Driving structure and robot

Abstract

The application provides a driving structure and a robot. The driving structure comprises a first encoder, a motor and a first rotating shaft. The first rotating shaft is connected with the motor and is configured to rotate under the driving of the motor. The first encoder is connected with the first rotating shaft, and the connection position of the first encoder is adjacent to the connection position of the first rotating shaft and the motor. The first encoder is configured to obtain the motion parameter of the first rotating shaft. Since the rotating shaft has two different ends with strong and weak vibrations when rotating under the driving of the motor, the encoder is arranged at the end with weak vibration, so that the vibration of the rotating shaft at the end is reduced, the detection accuracy of the encoder is improved, and the service life of the encoder is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular, to a driving structure and a robot. BACKGROUND

[0002] An encoder is a device for converting angular displacement into an electrical signal, and the rotational speed of a rotating shaft can be detected by the encoder. At present, the encoder disc is usually fixed to one end of the rotating shaft, and the encoder detection element is arranged on the driving plate. With the wear of the transmission member, the runout of the end of the rotating shaft becomes more and more obvious, thereby causing the relative position change between the encoder detection element and the disc, and affecting the detection accuracy and service life of the encoder. SUMMARY

[0003] Therefore, the purpose of the embodiments of the present application is to provide a driving structure and a robot. The rotating shaft runout can be reduced.

[0004] In a first aspect, the embodiments of the present application provide a driving structure, comprising: a first encoder, a motor and a first rotating shaft; the first rotating shaft is connected with the motor and is configured to rotate under the driving of the motor; the first encoder is connected with the first rotating shaft, and the connection position is arranged adjacent to the connection position of the first rotating shaft and the motor; the first encoder is configured to obtain the motion parameter of the first rotating shaft.

[0005] In the above implementation process, since the first rotating shaft has two different ends with strong and weak runout when rotating under the driving of the motor, the encoder is arranged adjacent to the connection position of the first rotating shaft and the motor, which is the end with weak runout. The runout of the rotating shaft at this end is reduced, and the detection accuracy of the encoder is improved.

[0006] In an embodiment, the driving structure further comprises: a second rotating shaft, a second encoder and a support; one end of the second rotating shaft is connected with the output end of the first rotating shaft, and the other end is connected with the first rotating shaft through the support; the outer side of the support is connected with the first rotating shaft, and the inner side of the support is connected with the second rotating shaft; the support is configured to limit the runout of one end of the second rotating shaft; the second encoder is connected with the second rotating shaft, and the connection position is arranged at one end of the second rotating shaft adjacent to the support; the second encoder is configured to obtain the motion parameter of the second rotating shaft.

[0007] In the above implementation process, the first rotating shaft limits the runout of the second rotating shaft at the connection position of the first rotating shaft and the second rotating shaft. Not only can the one end of the second rotating shaft be limited to the weak runout end, but also the second rotating shaft can be driven to rotate. By arranging the second encoder at the weak runout end of the second rotating shaft, the position of the second encoder is prevented from moving when the second rotating shaft rotates, and the accuracy of the detection of the second encoder is improved.

[0008] In one embodiment, the driving structure further comprises: a coupling; one end of the coupling is connected with the output end of the first rotating shaft, and the other end is connected with one end of the second rotating shaft; the coupling is used to balance the runout of the output end of the first rotating shaft and the end of the second rotating shaft away from the support.

[0009] In the above implementation process, the coupling is used to compensate the runout of the strong runout end of the first rotating shaft, so as to prevent the collision between other components and the strong runout end of the first rotating shaft caused by the runout, thereby affecting the quality of the strong runout end of the first rotating shaft, and prolonging the service life of the first rotating shaft.

[0010] In one embodiment, the coupling comprises: a connecting piece, at least one diaphragm, and a plurality of fixing pieces; the connecting piece is disc-shaped, and has an annular protrusion at the middle part, and the second rotating shaft is connected with the annular protrusion; the diaphragm has at least two mounting holes, at least one fixing piece passes through one mounting hole and is connected with the output end of the first rotating shaft; and at least one fixing piece passes through another mounting hole and is connected with the connecting piece; the diaphragm is flexible, and is used to balance the runout of the output end of the first rotating shaft and the end of the second rotating shaft away from the support.

