Joint actuator fixing device and robot
By opening a fixing part and setting a snap structure in the circumference of the joint actuator housing, the problem of difficulty in designing the joint actuator fixing method and not compact structure in the prior art is solved, compact connection and uniform weight dispersion are achieved, and cost is reduced.
Patent Information
- Application Number
- CN202420291202.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-14
- Publication Date
- 2025-03-07
- Estimated Expiration
- 2034-02-14
AI Technical Summary
The fixing method between the joint actuator and the external structural parts is now problematic of design difficulty and not compact structure, and the output shaft of the reducer is insufficient, making it easy to be damaged.
A joint actuator fixing device is designed, by opening a fixing part radially in the circumference of the actuator housing, connecting and fixing the joint actuator with the external structural member is used to increase the contact area to evenly disperse the weight, and enhancing the housing strength through the snap structure.
The compact connection between the joint actuator and the external structural parts is realized, the weight is evenly dispersed, structural damage is avoided, and the mechanical structure design is simplified and the cost is reduced.
Smart Images
Figure CN222570811U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of intelligent control technology, specifically to the field of robotics technology, and in particular to a joint actuator fixing device and a robot. Background Art
[0002] Taking a humanoid robot as an example, the joint actuator drives the movement of the robot's actuator and is installed at the robot's joints, converting the motor's rotational motion into the motion of the driving connecting rod mechanism. A reducer is installed inside the joint actuator, and the output shaft of the reducer protrudes from the surface of the joint actuator housing.
[0003] The existing method of fixing the joint actuator to the external structural parts is mainly to use the output shaft of the reducer for fixing. Since the joint actuator is fixed by the output shaft of the reducer, the length of the reducer output shaft needs to be designed to be longer. Since this method requires the length of the reducer output shaft to be designed to be longer, the difficulty of the robot mechanical structure design is increased to a certain extent.
[0004] The existing method of fixing the joint actuator to the external structure is to fix it with the reducer output shaft, so that the contact surface between the joint actuator and the external structure is the outer surface of the reducer output shaft. When the joint actuator is fixed with the external structure, the weight of the external structure is concentrated on the reducer output shaft, which is easy to cause the reducer output shaft to be damaged due to insufficient strength.
[0005] Moreover, the existing method of fixing the joint actuator and the external structural member uses the reducer output shaft, and the fit between the reducer output shaft and the external structural member will protrude to a certain height, resulting in the overall structure of the robot being not compact. Utility Model Content
[0006] The present disclosure provides a joint actuator fixing device and a robot.
[0007] According to one aspect of the present disclosure, there is provided a joint actuator fixing device, comprising:
[0008] An actuator body and an actuator housing, wherein the actuator housing is arranged outside the actuator body, and a fixing portion is radially opened on the circumference of the actuator housing, through which the joint actuator can be connected and fixed to an external structural member.
[0009] Optionally, a fixing hole is provided in the fixing portion, and the actuator can be connected and fixed to the external structural member through the fixing hole.
[0010] Optionally, the actuator housing includes a housing front cover and a housing rear cover, the housing front cover and the housing rear cover are arranged opposite to each other, the housing front cover is arranged on a side close to the output shaft of the reducer, and the housing rear cover is arranged on a side away from the output shaft of the reducer, and the fixing holes are radially arranged on the circumference of the housing rear cover, and the joint actuator can be radially installed and fixed through the fixing holes.
[0011] Optionally, a distance between the fixing hole and the top of the shell rear cover is smaller than a distance between the fixing hole and the bottom of the shell rear cover.
[0012] Optionally, the fixing holes are arranged at equal intervals.
[0013] Optionally, the fixing holes are radially arranged on the circumference of the front cover of the housing, and the joint actuator can be axially installed and fixed through the fixing holes.
[0014] Optionally, the housing front cover includes a first front cover, the first front cover is arranged near the outer circumference of the output shaft of the reducer, and the fixing holes are radially arranged on the circumference of the first front cover.
[0015] Optionally, the joint actuator fixing device also includes a snap structure, one end of the snap structure is embedded in the first front cover, the other end of the snap structure is fixedly connected to the shell rear cover, and the fixing hole is provided at the position where the snap structure cooperates with the first front cover.
