Actuators and Robots

Abstract

The present application provides an actuator and a robot, belonging to the field of mechanical technology. It includes a frame, a power mechanism, a transmission mechanism and an actuator. The frame includes a first substrate, a connecting plate and a second substrate connected in sequence. The power mechanism includes a power driver and a power shaft, the power driver is connected to the side of the first substrate away from the second substrate, the power shaft is rotatably plugged into the first substrate and the second substrate respectively, and the power shaft is connected to the power driver. The transmission mechanism includes an active plate, a driven plate and a stiffness adjustment component, the active plate and the driven plate are opposite and both are located between the first substrate and the second substrate, the active plate is fixedly sleeved on the power shaft, the driven plate is rotatably sleeved on the power shaft, the stiffness adjustment component is connected to the active plate and the driven plate respectively, and is used to adjust the connection stiffness between the active plate and the driven plate; the actuator is connected to the driven plate in a transmission connection. The present application can achieve adjustable output stiffness of the actuator.

Description

Technical Field

[0001] The present application belongs to the field of mechanical technology, and in particular relates to an actuator and a robot. Background Art

[0002] An actuator is a power device that is widely used in various robots.

[0003] In the related technology, the actuator mainly includes a frame, a power mechanism and an actuator. The frame is installed in the robot to provide an installation basis for the power mechanism and the actuator. The power mechanism is fixedly connected to the frame, and the actuator is transmission-connected to the power mechanism, so that the power mechanism can provide power to the actuator, thereby driving the robot to perform actions.

[0004] However, the transmission connection between the power mechanism and the actuator is usually a rigid connection, and the stiffness cannot be adjusted, resulting in the robot's movement being not smooth enough. Summary of the invention

[0005] The embodiment of the present application provides an actuator and a robot, which can achieve adjustable output stiffness of the actuator. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides an actuator, including a frame, a power mechanism, a transmission mechanism and an actuator;

[0007] The frame comprises a first base plate, a connecting plate and a second base plate which are connected in sequence, and the first base plate and the second base plate are opposite to each other;

[0008] The power mechanism comprises a power driving member and a power shaft, wherein the power driving member is connected to a side of the first substrate away from the second substrate, the power shaft is rotatably plugged into the first substrate and the second substrate respectively, and the power shaft is drivingly connected to the power driving member;

[0009] The transmission mechanism comprises an active plate, a driven plate and a stiffness adjustment component, wherein the active plate and the driven plate are opposite to each other and are both located between the first base plate and the second base plate, the active plate is fixedly sleeved on the power shaft, the driven plate is rotatably sleeved on the power shaft, and the stiffness adjustment component is respectively connected to the active plate and the driven plate, and is used to adjust the connection stiffness between the active plate and the driven plate;

[0010] The actuator is transmission-connected to the driven plate.

[0011] In a second aspect, an embodiment of the present application provides a robot, the robot comprising an actuator and a mechanical arm;

[0012] The actuator is the actuator described above;

[0013] The mechanical arm is transmission-connected to the actuator of the actuator.

[0014] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0015] When the actuator provided in the embodiment of the present application outputs power, the power drive member works to rotate the power shaft. During the rotation of the power shaft, since the active plate is fixedly sleeved on the power shaft, the active plate will rotate together with it. At the same time, under the action of the stiffness adjustment component, the active plate will drive the driven plate to rotate together, and the rotating driven plate will drive the actuator, thereby realizing the power output of the actuator.

[0016] Furthermore, since the driven plate is rotatably mounted on the power shaft, that is, there is no power transmission between the power shaft and the driven plate, the power transmission between the active plate and the driven plate relies on the stiffness adjustment component, and the stiffness adjustment component can effectively and directly adjust the connection stiffness between the active plate and the driven plate. Since the connection stiffness between the active plate and the driven plate is inversely related to the power output compliance of the actuator, the power output compliance of the actuator can be adjusted to an appropriate degree, so that the robot using the actuator can make smooth and accurate movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a schematic diagram of the structure of an actuator provided in an embodiment of the present application;

[0019] Figure 2 is a structural schematic diagram of a stiffness adjustment assembly provided in an embodiment of the present application;

[0020] Figure 3 is a schematic diagram of winding an adjustment rope provided in an embodiment of the present application;

[0021] Figure 4 is a schematic diagram of winding an adjustment rope provided in an embodiment of the present application;

[0022] Figure 5 is a schematic diagram of rope winding between a pair of active pulleys and a driven pulley provided in an embodiment of the present application;

[0023] Figure 6 is an assembly diagram of a transmission mechanism provided in an embodiment of the present application;

[0024] Figure 7 is a transmission schematic diagram of the actuator provided in the embodiment of the present application;

[0025] Figure 8 is a partial exploded view of the actuator provided in the embodiment of the present application;

[0026] Fig. 9 is a side view of an actuator provided by an embodiment of the present application;

[0027] Fig.10 is a schematic diagram of rope winding between a pair of active pulleys and a driven pulley provided in an embodiment of the present application;

[0028] Fig.11 It is a schematic diagram of the structure of the robot provided in the embodiment of the present application.