[0011] In the above implementation process, the diaphragm is connected with the strong runout end of the second rotating shaft, and the second rotating shaft transmits the runout torque generated during rotation to the diaphragm, so that the diaphragm deforms under the action of the torque, thereby transferring the runout torque generated by the second rotating shaft, and compensating the runout of the strong runout end of the second rotating shaft. This prevents the collision between components and the strong runout end of the second rotating shaft caused by the runout, thereby affecting the quality of the strong runout end of the second rotating shaft, and prolonging the service life of the second rotating shaft.

[0012] In one embodiment, the driving structure further comprises: a transmission member; one end of the transmission member is connected with the output end of the first rotating shaft, and the other end of the transmission member is a power output end; the output end of the first rotating shaft is indirectly connected with the fixing piece through the transmission member; the transmission member can adjust the rotating speed of the first rotating shaft, and transmit the adjusted rotating speed to the second rotating shaft, so that the second rotating shaft rotates at the same or different rotating speed of the first rotating shaft.

[0013] In the above implementation process, the transmission member is connected between the second rotating shaft and the first rotating shaft, so that the rotating speed of the second rotating shaft output can be adjusted to be the same or different from the rotating speed of the second rotating shaft, and the power torque generated by the motor is converted into a movement, rotation, or other execution torque for performing an action, thereby realizing the conversion of the motor torque and increasing the application scenarios of the driving structure.

[0014] In one embodiment, the driving structure further comprises: a power output configured to rotate under the action of the transmission; an input end of the power output is connected with an output end of the transmission; an output end of the power output is connected with the fixed part of the shaft coupling, and an output end of the first rotating shaft is indirectly connected with the fixed part through the transmission, the power output and the fixed part.

[0015] In the implementation process, the power output is arranged, and the first rotating shaft and the second rotating shaft are connected through the power output, so that the rotation of the second rotating shaft can be output to the first rotating shaft to drive the first rotating shaft to rotate, thereby realizing the connection between the first rotating shaft and the second rotating shaft.

[0016] In one embodiment, the support is a sealing structure and is configured to isolate the high-temperature oil mist generated by the transmission.

[0017] In the implementation process, the support is arranged as a sealing structure, so that the two ends of the support are isolated into two mutually independent and sealed spaces, so that the oil or dust between the two spaces cannot affect each other, and the oil in the transmission space cannot enter the space without the transmission, thereby ensuring the dryness and cleanliness of the space without the transmission.

[0018] In one embodiment, the support comprises a fixed part and a rotating part; an outer side of the fixed part is connected with an inner side of the first rotating shaft, an inner side of the fixed part is connected with an outer side of the rotating part, and an inner side of the rotating part is connected with an outer side of the second rotating shaft; the rotating part and the fixed part can rotate relative to each other.

[0019] In the implementation process, the support is arranged as two parts of the fixed part and the rotating part, the fixed part is used to cooperate with the second rotating shaft to limit the position of the first rotating shaft in the rotating direction, and the rotating part is used to ensure that the first rotating shaft can rotate. Through the support, the first rotating shaft can rotate while the position of the first rotating shaft in the rotating direction is limited, so that the end of the first rotating shaft connected with the support is a weak shaking end, and the shaking of the end of the first rotating shaft connected with the support is reduced.

[0020] In one embodiment, the driving structure further comprises: a wire harness protection part; the first rotating shaft and the second rotating shaft are both hollow structures, and the support comprises at least two; the wire harness protection part is arranged at an end of the second rotating shaft away from the second encoder; and at least two supports are arranged at two ends of the first rotating shaft.

[0021] In the implementation process, the two ends of the second rotating shaft are connected with the two ends of the first rotating shaft through the support, so that the position of the overlapping part of the second rotating shaft and the first rotating shaft can be better limited, and the shaking of the overlapping end of the first rotating shaft and the second rotating shaft is minimized.

