Dual detection structure actuator and robot

Abstract

The embodiment of the present application provides an actuator and a robot, wherein the actuator comprises: a driving unit comprising a driving motor, a middle part of the driving unit being provided with a follow-up shaft, and an output end input gear being fixed on the follow-up shaft; an output unit being in transmission connection with the follow-up shaft; a rotor connecting shaft, the rotor connecting shaft being rotatably sleeved on the follow-up shaft, an axial end of the rotor connecting shaft being in driving connection with the driving motor, and a motor end input gear being fixed on the rotor connecting shaft in a circumferential direction; an output end detection gear, the output end detection gear being rotatably arranged on one side in a radial direction of the follow-up shaft and being in transmission connection with the output end input gear; and a motor end detection gear, the motor end detection gear being rotatably arranged on the other side in the radial direction of the follow-up shaft and being in transmission connection with the motor end input gear. The technical scheme provided by the embodiment of the present application can detect the rotation information of the output unit and the driving motor through the output end detection gear and the motor end detection gear respectively.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a dual-detection-structure actuator and robot. BACKGROUND

[0002] In the field of intelligent robots, an actuator is usually used to provide power for each joint of the robot so that each joint can move accordingly. However, the actuator currently used is usually recorded by a battery for multiple turns, and if the power is cut off, the rotation information cannot be recorded. SUMMARY

[0003] In view of the above problems, the present application is proposed to provide a dual-detection-structure actuator and robot to solve the above problems.

[0004] In one embodiment of the present application, a dual-detection-structure actuator is provided, comprising:

[0005] A driving unit comprising a driving motor, a follow-up shaft is provided in the middle of the driving unit, and an output end input gear is fixed on the follow-up shaft;

[0006] An output unit is in transmission connection with the follow-up shaft;

[0007] A rotor connecting shaft is rotatably sleeved on the follow-up shaft, one end of the rotor connecting shaft is in driving connection with the driving motor, and a motor end input gear is fixed on the rotor connecting shaft in the circumferential direction;

[0008] An output end detection gear is rotatably arranged on one side of the follow-up shaft in the radial direction and is in transmission connection with the output end input gear;

[0009] A motor end detection gear is rotatably arranged on the other side of the follow-up shaft in the radial direction and is in transmission connection with the motor end input gear.

[0010] In some embodiments, a detection mounting seat is further included, the detection mounting seat is provided with a first rotating cavity, a second rotating cavity and a third rotating cavity;

[0011] The detection mounting seat is sleeved on the circumferential outer periphery of the follow-up shaft through the second rotating cavity, and the output end input gear and the motor end input gear are rotatably arranged in the second rotating cavity;

[0012] The output end detection gear is rotatably arranged in the first rotating cavity;

[0013] The motor end detection gear is rotatably arranged in the third rotating cavity.

[0014] In some embodiments, the motor end detection gear is provided with a third bearing element at each axial end, and one end of the motor end detection gear is rotatably connected to the third rotating cavity through the third bearing element thereon.

[0015] The output end detection gear is provided with a fourth bearing element at each axial end, and one end of the output end detection gear is rotatably connected to the first rotating cavity through the fourth bearing element thereon.

[0016] The follow-up shaft is provided with a fifth bearing element, and the follow-up shaft is rotatably connected to the second rotating cavity through the fifth bearing element.

[0017] In some embodiments, the follow-up shaft at least partially extends out of the rotor connecting shaft, the output end input gear is fixedly arranged on the part of the follow-up shaft extending out of the rotor connecting shaft, and the diameter of the output end input gear is different from the diameter of the motor end input gear.

[0018] In some embodiments, the output end detection gear and the motor end detection gear are respectively provided with a magnet assembly.

[0019] The actuator further comprises a driving plate, and the driving plate is annularly arranged on the follow-up shaft, and the driving plate is provided with an encoder matched with the magnet assembly.

[0020] In some embodiments, the magnet assembly comprises a magnet seat and an encoded magnet, the magnet seat is connected to the output end detection gear or the motor end detection gear, and the encoded magnet is fixedly arranged on the magnet seat.

[0021] In some embodiments, a brake assembly is further included, the brake assembly comprises a brake shell and a brake movably arranged in the brake shell, the brake shell is connected to the driving unit, and the brake is annularly arranged on the outer periphery of the rotor connecting shaft.

[0022] In some embodiments, the rotor of the driving motor is provided with a third fitting connection part.

[0023] One end of the rotor connecting shaft connected to the driving motor is provided with a fourth fitting connection part matched with the third fitting connection part, and the rotor connecting shaft is fittingly connected with the third fitting connection part through the fourth fitting connection part to realize circumferential positioning.

[0024] In some embodiments, one of the third fitting connection part and the fourth fitting connection part is a clamping groove structure, and the other is a protruding structure matched with the clamping groove structure.

[0025] Correspondingly, the embodiment of the present application also provides a robot, which comprises the actuator as described above.

[0026] The technical scheme provided by the embodiment of the present application can detect the rotation information of the driving motor and the output unit by the output end detection gear and the motor end detection gear, so as to realize real-time closed-loop control of the rotation positions of the driving motor and the output unit. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0028] Figure 1 The top view structural schematic diagram of the actuator provided by the embodiment of the present application is shown in the figure.

