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WO2025112143A1 - Ensemble de transfert de couple, mécanisme de tête et robot - Google Patents

Ensemble de transfert de couple, mécanisme de tête et robot Download PDF

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Publication number
WO2025112143A1
WO2025112143A1 PCT/CN2023/141509 CN2023141509W WO2025112143A1 WO 2025112143 A1 WO2025112143 A1 WO 2025112143A1 CN 2023141509 W CN2023141509 W CN 2023141509W WO 2025112143 A1 WO2025112143 A1 WO 2025112143A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaft
transmission
limiting portion
limiting
output shaft
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
PCT/CN2023/141509
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English (en)
Chinese (zh)
Inventor
盖永记
付春江
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ubtech Robotics Corp
Original Assignee
Ubtech Robotics Corp
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 Ubtech Robotics Corp filed Critical Ubtech Robotics Corp
Publication of WO2025112143A1 publication Critical patent/WO2025112143A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

Definitions

  • the present application belongs to the field of intelligent mechanical technology, and more specifically, to a torque transmission component, a head mechanism and a robot.
  • Some robots can assist or replace humans in completing various tasks due to their human-like appearance and have broad application prospects.
  • Domestic and foreign scholars have conducted relevant research on bipedal robots and launched a series of bipedal robots.
  • bipedal robots have extremely strict requirements on the weight of the whole machine and the stacking space of parts, among which the head space structure design and neck structure design and assembly are particularly important.
  • the head of some bipedal robots adopts a non-driven fixed method, which will form a large blind spot for robot visual navigation, restrict the robot's navigation and walking, and affect the robot's own motion performance.
  • Another part of the bipedal robots uses a flange screw connection to transmit torque between the motor drive and the shaft body, which occupies a large space volume. If it is used in the head of a small robot, it will appear very bloated.
  • the purpose of the embodiments of the present application is to provide a torque transmission assembly, a head mechanism and a robot to solve the technical problem existing in the prior art of occupying a large space due to transmitting torque through the connection method of flanges and screws.
  • the technical solution adopted in the present application is: to provide a torque transmission component, including a rotary output shaft, a transmission shaft, a rotating member and an axial limiting structure, wherein the rotary output shaft can output rotary motion, a first circumferential limiting structure for enabling the transmission shaft to rotate with the rotary output shaft is provided at the junction of the rotary output shaft and the transmission shaft, a second circumferential limiting structure for enabling the rotating member to rotate with the transmission shaft is provided at the junction of one end of the rotating member and the transmission shaft, and the axial limiting structure
  • the structure is used to relatively fix the axial positions of the rotary output shaft, the transmission shaft, and the rotating member.
  • the torque transmission assembly includes a rotating output shaft, a transmission shaft, a rotating member and an axial limiting structure.
  • the rotating output shaft and the transmission shaft are rotated synchronously by the first circumferential limiting structure, the transmission shaft drives the rotating member to rotate by the second circumferential limiting structure, and the rotating output shaft, the transmission shaft and the rotating member are axially limited by the axial limiting structure.
  • the axial limiting structure and the circumferential limiting structure are set separately, which can reduce the space occupied by the limiting structure, and the size of the torque transmission assembly in the axial direction of the transmission shaft is not increased as much as possible, so that the torque can be transmitted in a small space, which is suitable for the head mechanism of the robot.
  • the transmission shaft includes a shaft body and a transition shaft which are relatively fixed in the circumferential direction, one end of the rotating member is connected to the shaft body, the shaft body and the rotary output shaft are connected through the transition shaft, and the first circumferential limiting structure is provided at the junction of the transition shaft and the rotary output shaft.
  • the junction of the transition shaft and the rotary output shaft is provided with a first circumferential limiting structure. Since part of the first circumferential limiting structure and part of the second circumferential limiting structure need to be provided on the transmission shaft, a limiting structure such as a shaft shoulder may also be provided. Therefore, the structure of the transmission shaft is relatively complex. By providing the transmission shaft with a shaft body and a transition shaft, the processing of the transmission shaft can be simplified, thereby reducing the production cost of the transmission shaft.
  • the first circumferential limiting structure includes a first limiting portion and a second limiting portion that are circumferentially fixedly connected, the first limiting portion is arranged on the rotary output shaft, the second limiting portion is arranged on the transition shaft, and one of the first limiting portion and the second limiting portion is an external spline, and the other is an internal spline.
  • one of the first limiting part and the second limiting part is an external spline, and the other is an internal spline.