[0022] In a second aspect, the embodiments of the present application also provide a robot, comprising: a controller and the driving structure of any one of the first aspect connected with the controller; wherein the controller is configured to control the driving structure to work.

[0023] In the implementation process, the driving structure is arranged in the robot, and the encoder of the driving structure can feed back the accurate rotating speed of the rotating shaft. The controller can accurately determine the current working state of the driving structure by obtaining the relatively accurate rotating speed, and then control the driving structure to perform the next action according to the actual situation, so as to ensure the accurate control of the controller and improve the accuracy of the robot working.

[0024] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the following embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 The driving structure cross-sectional view provided by the embodiments of the present application;

[0027] Figure 2 The driving structure half-cut three-dimensional schematic view provided by the embodiments of the present application;

[0028] Figure 3 The coupling schematic view provided by the embodiments of the present application;

[0029] Figure 4 The circular diaphragm schematic view provided by the embodiments of the present application;

[0030] Figure 5 The square diaphragm schematic view provided by the embodiments of the present application;

[0031] Figure 6 The support schematic view provided by the embodiments of the present application;

[0032] Figure 7The robot schematic diagram provided for the embodiments of the present application.

[0033] Reference signs: driving structure-10, motor-100, first rotating shaft-210, second rotating shaft-220, first encoder-300, support-400, fixed part-410, rotating part-420, transmission-500, wave generator-510, flexspline-520, torque sensor-530, coupling-600, diaphragm-610, 700-harness protector, power output-800. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0035] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0037] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Meanwhile, in the description of the present application, the terms “first”, “second” and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0038] In the description of the present application, it should be noted that the terms “upper”, “lower”, “inner”, “outer” and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly visited when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be interpreted as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be interpreted as a limitation of the present application.

[0039] It should be noted that in the description of the present application, unless otherwise specified and limited, the terms "arrangement", "installation", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium, or internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0041] With the continuous progress of mechanical automation level, robots appear in life and work. At present, the design of driving joints including robots needs to avoid obstacle parts in the movement range, especially the self-rotation, front swing or outward swing joints with leg parts. In the joint driving integration technology, high-speed or low-speed shaft encoders are arranged, or high-speed and low-speed encoders are arranged at the same time to control the position accuracy. However, due to the shaking of the rotating shaft, the high-speed and low-speed encoders are affected by the shaking of the rotating shaft, and the relative position may change during detection, thereby affecting the detection accuracy. Although the current technology sets the encoder near the transmission part to reduce the influence of motor shaft jumping on the detection of the encoder. However, the encoder module is arranged near the transmission part, which is arranged inside the joint and below the motor, greatly reducing the maintainability of the joint. When the encoder module fails, it cannot be disassembled and maintained.

[0042] Therefore, the present application provides a driving structure, which sets the encoder module motor shaft one end relatively stable rotation by changing the one end of the rotating shaft allowing jumping to the one end connected with the output flange, thereby ensuring the detection accuracy of the encoder module.

[0043] The driving structure disclosed in the embodiments of the present application can be used in transportation equipment, power equipment, robots, gripping equipment, etc. The driving structure can be a power structure of the above-mentioned equipment, or a joint structure. The specific role of the power structure in the above-mentioned equipment can be adjusted according to the actual situation, and the present application does not make specific limitation.

[0044] As shown in Figure 1 It is a driving structure cross-sectional view provided by the embodiments of the present application. It includes: a first encoder 300, a motor 100 and a first rotating shaft 210.

[0045] Among them, the first rotating shaft 210 is connected with the motor 100, the first encoder 300 is connected with the first rotating shaft 210, and the connection part is arranged adjacent to the connection part of the first rotating shaft 210 and the motor 100.

[0046] The first rotating shaft 210 is configured to rotate under the driving of the motor 100, and the first encoder 300 is configured to obtain the motion parameter of the first rotating shaft 210.

[0047] Optionally, the motor 100 can be a framed motor, a frameless motor, etc. The selection of the motor 100 in the embodiment can be adjusted according to actual conditions, and the application does not make specific limitations.

