Driving device and mechanical equipment
By combining the drive assembly with the output end cap using a torsion spring design, the problems of power outages and torque imbalances in the drive unit during vertical motion are solved, achieving a dual optimization of safety and cost.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUAWEI TECH CO LTD
- Filing Date
- 2022-05-28
- Publication Date
- 2026-06-23
AI Technical Summary
Existing drive devices are prone to falling when the object is moving vertically if the power is suddenly cut off. Furthermore, the drive force demand is uneven at different stages of movement, resulting in high costs and waste.
The design incorporates a torsion spring in conjunction with the drive assembly and output terminal block. By absorbing and storing the work done by the object's gravity through the torsion spring, the drive torque requirement is reduced, improving reliability and lowering costs.
Prevents falls under sudden power outages or external impacts, reduces the rated power requirement of the drive unit, lowers costs, and improves safety.
Smart Images
Figure CN117175850B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of mechanical equipment technology, and in particular to a drive device and mechanical equipment. Background Technology
[0002] In the design of mechanical equipment, situations involving vertical displacement of objects are frequently encountered. If the drive mechanism suddenly loses power during this vertical movement, the object, halfway through its motion, is prone to falling due to gravity, posing a safety hazard. Furthermore, when an object moves downwards, its gravity acts as an assist force, thus requiring relatively little driving force from the drive mechanism. Conversely, when an object moves upwards, its gravity acts as a resistance force, requiring significantly more driving force. To ensure proper operation during all motion phases, the drive mechanism's rated torque must be calculated based on the load under extreme conditions. This results in the drive mechanism's output torque being much lower than its rated torque during downward movement, inevitably leading to some waste. Moreover, the higher rated torque requirement for the drive mechanism also increases costs. Summary of the Invention
[0003] This application provides a drive device and mechanical equipment to improve the drive reliability of the drive device and reduce the cost of the drive device.
[0004] In a first aspect, this application provides a driving device, which may include a base, a driving assembly, and an output end seat. The base has a first receiving groove, within which the driving assembly is disposed. The output shaft of the driving assembly is angled to the central axis of the first receiving groove. A driven block may also be disposed on the driving assembly near the output shaft. The output end seat is fixedly connected to both the output shaft of the driving assembly and the inner wall of the base, supporting the driving assembly within the first receiving groove. Thus, when the driving assembly operates, since the output shaft is relatively fixed to the base, the torque output by the output shaft can react on the driving assembly itself, causing the driving assembly to rotate around the output shaft. The output end seat may include a first end cover, a second end cover, and a torsion spring. The first end cover is disposed near the output shaft, and the second end cover is disposed near the inner wall of the base. The first and second end covers can be fastened together to form a receiving cavity. The first end cover has a first opening circumferentially, and the second end cover has a second opening circumferentially. The torsion spring can be disposed within the receiving cavity formed by the first end cap and the second end cap. The two ends of the torsion spring have a first torsion arm and a second torsion arm, respectively. The first torsion arm can extend from the first opening and slide within the first opening, and the second torsion arm can extend from the second opening and slide within the second opening. When the torsion spring is in the released state, the first torsion arm can abut against the first side of the driven block, and the second torsion arm abuts against the second side of the driven block.
[0005] In the above scheme, when the drive assembly drives the driven component to rotate around the output shaft, if the drive assembly suddenly loses power, the torsion spring can absorb the work done by the gravity of the driven component through deformation, thereby allowing the drive assembly to hover and avoiding the risk of the driven component falling from a height, thus improving the drive reliability of the drive device. Furthermore, during normal operation, the torsion spring can store the positive work done by the gravity of the driven component and release it when the gravity does negative work, thereby reducing the output torque of the drive device when the gravity of the driven component does negative work. This reduces the rated power of the drive device and lowers its cost.
[0006] In practical applications, the bottom surface of the base facing away from the drive assembly can be considered a horizontal plane, in which case the central axis of the first receiving groove is perpendicular to the horizontal plane. In this application, the output shaft of the drive assembly can also be perpendicular to the central axis of the first receiving groove. In this case, the motion plane where the center of gravity of the drive assembly is located is a vertical plane perpendicular to the horizontal plane, and the motion performed by the drive assembly and the driven component is a rotational motion within the vertical plane.
[0007] In practice, the output end cap and the base can be fixedly connected by fasteners. For example, a fixing post can be provided on the side of the first end cap facing the second end cap, and a threaded hole is provided on the fixing post. A through hole can be provided on the second end cap at the position corresponding to the threaded hole, and a countersunk hole can be provided on the outer wall of the base at the position corresponding to the through hole. Fasteners can be passed through the countersunk hole and the through hole in sequence and then tightened in the threaded hole.