  • the external spline extends into the interior of the internal spline to form a circumferential limiting fit.
  • the external spline is circumferentially arranged on the outer peripheral wall, and the internal spline is arranged on the inner peripheral wall of the hole.
  • the first circumferential limiting structure includes an external spline and an internal spline.
  • a third circumferential limiting structure is provided between the shaft body and the transition shaft.
  • the three-circumferential limiting structure includes a third limiting portion and a fourth limiting portion, wherein the third limiting portion is arranged on the transition shaft, and the fourth limiting portion is arranged on the shaft body, one of the third limiting portion and the fourth limiting portion is a transmission hole, and the other is a transmission column, wherein the transmission column extends into the transmission hole, so that the third limiting portion can push the fourth limiting portion to rotate.
  • the circumferential limiting cooperation of the third limiting part and the fourth limiting part can make the shaft body and the transition shaft circumferentially fixedly connected.
  • One of the third limiting part and the fourth limiting part is a transmission hole, and the other is a transmission column.
  • Both the transmission hole and the transmission column have at least one non-arc surface, so that the inner circumferential wall of the transmission hole can push the transmission column to rotate, or the outer circumferential wall of the transmission column can push the transmission hole to rotate.
  • the transmission hole and the transmission column have a relatively simple transmission structure, and the processing steps are also relatively simple, and the production cost is low, which can reduce the production cost of the transmission shaft.
  • the transmission hole is a polygonal hole, and the transmission column is a polygonal column.
  • the transmission hole is a quadrilateral hole, and the transmission column is a quadrilateral column.
  • the transmission hole is a pentagonal hole, and the transmission column is a pentagonal column.
  • the transmission hole is a hexagonal hole, and the transmission column is a hexagonal column.
  • the second circumferential limiting structure includes a fifth limiting portion and a sixth limiting portion, the fifth limiting portion is arranged on the transmission shaft, the sixth limiting portion is arranged on the rotating member, the fifth limiting portion is a transmission column, and the sixth limiting portion is a transmission hole, and the inner circumferential wall of the transmission hole can push the transmission column to rotate.
  • the transmission shaft and the rotating member can be circumferentially fixedly connected by the circumferential limiting cooperation of the fifth limiting part and the sixth limiting part.
  • the fifth limiting part is arranged on the transmission shaft, that is, the transmission shaft includes a transmission column.
  • the axial limiting structure includes a fixing nail, which passes through the transmission shaft along the axial direction of the transmission shaft and is connected to the end of the rotary output shaft, and the head of the fixing nail is used to axially press and fix the rotating member.
  • the transmission shaft, the rotating output shaft and the rotating part are axially fixed by the fixing pin, and only the head of the fixing pin is exposed, occupying a smaller axial space and not occupying space in the radial direction. Therefore, the axial limiting structure occupies a smaller space and is suitable for narrower torque transmission space.
  • the torque transmission assembly includes a support structure, which includes a support seat and a support bearing.
  • the support seat is provided with an axial hole for the transmission shaft to pass through, and the support bearing is arranged between the inner wall of the axial hole and the outer wall of the transmission shaft.
  • a limiting step is provided on the transmission shaft, and the inner ring of the support bearing and the rotating member are clamped between the head of the fixing pin and the limiting step.
  • the outer ring of the support bearing is fixedly connected to the inner wall of the shaft hole, and the inner ring of the support bearing is fixedly connected to the outer wall of the transmission shaft.
  • the transmission shaft can rotate stably under the support of the support bearing and the support seat, reducing radial runout.
  • the inner ring of the support bearing and the rotating part can be clamped and fixed between the head of the fixing nail and the limiting step at the same time, thereby realizing the axial limiting fixation of the transmission shaft and the rotating part.
  • the present application also provides a head mechanism, comprising the above-mentioned torque transmission assembly, and also comprising a first servo, wherein the output shaft of the first servo is the rotation output shaft, and the rotating member is a neck cantilever member.
  • the head mechanism further includes a second steering gear and a head structure, wherein the second steering gear is fixed to an end of the rotating member away from the transmission shaft, and the second steering gear is used to drive the head structure to rotate.
  • the support base is fixed on the mounting base, and the housing of the first steering gear is fixed on the mounting base.
  • the installation of the mounting base is convenient for installing the first steering gear and the transmission shaft and other structures, and is convenient for connecting the head mechanism with the chest mechanism.
  • the present application also provides a robot, comprising the above-mentioned head mechanism.