[0048] It can be understood that, since the first rotating shaft 210 is connected with the motor 100 and rotates under the driving of the motor, the first rotating shaft 210 will vibrate during rotation due to the mass of the first rotating shaft 210. However, due to the position of the motor 100, the vibration intensity of the first rotating shaft 210 at different positions is different. By setting the connection between the first encoder 300 and the first rotating shaft 210 adjacent to the connection between the first rotating shaft 210 and the motor 100, which is the weaker end of the first rotating shaft 210, the position change of the first encoder 300 caused by the vibration of the first rotating shaft 210 can be reduced, and the detection accuracy of the first encoder 300 can be improved.

[0049] In the above implementation process, since the first rotating shaft vibrates strongly and weakly at two different ends when it rotates under the driving of the motor, the encoder is set adjacent to the connection between the first rotating shaft and the motor, which is the weaker end of the first rotating shaft, reducing the vibration of the rotating shaft at this end and improving the detection accuracy of the encoder.

[0050] In a possible implementation, as shown in Figure 2 The driving structure further includes a second rotating shaft 220, a second encoder, and a support 400.

[0051] The one end of the second rotating shaft 220 is connected with the output end of the first rotating shaft 210, and the other end is connected with the first rotating shaft 210 through the support 400; the outer side of the support 400 is connected with the first rotating shaft 210, and the inner side of the support 400 is connected with the second rotating shaft 220; the second encoder is connected with the second rotating shaft 220, and the connection is set at the end of the second rotating shaft 220 close to the support 400.

[0052] The support 400 is configured to limit the vibration of the one end of the second rotating shaft 220, and the second encoder is configured to obtain the motion parameter of the second rotating shaft 220.

[0053] The support 400 is configured to make the end of the second rotating shaft 220 connected with the support 400 as a weak shaking end under the action of the first rotating shaft 210, and the first rotating shaft 210 is configured to limit the position of the second rotating shaft 220 in the rotating plane. It can be understood that the first rotating shaft 210 can be used to fix the position of the second rotating shaft 220 in the rotating plane (the plane where the dashed arc is located). Figure 1

[0054] Optionally, the support 400 here can be a bearing, a shaft sleeve, a bushing, a bush, a sleeve, etc. One part of the support 400 is fixedly connected with the first rotating shaft 210, and the other part is movably connected with the second rotating shaft 220. The support 400 can be used to connect the end of the second rotating shaft 220 with the first rotating shaft 210, or the middle part of the second rotating shaft 220 with the first rotating shaft 210. The setting position of the support 400 can be adjusted according to actual conditions, and the present application does not make specific limitation. The support 400 can be set in one, two, three, five, ten, etc. The number of the support 400 can be adjusted according to actual conditions, and the present application does not make specific limitation.

[0055] Optionally, the second rotating shaft 220 can be sleeved in the first rotating shaft 210 through the support 400, or can be arranged in parallel with the first rotating shaft 210 and connected with the first rotating shaft 210 through the support 400. The first rotating shaft 210 and the second rotating shaft 220 are connected through the support 400, and the first rotating shaft 210 can be used to limit the rotating path of the second rotating shaft 220 in the rotating direction to prevent the second rotating shaft 220 from shaking in the rotating direction.

[0056] It can be understood that the support 400 can connect the end of the second rotating shaft 220 with the first rotating shaft 210 (as shown in Figure 1 The support 400 can also be arranged to connect the middle part of the second rotating shaft 220 with the first rotating shaft 210 (not shown in the figure). The setting position of the support 400 can be adjusted according to the structure of the second rotating shaft 220 and the first rotating shaft 210, and the present application does not make specific limitation.

[0057] The above-mentioned first encoder 300 and second encoder can be photoelectric encoders, magnetic encoders, etc.

[0058] In some embodiments, the first encoder 300 and the second encoder can also be arranged as an encoder module. If the encoder is arranged as an encoder module, the encoder module can be a single-encoder module or a double-encoder module.

