本公开的一些实施例中，转轴的第一端1241穿设于基准板11，基准骨架21位于基准板11远离第一从动轮122的一侧，基准骨架21的端部可以通过与转轴的第一端1241固定以与第一从动轮122的第一端固定，在此基础上，在本公开的一些实施例中，基准骨架21的端部与转轴124法兰连接。第二主动轮221与基准骨架21靠近第一从动轮122的一端转动连接，第二从动轮222由第二电机驱动。在本公开的一些实施例中，基准骨架21与转轴124连接的一端与转轴124之间形成有腔室，第二主动轮221位于腔室内。第二从动轮222与第二主动轮221之间通过第二挠性件223传动连接，第二挠性件223上设置有张紧器5。5第二从动轮222的第一端与基准骨架21转动连接，第二从动轮222的第二端具有凸台2221，凸台2221的轴线与第二从动轮222的旋转轴线重合；盖板23与基准骨架21固定连接，盖板23具有盖板抵靠部231，盖板抵靠部231靠近凸台2221的端部设置，以与凸台2221的端部抵靠，进而限制第二从动轮222向靠近第二主动轮221的方向运动，凸台2221可相对抵靠部转动。这样，盖板23能够对固定于第二从动轮222上的凸台2221进行支撑，有利于降低第二从动轮222的第二端被挠性件拉向第二主动轮221的程度。
请参照图1、图2和图3，在本公开的一些实施例中，小臂驱动部分2还包括小臂驱动部分壳体25，小臂驱动部分壳体25与盖板23之间形成腔体，基准骨架21、第二主动轮221、第二从动轮222与挠性件等均设置在腔体内，以对基准固件等零部件进行保护。在本公开的一些实施例中，小臂驱动部分壳体25由高分子材料制成，这有利减小小臂驱动部分2的重量，也有利于降低成本。
请参照图1、图2和图3，小臂3的第一端与第二从动轮222的第二端固定，第二端上设置有执行件4。在本公开的一些实施例中，小臂3的第一端通过与凸台2221的端部固定以与第二从动轮222的第二端固定。
请参照图1、图2和图3，在本公开的一些实施例中，第一凸柱套设有第一轴承(请参照附图标记125或224，附图标记为125的结构和附图标记为224的结构分别为第一轴承的两种实施例)，抵靠部对应第一轴承形成有安装槽(请参照附图标记1311，附图标记为1311的结构为安装槽的两种实施例)，第一轴承配合设置于安装槽内，以使第一凸柱通过第一轴承与端部限位件抵靠。如此结构形式，第一凸柱通过第一轴承与端部限位件抵靠，实现了第一凸柱与抵靠部的抵靠且与抵靠部转动连接。
请参照图1、图2和图3，以大臂驱动部分1为例，转轴的第二端1242上套设有端盖轴承125，端盖抵靠部131上形成有第一安装槽1311，端盖轴承125配合设置在第一安装槽1311内，以使转轴的第二端1242通过端盖轴承125与第一安装槽1311抵靠。
请参照图1、图2和图3，以小臂驱动部分2为例，凸台2221上套设有盖板轴承224，盖板抵靠部231上形成有第二安装槽，盖板轴承224配合设置在第二安装槽内，以使凸台2221通过盖板23与第二安装槽抵靠。
请参照图1、图2和图3，在本公开的一些实施例中，安装槽形成有避让通孔(请参照附图标记1312或2311，附图标记为1312的结构和附图标记为2311的结构分别为避让通孔的两种实施例)，避让通孔贯穿安装槽的底部，避让通孔对应第一凸柱设置，沿第一轴承轴向，避让通孔的外轮廓位于第一轴承的外轮廓内。如此结构形式，有利于减小第一凸柱与安装槽的底部产生摩擦。避让通孔的外轮廓位于第一轴承的外轮廓内，使避让通孔得开设不会较大地影响第一轴承与安装槽的抵靠。
请参照图1、图2和图3，以大臂驱动部分1为例，第一安装槽1311上开设有第一避让通孔1312，第一避让通孔1312贯穿第一安装槽1311的底部，第一避让通孔1312对应转轴的第二端1242设置，沿转轴124的轴向，第一避让通孔1312的外轮廓位于端盖轴承125的外轮廓内。
请参照图1、图2和图3，以小臂驱动部分2为例，第二安装槽上开设有第二避让通孔2311，第二避让通孔2311贯穿第二安装槽的底部，第二避让通孔2311对应凸台2221的端部设置，沿凸台2221的轴向，第一避让通孔1312的外轮廓位于盖板轴承224的外轮廓内。