  • the head mechanism and robot provided in the present application both include a torque transmission component, which is configured to limit the axial
  • the structure and the circumferential limiting structure are set separately, which can reduce the space occupied by the limiting structure and minimize the increase in the axial size of the torque transmission component in the transmission shaft. It can transmit torque in a small space and is suitable for the head mechanism of the robot.
  • FIG1 is a three-dimensional structural diagram of a torque transmission assembly provided in an embodiment of the present application.
  • FIG2 is an exploded structural diagram of a torque transmission assembly provided in an embodiment of the present application.
  • FIG3 is a cross-sectional view of a torque transmission assembly provided in an embodiment of the present application.
  • FIG4 is an exploded structural diagram of a transmission shaft provided in an embodiment of the present application.
  • FIG. 5 is a three-dimensional structural diagram of the head structure provided in an embodiment of the present application.
  • 100-torque transmission assembly 1-rotating output shaft; 11-first limiting part; 2-transmission shaft; 21-transition shaft; 211-first transition section; 212-second transition section; 213-third limiting part; 214-second limiting part; 22-shaft body; 221-first shaft section; 222-fifth limiting part; 223-second shaft section; 224-fourth limiting part; 23-limiting step; 3-rotating member; 31-sixth limiting part; 4-axial limiting structure; 41-fixing nail; 5-support structure; 51-support seat; 511-support part; 512-shaft hole; 52-support bearing; 53-washer; 61-first circumferential limiting structure; 62-second circumferential limiting structure; 63-third circumferential limiting structure.
  • first and second are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.
  • a feature defined as “first” or “second” may explicitly or implicitly include one or more of the features.
  • the meaning of “plurality” is two or more, unless otherwise clearly and specifically defined.
  • a robot is an intelligent machine that can work semi-autonomously or fully autonomously.
  • Robots can perform tasks such as working or moving through programming and automatic control.
  • There are many types of robots mainly including industrial robots, outdoor work robots, service robots, humanoid robots, etc.
  • Industrial robots are mainly used in production lines. Because they are equipped with multi-joint structures, they can move in multiple axes to achieve the movement and processing of objects.
  • Outdoor work robots can perform outdoor detection and rescue, etc., and have strong movement capabilities, such as quadruped robots.
  • Service robots can be used in work scenes such as restaurants and hotels to pick up and deliver meals and items to users.
  • Humanoid robots also known as bipedal robots, are robots designed to imitate human appearance and behavior.
  • the torque transmission assembly 100 includes a rotary output shaft 1, a transmission shaft 2, a rotating member 3 and an axial limiting structure 4.
  • the torque transmission assembly 100 is used to transmit the rotational torque from the rotary output shaft 1 to the rotating member 3, so that the rotating member 3 can rotate under the drive of the rotary output shaft 1.
  • the rotary output shaft 1 is a power output structure that can output rotary motion, that is, the rotary output shaft 1 can rotate.
  • the specific structure of the rotary output shaft 1 can be a gear, a shaft, a square column, etc. As long as it can rotate around its central axis, it can be understood as the rotary output shaft 1 in this application.
  • the transmission shaft 2 is used to transmit and connect the rotating output shaft 1 and the rotating member 3, so as to realize the torque transmission from the rotating output shaft 1 to the rotating member 3.
  • a first circumferential limiting structure 61 is provided at the junction of the transmission shaft 2 and the rotating output shaft 1, so that the transmission shaft 2 and the rotating output shaft 1 rotate synchronously, that is, when the rotating output shaft 1 rotates a certain angle, the transmission shaft 2 also rotates the same angle, so that the rotation of the transmission shaft 2 and the rotating output shaft 1 is synchronized.
  • the first circumferential limiting structure 61 only fixes the transmission shaft 2 and the rotating output shaft 1 circumferentially to each other, without axial fixation.
  • the first circumferential limiting structure 61 can be provided at the junction of the rotating output shaft 1 and the transmission shaft 2, without providing other connecting structural parts, and the first circumferential limiting structure 61 is directly designed by utilizing the space at the junction of the transmission shaft 2 and the rotating output shaft 1, without additionally increasing the structural size of the torque transmission assembly 100, so that it can be applied to a relatively narrow space.
  • the rotating member 3 is used to output swing or rotation.
  • the rotating member 3 can be a neck cantilever member, which is equivalent to the neck part of the head mechanism.
  • the movement is equivalent to the nodding movement.
  • a second circumferential limiting structure 62 is provided at the junction of one end of the rotating member 3 and the transmission shaft 2.