[0059] ​It can be understood that the first rotating shaft 210 can be a high-speed shaft, and the second rotating shaft 220 can be a low-speed shaft; or the first rotating shaft 210 can be a low-speed shaft, and the second rotating shaft 220 can be a high-speed shaft. The rotating speed of the first rotating shaft 210 and the second rotating shaft 220 can be adjusted according to actual conditions, and the present application does not make specific limitations.

[0060] Optionally, the second encoder on the second rotating shaft 220 and the first encoder 300 on the first rotating shaft 210 can be the same device or different devices. The second encoder on the second rotating shaft 220 and the first encoder 300 on the first rotating shaft 210 can be adjusted according to the type, rotating speed, function, etc. of the second rotating shaft 220 or the first rotating shaft 210, and the present application does not make specific limitations.

[0061] In the above implementation process, the first rotating shaft limits the jitter of the second rotating shaft at the connection between the first rotating shaft and the second rotating shaft, which not only limits one end of the second rotating shaft as a weak jitter end, but also drives the rotation of the second rotating shaft. By setting the second encoder at the weak jitter end of the second rotating shaft, the position of the second encoder is prevented from moving when the second rotating shaft rotates, and the accuracy of the detection of the second encoder is improved.

[0062] In a possible implementation, the driving structure 10 further includes a shaft coupling 600.

[0063] One end of the shaft coupling 600 is connected to the output end of the first rotating shaft 210, and the other end is connected to one end of the second rotating shaft 220.

[0064] The above shaft coupling 600 can balance the runout of the output end of the first rotating shaft 210 and the end of the second rotating shaft 220 away from the support. The shaft coupling 600 is used to transmit the rotating parameters of the second rotating shaft 220 to the first rotating shaft 210. The rotating parameters include but are not limited to rotating speed, torque, etc. The shaft coupling 600 can be a diaphragm 610 shaft coupling 600, an elastic pin shaft coupling 600, a tire shaft coupling 600, etc.

[0065] In the above implementation process, the shaft coupling compensates for the jitter of the strong jitter end of the first rotating shaft, preventing the components of the first rotating shaft from colliding with the strong jitter end of the first rotating shaft due to jitter, thereby affecting the quality of the strong jitter end of the first rotating shaft, and prolonging the service life of the first rotating shaft.

[0066] In a possible implementation, as shown in Figure 3 The shaft coupling 600 includes a connecting piece, at least one diaphragm 610, and a plurality of fixing pieces.

[0067] The connecting piece is disc-shaped, and has a ring-shaped protrusion at the middle part, and the second rotating shaft 220 is connected with the ring-shaped protrusion; the diaphragm 610 has at least two mounting holes, and at least one fixing piece passes through one mounting hole and is connected with the output end of the first rotating shaft 210; and at least one fixing piece passes through another mounting hole and is connected with the connecting piece.

[0068] The diaphragm 610 is flexible, so as to balance the jumping of the output end of the first rotating shaft 210 and the end of the second rotating shaft 220 away from the support 400.

[0069] Optionally, the diaphragm 610 can be circular, rectangular, triangular, etc. The diaphragm 610 is provided with a plurality of mounting holes, so that a plurality of fixing pieces pass through the mounting holes and are connected with the connecting piece and the first rotating shaft 210 respectively. The number of the connecting holes can be 3, 4, 5, 6, etc. The number, arrangement position of the connecting holes, and the selection of the connecting holes connected with the first rotating shaft 210 and the connecting piece can be adjusted according to actual conditions, and the application does not make specific limitations.

[0070] Exemplarily, as shown in Figure 4 if the diaphragm 610 is circular, the diaphragm 610 is provided with a circular hole at the center of the circle, and the diaphragm 610 is provided with four connecting holes, which are arranged on two mutually perpendicular diameters passing through the center of the circle. The fixing pieces passing through the two connecting holes on one diameter are connected with the first rotating shaft 210, and the fixing pieces passing through the two connecting holes on the other diameter are connected with the connecting piece.

[0071] Exemplarily, as shown in Figure 5 if the diaphragm 610 is rectangular, the diaphragm 610 is provided with a circular hole at the center of the circle, and the diaphragm 610 is provided with four connecting holes, which are arranged on the four corners of the rectangle. The fixing pieces passing through the two connecting holes on the opposite corners are connected with the first rotating shaft 210, and the fixing pieces passing through the two connecting holes on the other opposite corners are connected with the connecting piece.