[0008] In some possible implementations, the first opening of the first end cap and the second opening of the second end cap are circumferentially offset. The first opening has a first end near the second opening and a second end away from the second opening; similarly, the second opening also has a first end near the first opening and a second end away from the first opening. Along the central axis of the first receiving groove, the first end of the first opening is located above its second end, and the first end of the second opening is also located above its second end. When the torsion spring is in the released state, the first torsion arm abuts against the first end of the first opening, and the second torsion arm abuts against the first end of the second opening.
[0009] In some possible implementations, when the driven block of the drive assembly drives the first torsion arm to rotate toward the second end of the first opening, the torsion spring contracts, and the positive work done by the gravity of the driven component can be converted into elastic potential energy stored in the torsion spring, making the torsion spring into an energy storage state. At this time, the second torsion arm remains stationary under the abutment of the first end of the second opening.
[0010] Similarly, when the driven block of the drive assembly drives the second torsion arm to rotate toward the second end of the second opening, the torsion spring contracts, and the positive work done by the gravity of the driven component can be converted into elastic potential energy stored in the torsion spring, making the torsion spring into an energy storage state. At this time, the first torsion arm remains stationary under the abutment action of the first end of the first opening.
[0011] In some possible implementations, the drive assembly may have two output shafts extending outward from opposite sides of the drive assembly, with the axes of the two output shafts coinciding. In this case, the drive device may be provided with two output end seats, which can respectively fix the two output shafts to the inner wall of the base, thereby improving the smoothness of the drive assembly's movement.
[0012] In some possible implementations, the drive assembly may include a motor and a bracket, with the bracket fixed to the end of the motor away from the base for fixed connection with the driven component, thereby reducing the difficulty of connecting the driven component to the drive assembly.
[0013] In some possible implementations, the end of the bracket facing the motor may have a second receiving groove, and the end of the motor facing away from the base may be disposed in the second receiving groove to improve the reliability of the connection between the motor and the drive assembly.
[0014] In some possible implementations, the driven block can be mounted on the motor housing or on a bracket. It should be noted that when the driven block is mounted on the bracket, a clearance hole can be provided on the bracket corresponding to the position of the driven block, so that the driven block can extend from the second receiving groove of the bracket to complete the mating assembly with the output end seat.
[0015] Secondly, this application also provides a mechanical device that may include a driven component and a drive device as described in any of the possible embodiments provided in the first aspect. The drive component of the drive device may be fixedly connected to the driven component to drive the driven component to complete a predetermined movement. This mechanical device has high safety in use and relatively low cost.
[0016] In some possible implementations, the mechanical device can be a robot. The robot may include a body and a head, with the base of the drive unit fixedly connected to the body and the drive assembly fixedly connected to the head. In this case, the head is the driven component of the mechanical device, and the head can sway back and forth or left and right relative to the body under the drive of the drive unit to achieve corresponding human-computer interaction functions. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the structure of a mechanical device provided in an embodiment of this application;
[0018] Figure 2 A simplified diagram illustrating the motion of an object in a vertical plane;
[0019] Figure 3 This is a schematic diagram of the structure of the driving device provided in the embodiments of this application;
[0020] Figure 4 for Figure 3 An exploded view of the drive unit shown;
[0021] Figure 5 This is a partial structural exploded view of the driving device provided in an embodiment of this application;
[0022] Figure 6 This is a schematic diagram of the structure of the output terminal block provided in an embodiment of this application;
[0023] Figure 7 for Figure 6 A schematic diagram of the torsion spring structure of the output end seat shown;
[0024] Figure 8 This is a partial structural side view of the driving device provided in an embodiment of this application;
[0025] Figure 9 for Figure 8 A schematic diagram of the cross-sectional structure of the drive unit shown at point AA;
[0026] Figure 10 A partial structural side view of the driving device provided in an embodiment of this application in one working state;
[0027] Figure 11 for Figure 10 A schematic diagram of the cross-sectional structure of the drive unit at BB shown;
[0028] Figure 12 A partial structural side view of the driving device provided in an embodiment of this application under another operating state;
[0029] Figure 13 for Figure 12 The diagram shows a cross-sectional view of the drive unit at CC.