  • the second circumferential limiting structure 62 enables the end of the rotating member 3 to rotate synchronously with the transmission shaft 2, so that the rotating member 3 can rotate around the central axis of the transmission shaft 2.
  • the second circumferential limiting structure 62 only fixes the transmission shaft 2 and one end of the rotating member 3 to each other circumferentially, and there is no axial fixation.
  • the second circumferential limiting structure 62 can be provided at the junction of the transmission shaft 2 and the rotating member 3, and there is no need to set other connecting structural parts.
  • the second circumferential limiting structure 62 is directly designed by using the space at the junction of the transmission shaft 2 and the rotating member 3, and the structural size of the torque transmission assembly 100 will not be increased additionally, so that it can be suitable for use in a relatively narrow space.
  • the axial limiting structure 4 is used to relatively fix the axial positions of the rotating output shaft 1, the transmission shaft 2, and the rotating member 3. That is to say, the axial limiting structure 4 is used to axially position the rotating output shaft 1, the transmission shaft 2, and the rotating member 3 to prevent the rotating output shaft 1, the transmission shaft 2, and the rotating member 3 from axial movement.
  • the first circumferential limiting structure 61 and the second circumferential limiting structure 62 for circumferential limiting and the axial limiting structure 4 for axial limiting are separately arranged, which can not only better perform circumferential positioning and axial positioning and prevent circumferential and axial movement, but also enable the circumferential limiting structure to be arranged at the junction of adjacent structural members without occupying additional space, thereby minimizing the space occupied by the torque transmission assembly 100.
  • the torque transmission assembly 100 in the above embodiment includes a rotary output shaft 1, a transmission shaft 2, a rotating member 3 and an axial limiting structure 4.
  • the rotary output shaft 1 and the transmission shaft 2 are rotated synchronously by the first circumferential limiting structure 61, the transmission shaft 2 drives the rotating member 3 to rotate by the second circumferential limiting structure 62, and the rotary output shaft 1, the transmission shaft 2 and the rotating member 3 are axially limited by the axial limiting structure 4.
  • the axial limiting structure 4 and the circumferential limiting structure are separately arranged to reduce the space occupied by the limiting structure, and the size of the torque transmission assembly 100 in the axial direction of the transmission shaft 2 is not increased as much as possible, so that the torque can be transmitted in a narrow space, and is suitable for the head mechanism of the robot.
  • the transmission shaft 2 includes a shaft body 22 and a transition shaft 21, one end of the rotating member 3 is connected to the shaft body 22, and the shaft body 22 and the rotating output shaft 1 are connected through the transition shaft 21.
  • the shaft body 22 and the transition shaft 21 are relatively fixed in the circumferential direction, and can be considered as two parts split from a complete transmission shaft 2, and the shaft body 22 and the transition shaft 21 always rotate synchronously.
  • the rotating output shaft 1, the transition shaft 21 and the shaft body 22 are connected in sequence.
  • the rotating output shaft 1, the transition shaft 21 and the shaft body 22 are connected in sequence along the axial direction.
  • the axial direction is the direction of the central axis of the rotating output shaft 1, and is also the direction of the central axis of the transmission shaft 2.
  • the junction of the transition shaft 21 and the rotary output shaft 1 is provided with a first circumferential limiting structure 61. Since part of the first circumferential limiting structure 61 and part of the second circumferential limiting structure 62 need to be provided on the transmission shaft 2, a limiting structure such as a shaft shoulder may also be provided. Therefore, the structure of the transmission shaft 2 is relatively complex. By providing the transmission shaft 2 with the shaft body 22 and the transition shaft 21, the processing of the transmission shaft 2 can be simplified, and the production cost of the transmission shaft 2 can be reduced.
  • the first circumferential limiting structure 61 is arranged at the junction of the transition shaft 21 and the rotary output shaft 1, and the first circumferential limiting structure 61 includes a first limiting portion 11 and a second limiting portion 214, and the first limiting portion 11 and the second limiting portion 214 are connected in a circumferential limiting manner, that is, after the first limiting portion 11 and the second limiting portion 214 are connected, the first limiting portion 11 and the second limiting portion 214 cannot rotate relative to each other in the circumferential direction, so that the transition shaft 21 and the rotary output shaft 1 are circumferentially fixedly connected.
  • the first limiting portion 11 is arranged on the rotary output shaft 1, and the second limiting portion 214 is arranged on the transition shaft 21.