[0072] It can be understood that since the end of the second rotating shaft 220 connected with the coupling 600 is a strong shaking end, when the second rotating shaft 220 rotates, the strong shaking end will produce a certain shaking. Since the strong shaking end is connected with the diaphragm 610, the second rotating shaft 220 will transmit a part of the torque used to produce shaking to the diaphragm 610, and the diaphragm 610 deforms under the action of the torque, so as to compensate for the jumping of the end of the second rotating shaft 220 away from the first rotating shaft 210.

[0073] In the implementation process, the diaphragm is arranged, and the diaphragm is connected with the strong shaking end of the second rotating shaft. When the second rotating shaft rotates, the shaking torque generated by the second rotating shaft is transmitted to the diaphragm. The diaphragm deforms under the action of the torque, so as to realize the transmission of the shaking torque generated by the second rotating shaft, and the shaking generated by the strong shaking end of the second rotating shaft is compensated. The collision between the components of the second rotating shaft and the strong shaking end of the second rotating shaft caused by the shaking is prevented, the quality of the strong shaking end of the second rotating shaft is affected, and the service life of the second rotating shaft is prolonged.

[0074] In a possible implementation, the driving structure 10 further includes a transmission member 500.

[0075] One end of the transmission member 500 is connected with the output end of the first rotating shaft 210, and the other end of the transmission member 500 is a power output end. The output end of the first rotating shaft 210 is indirectly connected with the fixing member through the transmission member 500.

[0076] The transmission member 500 described above can adjust the rotating speed of the first rotating shaft 210, and transmit the adjusted rotating speed to the second rotating shaft 220, so that the second rotating shaft 220 rotates at the same or different rotating speed of the first rotating shaft 210.

[0077] The transmission member 500 here can be an accelerator, a reducer, etc. The transmission member 500 can include a flexible gear 520, a torque sensor 530, a wave generator 510, etc. One end of the wave generator 510 is connected with the output end of the second rotating shaft 220, the other end of the wave generator 510 is connected with the flexible gear 520, and the other end of the flexible gear 520 is connected with one end of the first rotating shaft 210 away from the second rotating shaft 220. The torque sensor 530 is arranged at one end of the flexible gear 520 connected with the first rotating shaft 210. The flexible gear 520 is configured to adjust the rotating speed of the second rotating shaft 220, and the torque sensor 530 is configured to obtain the rotating torque output by the transmission member 500.

[0078] Optionally, the transmission member 500 can be a harmonic reducer, an RV reducer, an electromagnetic accelerator, a motor rotating speed regulator, etc.

[0079] In the implementation process, the transmission member is arranged between the second rotating shaft and the first rotating shaft. The rotating speed output by the second rotating shaft can be adjusted to be the same or different from the rotating speed of the second rotating shaft, and then the large power torque generated by the motor is converted into an execution torque for moving, rotating, etc. to execute an action, so as to realize the conversion of the motor torque and increase the application scenarios of the driving structure.

[0080] In a possible implementation, the driving structure 10 further includes a power output member 800.

[0081] The input end of the power output member 800 is connected with the output end of the transmission member 500; the output end of the power output member 800 is connected with the fixed member of the shaft coupling 600, and the output end of the first rotating shaft 210 is indirectly connected with the fixed member through the transmission member 500 and the power output member 800.

[0082] The power output member 800 is configured to rotate under the action of the transmission member 500.

[0083] In the implementation process, the power output member is arranged, and the first rotating shaft and the second rotating shaft are connected through the power output member, so that the rotation of the second rotating shaft can be output to the first rotating shaft to drive the first rotating shaft to rotate, and the connection between the first rotating shaft and the second rotating shaft is realized.

[0084] In a possible implementation, the support member 400 is a sealed structure and is configured to isolate the high-temperature oil mist generated by the transmission member 500.