[0029] Figure 2 The sectional view structural schematic diagram of the actuator provided by the embodiment of the present application along the A-A plane is shown in the figure. Figure 1

[0030] Figure 3 The local sectional view structural schematic diagram of the detection gear assembly of the actuator provided by the embodiment of the present application is shown in the figure.

[0031] Figure 4 The three-dimensional explosion structural schematic diagram of the actuator provided by the embodiment of the present application is shown in the figure.

[0032] Figure 5 The local sectional plane structural schematic diagram of the actuator provided by the embodiment of the present application is shown in the figure.

[0033] Figure 6 The local sectional three-dimensional structural schematic diagram of the actuator provided by the embodiment of the present application is shown in the figure.

[0034] Figure 7 The local sectional three-dimensional structural schematic diagram of the driving unit of the actuator provided by the embodiment of the present application is shown in the figure.

[0035] BRIEF DESCRIPTION OF DRAWINGS

[0036] ​1: Output flange; 1001: First through hole; 2: Follower shaft; 201: Second fitting connection part; 202: Hollow cavity; 3: Auxiliary mounting part; 4: Harmonic flexible wheel; 5: Harmonic generator; 6: Harmonic steel wheel; 7: Snap ring part; 8: First bearing part; 9: Generator connecting part; 10: Drive motor; 101: Third fitting connection part; 11: Rotor connecting shaft; 111: Fourth fitting connection part; 12: Second bearing part; 13: Third bearing part; 14: Motor end detection gear; 15: Magnet seat; 16: Encoding magnet; 17: Drive plate; 18: Waterproof sleeve; 19: First sealing ring; 20: Bottom cover; 2001: Second through hole; 21: Detection mounting base; 211: First rotating cavity; 212: Second rotating cavity; 213: Third rotating cavity; 22: Second sealing ring; 23: Output end detection gear; 24: Fourth bearing component; 25: Fifth bearing component; 26: Output end input gear; 27: Brake housing; 28: Motor end input gear; 29: Brake; 30: Motor housing; 31: Flexible wheel connector; 311: First fitting connection part; 32: Steel wheel connector; 33: Crossed roller bearing; 34: Fixed flange. Detailed Implementation

[0037] Figure 1 This is a top view of the actuator provided in an embodiment of the present invention. Figure 2 The actuator provided in the embodiments of the present invention Figure 1 A schematic diagram of the cross-sectional structure of surface AA in the middle. Figure 3 This is a partial cross-sectional planar structural diagram of the actuator provided in an embodiment of the present invention, as shown below. Figures 1 to 3 As shown.

[0038] In one embodiment of the present invention, a dual-detection structure actuator is provided, comprising: a drive unit, an output unit, a rotor connecting shaft 11, an output end detection gear 23, and a motor end detection gear 14.

[0039] in,

[0040] The drive unit includes a drive motor 10, and a follower shaft 2 passes through the middle of the drive unit. An output input gear 26 is fixed on the follower shaft 2. In this embodiment of the invention, the drive unit may include, but is not limited to, a hollow ring structure, with the follower shaft 2 passing through the hollow area of ​​the drive unit. The follower shaft 2 can be used to drive the output unit connected to the actuator. The output unit may include, but is not limited to, an output flange 1, and may also be referred to as the output end of the actuator. When the drive unit is energized, the drive motor can directly or indirectly drive the follower shaft 2 to rotate, so as to directly or indirectly transmit driving force outward through the follower shaft 2. When the follower shaft 2 rotates, it can drive the output unit to rotate synchronously, thereby reflecting the rotation information of the output unit. At the same time, the follower shaft 2 drives the output input gear 26 to rotate synchronously.

[0041] The rotor connecting shaft 11 is rotatably sleeved on the follow-up shaft 2, an axial end of the rotor connecting shaft 11 is drivingly connected with the driving motor 10, and a motor end input gear 28 is fixed in the circumferential direction of the rotor connecting shaft 11. When the driving unit is powered on, the driving motor 10 drives the rotor connecting shaft 11 to rotate synchronously, and when the rotor connecting shaft 11 rotates, the rotor connecting shaft 11 can reflect the rotation information of the driving motor 10, and the rotor connecting shaft 11 drives the motor end input gear 28 to rotate synchronously.

[0042] The output end detection gear 23 is rotatably arranged on one side in the radial direction of the follow-up shaft 2 and is in transmission connection with the output end input gear 26. The output end input gear 26 drives the output end detection gear 23 to rotate while the follow-up shaft 2 rotates, and based on the rotation of the output end detection gear 23, the output end detection gear 23 can cooperate with the corresponding encoder to detect and record the corresponding rotation information of the output unit.

[0043] Referring to Figures 2 to 4 The motor end detection gear 14 is rotatably arranged on the other side in the radial direction of the follow-up shaft 2 and is in transmission connection with the motor end input gear 28. The motor end input gear 28 drives the motor end detection gear 14 to rotate while the rotor connecting shaft 11 rotates, and based on the rotation of the motor end detection gear 14, the motor end detection gear 14 can cooperate with the corresponding encoder to detect and record the corresponding rotation information of the driving unit, i.e., the driving motor 10.