[0029] The symbols in the figure mean the following:

[0030] 1. Frame; 11. First substrate; 12. Connecting plate; 13. Second substrate;

[0031] 2. Power mechanism; 21. Power driving member; 22. Power shaft; 23. Worm gear; 24. Worm;

[0032] 3. Transmission mechanism; 31. Active plate; 311. First plate body; 3111. Limiting slide groove; 312. Second plate body; 32. Driven plate; 321. Flange; 322. First rope drum; 33. Stiffness adjustment assembly; 331. Adjustment drive member; 3311. Output shaft; 332. Adjustment rope; 3321. Steel wire rope; 3322. Elastic member; 333. Active pulley; 3331. Active rope groove; 334. Driven pulley; 3341. First driven rope groove; 3342. Second driven rope groove; 335. Rope ring; a1. Active rope feeding side; a2. Active rope output side; b1. Driven rope feeding side; b2. Driven rope output side;

[0033] 4. Actuator; 41. Second rope drum; 42. Swing arm; 43. Actuator rope; 44. Sleeve; 45. Locking spring; 46. Top cover; 47. Top cylinder; 48. Elastic sleeve; 49. Actuator frame;

[0034] 51. First potentiometer; 52. Second potentiometer; 53. Tension sensor;

[0035] 100. Actuator; 200. Robotic arm. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0037] An actuator is a power device that is widely used in various robots.

[0038] In the related technology, the actuator mainly includes a frame, a power mechanism and an actuator. The frame is installed in the robot to provide an installation basis for the power mechanism and the actuator. The power mechanism is fixedly connected to the frame, and the actuator is transmission-connected to the power mechanism, so that the power mechanism can provide power to the actuator, thereby driving the robot to perform actions.

[0039] The transmission method between the power mechanism and the actuator is usually a rigid connection or a flexible connection. Rigid connection can effectively improve the accuracy of the robot's movements, but it will also cause the robot's movements to be less smooth. Flexible connection can effectively improve the smoothness of the robot's movements, but it will also cause the robot's movements to be less accurate. Therefore, the smoothness and accuracy of the robot's movements are often not achieved at the same time.

[0040] In order to solve the above technical problems, an embodiment of the present application provides an actuator, Figure 1 is a schematic diagram of the structure of the actuator, as shown in Figure 1 As shown, it includes a frame 1, a power mechanism 2, a transmission mechanism 3 and an actuator 4.

[0041] The frame 1 includes a first base plate 11, a connecting plate 12 and a second base plate 13 which are connected in sequence, and the first base plate 11 and the second base plate 13 are opposite to each other. The power mechanism 2 includes a power driving member 21 and a power shaft 22. The power driving member 21 is connected to the side of the first base plate 11 away from the second base plate 13. The power shaft 22 is rotatably plugged into the first base plate 11 and the second base plate 13, respectively, and the power shaft 22 is connected to the power driving member 21 in a transmission connection. The transmission mechanism 3 includes an active plate 31, a driven plate 32 and a stiffness adjustment component 33. The active plate 31 and the driven plate 32 are opposite to each other and are both located between the first base plate 11 and the second base plate 13. The active plate 31 is fixedly sleeved on the power shaft 22, and the driven plate 32 is rotatably sleeved on the power shaft 22. The stiffness adjustment component 33 is connected to the active plate 31 and the driven plate 32 respectively, and is used to adjust the connection stiffness between the active plate 31 and the driven plate 32. The actuator 4 is connected to the driven plate 32 in a transmission connection.

[0042] The power transmission path of the actuator is first introduced below to help understand the working process of the actuator.

[0043] When the actuator is working, the initial power output component is the power driving component 21 of the power mechanism 2, and the power driving component 21 is a DC motor. The output power passes through the power shaft 22, the active plate 31, the stiffness adjustment component 33 and the driven plate 32 in sequence, and is finally transmitted to the actuator 4 through the driven plate 32 to realize the complete transmission of power.

[0044] When the actuator provided in the embodiment of the present application outputs power, the power driving member 21 works to rotate the power shaft 22. During the rotation of the power shaft 22, since the active plate 31 is fixedly sleeved on the power shaft 22, the active plate 31 will rotate together with it. At the same time, under the action of the stiffness adjustment component 33, the active plate 31 will drive the driven plate 32 to rotate together, and the rotating driven plate 32 will drive the actuator 4, thereby realizing the power output of the actuator.

[0045] Furthermore, since the driven plate 32 is rotatably mounted on the power shaft 22, that is, there is no power transmission between the power shaft 22 and the driven plate 32, the power transmission between the active plate 31 and the driven plate 32 depends on the stiffness adjustment component 33, and the stiffness adjustment component 33 can effectively and directly adjust the connection stiffness between the active plate 31 and the driven plate 32. Since the connection stiffness between the active plate 31 and the driven plate 32 is inversely related to the power output compliance of the actuator, the power output compliance of the actuator can be adjusted to a suitable degree, so that the robot using the actuator can make smooth and accurate movements.