[0085] It can be understood that the support member 400 is a sealed structure, so that the connection part of the second rotating shaft 220 and the first rotating shaft 210 is sealed by the support member 400, so that the spaces on the upper and lower sides of the support member 400 are isolated from each other. That is, the oil, dust and other substances generated by the equipment in the lower space of the support member 400 cannot enter the upper space of the support member 400. Similarly, the oil stains, dust and other substances generated by the equipment in the upper space of the support member 400 cannot enter the lower space of the support member 400.

[0086] In the implementation process, the support member is arranged as a sealed structure, so that the two ends of the support member are isolated into two mutually independent and sealed spaces, so that the oil or dust between the two spaces cannot affect each other, and the oil in the space of the transmission member cannot enter the space without the transmission member, so that the dryness and cleanliness of the space without the transmission member can be ensured.

[0087] In a possible implementation, as shown in Figure 6 The support member 400 includes a fixed part 410 and a rotating part 420.

[0088] The outer side of the fixed part 410 is connected with the inner side of the first rotating shaft 210, the inner side of the fixed part 410 is connected with the outer side of the rotating part 420, and the inner side of the rotating part 420 is connected with the outer side of the second rotating shaft 220; the rotating part 420 and the fixed part 410 can rotate relative to each other.

[0089] The rotating part 420 is a circular ring, and the fixed part 410 can be a circular ring, a rectangle, a cylinder or any irregular shape. It can be understood that no matter what shape the fixed part 410 is, the inside of the fixed part 410 needs to be provided with an arc shape that matches the outside of the rotating part 420 to ensure that the rotating part 420 can rotate inside the fixed part 410.

[0090] In the above implementation process, the support is provided as two parts of a fixed part and a rotating part. The fixed part is used to cooperate with the second rotating shaft to limit the position of the first rotating shaft in the rotating direction. The rotating part is used to ensure that the first rotating shaft can rotate. Through the support, the first rotating shaft can be ensured to rotate while the position of the first rotating shaft in the rotating direction is limited, so that the end of the first rotating shaft connected with the support is a weak shaking end, reducing the shaking of the end of the first rotating shaft connected with the support.

[0091] In a possible implementation, the driving structure further includes a wire harness protection member.

[0092] The first rotating shaft 210 and the second rotating shaft 220 are both hollow structures, and the support 400 includes at least two. The wire harness protection member 700 is arranged at the end of the second rotating shaft 220 away from the second encoder; and the at least two supports 400 are arranged at the two ends of the first rotating shaft 210 respectively.

[0093] In some embodiments, the second rotating shaft 220 includes an inner cavity and an outer cavity, and the wire harness protection member 700 is arranged between the inner cavity and the outer cavity, and the inner cavity is used for wiring.

[0094] The wire harness protection member can be a sponge wire harness sleeve, a plastic wire harness protection sleeve, a cotton gasket or any component for reducing the friction between the wire harness and the first rotating shaft.

[0095] In the above implementation process, the two ends of the second rotating shaft are connected with the two ends of the first rotating shaft through the support respectively, which can better limit the position of the overlapping part of the second rotating shaft and the first rotating shaft, so that the end of the first rotating shaft and the second rotating shaft is reduced as much as possible. shaking, reducing the shaking of the end of the first rotating shaft and the second rotating shaft.

[0096] As Figure 7 shown is a schematic diagram of a robot provided by an embodiment of the present application. It includes a controller and a driving structure 10 connected with the controller.

[0097] The controller is configured to control the driving structure 10 to work.

[0098] The controller here communicates with one or more local terminals via a network for data communication or interaction. This controller can be a network controller, database controller, personal computer (PC), tablet computer, smartphone, personal digital assistant (PDA), etc., or it can be a microcontroller, programmable controller, etc.

[0099] Understandably, the controller can be located inside the drive structure 10 or separately from the drive structure 10. The configuration of the controller and the drive structure 10 can be adjusted according to the actual situation, and this application does not impose any specific restrictions.

[0100] One or more drive structures can be installed in the robot here. Figure 5 (Multiple examples are shown). The number of drive structures 10 in this robot can be adjusted according to actual conditions, and this application does not impose specific limitations. This robot can be a multi-joint robot, a loading and unloading robot, a canning robot, etc.