[0030] Figure label:
[0031] 1-Mechanical equipment, robot; 10-Head; 20-Fuse;
[0032] 100 - Drive unit; 110 - Base; 111 - First receiving groove; 112 - Second countersunk hole; 120 - Drive assembly; 121 - Motor;
[0033] 1211 - Output shaft; 12111 - First threaded hole; 122 - Bracket; 1221 - Second receiving groove; 1222 - Driven block;
[0034] 12221 - First side of the driven block; 12222 - Second side of the driven block; 123 - First fastener; 130 - Output end seat;
[0035] 131-First end cap; 1311-Fixing post; 13111-Second threaded hole; 1312-First opening;
[0036] 13121 - First end of the first opening; 13122 - Second end of the first opening; 132 - Second end cap; 1321 - First countersunk hole;
[0037] 1322 - Second through hole; 1323 - Second opening; 13231 - First end of the second opening; 13232 - Second end of the second opening; 133 - Torsion spring; 1331 - First torsion arm; 1332 - Second torsion arm. Detailed Implementation
[0038] To make the objectives, technical solutions, and advantages of this application clearer, the application will now be described in further detail with reference to the accompanying drawings.
[0039] Figure 1This is a schematic diagram of the structure of a mechanical device provided in an embodiment of this application. The mechanical device 1 can be a robot, a robotic arm, etc. Figure 1 The mechanical device 1 shown is illustrated using a robot as an example. This robot can be applied to various scenarios such as homes, shopping malls, hotels, hospitals, or tourist attractions. It should be noted that the reference numerals for "robot" and "mechanical device 1" are the same in the following text. Robot 1 may include a head 10 and a body 20. The head 10 can sway back and forth or left and right relative to the body 20 under the drive of a driving device to achieve corresponding human-computer interaction functions. Of course, in other embodiments, mechanical device 1 can also be other types of devices with rotational functions, such as a gimbal. A gimbal, as a support structure for mounting electronic devices with video recording functions such as cameras, camcorders, or mobile phones, can adjust the shooting angle by rotating the electronic device to obtain the desired image.
[0040] It is understandable that when the head 10 of robot 1 swings back and forth, the center of gravity of the head 10 rotates approximately within plane A; when the head 10 of robot 1 swings left and right, the center of gravity of the head 10 rotates approximately within plane B. Both plane A and plane B are perpendicular to the plane on which robot 1 stands. In other words, when robot 1 is placed on a horizontal surface, whether the head 10 of robot 1 swings back and forth or left and right, the movement of the head 10 is a rotational movement within a vertical plane (plane A or plane B) perpendicular to the horizontal plane.
[0041] For an object rotating in a vertical plane, the object will inevitably be affected by gravity during its motion. (Reference) Figure 2 As shown, Figure 2 This is a simplified diagram illustrating the motion of an object in a vertical plane. Assuming the object rotates clockwise in the vertical plane, when it rotates downwards (i.e., its motion range is ac), its gravity exerts a positive pushing force, creating a gravitational torque that assists its motion. This gravitational torque is 0 at point a, reaches its maximum value at point b, and returns to 0 at point c. Within this range, the actual rotational torque of the object equals the sum of the output torque of the driving device and the gravitational torque. When the object rotates upwards (i.e., its motion range is ca), its gravity exerts a reverse pulling force, creating a gravitational torque that opposes its motion. This gravitational torque is 0 at point c, reaches its maximum value at point d, and returns to 0 at point a. Within this range, the actual rotational torque of the object equals the difference between the output torque of the driving device and the gravitational torque.
[0042] Of course, for the head 10 of robot 1, the movement trajectory of the head 10 is not a full rotation, but a swaying motion within a certain angle. When the head 10 rotates forward, backward, left, and right from its center position, simplified to... Figure 2 In this case, it can be viewed as an object rotating clockwise or counterclockwise within the ac interval. During this rotation, the gravity of head 10 will provide assistance, meaning the work done by gravity is positive. When head 10 returns to its center position from the front, back, left, and right positions, the process simplifies to... Figure 2 In this case, it can be viewed as the object rotating clockwise or counterclockwise within the ca interval. At this time, the gravity of the head will exert a resistance effect on its rotation, that is, the work done by gravity is negative work.
[0043] Assuming the maximum rotation angle of robot 1's head 10 is θ, when the head 10 rotates to its maximum angle, the gravitational torque generated by the weight of the head 10 is Mgsinθ×R, where M is the mass of the head 10 and R is the rotation radius of the head 10. It is understandable that during the process of gravity doing negative work, the maximum rotation angle of the head 10 is also the position where the drive device is under the greatest load. Therefore, during the design, the rated torque of the drive device needs to be determined according to the load under this extreme state; that is, the rated torque N of the drive device... 额 It needs to be no less than the gravitational torque and the actual rotational torque F 旋转 The sum is:
[0044] N 额 ≥Mgsinθ×R+F 旋转
[0045] However, since the head 10 of robot 1 moves in a non-limiting state most of the time, if the maximum load of the drive device is designed according to the above formula, the output torque of the drive device when the head 10 moves in a non-limiting state will be much less than its rated torque. This will inevitably lead to some waste, and because the rated power requirement of the drive device is relatively high, the cost will also be relatively high. In addition, if the drive device suddenly loses power during the rotation of the head 10 of robot 1, the head 10 of robot 1 will fall under the action of gravity, thus creating a safety hazard.