[0016] Optionally, a distance between a fixing hole provided at a position where the first front cover cooperates with the buckle structure and a fixing hole provided at another position of the first front cover is greater than a distance between two adjacent fixing holes provided at another position of the first front cover.
[0017] Optionally, the housing front cover includes a second front cover, the second front cover is arranged at an outer circumference away from the output shaft of the reducer, and the fixing holes are radially arranged on the circumference of the second front cover.
[0018] Optionally, the shape of the fixing hole is adapted to the shape of a matching portion of the external structural component.
[0019] Optionally, the fixing hole is set to be circular in shape.
[0020] Optionally, the shape of the fixing hole is set to be a rectangle.
[0021] Optionally, the shape of the fixing hole is set to be a polygon.
[0022] Optionally, the shape of the fixing hole is set to be a rounded rectangle.
[0023] Optionally, the fixing hole is shaped as a slit.
[0024] Optionally, the shape of the fixing hole is set to be an irregular shape.
[0025] Optionally, a fixing piece is provided on the fixing portion, and the joint actuator is connected and fixed to the external structural member through the fixing piece.
[0026] According to another aspect of the present disclosure, a robot is provided, such as the joint actuator fixing device described above.
[0027] The present disclosure provides a joint actuator fixing device and a robot. The joint actuator fixing device has a fixing portion opened in the circumferential radial direction of the actuator housing. The fixing portion can make the joint actuator and the external structural member cooperate and fix, so that the joint actuator has a relatively compact structure when connected with the external structural member. Secondly, the joint actuator is connected to the external structural member through the fixing portion opened in the circumferential radial direction of the actuator housing, which increases the contact area between the joint actuator and the external structural member, so that the weight of the external structural member can be evenly distributed to each area, so that each contact area is evenly stressed, avoiding damage to the structure of a certain area, and thus facilitating the cooperation and fixation between the two. In addition, the connection and fixation between the joint actuator and the external structural member is achieved by adopting the fixing portion. Since the fixing portion plays a limiting role to a certain extent, the fixing portion is opened in the circumferential radial direction of the actuator housing, so that the installation and fixation between the joint actuator and the external structural member is facilitated.
[0028] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.
[0030] Figure 1 is a front view of a joint actuator fixing device in an embodiment of the present disclosure;
[0031] Figure 2 is a schematic diagram of a joint actuator fixing device in an embodiment of the present disclosure;
[0032] Figure 3 is a schematic diagram of a joint actuator fixing device in another embodiment of the present disclosure;
[0033] Figure 4 is a schematic diagram of a joint actuator fixing device in yet another embodiment of the present disclosure.
[0034] Among them, 1-actuator body; 2-housing front cover; 21-first front cover; 22-second front cover; 3-reducer output shaft; 4-housing rear cover; 5-fixing hole; 6-snap-on structure. DETAILED DESCRIPTION
[0035] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
[0036] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.
[0037] It should be noted that the block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities.
[0038] The existing method for fixing joint motor actuators is mainly to fix them axially on the output side of the reducer. This method has the following two problems: on the one hand, this method causes the axial length of the joint motor actuator and the fixing structure to be too long, which in turn increases the difficulty of the robot's mechanical structure design; on the other hand, this method of fixing the joint motor actuator is relatively simple and cannot meet the diverse needs of robot motion control.
[0039] In order to solve the above technical problems, the present disclosure proposes a new joint actuator fixing device. Figure 1 , Figure 1 : is a front view of a joint actuator fixing device in an embodiment of the present disclosure. The joint actuator fixing device comprises:
[0040] The actuator body 1 and the actuator housing, the actuator housing is arranged on the outside of the actuator body 1, and a fixing portion is radially opened on the circumference of the actuator housing, through which the joint actuator can be connected and fixed to the external structural member. Among them, for the fixing portion, the fixing portion can be, for example, a threaded hole, of course, it can also be other types of structures, as long as the connection and fixation of the joint actuator and the external structural member can be achieved, and those skilled in the art can set it according to actual needs, and it is not limited here.