[0046] As can be seen from the foregoing, the stiffness adjustment component 33 plays a key role in achieving adjustable output stiffness of the actuator. The stiffness adjustment component 33 is introduced below.

[0047] Figure 2 FIG. 3 is a schematic diagram of the structure of the stiffness adjustment component 33. In order to clearly illustrate the assembly relationship of the stiffness adjustment component 33, Figure 2 Some other components that have an assembly relationship with the stiffness adjustment component 33 are retained, and some adjustment ropes 332 are omitted.

[0048] See also Figure 2 In this embodiment, the stiffness adjustment component 33 includes an adjustment drive 331, an adjustment rope 332, n active pulleys 333 and n driven pulleys 334, n≥2 and is an integer, and the n active pulleys 333 and n driven pulleys 334 are arranged along the circumference of the power shaft 22.

[0049] The adjusting driving member 331 is a DC motor, and the adjusting driving member 331 is connected to the active plate 31. The output shaft 3311 of the adjusting driving member 331 is located on the side of the active plate 31 close to the driven plate 32, and is parallel to the power shaft 22. The active pulley 333 is rotatably connected to the side of the active plate 31 close to the driven plate 32, and the rotation axis of the active pulley 333 is parallel to the power shaft 22. The n driven pulleys 334 are located on the inner side of the n active pulleys 333, and the driven pulley 334 is rotatably connected to the side of the driven plate 32 close to the active plate 31, and the rotation axis of the driven pulley 334 is parallel to the power shaft 22.

[0050] Figure 3To adjust the winding diagram of the rope, Figure 3 for Figure 2 A direction view, in order to better show the arrangement of the active pulley 333 and the driven pulley 334, Figure 3 The driven plate 32 is omitted in the figure to prevent the driven plate 32 from blocking the driven pulley 334.

[0051] See also Figure 3 The first end of the adjustment rope 332 is connected to the output shaft 3311 of the adjustment driving member 331, and the second end of the adjustment rope 332 is sequentially wound around the i-th driven pulley 334 and the i-th active pulley 333, 2≤i≤n, and is an integer, to form a rope ring 335 mounted on the driven pulley 334 and the active pulley 333, and the second end of the adjustment rope 332 is elastically connected to the side of the active plate 31 close to the driven plate 32.

[0052] In the above implementation, by adjusting the winding of the rope 332 on the active pulley 333 and the driven pulley 334, the corresponding active pulley 333 and the driven pulley 334 can be bound in the same rope ring 335, thus becoming a whole. In this way, when the active plate 31 rotates with the power shaft 22 as the axis, the active pulley 333 also rotates with the power shaft 22 as the axis. Under the influence of the rope ring 335, the active pulley 333 will drive the driven pulley 334 to rotate with the power shaft 22 as the axis, so that the driven plate 32 rotates with the power shaft 22 as the axis, thereby realizing the power transmission from the active plate 31 to the driven plate 32.

[0053] Furthermore, since the first end of the adjustment rope 332 is connected to the adjustment drive 331, and the second end of the adjustment rope 332 is elastically connected to the active plate 31, the preload force of the adjustment rope 332 can be adjusted by rewinding or releasing the adjustment rope 332 by the adjustment drive 331. It is easy to understand that the preload force of the adjustment rope 332 can be increased by rewinding the adjustment rope 332 by the adjustment drive 331, and conversely, the preload force of the adjustment rope 332 can be reduced by releasing the adjustment rope 332. The greater the preload force of the adjustment rope 332, the greater the connection stiffness between the active plate 31 and the driven plate 32, and the smaller the preload force of the adjustment rope 332, the smaller the connection stiffness between the active plate 31 and the driven plate 32. It is easy to understand that, since the adjustment drive member 331 and the active pulley 333 are both located on the active plate 31 , the relative position between the adjustment drive member 331 and the active pulley 333 will not change after the active plate 31 rotates, thereby not affecting the preload force of the adjustment rope 332 .

[0054] Continue to see Figure 3 , the winding method of the adjustment rope 332 on the active pulley 333 and the driven pulley 334 is introduced.

[0055] Exemplarily, the two sides of the active pulley 333 in the radial direction of the power shaft 22 are respectively the active rope feeding side a1 and the active rope output side a2. The two sides of the driven pulley 334 in the radial direction of the power shaft 22 are respectively the driven rope feeding side b1 and the driven rope output side b2, the driven rope feeding side b1 is located on the same side as the active rope feeding side a1, and the driven rope output side b2 is located on the same side as the active rope output side a2.

[0056] It should be noted that the active rope-input side a1 and the active rope-output side a2 refer to the positions of the active pulley 333 on both sides of the radial direction of the power shaft 22, and the driven rope-input side b1 and the driven rope-output side b2 refer to the positions of the driven pulley 334 on both sides of the radial direction of the power shaft 22. Figure 3 The positions indicated by the lead wires corresponding to the active rope-input side a1, the active rope-output side a2, the driven rope-input side b1 and the driven rope-output side b2 all indicate corresponding positions rather than specific components.