在本公开的一些实施例中，请参照图4～图8，第一轴承的外圈与安装槽的内壁之间设置有弹性件15，弹性件15配置为阻碍从动轮向靠近主动轮的方向移动。如此结构形式，运用弹性件15阻碍从动轮向靠近主动轮的方向移动，可以降低安装槽与第一轴承的加工装配要求，有利于降低成本。即使安装槽与第一轴承之间配合存在较大的间隙，弹性件15的设置也能够使得安装槽与第一轴承的安装较为稳定，当从动轮受到挠性件的拉动而向主动轮的方向位移，弹性件15能够发生弹性变形，从而阻碍从动轮的运动。
弹性件15的实现方式可以有多种，既可以拉伸弹簧，也可以是压缩弹簧。在本公开的一些实施例中，弹性件15为压缩弹簧，压缩弹簧支撑在第一轴承背离从动轮的第一端的一侧与安装槽的底面之间。如此结构形式，当从动轮受到挠性件的拉动而向主动轮的方向位移，从动轮的第二端会向靠近安装槽底面的方向运动，从而使压缩弹簧受到压缩，压缩弹簧在受压的情况下会对从动轮的第二端进行支撑，从而阻碍从动轮的运动。此外，压缩弹簧支撑在第一轴承背离从动轮的第一端的一侧与安装槽的底面之间，也能够使得压缩弹簧的安装较为稳固可靠。在此基础上，在本公开的一些实施例中，压缩弹簧为波簧，波簧与第一轴承同轴。波簧能够较为稳定的安装在安装槽内，有利于使从动轮的第二端得到稳固的支撑。
示例性地，请参照图4～图8，以大臂驱动部分1为例，在本公开的一些实施例中，弹性件15端盖轴承125的外圈与第一安装槽1311的内壁之间设置有弹性件15，弹性件15配置为阻碍第一从动轮122向靠近第一主动轮121的方向移动。在此基础上，在本公开的一些实施例中，弹性件15为波簧，支撑在端盖轴承125背离第一从动轮122的第一端的一侧与第一安装槽1311的底面之间，波簧与端盖轴承125同轴。
请参照图4～图8，在本公开的一些实施例中，端部限位件还包括连接臂132，连接臂132的一端与抵靠部固定连接，另一端向靠近基座的方向延伸，以固定连接于基座，连接臂132与抵靠部固定连接的一端位于安装槽外侧。如此结构形式，抵靠部通过连接臂132与基座连接，有利于使得抵靠部与基座的连接较为稳固，进而使得抵靠部能够对从动轮的第二端进行稳固的支撑。在此基础上，在本公开的一些实施例中，连接臂132的数量为两个，两个连接臂132相对设置，沿挠性件延伸方向的垂直方向，两个连接臂132位于挠性件的相对两侧。如此结构形式，设置两个连接臂132，有利于使得抵靠部 与基座的连接较为稳固。沿挠性件延伸方向的垂直方向，两个连接臂132位于挠性件的相对两侧，使得连接臂132不会与挠性件产生干涉，便于主动轮、从动轮与挠性件的布置。
示例性地，请参照图4～图8，以大臂驱动部分1为例，在本公开的一些实施例中，端盖13还包括连接臂132，连接臂132的一端与端盖抵靠部131固定连接，另一端向靠近基准板11的方向延伸，以固定连接于基准板11，连接臂132与端盖抵靠部131固定连接的一端位于第一安装槽1311外侧。在此基础上，在本公开的一些实施例中，连接臂132的数量为两个，两个连接臂132相对设置，沿第一挠性件123延伸方向的垂直方向，两个连接臂132位于第一挠性件123的相对两侧。
请参照图4～图8，在本公开的一些实施例中，该传动组件还包括转轴124，转轴124与从动轮同轴固定，转轴的第一端1241穿设于从动轮的第一端，且与基座转动连接，以使从动轮的第一端与基座转动连接，转轴的第二端1242穿设于从动轮的第二端，以形成第一凸柱。以大臂驱动部分1为例，该传动组件还包括转轴124，转轴124与第一从动轮122同轴固定，转轴的第一端1241穿设于第一从动轮122的第一端，且与基准板11转动连接，以使第一从动轮122的第一端与基准板11转动连接，转轴的第二端1242穿设于第一从动轮122的第二端，以与端盖13抵靠。
请参照图4～图8，在本公开的一些实施例中，端部限位件通过紧固件固定在基座上，端部限位件与基座间隙配合，间隙配合的间隙位于端部限位件靠近主动轮的一侧。如此结构形式，端部限位件与基准板11配合处提前预留一定的装配余量，在挠性件张紧的情况下，装配间隙得到补偿，从而减小从动轮被拉斜的程度，或避免从动轮被拉斜。以大臂驱动部分1为例，端盖13通过紧固件固定在基准板11上，端盖13与基准板11间隙配合，间隙配合的间隙位于端盖13靠近第一主动轮121的一侧。