  • One of the first limiting portion 11 and the second limiting portion 214 is an external spline, and the other is an internal spline.
  • the external spline extends into the interior of the internal spline to form a circumferential limiting fit.
  • the external spline is circumferentially arranged on the outer peripheral wall, and the internal spline is arranged on the inner peripheral wall of the hole.
  • the first circumferential limiting structure 61 includes an outer spline and an inner spline.
  • one of the first limiting portion 11 and the second limiting portion 214 can be a polygonal hole.
  • the other is a polygonal column.
  • first limiting portion 11 is an external spline and the second limiting portion 214 is an internal spline
  • one end of the rotating output shaft 1 is provided with an external spline
  • the hole of the transition shaft 21 is provided with an internal spline.
  • the end of the rotating output shaft 1 with the external spline extends into the hole of the transition shaft 21 and is connected to the internal spline.
  • first limiting portion 11 is an internal spline and the second limiting portion 214 is an external spline
  • a hole is opened at one end of the rotating output shaft 1, and an internal spline is arranged in the hole.
  • An external spline is arranged at one end of the transition shaft 21. The end of the transition shaft 21 with the external spline extends into the hole of the rotating output shaft 1 and is connected to the internal spline.
  • the transmission shaft 2 is an integrated structure
  • the first limiting portion 11 is provided on the rotary output shaft 1
  • the second limiting portion 214 is provided on the transmission shaft 2.
  • One of the first limiting portion 11 and the second limiting portion 214 is an external spline, and the other is an internal spline, and the external spline extends into the interior of the internal spline to form a circumferential limiting fit.
  • the transmission shaft 2 includes a shaft body 22 and a transition shaft 21, and one axial end of the shaft body 22 and one axial end of the transition shaft 21 are circumferentially fixedly connected, so that the shaft body 22 and the transition shaft 21 are circumferentially fixed and rotate synchronously.
  • a third circumferential limiting structure 63 is provided between the shaft body 22 and the transition shaft 21, and the third circumferential limiting structure 63 includes a third limiting portion 213 and a fourth limiting portion 224, the third limiting portion 213 is provided on the transition shaft 21, and the fourth limiting portion 224 is provided on the shaft body 22, one of the third limiting portion 213 and the fourth limiting portion 224 is a transmission hole, and the other is a transmission column, and the transmission column extends into the transmission hole, so that the third limiting portion 213 can push the fourth limiting portion 224 to rotate. Therefore, the shaft body 22 and the transition shaft 21 can be circumferentially fixedly connected through the circumferential limiting cooperation of the third limiting portion 213 and the fourth limiting portion 224.
  • the transmission hole and the transmission column each have at least one non-arc surface, so that the inner peripheral wall of the transmission hole can drive the transmission column to rotate, or the outer peripheral wall of the transmission column can drive the transmission hole to rotate.
  • the non-arc surface can be a plane.
  • the third limiting portion 213 is a transmission hole
  • the fourth limiting portion 224 is a transmission column
  • a transmission hole is opened at one axial end of the transition shaft 21
  • one end of the shaft body 22 is a transmission column
  • the transmission column is inserted into the transmission hole to realize a circumferential fixed connection between the transition shaft 21 and the shaft body 22.
  • the third limiting portion 213 is a transmission column
  • the third limiting portion 213 is a transmission hole
  • one end of the transition shaft 21 is the transmission column
  • one end of the shaft body 22 is the transmission hole
  • the transmission column is inserted into the transmission hole to achieve a circumferential fixed connection between the transition shaft 21 and the shaft body 22.
  • the transmission hole is a polygonal hole, and the transmission column is a polygonal column.
  • the transmission hole is a quadrilateral hole, and the transmission column is a quadrilateral column.
  • the transmission hole is a pentagonal hole, and the transmission column is a pentagonal column.
  • the transmission hole is a hexagonal hole, and the transmission column is a hexagonal column.
  • the transmission hole is a D-shaped hole, and its cross section is D-shaped, and the transmission column is a D-shaped column, and its cross section is D-shaped.
  • the transmission hole and the transmission column in the above embodiment have a relatively simple transmission structure, relatively simple processing steps, and low production cost, which can reduce the production cost of the transmission shaft 2.