[0046] To address the above issues, this application provides a driving device for driving an object to rotate in a vertical plane. This driving device not only prevents the object from falling rapidly in the event of a sudden power outage, improving safety, but also stores the positive work done by gravity when the object rotates and releases it when gravity does negative work. This reduces the output torque of the driving device when gravity does negative work, thereby reducing the rated power and cost of the driving device. The driving device will be described below with reference to specific embodiments.
[0047] refer to Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of the driving device provided in the embodiments of this application. Figure 4 for Figure 3 The diagram shows an exploded view of the drive device. The drive device 100 may include a base 110, a drive assembly 120, and an output end cap 130. The base 110 has a first receiving groove 111, and the drive assembly 120 can be rotatably disposed within this first receiving groove 111 via the output end cap 130. When the drive device 100 is applied to a robot, the base 110 can be fixedly connected to the robot's body, and the drive assembly 120 can be fixedly connected to the robot's head. Thus, when the drive assembly 120 rotates relative to the base 110, it can drive the robot's head to rotate, thereby achieving relative movement between the head and the body.
[0048] In this embodiment, the bottom surface of the base 110 facing away from the drive assembly 120 can be considered as a horizontal plane. It is understood that the central axis of the first receiving groove 111 is perpendicular to the horizontal plane. The rotation axis of the drive assembly 120 and the central axis of the first receiving groove 111 may have a certain angle. In this case, the motion plane where the center of gravity of the drive assembly 120 is located also forms an angle with the horizontal plane. For example, the rotation axis of the drive assembly 120 and the central axis of the first receiving groove 111 may be perpendicular to each other. In this case, the motion plane where the center of gravity of the drive assembly 120 is located is a vertical plane perpendicular to the horizontal plane.
[0049] Please continue to refer to this. Figure 3 and Figure 4 The drive assembly 120 may include a motor 121 and a bracket 122. The bracket 122 is fixedly disposed at the end of the motor 121 facing away from the base 110 to facilitate connection with the driven component (e.g., the head of a robot). The bracket 122 may have a second receiving groove 1221, and the end of the motor 121 facing away from the base 110 may be disposed within the second receiving groove 1221, or it can be understood that the bracket 122 partially covers the motor 121. The end of the bracket 122 facing the base 110 may partially extend into the first receiving groove 111 to improve the structural compactness of the drive device 100. In a specific implementation, the bracket 122 and the motor 121 may be fixedly connected by a first fastener 123. Exemplarily, there may be multiple first fasteners 123 to improve the connection reliability between the bracket 122 and the motor 121.
[0050] The output end cap 130 can be disposed between the outer wall of the motor 121 and the inner wall of the base 110, and the output end cap 130 is fixedly connected to the output shaft of the motor 121 and the inner wall of the base 110 respectively. In this way, the motor 121 can be supported and disposed in the first receiving groove 111 through the output end cap 130. When the motor 121 is running, since the output shaft and the base 110 are relatively fixed, based on the principle of force interaction, the torque output by the output shaft can act in the opposite direction on the motor 121 itself, thereby driving the motor 121 to rotate around the output shaft. The axis of rotation of the motor 121 is also the axis of the output shaft.
[0051] In some embodiments, the motor 121 can be a dual-output motor, that is, the motor 121 can have two output shafts, which extend outward from opposite sides of the motor 121, and the axes of the two output shafts coincide. In this case, the two output shafts of the motor 121 can be fixedly connected to the base through corresponding output end seats 130, thereby improving the smoothness of the motor 121's movement.
[0052] Please refer to the above. Figure 4 and Figure 5 As shown, Figure 5 This is a partial exploded view of the drive device provided in an embodiment of this application. The output end cap 130 may include a first end cover 131, a second end cover 132, and a torsion spring 133. The first end cover 131 can be fastened to the second end cover 132 to form a receiving cavity, and the torsion spring 133 is disposed in the receiving cavity. When the output end cap 130 is fixedly connected to the output shaft 1211 of the motor 121 and the base 110, the first end cover 131 may be located on the side closer to the motor 121, and the second end cover 132 may be located on the side closer to the inner wall of the base 110.