请参照图9、图10和图11，在本公开的一些实施例中，端部限位件还包括连接部232，连接部232与基座固定连接，连接部232一端与抵靠部固定连接，另一端沿挠性件的延伸方向延伸，以使基座与连接部232之间形成容纳腔，挠性件容纳在容纳腔内。如此结构形式，连接部232沿挠性件的延伸方向延伸，一方面可以使其与基座之间形成容纳腔，使主动轮、从动轮与挠性件得到较好的保护；另一方面有利于增大连接部232与基座的接触面积，进而增大受力面积，提高从动轮安装的稳定性。
在此基础上，请参照图9、图10和图11，在本公开的一些实施例中，连接部232通过连接柱结构与基座固定连接，连接柱结构包括支撑筒2321与紧固件。支撑筒2321沿延伸方向的两端分别抵接于连接部232与基座；紧固件穿设于支撑筒2321内，以将连接部232与基座固定连接。如此结构形式，通过支撑筒2321与紧固件进行固定连接，便于进行加工制造。支撑筒2321为紧固件提供了安装位置，能够对紧固件进行保护，且能够减小紧固件的受力，有利于提高连接的稳固性。
在此基础上，请参照图9、图10和图11，在本公开的一些实施例中，基座由金属材料制成，连接部232由高分子材料制成，支撑筒2321与连接部232一体成型。基座由金属材料制成，使得基座能够对主动轮与从动轮稳固支撑。连接部232由高分子材料制成有利于进行减重降本。支撑筒2321与连接部232一体成型，支撑筒2321也可以由高分子材料制成，有利于进行减重降本。在此基础上，在本公开的一些实施例中，支撑筒2321与连接部232之间设置有加强筋2322，加强筋2322背离连接部232的一端支撑于基座上。如此结构形式，有利于提高支撑筒2321的强度刚度，提高连接柱结构连接的稳固性。
为了提高端部限位件与基座连接的稳固性，请参照图9、图10和图11，在本公开的一些实施例中，连接柱结构的数量为多个，多个连接柱结构沿连接部232的延伸方向 排列，多个连接柱结构均位于挠性件的外侧。如此结构形式，多个连接柱增加了受力面积，有利于刚度与强度的提升。可以理解的是，沿连接部232的延伸方向排列得多个连接柱结构均位于挠性件的外侧，使得多个连接柱结构不容易与挠性件产生干涉，有利于主动轮、从动轮与挠性件的布置安装。
请参照图9、图10和图11，以小臂驱动部分2为例，盖板23还包括连接部232，连接部232与基准骨架21固定连接，连接部232一端与盖板抵靠部231固定连接，另一端沿第二挠性件223的延伸方向延伸，以使基准骨架21与连接部232之间形成容纳腔，第二挠性件223容纳在容纳腔内。在此基础上，在本公开的一些实施例中，连接部232通过连接柱结构与基准骨架21固定连接，连接柱结构包括支撑筒2321与紧固件。支撑筒2321沿延伸方向的两端分别抵接于连接部232与基准骨架21；紧固件穿设于支撑筒2321内，以将连接部232与基准骨架21固定连接。在本公开的一些实施例中，基准骨架21由金属材料制成，连接部232由高分子材料制成，支撑筒2321与连接部232一体成型。在本公开的一些实施例中，支撑筒2321与连接部232之间设置有加强筋2322，加强筋2322背离连接部232的一端支撑于基准骨架21上。在本公开的一些实施例中，连接柱结构的数量为多个，多个连接柱结构沿连接部232的延伸方向排列，多个连接柱结构均位于第二挠性件223的外侧。
请参照图12，在本公开的一些实施例中，基座上形成由第二凸柱211，第二凸柱211上套设有第二轴承225，第二轴承225的外圈与从动轮的中心孔固定，以使从动轮的第一端与基座转动连接。以小臂驱动部分2为例，基准骨架21上形成由第二凸柱211，第二凸柱211上套设有第二轴承225，第二轴承225的外圈与第二从动轮222的中心孔固定，以使第二从动轮222的第一端与准骨架转动连接。
以上仅为本公开的较佳实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (17)