[0057] The second end of the adjustment rope 332 is wound around the ith driven rope inlet side b1, the ith active rope inlet side a1, the ith active rope outlet side a2 and the ith driven rope outlet side b2 in sequence. With such a design, a rope loop 335 can be formed on the active pulley 333 and the driven pulley 334 in a relatively reasonable and simple manner, thereby forming a stable power transmission.

[0058] In addition, by changing the number of rope rings 335, the range of the stiffness that can be adjusted by the stiffness adjustment component 33 can be effectively adjusted. Figure 3 As shown in FIG. 1 , if the rope loops 335 are wound around all the corresponding active pulleys 333 and driven pulleys 334, the maximum stiffness and the minimum stiffness that can be adjusted by the stiffness adjustment assembly 33 are both at the highest level. As the number of rope loops 335 decreases, that is, only the rope loops 335 are wound around some of the corresponding active pulleys 333 and driven pulleys 334 (such as FIG. 1 ), the rope loops 335 are wound around the active pulleys 333 and driven pulleys 334. Figure 4 As shown in FIG. 3 , the maximum stiffness and the minimum stiffness that can be adjusted by the stiffness adjustment component 33 will both be reduced. In other words, by changing the number of rope rings 335, the stiffness adjustment component 33 can be effectively reconstructed, so that the actuator can have a higher working bandwidth and a wider range of application scenarios.

[0059] It should be noted that although Figure 3 and Figure 4 There are 6 pairs of active pulleys 333 and driven pulleys 334 shown in the figure (one active pulley 333 and one driven pulley 334 constitute a pair), but in other embodiments, the number of active pulleys 333 and driven pulleys 334 can also be adjusted according to actual needs, such as 4, 5, etc., and the present application does not impose any limitation on this.

[0060] As can be seen from the foregoing, when the adjusting rope 332 is wound on the corresponding active pulley 333 and the driven pulley 334, the adjusting rope 332 enters and exits the driven pulley 334, so the adjusting rope 332 needs to be wound twice on the driven pulley 334. In order to avoid interference of the adjusting rope 332 on the driven pulley 334, in this embodiment, Figure 5 To adjust the winding diagram of the rope 332, Figure 5 The outer peripheral wall of the active pulley 333 has an active rope groove 3331 extending in the circumferential direction, and the adjusting rope 332 wound on the active pulley 333 is located in the active rope groove 3331. The outer peripheral wall of the driven pulley 334 has a first driven rope groove 3341 and a second driven rope groove 3342 extending in the circumferential direction, and the first driven rope groove 3341 and the second driven rope groove 3342 are axially spaced apart, and the adjusting rope 332 wound on the driven pulley 334 from the driven rope inlet side b1 is located in the first driven rope groove 3341, and the adjusting rope 332 wound on the driven pulley 334 from the driven rope outlet side b2 is located in the second driven rope groove 3342.

[0061] In the above implementation, the adjustment rope 332 located on the driven rope inlet side b1 is wound in the first driven rope groove 3341, and the adjustment rope 332 located on the driven rope outlet side b2 is wound in the second driven rope groove 3342. In this way, the first driven rope groove 3341 and the second driven rope groove 3342 can be used to isolate the adjustment rope 332 located on the driven rope inlet side b1 and the adjustment rope 332 located on the driven rope outlet side b2 to avoid mutual interference.

[0062] See again Figure 4 In this embodiment, the adjustment rope 332 includes a steel wire rope 3321 and an elastic member 3322. The first end of the steel wire rope 3321 is connected to the output shaft 3311 of the adjustment driving member 331, the second end of the steel wire rope 3321 is connected to the first end of the elastic member 3322, and the middle part of the steel wire rope 3321 is wound around the active pulley 333 and the driven pulley 334. The second end of the elastic member 3322 is connected to the active plate 31.

[0063] The steel wire rope 3321 is used to realize the winding between the active pulley 333 and the driven pulley 334, thereby forming a rope ring 335. The elastic member 3322 is connected between the steel wire rope 3321 and the active plate 31, thereby realizing the elastic connection between the adjustment rope 332 and the active plate 31.

[0064] Exemplarily, the elastic member 3322 is a variable stiffness coil spring, the first end of the coil spring is connected to the second end of the wire rope 3321, and the second end of the coil spring is connected to the active plate 31. With such a design, when the elastic member 3322 is stretched, the stiffness of the elastic member 3322 can be changed accordingly, so that it is more conducive to adjusting the connection stiffness between the active plate 31 and the driven plate 32. In addition, when the elastic member 3322 is stretched by the adjustment drive member 331, the elastic member 3322 generates elastic deformation, so that the elastic member 3322 can store the power output by the adjustment drive member 331 in the form of elastic potential energy, so as to release it when needed, thereby reducing the working energy consumption of the adjustment drive member 331.