[0044] The technical scheme provided by the embodiment of the present application can cooperate with different encoders to detect the rotation information of the output unit and the driving motor respectively, so as to realize real-time closed-loop control of the rotation positions of the driving motor and the output unit. The rotation information includes but is not limited to the number of rotation turns, the rotation angle, the rotation speed, and the rotation position. Based on the fact that the output unit and the driving unit can be detected by different detection gears and recognized and processed by different encoders, the executor uses double encoders for corresponding detection and recording, and can record its own position for a long time in the case of power failure. It should be noted that the encoders used in cooperation with the detection gear assembly can be arranged on the executor or other positions, which are not limited in the embodiment of the present application. The executor provided by the embodiment of the present application can be used as a replacement scheme of the traditional servo motor, and is especially suitable for special fields such as service robots, medical robots, and industrial robots.

[0045] In some implementable embodiments of the present application, the motor end input gear 28 is fixed integrally with the rotor linkage shaft 11 by welding, one end of the rotor linkage shaft 11 is drivingly connected with the rotor of the driving motor 10, the rotor linkage shaft 11 rotates synchronously with the rotor of the driving motor 10, and the rotating action of the rotor linkage shaft 11 is synchronous with the rotating action of the rotor. With the rotation of the rotor linkage shaft 11, the motor end input gear 28 rotates synchronously, and the rotating action of the motor end input gear 28 is synchronous with the rotating action of the rotor.

[0046] For example, one transmission mode of the actuator is that after the actuator is powered on, the rotor generator connecting piece 9 of the driving motor 10 rotates, the wave generator rotates with the generator connecting piece 9, the wave generator drives the harmonic flexspline assembly to rotate, and the harmonic flexspline assembly drives the output flange 1 to rotate. At the same time, the rotor of the driving motor 10 drives the motor end input gear 28 to rotate through the gear protection sleeve, the motor end input gear 28 drives the motor end detection gear 14 to rotate, the rotor of the driving motor 10 drives the follow-up shaft 2 to rotate through the harmonic flexspline assembly, the follow-up shaft 2 drives the output end input gear 26 to rotate, and the output end input gear 26 drives the output end detection gear 23 to rotate. The output end detection gear 23 and the motor end detection gear 14 correspond to an encoder respectively for detecting the rotating data, and the position of the driving motor 10 and the output flange 1 is controlled in real time through the double-encoder structure.

[0047] Further, in order to make the rotation of each detection gear more stable, in some implementable embodiments of the present application, referring to Figures 2 to 4 The actuator further comprises a detection mounting seat 21, the detection mounting seat 21 is provided with a first rotating cavity 211, a second rotating cavity 212 and a third rotating cavity 213. The detection mounting seat 21 is sleeved on the circumferential outer periphery of the follow-up shaft 2 through the second rotating cavity 212, and the output end input gear 26 and the motor end input gear 28 are rotatably arranged in the second rotating cavity 212. The output end detection gear 23 is rotatably arranged in the first rotating cavity 211. The motor end detection gear 14 is rotatably arranged in the third rotating cavity 213. The detection mounting seat 21 separates each gear connected with each other to ensure that each gear rotates in its own space and avoids the interference of actions other than transmission. At the same time, the detection mounting seat 21 can also provide support for the output end detection gear 23 and the motor end detection gear 14 to ensure the stability of the rotation of the output end detection gear 23 and the motor end detection gear 14. The detection mounting seat 21 includes but is not limited to being fixed in the actuator by fasteners, such as screws or bolts.

[0048] In order to make the rotation of each gear more smooth, in some possible embodiments of the present application, the motor end detection gear 14 is provided with a third bearing member 13 at each axial end thereof, and one end of the motor end detection gear 14 is rotatably connected to the third rotation cavity 213 through the third bearing member 13 thereon, i.e. the inner ring of the third bearing member 13 cooperates with one end of the motor end detection gear 14, and the outer ring of the third bearing member 13 cooperates with the inner wall of the third rotation cavity 213. The rotation friction of the motor end detection gear 14 is reduced through the third bearing member 13, so that the motor end detection gear 14 rotates more smoothly.

[0049] The output end detection gear 23 is provided with a fourth bearing member 24 at each axial end thereof, and one end of the output end detection gear 23 is rotatably connected to the first rotation cavity 211 through the fourth bearing member 24 thereon. I.e. the inner ring of the fourth bearing member 24 cooperates with the other end of the output end detection gear 23, and the outer ring of the fourth bearing member 24 cooperates with the inner wall of the first rotation cavity 211. The rotation friction of the output end detection gear 23 is reduced through the fourth bearing member 24, so that the output end detection gear 23 rotates more smoothly.

[0050] The follow-up shaft 2 is provided with a fifth bearing member 25, and the follow-up shaft 2 is rotatably connected to the second rotation cavity 212 through the fifth bearing member 25. I.e. the inner ring of the fifth bearing member 25 cooperates with the follow-up shaft 2, and the outer ring of the fifth bearing member 25 cooperates with the inner wall of the second rotation cavity 212. The rotation friction between the follow-up shaft 2 and the detection mounting base 21 is reduced through the fifth bearing member 25, so that the follow-up shaft 2 rotates more smoothly. In one possible embodiment, the output end input gear 26 has a reinforcing wall extending along the axial direction of the follow-up shaft 2, and the inner ring of the fifth bearing member 25 cooperates with the reinforcing wall of the output end input gear 26.