  • the second circumferential limiting structure 62 includes a fifth limiting portion 222 and a sixth limiting portion 31, the fifth limiting portion 222 is disposed on the transmission shaft 2, the sixth limiting portion 31 is disposed on the rotating member 3, the fifth limiting portion 222 is a transmission column, the sixth limiting portion 31 is a transmission hole, and the inner circumferential wall of the transmission hole can drive the transmission column to rotate. Therefore, the transmission shaft 2 and the rotating member 3 can be circumferentially fixedly connected through the circumferential limiting cooperation of the fifth limiting portion 222 and the sixth limiting portion 31.
  • the fifth limiting portion 222 is disposed on the transmission shaft 2 , that is, the transmission shaft 2 includes a transmission column.
  • the transmission hole is a polygonal hole, and the transmission column is a polygonal column.
  • the transmission hole is a quadrilateral hole, and the transmission column is a quadrilateral column.
  • the transmission hole is a pentagonal hole, and the transmission column is a pentagonal column.
  • the transmission hole is a hexagonal hole, and the transmission column is a hexagonal column.
  • the transmission hole is a D-shaped hole, and its cross section is D-shaped, and the transmission column is a D-shaped column, and its cross section is D-shaped.
  • the transmission hole and the transmission column in the above embodiment have a relatively simple transmission structure, relatively simple processing steps, and low production cost, which can reduce the production cost of the transmission shaft 2.
  • the axial limiting structure 4 includes a fixing nail 41, which passes through the transmission shaft 2 along the axial direction of the transmission shaft 2 and is connected to the end of the rotating output shaft 1, so that the axial positions of the transmission shaft 2 and the rotating output shaft 1 can be relatively fixed.
  • the head of the fixing nail 41 can play a role in axially pressing and fixing the rotating member 3, so that the axial relative position of the rotating member 3 and the transmission shaft 2 is fixed.
  • the transmission shaft 2, the rotating output shaft 1 and the rotating member 3 are axially fixed by the fixing nail 41, and only the head of the fixing nail 41 is exposed, occupying a small axial space, and does not occupy space in the radial direction. Therefore, the axial limiting structure 4 occupies a small space and is suitable for use in a narrower torque transmission space.
  • a washer 53, a positioning sleeve and other structures may be provided between the head of the fixing nail 41 and the rotating member 3. Since the fixing nail 41 passes through the transmission shaft 2 along the axial direction of the transmission shaft 2, the interior of the transmission shaft 2 may be hollow, and a connecting hole may be provided at the end of the rotating output shaft 1 for the fixing nail 41 to extend into and connect with the connecting hole.
  • the fixing nail 41 is a screw, and at least the part of the fixing nail 41 connected to the rotating output shaft 1 is provided with an external thread, and the end of the rotating output shaft 1 is provided with an internal threaded hole, so that the fixing nail 41 passes through the transmission shaft 2 and is threadedly connected to the rotating output shaft 1.
  • the fixing nail 41 is a pin, and the fixing nail 41 is connected to the rotating output shaft 1 by interference fit, so that the head of the fixing nail 41 can squeeze the rotating output shaft 1 and the transmission shaft 2 and axially fix the two.
  • the torque transmission assembly 100 further includes a support structure 5, which is used to support the transmission shaft 2 and provide a stable rotation for the transmission shaft 2.
  • the support structure 5 not only has the function of stably supporting the transmission shaft 2, but also has the function of assisting the axial positioning of the rotating member 3.
  • the support structure 5 includes a support seat 51 and a support bearing 52.
  • the support seat 51 is provided with an axial hole 512, through which the transmission shaft 2 is arranged.
  • the support bearing 52 is arranged between the inner wall of the axial hole 512 and the outer wall of the transmission shaft 2.
  • the outer ring of the support bearing 52 is fixedly connected to the inner wall of the axial hole 512, and the inner ring of the support bearing 52 is fixedly connected to the outer wall of the transmission shaft 2.
  • the transmission shaft 2 can rotate stably under the support of the support bearing 52 and the support seat 51, and the radial runout is reduced.
  • a limiting step 23 is provided on the transmission shaft 2, and the support bearing 52 and the rotating member 3 are both sleeved on the outer circumference of the transmission shaft 2.
  • the inner ring of the support bearing 52 and the rotating member 3 can be clamped and fixed between the head of the fixing pin 41 and the limiting step 23 at the same time, thereby realizing axial limiting fixation of the transmission shaft 2 and the rotating member 3.
  • a washer 53 is arranged between the inner ring of the support bearing 52 and the rotating part 3, and a washer 53 is arranged between the head of the fixing pin 41 and the inner ring of the support bearing 52, so as to make the contact between the support bearing 52 and the rotating part 3, and the head of the fixing pin 41 and the support bearing 52 more stable.