[0065] Figure 6 This is a schematic diagram of the assembly of the transmission mechanism 3, in order to show the assembly relationship between the various components. Figure 6 Some structures were removed.

[0066] See also Figure 6 In this embodiment, the active plate 31 includes a first plate body 311 and a second plate body 312. The first plate body 311 is a circular structure, and the first plate body 311 is coaxially fixedly sleeved on the power shaft 22, and n active pulleys 333 are located on the first plate body 311. The second plate body 312 is located in the same plane as the first plate body 311, and the adjustment drive member 331 is located on the second plate body 312.

[0067] The first plate 311 is used to carry the active pulley 333, and the second plate 312 is used to carry the adjusting driving member 331 and the elastic member 3322. In this way, the active pulley 333 and the adjusting driving member 331 can be spaced apart from each other, and the adjusting driving member 331 and the elastic member 3322 will not affect the winding of the adjusting rope 332 on the active pulley 333, thereby ensuring the reliability of the transmission mechanism 3.

[0068] Exemplarily, the first plate body 311 and the second plate body 312 are an integrated structural component, thereby improving the structural integrity of the active plate 31 .

[0069] Optionally, the first plate body 311 and the power shaft 22 are connected via a spline to ensure reliable power transmission between the power shaft 22 and the first plate body 311 , so that the active plate 31 can achieve synchronous rotation with the power shaft 22 .

[0070] When adjusting the connection stiffness between the active plate 31 and the driven plate 32, the adjustment rope 332 will be extended or shortened, and the active plate 31 is fixedly connected to the power shaft 22, and the driven plate 32 is rotatably connected to the power shaft 22. Therefore, under the influence of the adjustment rope 332, the driven plate 32 will rotate relative to the active plate 31. In order to ensure the stability of the driven plate 32 during rotation, optionally, continue to refer to Figure 6 The first plate body 311 has a limiting slide groove 3111 on one side close to the driven plate 32. The limiting slide groove 3111 is annular and coaxial with the power shaft 22. One end of the n driven pulleys 334 close to the active plate 31 is slidably inserted in the limiting slide groove 3111.

[0071] In the above implementation, one end of the driven pulley 334 is connected to the driven plate 32, and the other end can be slidably inserted into the limiting groove 3111, so that the stability of the driven plate 32 when rotating relative to the active plate 31 can be improved through the cooperation between the driven pulley 334 and the limiting groove 3111.

[0072] Continue to see Figure 6 In this embodiment, the driven plate 32 includes a flange 321 and a first rope drum 322. The side of the flange 321 close to the active plate 31 is connected to the n driven pulleys 334, and the side of the flange 321 away from the active plate 31 is connected to the first rope drum 322. The first rope drum 322 is coaxial with the power shaft 22.

[0073] In the above implementation, the flange 321 is used to carry the driven pulley 334, and the first rope drum 322 is used to cooperate with the actuator 4 to transmit power to the actuator 4, so that the actuator 4 can be actuated. Based on the same principle as the active plate 31, the driven pulley 334 and the actuator 4 can be spaced apart from each other, and the actuator 4 will not affect the winding of the adjustment rope 332 on the driven pulley 334, thereby ensuring the reliability of the transmission mechanism 3.

[0074] Exemplarily, the flange 321 and the first rope drum 322 are an integrated structure, thereby improving the structural integrity of the driven plate 32 .

[0075] Optionally, the flange 321 and the power shaft 22, as well as the first rope drum 322 and the power shaft 22 are connected via bearings, that is, the inner peripheral wall of the flange 321 contacts the outer ring of the bearing, the outer peripheral wall of the power shaft 22 contacts the inner ring of the bearing, the inner peripheral wall of the first rope drum 322 contacts the outer ring of the bearing, and the outer peripheral wall of the power shaft 22 contacts the inner ring of the bearing.

[0076] Exemplarily, the bearing is a deep groove ball bearing. Of course, the flange 321 and the first rope drum 322 can share a bearing, or can correspond to two bearings respectively, and the two bearings are separated by a sleeve, and the present application does not limit this.

[0077] Figure 7 is a transmission diagram of the actuator 4, see Figure 7The actuator 4 includes a second rope drum 41, a swing arm 42 and an execution rope 43. The second rope drum 41 is located outside the frame 1, and the rotation axis of the second rope drum 41 is parallel to the power shaft 22, one end of the swing arm 42 is connected to the second rope drum 41, and the execution rope 43 is simultaneously sleeved on the first rope drum 322 and the second rope drum 41.

[0078] In the above implementation, by executing the rope 43, the power can be transmitted from the first rope drum 322 to the second rope drum 41, that is, the first rope drum 322 and the second rope drum 41 can rotate synchronously. During the rotation of the second rope drum 41, the swing arm 42 rotates with the rotation axis of the second rope drum 41 as the axis, thereby driving the robot to perform actions. For example, if the swing arm 42 is connected to the robot's mechanical arm, the swing arm 42 can drive the mechanical arm, so that the robot performs corresponding actions.