[0051] Further, in order to avoid mutual interference between the gears, referring to Figure 2In some possible embodiments of the present application, the output shaft 2 extends at least partially out of the rotor connecting shaft 11, the output end input gear 26 is fixedly arranged on the part of the output shaft 2 extending out of the rotor connecting shaft 11, and the diameter of the output end input gear 26 is different from the diameter of the motor end input gear 28. In this arrangement, the diameter of the output end input gear 26 and the diameter of the motor end input gear 28 can only be staggered in the axial direction and the radial direction of the output shaft 2, so as not to interfere with each other during rotation. Correspondingly, based on the arrangement of the diameter of the output end input gear 26 and the diameter of the motor end input gear 28, the output end detection gear 23 and the motor end input gear 28 are staggered in the axial direction of the output shaft 2, or the output end detection gear 23 is provided with a clearance opening for avoiding the motor end input gear 28, so as to avoid interference between the output end detection gear 23 and the motor end input gear 28; the motor end detection gear 14 and the output end input gear 26 are staggered in the axial direction of the output shaft 2, or the motor end detection gear 14 is provided with a clearance opening for avoiding the output end input gear 26, so as to avoid interference between the motor end detection gear 14 and the output end input gear 26.

[0052] In some possible embodiments of the present application, the output end detection gear 23 and the motor end detection gear 14 detect and record the corresponding rotation information in cooperation with the encoder. Referring to Figures 2 to 4 , the output end detection gear 23 and the motor end detection gear 14 are respectively provided with a magnet assembly. The actuator further comprises a driving plate 17, which is annularly arranged on the output shaft 2, and the driving plate 17 is provided with an encoder cooperating with the magnet assembly. During the rotation of the detection gear, the magnet assembly can trigger the encoder to detect the corresponding data, so as to convert into the corresponding rotation information such as rotation angle, rotation speed and rotation position. Based on the rotation information detected by the encoder, the actuator can be better controlled to complete the required action.

[0053] Continuing to refer to Figure 2 and Figure 3 , in some possible embodiments of the present application, the magnet assembly comprises a magnet seat 15 and an encoding magnet 16; the magnet seat 15 is connected with the output end detection gear 23 or the motor end detection gear 14, and the encoding magnet 16 is fixedly arranged on the magnet seat 15. The magnet seat 15 and the output end detection gear 23 or the motor end detection gear 14 can be connected by a fastener, such as a screw, and the encoding magnet 16 and the magnet seat 15 are integrally fixed by means of gluing, but are not limited thereto. With the rotation of the detection gear, the magnet seat 15 rotates synchronously, thereby driving the encoding magnet 16 to rotate synchronously, and further triggering the encoder to detect the corresponding rotation information.

[0054] Continuing to refer to Figure 2In order to enable the transmission of the motor end of the actuator to start and stop more quickly, in some embodiments of the present application, the actuator further comprises a brake assembly, which is located on the side of the drive unit away from the output unit, and is connected with the drive unit and arranged around the outer periphery of the follow-up shaft 2, and cooperates with the rotor connecting shaft 11 to achieve braking of the rotor connecting shaft 11 in the case of power failure.

[0055] In some embodiments of the present application, one embodiment of the brake assembly is that the brake assembly comprises a brake housing 27 and a brake 29 movably arranged in the brake housing 27. The brake housing 27 is connected with the drive unit. The brake 29 is arranged around the outer periphery of the rotor connecting shaft 11. The brake housing 27 can be fixedly connected with the drive unit by fasteners, and the brake 29 can be protected by the brake housing 27, and at the same time, the movable brake 29 can avoid interfering with other components, thereby improving safety.

[0056] The third and fourth fitting connection parts 101 and 111 include but are not limited to a convex-concave structure matched with each other. In some embodiments, one of the third and fourth fitting connection parts 101 and 111 is a clamping groove structure, and the other is a protruding structure matched with the clamping groove structure. Such a convex-concave matching structure can achieve the simplest assembly, and only needs to be axially aligned and then connected to achieve the relative positioning in the circumferential direction and the transmission of torque. Of course, the positions of the clamping groove structure and the protruding structure can be transposed with each other, or the third fitting connection part 101 simultaneously includes the clamping groove structure and the protruding structure, and correspondingly, the fourth fitting connection part 111 also simultaneously includes the clamping groove structure and the protruding structure, and the third and fourth fitting connection parts 101 and 111 are matched with each other. The shapes of the clamping groove structure and the protruding structure are not specifically limited in the embodiments of the present application, and can meet the mutual fitting requirement.

[0057] In the embodiments of the present application, one connection mode of the follow-up shaft 2 and the drive unit is that the actuator further comprises a speed change unit, which is arranged around the outer periphery of the follow-up shaft 2, as shown in Figure 2 and Figure 5 The speed change unit comprises a harmonic generator assembly, a harmonic flexspline assembly and a harmonic steel wheel 6. The harmonic generator assembly is drivingly connected with the drive unit, the harmonic flexspline assembly is drivingly connected with the follow-up shaft 2, and the harmonic steel wheel 6 is fixedly connected with the drive unit. The speed change unit is a harmonic speed changer. In order to better utilize the space, the speed change unit and the drive unit are stacked in the axial direction of the follow-up shaft 2, as shown in Figure 2As shown in the middle position, in some embodiments, the speed change unit is arranged on the upper part of the driving unit. The speed changer can also be a hollow ring structure, which facilitates the assembly of the speed changer with the follow-up shaft 2. The driving force of the driving unit can be transmitted to the follow-up shaft 2 through the speed change unit, and the follow-up shaft 2 can be connected with the output end of the actuator, such as the output flange 1, or the actuator can be connected with the output flange 1 through the harmonic gear assembly. The speed change unit can be a speed reduction transmission or a speed increase transmission according to different requirements. At the same time, when the driving unit is powered, the driving unit can drive the follow-up shaft 2 to rotate through the speed change unit, so as to directly or indirectly transmit the driving force outward.