  • the support seat 51 has two protruding support portions 511, and the two support portions 511 are each provided with an axial hole 512, through which the transmission shaft 2 is sequentially passed, and one end of the rotating member 3 is disposed between the two support portions 511.
  • the rotation of the transmission shaft 2 can be made more stable.
  • the head of the fixing nail 41, the first support portion 511, the rotating member 3, the second support portion 511 and the limiting step 23 are sequentially disposed.
  • a washer 53 is disposed between the head of the fixing nail 41 and the first support portion 511, a washer 53 is disposed between the first support portion 511 and the rotating member 3, and a washer 53 is disposed between the rotating member 3 and the second support portion 511.
  • the shaft body 22 includes a first shaft segment 221, a fifth limiting portion 222, a second shaft segment 223 and a fourth limiting portion 224 which are sequentially connected along the axial direction thereof.
  • the shaft section 221 and the second shaft section 223 are respectively used to install two support bearings 52, the fifth limiting portion 222 is used to cooperate with the sixth limiting portion 31 of the rotating member 3 in the circumferential limiting direction, and the fourth limiting portion 224 is used to cooperate with the third limiting portion 213 of the transition shaft 21 in the circumferential limiting direction.
  • the fourth limiting portion 224 is a transmission column, and the third limiting portion 213 is a transmission hole.
  • the transition shaft 21 includes a first transition section 211 and a second transition section 212 connected in sequence along the axial direction thereof, a third limiting portion 213 is provided on the first transition section 211, and a second limiting portion 214 is provided on the second transition section 212.
  • the third limiting portion 213 is used to cooperate with the fourth limiting portion 224 of the shaft body 22 in a circumferential direction
  • the second limiting portion 214 is used to cooperate with the first limiting portion 11 of the rotary output shaft 1 in a circumferential direction.
  • the third limiting portion 213 is a transmission hole
  • the fourth limiting portion 224 is an internal spline.
  • the shaft body 22 and the transition shaft 21 form the above-mentioned limiting step 23 , and no additional processing is required to form the limiting step 23 .
  • the head mechanism includes the torque transmission assembly 100 in any of the above embodiments.
  • the rotating member 3 is a neck cantilever member, which is equivalent to the neck part of the head mechanism, and the swing of the rotating member 3 is equivalent to the nodding movement.
  • the head mechanism also includes a first servo 200, and the output shaft of the first servo 200 is the rotary output shaft 1, and the rotary motion is output through the first servo 200.
  • the axial direction of the rotary output shaft 1 is a horizontal direction, thereby realizing the nodding movement.
  • the head mechanism adopts the torque transmission component 100 in any embodiment.
  • the torque transmission component 100 the axial limiting structure 4 and the circumferential limiting structure are separately arranged, which can reduce the space occupied by the limiting structure and minimize the increase in the axial dimension of the torque transmission component 100 in the transmission shaft 2. It can transmit torque in a narrow space and is suitable for the head mechanism of the robot.
  • the head mechanism further includes a mounting seat 400, a twist
  • the torque transmission assembly 100 and the first steering gear 200 are both fixed on the mounting seat 400.
  • the support seat 51 is fixed on the mounting seat 400
  • the housing of the first steering gear 200 is fixed on the mounting seat 400.
  • the setting of the mounting seat 400 is convenient for installing the first steering gear 200 and the transmission shaft 2 and other structures, and is convenient for connecting the head mechanism with the chest mechanism.
  • the head mechanism further includes a second steering gear 300 and a head structure
  • the second steering gear 300 is fixed to the end of the rotating member 3 away from the transmission shaft 2, and the second steering gear 300 is used to drive the head structure (not shown) to rotate.
  • the output shaft of the second steering gear 300 is connected to the head structure, so that the head structure can rotate and realize the left and right swing of the head structure.
  • the rotation center line of the second head structure is vertically arranged.
  • the present application also provides a robot, which includes the head mechanism in any of the above embodiments.
  • the robot may also include a chest mechanism, a leg mechanism, etc.
  • the robot provided in the present application adopts the above-mentioned head mechanism, which includes a torque transmission component 100.