[0079] Figure 8 It is a partial exploded view of the actuator 4 . Optionally, the actuator 4 further includes a sleeve 44 , a locking spring 45 , a top cover 46 , a top cylinder 47 and an elastic sleeve 48 . The first end of the sleeve 44 is inserted into the connecting plate 12 and threadedly matched. The locking spring 45 is located in the threaded sleeve 44, and the first end of the locking spring 45 is abutted against the inner flange of the threaded sleeve 44. The first side surface of the top cover 46 abuts against the second end of the locking spring 45 to compress the locking spring 45 between the top cover 46 and the inner flange of the threaded sleeve 44. The top cylinder 47 is inserted into the second end of the sleeve 44 and threadedly matched. The execution rope 43 is inserted into the sleeve 44, the locking spring 45, the top cover 46 and the top cylinder 47 in sequence from the first rope winding drum 322 to the second rope winding drum 41. The elastic sleeve 48 is sleeved on the outside of the execution rope 43, and the inner wall of the elastic sleeve 48 contacts the outer wall of the execution rope 43. The first end of the elastic sleeve 48 abuts against the second side surface of the top cover 46, and the second end of the elastic sleeve 48 abuts against the execution frame 49 supporting the second rope winding drum 41.

[0080] In the above implementation, since the locking spring 45 is compressed between the top cover 46 and the inner flange of the threaded sleeve 44, when the top sleeve 47 is screwed to move away from the connecting plate 12, the locking spring 45 will use its own elastic force to push the top cover 46 to move away from the connecting plate 12. In this way, the top cover 46 will push the first end of the elastic sleeve 48, so that the elastic sleeve 48 is compressed, thereby generating deformation, so as to increase the friction between the elastic sleeve 48 and the execution rope 43, thereby playing the role of locking the execution rope 43, and preventing the execution rope 43 from falling off the first rope drum 322 and the second rope drum 41.

[0081] The brake provided in this embodiment can form a Hill muscle model. The Hill muscle model simplifies the human muscle into a spring system, including an active contraction unit CE, a passive elastic unit PE and a tendon. The active contraction unit CE is stimulated by a nerve signal to produce a corresponding contraction, and the force generated by the contraction of the active contraction unit CE acts on the tendon connected to the joint bone to generate a driving force for the joint.

[0082] In this embodiment, the Hill muscle model is simulated by using a combination of an execution rope 43, a locking spring 45 and an elastic member 3322 to simulate the state of the muscle during joint movement, thereby achieving the purpose of remote transmission. Among them, the active contraction unit CE is the execution rope 43, the parallel elastic element of the passive elastic unit PE is the locking spring 45, and the series elastic element of the passive elastic unit PE is the elastic member 3322.

[0083] Fig. 9 is a side view of the actuator, combined with Fig. 9 In this embodiment, the power mechanism 2 further includes a worm wheel 23 and a worm 24. The worm wheel 23 is fixedly and coaxially sleeved on the power shaft 22, and the worm 24 is coaxially connected to the output shaft of the power driving member 21, and the worm 24 is meshed with the worm wheel 23. With such a design, the transmission between the worm wheel 23 and the worm 24 is utilized to achieve the effect of reducing speed and increasing torque.

[0084] Optionally, the power shaft 22 and the first substrate 11, as well as the power shaft 22 and the second substrate 13 are connected via bearings. That is, the inner peripheral wall of the first substrate 11 contacts the outer ring of the bearing, the outer peripheral wall of the power shaft 22 contacts the inner ring of the bearing, the inner peripheral wall of the second substrate 13 contacts the outer ring of the bearing, and the outer peripheral wall of the power shaft 22 contacts the inner ring of the bearing. In addition, in order to prevent the bearing from falling off, the connection between the first substrate 11 and the power shaft 22, as well as the connection between the second substrate 13 and the power shaft 22 are both provided with end covers, the bearing located in the first substrate 11 is clamped between one end cover and the active plate 31, and the bearing located in the second substrate 13 is clamped between the other end cover and the driven plate 32.

[0085] Exemplarily, the bearing is a deep groove ball bearing.

[0086] Continue to see Fig. 9 In order to detect the torque between the active plate 31 and the driven plate 32 , in this embodiment, the actuator further includes a first potentiometer 51 , a second potentiometer 52 and a tension sensor 53 .

[0087] The housing of the first potentiometer 51 is connected to the side of the driven plate 32 close to the second substrate 13, and the input shaft of the first potentiometer 51 is coaxially connected to the power shaft 22. The housing of the second potentiometer 52 is connected to the side of the first substrate 11 away from the active plate 31, and the input shaft of the second potentiometer 52 is coaxially connected to the power shaft 22. The tension sensor 53 is connected between the second end of the adjustment rope 332 and the active plate 31.

[0088] In the above implementation, the relative angle between the active plate 31 and the driven plate 32 can be obtained through the first potentiometer 51 , the rotation angle of the power shaft 22 can be obtained through the second potentiometer 52 , and the preload force of the elastic member 3322 can be obtained through the tension sensor 53 .