[0058] In order to facilitate the assembly of the harmonic generator assembly and the harmonic gear assembly in the speed change unit, the actuator further comprises an auxiliary mounting member 3, the auxiliary mounting member 3 has an assembly hole, the auxiliary mounting member 3 is connected with the harmonic gear assembly, and the assembly hole is coaxially arranged with the harmonic gear assembly; the auxiliary mounting member 3 is sleeved on the follow-up shaft 2 through the assembly hole, so that the harmonic gear assembly is coaxially assembled with the harmonic generator 5.

[0059] For a traditional harmonic speed changer, the assembly position of the harmonic generator assembly and the harmonic gear assembly is an elliptical shape, which belongs to a relatively close fitting relationship. Without the auxiliary function of the auxiliary mounting member 3, the assembly operation between the harmonic generator assembly and the harmonic gear assembly is relatively difficult, and it is relatively difficult to assemble. In the technical scheme provided in the embodiment of the present application, by arranging the auxiliary mounting member 3, the positioning of the harmonic generator assembly and the harmonic gear assembly in the speed change unit is more accurate when assembling, which makes the mutual assembly easier and reduces the occurrence of assembly deflection. At the same time, it also facilitates the assembly between the harmonic gear assembly and the follow-up shaft 2, thereby reducing the assembly difficulty of the actuator and improving the assembly efficiency.

[0060] In some implementable embodiments of the present application, the assembly process of a speed change unit is as follows: first, the harmonic steel wheel 6 is fixedly connected to the driving unit, and then the harmonic generator 5 is arranged on the driving unit. At this time, the harmonic generator 5 is located in the inner position of the harmonic steel wheel 6.

[0061] Then, the auxiliary mounting member 3 is fixedly connected with the harmonic gear assembly through fasteners, such as bolted connection. Referring to Figure 5 When the harmonic gear assembly is coaxially assembled with the harmonic generator 5 from top to bottom, the follow-up shaft 2 is first matched with the assembly hole of the auxiliary mounting member 3, that is, the auxiliary mounting member 3 is sleeved on the follow-up shaft 2 through the assembly hole. At this time, the harmonic gear assembly has a coaxial positioning relationship with the harmonic generator 5. When the harmonic gear assembly continues to be assembled downward, the assembly between the harmonic gear assembly and the harmonic generator 5 can be easily completed, and the deflection of the harmonic gear assembly and the harmonic generator 5 during assembly can be effectively reduced through the auxiliary mounting member 3.

[0062] Continue to refer toFigure 2 、 Figure 5 and Figure 6 In some possible embodiments of the present application, one possible implementation of the harmonic generator assembly is that the harmonic generator assembly comprises a generator connecting piece 9 and a harmonic generator 5 connected to the generator connecting piece 9. The follow-up shaft 2 is connected to the generator connecting piece 9 through the first bearing piece 8, so that the follow-up shaft 2 is coaxially assembled with the harmonic generator 5. By arranging the generator connecting piece 9, the harmonic generator 5 is more easily connected to the rotor of the driving motor 10, and the stability of the connection can be effectively improved.

[0063] In order to reduce the interference between the generator connecting piece 9 and the rotation of the follow-up shaft 2 during rotation, the generator connecting piece 9 is connected to the follow-up shaft 2 through the first bearing piece 8. The first bearing piece 8 is connected to the follow-up shaft 2 through the inner ring, and the outer ring of the first bearing piece 8 is connected to the generator connecting piece 9. At the same time, through the first bearing piece 8, the follow-up shaft 2 can be coaxially assembled with the harmonic generator 5 through the first bearing piece 8, so that the coaxial assembly between the harmonic flexspline assembly and the harmonic generator assembly can be indirectly realized when the rotating shaft 2 is matched with the auxiliary mounting piece 3 through the assembly hole.

[0064] In order to further ensure the position stability of the first bearing piece 8, in some possible embodiments of the present application, the follow-up shaft 2 is provided with a circlip piece 7 for limiting the first bearing piece 8. The circlip piece 7 can be fixedly arranged on the follow-up shaft 2, so as to limit the axial position of the first bearing piece 8, and avoid the axial displacement of the first bearing piece 8.

[0065] In some possible embodiments of the present application, continuing to refer to Figure 2 and Figure 5, one implementation of the harmonic gear assembly is that the harmonic gear assembly comprises the harmonic gear 4 and the harmonic gear connecting piece 31, the harmonic gear 4 is fixedly connected with the harmonic gear connecting piece 31, and the auxiliary mounting piece 3 is fixedly connected with the harmonic gear connecting piece 31. In order to realize the speed change function, the harmonic gear 4 usually has a certain flexibility, and when cooperating with the harmonic generator 5 to perform the speed change operation, the harmonic gear 4 usually deforms. Therefore, the structural strength of the harmonic gear 4 is relatively weak, in order to improve the connection stability of the harmonic gear 4, the harmonic gear connecting piece 31 is arranged on the harmonic gear 4 in the embodiment of the application, the rigidity of the harmonic gear connecting piece 31 is greater than that of the harmonic gear 4, and the harmonic gear assembly is connected with other components through the harmonic gear connecting piece 31, such as the connection between the harmonic gear assembly and the auxiliary mounting piece 3 and the follow-up shaft 2, and the unstable connection caused by deformation does not occur. In addition, the harmonic gear assembly and the follow-up shaft 2 also conduct the action force and the torque, therefore, the action force and the torque between the harmonic gear assembly and the follow-up shaft 2 are conducted through the harmonic gear connecting piece 31 with greater rigidity, so that the action force and the torque can be more directly and quickly conducted, and the lag of the action force and the torque caused by deformation is reduced.