[0041] The present disclosure provides a joint actuator fixing device and a robot. The joint actuator fixing device has a fixing portion opened in the circumferential radial direction of the actuator housing. The fixing portion can make the joint actuator and the external structural member cooperate and fix, so that the joint actuator has a relatively compact structure when connected with the external structural member. Secondly, the joint actuator is connected to the external structural member through the fixing portion opened in the circumferential radial direction of the actuator housing, which increases the contact area between the joint actuator and the external structural member, so that the weight of the external structural member can be evenly distributed to each area, so that each contact area is evenly stressed, avoiding damage to the structure of a certain area, and thus facilitating the cooperation and fixation between the two. In addition, the connection and fixation between the joint actuator and the external structural member is achieved by adopting the fixing portion. Since the fixing portion plays a limiting role to a certain extent, the fixing portion is opened in the circumferential radial direction of the actuator housing, so that the installation and fixation between the joint actuator and the external structural member is facilitated.
[0042] In some optional embodiments, a fixing hole is provided in the fixing portion, and the joint actuator can be connected and fixed to the external structural member through the fixing hole.
[0043] In this way, by setting a fixing hole in the fixing part, the joint actuator is connected and fixed to the external structure by means of the hole. This fixing method is simple and easy to implement. Of course, the connection and fixation between the joint actuator and the external structure can also be achieved without setting a hole, or by opening a gap or other fixing methods. This is all possible and is not limited here.
[0044] In some optional embodiments, the shape of the fixing hole can be designed to be compatible with the shape of the matching portion of the external structural member, so that the joint actuator and the external structural member can be more closely matched, thereby making the joint actuator and the external structural member more closely matched.
[0045] In some optional embodiments, the shape of the fixing hole is set to a circle, rectangle, polygonal rounded rectangle, square or other irregular shapes, which are all possible. By setting the shape of the fixing hole to a regular shape, it is beneficial to achieve the matching and fixation between the joint actuator and the external structural member. The shape of the fixing hole is set to an irregular shape to facilitate adaptation to some irregularly shaped external structural members. For the shape design of the fixing hole, those skilled in the art can set it according to actual needs.
[0046] In addition, it should be noted that the method of connecting with external structural parts by setting fixing holes radially opened on the circumference of the actuator housing simplifies the structure of the joint actuator, optimizes the adapter between the reducer and the external structural parts, increases the overall accuracy of the joint actuator, and reduces costs. Since the joint actuator fixing device only needs to ensure that the strength of the actuator housing meets the design requirements, the remaining parts are auxiliary connecting parts with lower strength requirements, so the structure of the joint actuator can be made thinner and lighter, thereby reducing the weight of the joint actuator and achieving a lightweight design of the joint actuator.
[0047] In some optional embodiments, see Figure 2 , Figure 2 It is a schematic diagram of a joint actuator fixing device in an embodiment of the present disclosure, wherein the actuator housing comprises a housing front cover 2 and a housing rear cover 4, wherein the housing front cover 2 and the housing rear cover 4 are arranged opposite to each other, the housing front cover 2 is arranged on a side close to the output shaft 3 of the reducer, and the housing rear cover 4 is arranged on a side away from the output shaft 3 of the reducer, and fixing holes 5 are radially arranged on the circumference of the housing rear cover 4, through which the joint actuator can be radially installed and fixed.
[0048] Specifically, a reducer is connected inside the actuator body 1, and the output shaft of the reducer protrudes from the surface of the actuator housing. The planes where the housing front cover 2 and the housing rear cover 4 are located are perpendicular to the direction where the output shaft of the reducer is located. By arranging the fixing holes 5 circumferentially on the housing rear cover 4, it is convenient to radially install and fix the joint actuator, thereby meeting the diverse needs of robot motion control.
[0049] In some optional embodiments, the distance between the fixing hole 5 and the top of the shell rear cover 4 is smaller than the distance between the fixing hole 5 and the bottom of the shell rear cover 4 .
[0050] When the fixing holes 5 are arranged circumferentially on the housing rear cover 4, the fixing holes 5 are installed at a position close to the top of the housing rear cover 4, so that the distance between the fixing holes 5 and the top of the housing rear cover 4 is smaller than the distance between the fixing holes 5 and the bottom of the housing rear cover 4, so as to ensure the strength of the housing rear cover 4. The top of the housing rear cover 4 refers to the uppermost position of the housing rear cover 4 along the direction of the reducer output shaft 3, and the bottom of the housing rear cover 4 refers to the lowermost position of the housing rear cover 4 along the direction of the reducer output.