[0089] Fig.10 The schematic diagram of the rope winding between a pair of active pulleys 333 and a driven pulley 334 is shown below. Fig.10 , a method for calculating the torque between the active plate 31 and the driven plate 32 is introduced.

[0090] The geometric relationship between a pair of active pulleys 333 and driven pulleys 334 can be obtained as follows:

[0091] T=2NF t a sinγ; (1)

[0092] Wherein, T is the torque between the active plate 31 and the driven plate 32, N is the number of paired active pulleys 333 and driven pulleys 334, and F t is the tension of the wire rope 3321, a is the shortest distance between the rotation axis of the active pulley 333 and the rotation axis of the active plate 31, and γ is the angle between the line between the rotation axis of the active pulley 333 and the rotation axis of the active plate 31, and the line between the rotation axis of the active pulley 333 and the rotation axis of the driven pulley 334.

[0093] Without considering the friction force, the tension on each section of the wire rope 3321 is equal. Therefore, the tension of the wire rope 3321 is calculated by the elongation and pre-tightening force of the elastic member 3322, and the following formula is obtained:

[0094] F t =2KN(b-(ac))+F0; (2)

[0095] Among them, K is the equivalent stiffness of the wire rope 3321 and the elastic member 3322, b is the shortest distance between the rotation axis of the active pulley 333 and the rotation axis of the driven pulley 334, c is the shortest distance between the rotation axis of the driven pulley 334 and the rotation axis of the driven plate 32, and F0 is the preload force of the elastic member 3322.

[0096] Combining formula (1) and (2), we can get:

[0097] T=4KN 2 a sinγ(b-(ac))+2Na sinγF0; (3)

[0098] According to the law of sine and the law of cosine, we can get the relationship between a, b, and c:

[0099] b 2 =a 2 +c 2 -2ac cosθ; (4)

[0100]

[0101] Here, θ is the angle between the line between the rotation axis of the active pulley 333 and the rotation axis of the active plate 31 and the line between the rotation axis of the driven pulley 334 and the rotation axis of the driven plate 32 .

[0102] Combining formulas (3), (4) and (5), we can obtain:

[0103]

[0104] According to the definition of angular stiffness, the output stiffness of the actuator is defined by the following formula:

[0105]

[0106] It can be seen from formula (7) that when a, b, c and the maximum preload force of the elastic member 3322 are determined, the output stiffness of the actuator is only affected by θ. Therefore, by adjusting the drive member 331 to reel in or release the wire rope 3321 to change θ, the output stiffness of the actuator can be adjusted.

[0107] Fig.11 For the schematic diagram of the robot structure, see Fig.11 The present application embodiment provides a robot, which includes an actuator 100 and a mechanical arm 200. The actuator 100 is Figure 1-10 In the actuator shown, the robot arm 200 is transmission-connected to the actuator 4 of the actuator 100 .

[0108] The actuator 100 can be used to drive the robot arm 200, so that the robot can perform corresponding actions. Figure 1-10 The actuator 100 is shown, so the robot has all the beneficial effects of the actuator 100, which will not be described in detail here.

[0109] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An actuator, characterized in that: It comprises a frame (1), a power mechanism (2), a transmission mechanism (3) and an actuator (4); The frame (1) comprises a first base plate (11), a connecting plate (12) and a second base plate (13) which are connected in sequence, and the first base plate (11) and the second base plate (13) are opposite to each other; The power mechanism (2) comprises a power driving member (21) and a power shaft (22); the power driving member (21) is connected to a side of the first substrate (11) away from the second substrate (13); the power shaft (22) is rotatably plugged into the first substrate (11) and the second substrate (13), respectively; and the power shaft (22) is drivingly connected to the power driving member (21); The transmission mechanism (3) comprises an active plate (31), a driven plate (32) and a stiffness adjustment component (33); the active plate (31) and the driven plate (32) are opposite to each other and are both located between the first base plate (11) and the second base plate (13); the active plate (31) is fixedly sleeved on the power shaft (22); the driven plate (32) is rotatably sleeved on the power shaft (22); and the stiffness adjustment component (33) is respectively connected to the active plate (31) and the driven plate (32) and is used to adjust the connection stiffness between the active plate (31) and the driven plate (32); The actuator (4) is transmission-connected to the driven plate (32); The stiffness adjustment component (33) comprises a driving pulley (333) and a driven pulley (334); The active pulley (333) is rotatably connected to a side of the active plate (31) close to the driven plate (32), and a rotation axis of the active pulley (333) is parallel to the power shaft (22); The driven pulley (334) is rotatably connected to a side of the driven plate (32) close to the active plate (31), and a rotation axis of the driven pulley (334) is parallel to the power shaft (22); The active plate (31) comprises a first plate body (311), the first plate body (311) is a circular structural member, the first plate body (311) is coaxially fixedly sleeved on the power shaft (22), and the active pulley (333) is located on the first plate body (311); A side of the first plate body (311) close to the driven plate (32) is provided with a limiting sliding groove (3111); The limiting slide groove (3111) is annular and coaxial with the power shaft (22), and one end of the driven pulley (334) close to the active plate (31) is slidably inserted into the limiting slide groove (3111).