[0066] Further, referring to Figure 5 and Figure 6 , the harmonic gear connecting piece 31 and the follow-up shaft 2 are connected through the first embedded connection part 311 and the second embedded connection part 201 to realize convenient butt joint transmission.

[0067] One connection mode between the harmonic gear 4 and the harmonic gear connecting piece 31 and the auxiliary mounting piece 3 is that the bottom plate has a first connecting hole and a first shaft hole. The harmonic gear connecting piece 31 has a second connecting hole and a second shaft hole, and a fastener is arranged in the first connecting hole and the second connecting hole to connect the harmonic gear connecting piece 31 to the bottom plate and outside the assembly cavity, and the first shaft hole and the second shaft hole are coaxially arranged. The fastener includes but is not limited to a screw and a bolt, and the fastener can be multiple and uniformly arranged around the first shaft hole. At the same time, the output flange 1 can also be connected to the harmonic gear connecting piece 31 through the fastener, the harmonic gear connecting piece 31 can drive the output flange 1 to rotate, and the output flange 1 can serve as an output end of the actuator.

[0068] The auxiliary mounting piece 3 has a third connecting hole and an assembly hole, and a fastener is arranged in the third connecting hole and the first connecting hole to connect the auxiliary mounting piece 3 to the harmonic gear connecting piece 31 and inside the first shaft hole and the second shaft hole, and the assembly hole is coaxially arranged with the first shaft hole. The fastener for connecting the auxiliary mounting piece 3 to the harmonic gear connecting piece 31 and the fastener for connecting the harmonic gear 4 and the harmonic gear connecting piece 31 can be the same or different, and can be set according to different needs, which is not limited here.

[0069] The follow-up shaft 2 is connected with the flexible wheel connecting piece 31 through the assembly hole, so that the follow-up shaft 2, the auxiliary mounting piece 3, the harmonic flexible wheel 4 and the flexible wheel connecting piece 31 are coaxially arranged, at the same time, the harmonic generator assembly is arranged around the follow-up shaft 2, so that when the harmonic flexible wheel assembly and the harmonic generator assembly are assembled, the follow-up shaft 2, the auxiliary mounting piece 3, the harmonic flexible wheel 4 and the flexible wheel connecting piece 31 are coaxially arranged with the harmonic generator 5, and then the harmonic flexible wheel assembly and the harmonic generator 5 are coaxially assembled.

[0070] Continuing to refer to Figure 2 and Figure 5 In some realizable embodiments of the present application, the harmonic steel wheel 6 can be fixedly arranged on the driving unit, and one fixing mode is that the harmonic steel wheel 6 can be fixed on the driving unit through a fastener. In order to make the connection of the harmonic steel wheel 6 more stable, the steel wheel connecting piece 32 is arranged on the side of the harmonic steel wheel 6 away from the driving unit, the steel wheel connecting piece 32 is matched with the annular structure of the harmonic steel wheel 6, the driving unit, the harmonic steel wheel 6 and the steel wheel connecting piece 32 are stacked, and the fastener is sequentially connected with the driving unit through the steel wheel connecting piece 32 and the harmonic steel wheel 6. A clamping structure is formed between the steel wheel connecting piece 32 and the driving unit, the harmonic steel wheel 6 is clamped and fixed, and the position of the harmonic steel wheel 6 is stable.

[0071] Further, in order to complete the installation and positioning of the rotating structure such as the output flange, the actuator further comprises a fixed flange 34, which is arranged around the outer periphery of the output flange 1 and is fixedly connected with the steel wheel connecting piece 32. In order to make the rotation of the output flange 1 and the harmonic flexible wheel assembly more smooth, the cross roller bearing 33 is arranged between the fixed flange 34 and the output flange 1 and between the steel wheel connecting piece 32 and the flexible wheel connecting piece 31, that is, the inner ring of the cross roller bearing 33 is pressed tightly by the output flange 1 and the flexible wheel connecting piece 31, and the outer ring of the cross roller bearing 33 is pressed tightly by the steel wheel connecting piece 32 and the fixed flange 34. The fixed flange 34 and the steel wheel connecting piece 32 can be connected through a fastener, in order to reasonably use the fastener and reduce the number of fasteners, in the embodiment of the present application, when the fixed flange 34 is assembled, the fastener used for fixing is simultaneously passed through the fixed flange 34, the steel wheel connecting piece 32 and the harmonic steel wheel 6 and then connected with the driving unit, and it is not necessary to additionally arrange a fastener for fixing the harmonic steel wheel 6, so that the number of fasteners can be reduced, the cost can be reduced, and the overall weight of the actuator can be reduced.

[0072] Continuing to refer to Figure 2 and Figure 5 In some realizable embodiments of the present application, one realizable mode of the driving unit is that the driving unit further comprises a motor housing 30 and a driving motor 10, the driving motor 10 is arranged in the motor housing 30 and is sleeved around the outer periphery of the follow-up shaft 2.