  • the space occupied by the limiting structure can be reduced, and the size of the torque transmission component 100 in the axial direction of the transmission shaft 2 is not increased as much as possible. It can transmit torque in a narrow space and is suitable for the head mechanism of the robot.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Shafts, Cranks, Connecting Bars, And Related Bearings (AREA)
  • Transmission Devices (AREA)

Abstract

La présente invention concerne un ensemble de transfert de couple (100), un mécanisme de tête et un robot. L'ensemble de transfert de couple (100) comprend un arbre de sortie rotatif (1), un arbre de transmission (2), un élément rotatif (3) et une structure de limitation axiale (4). L'arbre de sortie rotatif (1) peut fournir un mouvement rotatif ; une première structure de limitation circonférentielle (61) utilisée pour permettre à l'arbre de transmission (2) de se mettre en rotation conjointement avec l'arbre de sortie rotatif (1) est disposée au niveau de l'articulation de l'arbre de sortie rotatif (1) et de l'arbre de transmission (2) ; une seconde structure de limitation circonférentielle (62) permettant à l'élément rotatif (3) de se mettre en rotation conjointement avec l'arbre de transmission (2) est disposée au niveau de l'articulation d'une extrémité de l'élément rotatif (3) et de l'arbre de transmission (2) ; et la structure de limitation axiale (4) est utilisée pour permettre aux positions axiales de l'arbre de sortie rotatif (1), de l'arbre de transmission (2) et de l'élément rotatif (3) d'être relativement fixes. Au moyen d'un agencement séparé de la structure de limitation axiale (4) et des structures de limitation circonférentielles, l'espace occupé par les structures de limitation peut être réduit, la taille de l'ensemble de transfert de couple (100) dans la direction axiale de l'arbre de transmission (2) n'est pas augmentée autant que possible, et le couple peut être transféré dans un espace étroit, de telle sorte que l'ensemble de transfert de couple est appliqué au mécanisme de tête du robot.
PCT/CN2023/141509 2023-11-29 2023-12-25 Ensemble de transfert de couple, mécanisme de tête et robot Pending WO2025112143A1 (fr)

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Application Number Priority Date Filing Date Title
CN202311626923.3A CN117506999B (zh) 2023-11-29 2023-11-29 扭矩传递组件、头部机构及机器人
CN202311626923.3 2023-11-29

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WO2025112143A1 true WO2025112143A1 (fr) 2025-06-05

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CN (1) CN117506999B (fr)
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Citations (7)

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US4566855A (en) * 1981-08-28 1986-01-28 Costabile John J Shock absorbing clutch assembly for marine propeller
US4642057A (en) * 1983-12-19 1987-02-10 Brunswick Corporation Shock absorbing propeller
WO1996005101A1 (fr) * 1994-08-16 1996-02-22 Spi (R & D) Pty. Ltd. Ensemble de montage pour helices
CN1121329A (zh) * 1993-04-14 1996-04-24 Cnc精密特种刀具有限公司 切削刀具
CN109719696A (zh) * 2019-01-30 2019-05-07 华南理工大学 一种具强平衡能力的轮式仿人机器人
DE102018001834A1 (de) * 2018-03-07 2019-09-12 Nsk Ltd. Lenkritzel
US20230175554A1 (en) * 2020-05-14 2023-06-08 Abb Schweiz Ag Joint arrangement, electric motor and industrial actuator

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6642551B2 (ja) * 2017-10-20 2020-02-05 日本精工株式会社 トルク伝達軸
FR3106292B1 (fr) * 2020-01-21 2025-09-05 Safran Aircraft Engines Outil d’aide à l’accouplement de deux arbres de turbomachine et procédé d’accouplement de ces deux arbres
CN221561400U (zh) * 2023-11-29 2024-08-20 深圳市优必选科技股份有限公司 扭矩传递组件、头部机构及机器人

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4566855A (en) * 1981-08-28 1986-01-28 Costabile John J Shock absorbing clutch assembly for marine propeller
US4642057A (en) * 1983-12-19 1987-02-10 Brunswick Corporation Shock absorbing propeller
CN1121329A (zh) * 1993-04-14 1996-04-24 Cnc精密特种刀具有限公司 切削刀具
WO1996005101A1 (fr) * 1994-08-16 1996-02-22 Spi (R & D) Pty. Ltd. Ensemble de montage pour helices
DE102018001834A1 (de) * 2018-03-07 2019-09-12 Nsk Ltd. Lenkritzel
CN109719696A (zh) * 2019-01-30 2019-05-07 华南理工大学 一种具强平衡能力的轮式仿人机器人
US20230175554A1 (en) * 2020-05-14 2023-06-08 Abb Schweiz Ag Joint arrangement, electric motor and industrial actuator

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CN117506999B (zh) 2025-01-14

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