  1. 一种传动轮组件，包括：
    基座；
    主动轮，与所述基座转动连接；
    从动轮，通过挠性件与所述主动轮传动连接，所述从动轮的第一端与所述基座转动连接，所述从动轮的第二端上具有第一凸柱，所述第一凸柱的轴线与所述从动轮的旋转轴线重合；
    端部限位件，与所述基座固定连接，所述端部限位件具有抵靠部，所述抵靠部靠近所述第一凸柱的端部设置，以与所述第一凸柱的端部抵靠，进而限制所述从动轮向靠近所述主动轮的方向运动，所述第一凸柱可相对所述抵靠部转动。
  2. 根据权利要求1所述的传动轮组件，其中，所述第一凸柱套设有第一轴承，所述抵靠部对应所述第一轴承形成有安装槽，所述第一轴承配合设置于所述安装槽内，以使所述第一凸柱通过所述第一轴承与所述端部限位件抵靠。
  3. 根据权利要求2所述的传动轮组件，其中，所述安装槽形成有避让通孔，所述避让通孔贯穿所述安装槽的底部，所述避让通孔对应所述第一凸柱设置，沿所述第一轴承轴向，所述避让通孔的外轮廓位于所述第一轴承的外轮廓内。
  4. 根据权利要求2所述的传动轮组件，其中，所述第一轴承的外圈与所述安装槽的内壁之间设置有弹性件，所述弹性件配置为阻碍所述从动轮向靠近所述主动轮的方向移动。
  5. 根据权利要求4所述的传动轮组件，其中，所述弹性件为压缩弹簧，所述压缩弹簧支撑在所述第一轴承背离所述从动轮的第一端的一侧与所述安装槽的底面之间。
  6. 根据权利要求5所述的传动轮组件，其中，所述压缩弹簧为波簧，所述波簧与所述第一轴承同轴。
  7. 根据权利要求2～6中任一项所述的传动轮组件，其中，所述端部限位件还包括连接臂，所述连接臂的一端与所述抵靠部固定连接，另一端向靠近所述基座的方向延伸，以固定连接于所述基座，所述连接臂与所述抵靠部固定连接的一端位于所述安装槽外侧。
  8. 根据权利要求7所述的传动轮组件，其中，所述连接臂的数量为两个，两个所述连接臂相对设置，沿所述挠性件延伸方向的垂直方向，两个所述连接臂位于所述挠性件的相对两侧。
  9. 根据权利要求2～6中任一项所述的传动轮组件，其中，所述端部限位件还包括连接部，所述连接部与所述基座固定连接，所述连接部一端与所述抵靠部固定连接，另一端沿所述挠性件的延伸方向延伸，以使所述基座与所述连接部之间形成容纳腔，所述挠性件容纳在所述容纳腔内。
  10. 根据权利要求9所述的传动轮组件，其中，所述连接部通过连接柱结构与所述基座固定连接，所述连接柱结构包括：
    支撑筒，所述支撑筒沿延伸方向的两端分别抵接于所述连接部与所述基座；
    紧固件，穿设于所述支撑筒内，以将所述连接部与所述基座固定连接。
  11. 根据权利要求10所述的传动轮组件，其中，所述基座由金属材料制成，所述连接部由高分子材料制成，所述支撑筒与所述连接部一体成型。
  12. 根据权利要求11所述的传动轮组件，其中，所述支撑筒与所述连接部之间设置有加强筋，所述加强筋背离所述连接部的一端支撑于所述基座上。
  13. 根据权利要求10所述的传动轮组件，其中，所述连接柱结构的数量为多个，多个所述连接柱结构沿所述连接部的延伸方向排列，多个所述连接柱结构均位于所述挠性件的外侧。
  14. 根据权利要求1～6中任一项所述的传动轮组件，其中，还包括转轴，所述转轴与所述从动轮同轴固定，所述转轴的第一端穿设于所述从动轮的第一端，且与所述基座转动连接，以使所述从动轮的第一端与所述基座转动连接，所述转轴的第二端穿设于所述从动轮的第二端，以形成所述第一凸柱。
  15. 根据权利要求1～6中任一项所述的传动轮组件，其中，所述基座上形成由第二凸柱，所述第二凸柱上套设有第二轴承，所述第二轴承的外圈与所述从动轮的中心孔固定，以使所述从动轮的第一端与所述基座转动连接。
  16. 根据权利要求1～6中任一项所述的传动轮组件，其中，所述端部限位件通过紧固件固定在基座上，所述端部限位件与所述基座间隙配合，所述间隙配合的间隙位于所述端部限位件靠近所述主动轮的一侧。
  17. 一种机械手臂，其中，包括：
    权利要求1～16中任一项所述传动轮组件；
    运动臂，所述运动臂的一端与所述从动轮的一端固定。
PCT/CN2023/100517 2022-06-16 2023-06-15 一种传动轮组件及机械手臂 WO2023241667A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210687937.5A CN114918910A (zh) 2022-06-16 2022-06-16 一种传动轮组件及机械手臂
CN202210687937.5 2022-06-16