[0073] Further, in order to better detect the rotation information of the output end and the driving unit, in some embodiments of the present application, the actuator further has a rotation space, the output end input gear 26, the output end detection gear 23 and the motor end detection gear 14 are all arranged in the rotation space, and the rotor connecting shaft 11 at least partially extends into the rotation space. The driving plate 17 is located in the rotation space and annularly arranged around the follower shaft 2, and the driving plate 17 is provided with an encoder used in cooperation with the detection gear assembly. The driving plate 17 is provided with various electronic elements for realizing various functions of the actuator, and the various electronic elements include the encoder. Based on the triggering action of the detection gear assembly, the encoder can detect and record corresponding rotation data. In order to protect the electronic elements and the detection gear assembly on the driving plate 17, the actuator is further provided with a bottom cover 20, and the bottom cover 20 covers the rotation space. The rotation space forms a relatively dense environment through the bottom cover 20, so as to avoid the interference of external environment on the electronic elements and the detection gear assembly, thereby making the detection operation more accurate.

[0074] Further, in order to facilitate the connection of cables between different actuators, referring to Figures 1 to 6 , in some embodiments of the present application, the follower shaft 2 has a hollow cavity 202 extending through in the axial direction. Meanwhile, the output flange 1 drivingly connected to one end of the follower shaft 2 is provided with a first through hole 1001 extending through the hollow cavity 202, and the bottom cover 20 arranged at the other end of the follower shaft 2 is provided with a second through hole 2001 extending through the hollow cavity 202. Based on the first through hole 1001, the second through hole 2001 and the hollow cavity 202 of the follower shaft 2, the actuator has a hollow structure extending through up and down, and the cables connected between different actuators can pass through the hollow structure, so as to solve the problem that the cables are easily jammed, wound or damaged when the actuator is actuated.

[0075] Further, in order to prevent external substances such as water and dust from entering the rotation space and affecting the driving plate 17 and the detection gear assembly, in some embodiments of the present application, referring to Figures 2 to 4 , the bottom cover 20 is connected with the brake assembly and covers the rotation space, and a first sealing structure is arranged at the connection between the bottom cover 20 and the brake assembly. The first sealing structure can effectively prevent water and other external substances from entering the inside of the actuator from the joint between the bottom cover 20 and the brake housing 27. In order to make the sealing effect of the first sealing structure better, the area of the bottom cover 20 connected with the brake assembly is provided with a first sealing groove facing the brake assembly, the first sealing structure is a first sealing ring 19, and the first sealing ring 19 is arranged in the first sealing groove. When the bottom cover 20 is connected with the brake assembly, the first sealing ring 19 is extruded, so as to seal the connection between the bottom cover 20 and the brake assembly.

[0076] When the follow-up shaft 2 has the hollow cavity 202, the bottom cover 20 has a second through hole 2001 penetrating the hollow cavity 202, to prevent external substances from entering the actuator through the gap between the follow-up shaft 2 and the bottom cover 20, a second sealing structure is arranged between the second through hole 2001, the rotation space and the follow-up shaft 2. By sealing the gap between the follow-up shaft 2 and the bottom cover 20 through the second sealing structure, it can effectively prevent water and other external substances from entering the inside of the actuator from the joint between the bottom cover 20 and the follow-up shaft 2.

[0077] Further, one implementation of the second sealing structure is that the second sealing structure includes a waterproof sleeve 18 and second sealing rings 22 arranged at the axial ends of the waterproof sleeve 18, one end of the waterproof sleeve 18 in the axial direction is sleeved on the follow-up shaft 2, and the other end abuts on the bottom cover 20 and surrounds the second through hole 2001. The connection between the waterproof sleeve 18 and the follow-up shaft 2 and the connection between the waterproof sleeve 18 and the bottom cover 20 are both sealed by the second sealing rings 22. By sealing the gap between the bottom cover 20 and the follow-up shaft 2 through the waterproof sleeve 18, and sealing the gap between the waterproof sleeve 18 and the follow-up shaft 2 and the gap between the waterproof sleeve 18 and the bottom cover 20 through the second sealing rings 22 at the two ends of the waterproof sleeve 18, it can prevent water and other external substances from entering the actuator from the joint between the bottom cover 20 and the waterproof sleeve 18 and the joint between the waterproof sleeve 18 and the follow-up shaft 2.

[0078] In order to make the sealing effect of the second sealing structure better, the inner wall of the end of the waterproof sleeve 18 connected with the follow-up shaft 2 is provided with a second sealing groove extending in the radial direction and towards the follow-up shaft 2. The axial end face of the end of the waterproof sleeve 18 connected with the bottom cover 20 is provided with a third sealing groove extending in the axial direction and towards the bottom cover 20. The second sealing groove and the third sealing groove are respectively provided with second sealing rings 22. The second sealing rings 22 can be positioned by the sealing grooves to ensure the positional stability of the second sealing rings 22, so as to avoid displacement of the second sealing rings 22 affecting the sealing effect in the use process. At the same time, based on the orientation of the sealing grooves, the second sealing rings 22 can directly seal the gap between the waterproof sleeve 18 and the follow-up shaft 2 and the gap between the waterproof sleeve 18 and the bottom cover 20, so that the sealing effect is better.