[0051] In some optional embodiments, the fixing holes 5 are arranged at equal intervals.
[0052] Regarding the setting of the fixing holes, specifically, when the fixing holes 5 are circumferentially arranged on the rear cover 4 of the housing, there are multiple fixing holes 5, and the multiple fixing holes 5 are evenly arranged at equal intervals. In this way, by arranging the fixing holes 5 at equal intervals, it is beneficial to ensure that each part is evenly stressed when the joint actuator is radially installed and fixed, thereby avoiding damage to a part of the actuator housing due to uneven stress. Of course, the setting of the multiple fixing holes can also be unequally spaced. For example, the fixing holes 5 can be arranged more densely at a certain position, and the fixing holes 5 can be arranged more sparsely at certain positions. This is also possible. Those skilled in the art can make arrangements according to actual needs, which is not limited here.
[0053] In some optional embodiments, see Figure 3 , Figure 3 Schematic diagram of a joint actuator fixing device in another embodiment of the present disclosure. Fixing holes 5 are arranged radially on the circumference of the housing front cover 2, and the joint actuator can be axially installed and fixed through the fixing holes 5.
[0054] Optionally, in addition to setting the fixing holes 5 in the circumferential radial direction of the shell rear cover 4, the fixing holes 5 can also be set in the circumferential radial direction of the shell front cover 2. Of course, the fixing holes 5 can also be set in both the shell front cover 2 and the shell rear cover 4 at the same time. In the embodiment of the present disclosure, by setting the fixing holes 5 in the circumferential radial direction of the shell front cover 2, the axial installation and fixation of the joint actuator can be achieved through the fixing holes 5, thereby meeting the diverse needs of robot motion control.
[0055] In some optional embodiments, the housing front cover 2 includes a first front cover 21 , which is disposed near the outer circumference of the reducer output shaft 3 , and a fixing hole 5 is radially disposed on the circumference of the first front cover 21 .
[0056] When the fixing hole 5 is set at the position of the housing front cover 2, it can be specifically set on the first front cover 21 close to the outer periphery of the reducer output shaft 3. By setting the fixing hole 5 radially on the circumference of the first front cover 21, the axial installation and fixation of the joint actuator can be achieved through the fixing hole 5.
[0057] In some optional embodiments, the joint actuator fixing device also includes a snap-on structure 6, which is used to protect cables such as motor windings. One end of the snap-on structure 6 is embedded in the first front cover 21, and the other end of the snap-on structure 6 is fixedly connected to the shell rear cover 4. A fixing hole 5 is provided at the position where the snap-on structure 6 cooperates with the first front cover 21.
[0058] In this way, since one end of the snap structure 6 is embedded in the first front cover 21, it is equivalent to increasing the shell strength of the first front cover 21 by increasing the thickness. By setting a fixing hole 5 at the position where the snap structure 6 cooperates with the first front cover 21, when the axial installation and fixation of the joint actuator is realized through the fixing hole 5, the shell strength of this part is guaranteed and damage to this part of the shell is avoided.
[0059] In some optional embodiments, the fixing holes provided on the first front cover may be arranged at unequal intervals. Specifically, the distance between the fixing holes 5 provided at the position where the first front cover 21 cooperates with the buckle structure 6 and the fixing holes 5 provided at other positions of the first front cover 21 is greater than the distance between two adjacent fixing holes 5 provided at other positions of the first front cover 21.
[0060] In this way, since the thickness of the position where the first front cover cooperates with the buckle structure is enhanced, the shell strength of this part is enhanced. Since the shell strength of this part is sufficient, the fixing holes set at this part are relatively sparse, specifically, the distance between the fixing holes set at the position where the buckle cooperates and the fixing holes set at other positions is greater than the distance between two adjacent fixing holes at other positions, so that the force can be uniform. In addition, this layout of the fixing holes can also reduce the number of openings.
[0061] In some optional embodiments, see Figure 4 , Figure 4 The front cover 2 of the housing includes a second front cover 22 , which is arranged at an outer circumference away from the output shaft 3 of the reducer, and a fixing hole 5 is arranged radially on the circumference of the second front cover 22 .