[0101] In the above implementation process, by setting this drive structure in the robot, since the encoder of the drive structure can provide accurate feedback on the rotational speed of the shaft, the controller can accurately determine the current working state of the drive structure by obtaining these relatively accurate rotational speeds, and then control the drive structure to execute the next action according to the actual situation, thus ensuring the precise control of the controller and improving the accuracy of the robot's work.

[0102] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0103] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A driving structure, characterized in that, The drive structure comprises: a first encoder, a motor and a first rotating shaft; the first rotating shaft is connected with the motor and is configured to rotate under the drive of the motor; the first encoder is connected with the first rotating shaft, and the connection position is arranged adjacent to the connection position of the first rotating shaft and the motor; the first encoder is configured to obtain the motion parameter of the first rotating shaft; the drive structure further comprises a second rotating shaft, a second encoder and a support; one end of the second rotating shaft is connected with the output end of the first rotating shaft, and the other end is connected with the first rotating shaft through the support; the outer side of the support is connected with the first rotating shaft, and the inner side of the support is connected with the second rotating shaft, and the support is configured to limit the jitter of one end of the second rotating shaft; the second encoder is connected with the second rotating shaft, and the connection position is arranged at one end of the second rotating shaft close to the support, and the second encoder is configured to obtain the motion parameter of the second rotating shaft.

2. The drive structure of claim 1, wherein The drive structure further comprises a shaft coupling; one end of the shaft coupling is connected with the output end of the first rotating shaft, and the other end is connected with one end of the second rotating shaft; the shaft coupling is used to balance the runout of the output end of the first rotating shaft and the end of the second rotating shaft away from the support.

3. The drive structure of claim 2, wherein The shaft coupling comprises a connecting piece, at least one diaphragm and a plurality of fixing pieces; the connecting piece is disc-shaped, and the middle part has an annular protrusion, and the second rotating shaft is connected with the annular protrusion; the diaphragm has at least two mounting holes, at least one fixing piece passes through one mounting hole and is connected with the output end of the first rotating shaft, and at least one fixing piece passes through another mounting hole and is connected with the connecting piece; the diaphragm is flexible to balance the runout of the output end of the first rotating shaft and the end of the second rotating shaft away from the support.

4. The drive structure of claim 3, wherein The drive structure further comprises a transmission member; one end of the transmission member is connected with the output end of the first rotating shaft, and the other end of the transmission member is a power output end, and the output end of the first rotating shaft is indirectly connected with the fixing piece through the transmission member; the transmission member can adjust the rotating speed of the first rotating shaft, and transmit the adjusted rotating speed to the second rotating shaft, so that the second rotating shaft rotates at the same or different rotating speed of the first rotating shaft.

5. The drive structure of claim 4, wherein, The drive structure further comprises a power output member configured to rotate under the action of the transmission member; the input end of the power output member is connected with the output end of the transmission member; the output end of the power output member is connected with the fixing piece of the shaft coupling, and the output end of the first rotating shaft is indirectly connected with the fixing piece through the transmission member and the power output member.

6. The drive structure of any one of claims 4-5, wherein, The support is a sealed structure and is configured to isolate the high-temperature oil mist generated by the transmission member.

7. The drive structure of claim 1, wherein The support comprises a fixed part and a rotating part; the outer side of the fixed part is connected with the inner side of the first rotating shaft, the inner side of the fixed part is connected with the outer side of the rotating part, and the inner side of the rotating part is connected with the outer side of the second rotating shaft; the rotating part and the fixed part can rotate relative to each other.

8. The drive structure of claim 1, wherein, The drive structure further comprises a wire harness protection member; The first rotating shaft and the second rotating shaft are hollow structures, and the support member includes at least two; The wire harness protection member is arranged at one end of the second rotating shaft away from the second encoder; The at least two support members are arranged at two ends of the first rotating shaft.

9. A robot, characterized in that Comprise: A controller and the drive structure according to any one of claims 1-8 connected with the controller; Wherein, the controller is configured to control the drive structure to work.

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