[0079] Further, based on the technical solutions provided in the above embodiments, correspondingly, the embodiments of the present application also provide a robot, which includes an actuator as in the above embodiments. It should be noted that, in the case of no structural conflict, the implementation mode of the actuator can refer to the implementation mode of the actuator described in the above embodiments, which will not be described here.

[0080] In summary, the technical scheme provided by the embodiment of the application, by the output unit detecting the gear 23 and the motor end detection gear 14, the rotation information of the output unit and the driving motor can be detected respectively, so that the position of the motor end and the output unit is controlled in real time. The rotation information includes but is not limited to the rotation number, the rotation angle, the rotation speed and the rotation position. Based on the output unit and the driving motor, the different detection gears can be detected, and the different encoders are used for identification and data processing, that is, the double encoders are used for corresponding detection and recording of the actuator, and the position of the actuator can be recorded for a long time in the case of power failure.

[0081] It should be noted that in the embodiments of the present application, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between 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.

Claims

1. A dual detection structure actuator, characterized by, The utility model relates to a kind of actuator, including: Drive unit, including drive motor, the middle part of the drive unit is equipped with follow-up shaft, the output end input gear is fixed on the follow-up shaft; Speed change unit, the speed change unit includes harmonic generator assembly, harmonic flexspline assembly and harmonic steel wheel, the harmonic generator assembly is connected with the drive unit driving, the harmonic flexspline assembly is connected with the follow-up shaft driving, the harmonic steel wheel is fixedly connected with the drive unit; Auxiliary mounting, the auxiliary mounting has assembly hole, the auxiliary mounting is connected with the harmonic flexspline assembly, and the assembly hole is coaxially arranged with the harmonic flexspline assembly;The auxiliary mounting is sleeved on the follow-up shaft through the assembly hole, so that the harmonic flexspline assembly is coaxially assembled with the harmonic generator; Output unit, transmission connection with the follow-up shaft; Rotor linkage shaft, the rotor linkage shaft is rotatably sleeved on the follow-up shaft, the axial one end of the rotor linkage shaft is drivingly connected with the drive motor, and the motor end input gear is fixed on the circumferential direction of the rotor linkage shaft; Output end detection gear, the output end detection gear is rotatably arranged on one side of the radial direction of the follow-up shaft, and is transmission connected with the output end input gear; Motor end detection gear, the motor end detection gear is rotatably arranged on the other side of the radial direction of the follow-up shaft, and is transmission connected with the motor end input gear; Further including detection mounting seat, the first rotation cavity, the second rotation cavity and the third rotation cavity are arranged on the detection mounting seat;The detection mounting seat is sleeved on the circumferential outer periphery of the follow-up shaft through the second rotation cavity, and the output end input gear and the motor end input gear are rotatably arranged in the second rotation cavity; The output end detection gear is rotatably arranged in the first rotation cavity; The motor end detection gear is rotatably arranged in the third rotation cavity; The gears connected with each other are separated by the detection mounting seat, to ensure that each gear rotates in its own space.

2. The dual detection structure actuator of claim 1, wherein, The axial both ends of the motor end detection gear are respectively provided with third bearing, and one end of the motor end detection gear is rotatably connected with the third rotation cavity through the third bearing on the motor end detection gear; The axial both ends of the output end detection gear are respectively provided with fourth bearing, and one end of the output end detection gear is rotatably connected with the first rotation cavity through the fourth bearing on the output end detection gear; The follow-up shaft is provided with fifth bearing, and the follow-up shaft is rotatably connected with the second rotation cavity through the fifth bearing.

3. The dual detection structure actuator according to any one of claims 1 to 2, wherein, The follow-up shaft at least partially extends out of the rotor linkage shaft, the output end input gear is fixedly arranged on the part of the follow-up shaft extending out of the rotor linkage shaft, and the diameter of the output end input gear is different from the diameter of the motor end input gear.

4. The dual detection structure actuator according to any one of claims 1 to 2, wherein, Magnet assembly is arranged on the output end detection gear and the motor end detection gear respectively; The actuator further includes a drive plate, the drive plate is annularly arranged on the follow-up shaft, and the drive plate is provided with an encoder matched with the magnet assembly.

5. The dual detection structure actuator of claim 4, wherein, The magnet assembly comprises a magnet base and an encoding magnet; the magnet base is connected with the output end detection gear or the motor end detection gear, and the encoding magnet is fixedly arranged on the magnet base.

6. The dual detection structure actuator according to any one of claims 1 to 2, wherein, Further comprising a brake assembly, the brake assembly comprises a brake shell and a brake movably arranged in the brake shell, the brake shell is connected with the driving unit, and the brake is annularly arranged on the outer periphery of the rotor connecting shaft.

7. The dual detection structure actuator of any one of claims 1 to 2, wherein, A third fitting connection part is arranged on the rotor of the driving motor; A fourth fitting connection part is arranged on one end of the rotor connecting shaft connected with the driving motor, and is matched with the third fitting connection part; the rotor connecting shaft is fitted and connected with the third fitting connection part through the fourth fitting connection part to realize circumferential positioning.

8. The dual detection structure actuator of claim 7, wherein, One of the third fitting connection part and the fourth fitting connection part is a clamping groove structure, and the other is a protruding structure matched with the clamping groove structure.

9. A robot, characterized by: The robot comprises the actuator according to any one of claims 1 to 8.

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