2. The actuator according to claim 1, characterized in that The stiffness adjustment component (33) comprises an adjustment drive member (331), an adjustment rope (332), n active pulleys (333) and n driven pulleys (334), where n is greater than or equal to 2 and is an integer, and the n active pulleys (333) and the n driven pulleys (334) are arranged along the circumference of the power shaft (22); The adjusting driving member (331) is connected to the active plate (31), and the output shaft (3311) of the adjusting driving member (331) is located on a side of the active plate (31) close to the driven plate (32) and is parallel to the power shaft (22); The n driven pulleys (334) are located inside the n driving pulleys (333); The first end of the adjustment rope (332) is connected to the output shaft (3311) of the adjustment driving member (331), and the second end of the adjustment rope (332) is wound around the i-th driven pulley (334) and the i-th active pulley (333) in sequence, 2≤i≤n, and is an integer, to form a rope ring (335) sleeved on the driven pulley (334) and the active pulley (333), and the second end of the adjustment rope (332) is elastically connected to a side of the active plate (31) close to the driven plate (32).

3. The actuator according to claim 2, characterized in that The two sides of the active pulley (333) in the radial direction of the power shaft (22) are respectively an active rope-input side (a1) and an active rope-output side (a2); The driven pulley (334) is provided with a driven rope-input side (b1) and a driven rope-output side (b2) on both sides of the power shaft (22) in the radial direction, the driven rope-input side (b1) and the active rope-input side (a1) are located on the same side, and the driven rope-output side (b2) and the active rope-output side (a2) are located on the same side; The second end of the adjustment rope (332) is sequentially wound around the i-th driven rope-in ​​side (b1), the i-th active rope-in ​​side (a1), the i-th active rope-out side (a2) and the i-th driven rope-out side (b2).

4. The actuator according to claim 3, characterized in that The outer peripheral wall of the active pulley (333) has an active rope groove (3331) extending in the circumferential direction, and the adjustment rope (332) wound on the active pulley (333) is located in the active rope groove (3331); The outer peripheral wall of the driven pulley (334) has a first driven rope groove (3341) and a second driven rope groove (3342) extending circumferentially, and the first driven rope groove (3341) and the second driven rope groove (3342) are axially spaced apart. The adjustment rope (332) wound around the driven pulley (334) by the driven rope inlet side (b1) is located in the first driven rope groove (3341), and the adjustment rope (332) wound around the driven pulley (334) by the driven rope outlet side (b2) is located in the second driven rope groove (3342).

5. The actuator according to claim 2, characterized in that: The active plate (31) further comprises a second plate body (312); the n active pulleys (333) are respectively located on the first plate body (311); The second plate body (312) and the first plate body (311) are located in the same plane, and the adjustment drive member (331) is located on the second plate body (312).

6. The actuator according to claim 2, characterized in that: The driven plate (32) comprises a flange (321) and a first rope reel (322); The side of the flange (321) close to the active plate (31) is connected to the n driven pulleys (334), and the side of the flange (321) away from the active plate (31) is connected to the first rope winding drum (322); The first rope drum (322) is coaxial with the power shaft (22); The actuator (4) comprises a second rope drum (41), a swing arm (42) and an actuator rope (43); The second rope winding drum (41) is located outside the frame (1), and the rotation axis of the second rope winding drum (41) is parallel to the power shaft (22); One end of the swing arm (42) is connected to the second rope winding drum (41); The execution rope (43) is simultaneously mounted on the first rope winding drum (322) and the second rope winding drum (41).

7. The actuator according to claim 2, characterized in that: The adjusting rope (332) comprises a steel wire rope (3321) and an elastic member (3322); The first end of the steel wire rope (3321) is connected to the output shaft (3311) of the adjusting driving member (331), the second end of the steel wire rope (3321) is connected to the first end of the elastic member (3322), and the middle part of the steel wire rope (3321) is wound around the driving pulley (333) and the driven pulley (334); The second end of the elastic member (3322) is connected to the active plate (31).

8. The actuator according to claim 2, characterized in that The actuator further comprises a first potentiometer (51), a second potentiometer (52) and a tension sensor (53); The housing of the first potentiometer (51) is connected to a side of the driven plate (32) close to the second substrate (13), and the input shaft of the first potentiometer (51) is coaxially connected to the power shaft (22); The housing of the second potentiometer (52) is connected to a side of the first substrate (11) away from the active board (31), and the input shaft of the second potentiometer (52) is coaxially connected to the power shaft (22); The tension sensor (53) is connected between the second end of the adjustment rope (332) and the active plate (31).

9. A robot, characterized in that: The robot comprises an actuator (100) and a mechanical arm (200); The actuator (100) is the actuator according to any one of claims 1 to 8; The mechanical arm (200) is transmission-connected to the actuator (4) of the actuator (100).

Images