[0062] When the fixing hole 5 is set at the position of the housing front cover 2, it can be specifically set on the second front cover 22 away from the outer periphery of the reducer output shaft 3. In this way, by radially setting the fixing hole 5 on the circumference of the second front cover 22, the axial installation and fixation of the joint actuator can be achieved through the fixing hole 5.
[0063] In some optional embodiments, when the joint actuator is connected and fixed to the external structure by means of a fixing part, it is also possible not to set it as a fixing hole, but to set a fixing part on the fixing part, and connect and fix the joint actuator to the external structure by means of the fixing part. By setting a fixing part at the position of the fixing part, it is convenient to achieve the connection and fixation between the joint actuator and the external structure. Moreover, by adopting the fixing method of the fixing part, it is also convenient to install and disassemble the joint actuator and the external structure.
[0064] According to an embodiment of the present disclosure, the present disclosure further provides a robot including: the joint actuator fixing device as described above.
[0065] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.
[0066] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.
[0067] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.
[0068] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.
Claims
1. A joint actuator fixing device, characterized in that: include: An actuator body and an actuator housing, wherein the actuator housing is arranged outside the actuator body, and a fixing portion is radially opened on the circumference of the actuator housing, through which the joint actuator can be connected and fixed to an external structural member.
2. The joint actuator fixing device according to claim 1, characterized in that: A fixing hole is provided in the fixing portion, and the joint actuator can be connected and fixed to the external structural component through the fixing hole.
3. The joint actuator fixing device according to claim 2, characterized in that: The actuator housing includes a housing front cover and a housing rear cover, and the housing front cover and the housing rear cover are arranged opposite to each other. The housing front cover is arranged on a side close to the output shaft of the reducer, and the housing rear cover is arranged on a side away from the output shaft of the reducer. The fixing holes are radially arranged on the circumference of the housing rear cover, and the joint actuator can be radially installed and fixed through the fixing holes.
4. The joint actuator fixing device according to claim 3, characterized in that: The distance between the fixing hole and the top of the shell rear cover is smaller than the distance between the fixing hole and the bottom of the shell rear cover.
5. The joint actuator fixing device according to claim 3, characterized in that: The fixing holes are arranged at equal intervals.
6. The joint actuator fixing device according to claim 3, characterized in that: The fixing holes are radially arranged on the circumference of the housing front cover, and the joint actuator can be axially installed and fixed through the fixing holes.
7. The joint actuator fixing device according to claim 6, characterized in that: The housing front cover comprises a first front cover, the first front cover is arranged near the outer circumference of the output shaft of the reducer, and the fixing holes are arranged radially on the circumference of the first front cover.
8. The joint actuator fixing device according to claim 7, characterized in that: The joint actuator fixing device also includes a snap structure, one end of which is embedded in the first front cover, and the other end of which is fixedly connected to the shell rear cover, and the fixing hole is provided at the position where the snap structure cooperates with the first front cover.
9. The joint actuator fixing device according to claim 8, characterized in that: The distance between the fixing hole provided at the position where the first front cover cooperates with the buckle structure and the fixing holes provided at other positions of the first front cover is greater than the distance between two adjacent fixing holes provided at other positions of the first front cover.
10. The joint actuator fixing device according to claim 6, characterized in that: The housing front cover includes a second front cover, the second front cover is arranged on an outer circumference away from the output shaft of the reducer, and the fixing holes are arranged radially on the circumference of the second front cover.
11. The joint actuator fixing device according to claim 2, characterized in that: The shape of the fixing hole is adapted to the shape of the matching portion of the external structural component.
12. The joint actuator fixing device according to claim 2, characterized in that: The shape of the fixing hole is set to be circular.
13. The joint actuator fixing device according to claim 2, characterized in that: The shape of the fixing hole is set to be a rounded rectangle.
14. The joint actuator fixing device according to claim 1, characterized in that: The fixing portion is provided with a fixing piece, through which the joint actuator is connected and fixed to the external structural member.
15. A robot, characterized in that: include: A joint actuator fixing device as claimed in any one of claims 1 to 14.