Publications (1)

Publication Number Publication Date
WO2023241667A1 true WO2023241667A1 (zh) 2023-12-21

Family

ID=82815128

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/100517 WO2023241667A1 (zh) 2022-06-16 2023-06-15 一种传动轮组件及机械手臂

Country Status (2)

Country Link
CN (1) CN114918910A (zh)
WO (1) WO2023241667A1 (zh)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114918910A (zh) * 2022-06-16 2022-08-19 北京市商汤科技开发有限公司 一种传动轮组件及机械手臂

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202012012614U1 (de) * 2012-04-20 2013-07-03 Minerva Boskovice A.S. Nähmaschine
CN108466257A (zh) * 2018-06-19 2018-08-31 东莞市东启智能设备有限公司 一种机械手
CN110856930A (zh) * 2018-08-24 2020-03-03 深圳市神州云海智能科技有限公司 旋转驱动装置
CN110948476A (zh) * 2019-12-18 2020-04-03 南京埃斯顿机器人工程有限公司 一种水平多关节机器人
CN111516002A (zh) * 2020-06-23 2020-08-11 北京哈崎机器人科技有限公司 机器人的关节单元、关节模组以及具有其的足式机器人
CN215471138U (zh) * 2021-03-26 2022-01-11 深圳市越疆科技有限公司 机械臂的末端关节传动结构、机械臂及机器人
WO2022099894A1 (zh) * 2020-11-11 2022-05-19 深圳市越疆科技有限公司 桌面机械臂的驱动结构、桌面机械臂和机器人
CN114918910A (zh) * 2022-06-16 2022-08-19 北京市商汤科技开发有限公司 一种传动轮组件及机械手臂

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3680083B2 (ja) * 2003-09-26 2005-08-10 バンドー化学株式会社 伝動ベルト用プーリ及びベルト伝動装置
CN201031880Y (zh) * 2007-03-29 2008-03-05 捷力精密机械股份有限公司 轴承稳固装置
CN101761617A (zh) * 2009-11-02 2010-06-30 苏州明富自动化设备有限公司 一种皮带轮转动装置
CN102261443B (zh) * 2010-05-27 2014-03-12 盖茨优霓塔传动系统（上海）有限公司 张紧器
CN204003468U (zh) * 2014-06-19 2014-12-10 台州市星光真空设备制造有限公司 一种真空泵轴承的轴向游隙消除结构
CN105370827A (zh) * 2015-11-29 2016-03-02 重庆智锐德科技有限公司 皮带轮安装机构
JP6935755B2 (ja) * 2018-01-26 2021-09-15 トヨタ自動車株式会社 ベルトテンショナ
CN210389197U (zh) * 2019-06-20 2020-04-24 惠州启中自动化科技有限公司 一种四轴步进电机机械臂
CN210770126U (zh) * 2019-10-18 2020-06-16 东莞市普祥瑞数控机电科技有限公司 一种皮带轮固定结构
CN211606305U (zh) * 2020-01-17 2020-09-29 杭州恒业电机制造有限公司 一种防止轴承外圈滑动的驱动轮

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202012012614U1 (de) * 2012-04-20 2013-07-03 Minerva Boskovice A.S. Nähmaschine
CN108466257A (zh) * 2018-06-19 2018-08-31 东莞市东启智能设备有限公司 一种机械手
CN110856930A (zh) * 2018-08-24 2020-03-03 深圳市神州云海智能科技有限公司 旋转驱动装置
CN110948476A (zh) * 2019-12-18 2020-04-03 南京埃斯顿机器人工程有限公司 一种水平多关节机器人
CN111516002A (zh) * 2020-06-23 2020-08-11 北京哈崎机器人科技有限公司 机器人的关节单元、关节模组以及具有其的足式机器人
WO2022099894A1 (zh) * 2020-11-11 2022-05-19 深圳市越疆科技有限公司 桌面机械臂的驱动结构、桌面机械臂和机器人
CN215471138U (zh) * 2021-03-26 2022-01-11 深圳市越疆科技有限公司 机械臂的末端关节传动结构、机械臂及机器人
CN114918910A (zh) * 2022-06-16 2022-08-19 北京市商汤科技开发有限公司 一种传动轮组件及机械手臂

Also Published As

Publication number Publication date
CN114918910A (zh) 2022-08-19

Similar Documents

Publication Publication Date Title
WO2023241667A1 (zh) 一种传动轮组件及机械手臂
US7195199B2 (en) Flapping apparatus
KR101290052B1 (ko) 감쇠 부재를 구비한 벨트 인장장치
JP2537305Y2 (ja) 軸継手
JP2641425B2 (ja) フロントスポイラ装置
CN110410414B (zh) 一种二自由度和三自由度可转换的球关节结构
US20190226264A1 (en) Window regulator
US9376850B2 (en) Opening/closing assistance device for opening/closing device
US9357279B2 (en) Elastomeric torsion bushings for levered loudspeakers
US11603962B2 (en) Supporting mechanism and supporting device having the same
US20230060841A1 (en) Cap opening and closing device and vehicle having the same
JP2895268B2 (ja) 塑性エネルギー吸収装置
US20220248929A1 (en) Cleaning assembly and cleaning robot
US20230258226A1 (en) Mechanical limiting mechanism
CN113418117B (zh) 安防摄像机的转动组件及安防摄像机
JPWO2014092134A1 (ja) ロック装置
US9033527B2 (en) Mirror device for vehicle
CN217631879U (zh) 静音缓冲门吸
US11332894B2 (en) Rammer
CN217107814U (zh) 一种转轴结构以及电子设备
CN216067529U (zh) 关节转动结构及机器人
US20220306425A1 (en) Double drawcord winding device
CN113280037B (zh) 一种转轴及电子设备
CN212359438U (zh) 任意定位阻尼铰链
JP2013108566A (ja) ジョイント機構およびジョイント機構を備える操作部を有する装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23823233

Country of ref document: EP

Kind code of ref document: A1