[0053] In some embodiments, the output end cap 130 and the output shaft 1211 of the motor 121 can be fixedly connected by a second fastener (not shown in the figure). Specifically, the output shaft 1211 of the motor 121 may have a first threaded hole 12111 arranged along its axial direction, the first end cap 131 of the output end cap 130 may have a first through hole at the position corresponding to the first threaded hole 12111, and the second end cap 132 on the side opposite to the first end cap 131, corresponding to the position of the first through hole, has a first countersunk hole 1321. The second fastener can pass through the first countersunk hole 1321 and the first through hole in sequence and then be tightened into the first threaded hole 12111, thereby achieving relative fixation between the output end cap 130 and the output shaft 1211.
[0054] In some embodiments, the output end cap 130 and the base 110 can be fixedly connected by a third fastener. In this case, a fixing post 1311 can be provided on the side of the first end cap 131 facing the second end cap 132. The fixing post 1311 can have a second threaded hole 13111 arranged axially therein. The second end cap 132 can have a second through hole 1322 corresponding to the fixing post 1311. The outer wall of the base has a second countersunk hole 112 corresponding to the second through hole 1322. The third fastener can pass through the second countersunk hole 112 and the second through hole 1322 in sequence and then be tightened into the second threaded hole 13111, thereby achieving relative fixation between the output end cap 130 and the base 110. Furthermore, to improve the connection strength between the output end cap 130 and the base 110, the number of second fasteners can be appropriately increased. Correspondingly, the first end cap 131 also needs to be provided with multiple fixing posts 1311 matching the number of second fasteners, for example... Figure 4 The diagram shows a case where three fixing posts 1311 are provided on the first end cover 131. Exemplarily, the three fixing posts 1311 on the first end cover 131 can be arranged in a triangular shape to ensure uniform force distribution on the output end seat 130. When the torsion spring 133 is placed within the receiving cavity formed by the first end cover 131 and the second end cover 132, the torsion spring 133 can specifically be sleeved around the three fixing posts 1311. In this case, the three fixing posts 1311 can also serve to position the torsion spring 133.
[0055] Please refer to the above. Figure 5 , Figure 6 and Figure 7 As shown, Figure 6 This is a schematic diagram of the output terminal block provided in an embodiment of this application. Figure 7 for Figure 6 The diagram shows the structure of the torsion spring in the output end cap. A first end cap 131 has a first opening 1312 circumferentially, and a second end cap 132 has a second opening 1323 circumferentially. After the first end cap 131 and the second end cap 132 are fastened together, the first opening 1312 and the second opening 1323 are offset from each other. The first opening 1312 has a first end 13121 near the second opening 1323 and a second end 13122 away from the second opening 1323. Similarly, the second opening 1323 also has a first end 13231 near the first opening 1312 and a second end 13232 away from the first opening 1312.
[0056] The torsion spring 133 has a first torsion arm 1331 at the end near the first end cap 131 and a second torsion arm 1332 at the end near the second end cap 132. The first torsion arm 1331 and the second torsion arm 1332 extend radially along the torsion spring 133, and the first torsion arm 1331 can extend from the first opening 1312 to the outside of the output end cap 130, and the second torsion arm 1332 can extend from the second opening 1323 to the outside of the output end cap 130. When the torsion spring 133 is in its initial state, the first torsion arm 1331 is in contact with the first end 13121 of the first opening 1312, and the second torsion arm 1332 is in contact with the first end 13231 of the second opening 1323. When the first torsion arm 1331 is subjected to force and rotates towards the second end 13122 of the first opening 1312, the torsion spring 133 contracts and changes from the initial energy release state to the energy storage state. The second torsion arm 1332 remains stationary under the abutting action of the first end 13231 of the second opening 1323. When the second torsion arm 1332 is subjected to force and rotates towards the second end 13232 of the second opening 1323, the torsion spring 133 changes from the initial energy release state to the energy storage state. The first torsion arm 1331 remains stationary under the abutting action of the first end 13121 of the first opening 1312.
[0057] It should be noted that the energy release state of the torsion spring 133 is relative to its energy storage state. In the embodiments of this application, when the torsion spring 133 contracts under the action of external force, it can be understood as being in the energy storage state, and when the external force is removed, it can be understood as being in the energy release state.
[0058] Please refer to the above. Figure 8 and Figure 9 As shown, Figure 8 This is a partial structural side view of the driving device provided in an embodiment of this application. Figure 9 for Figure 8 The diagram shows a cross-sectional view of the drive unit at point AA. It should be noted that... Figure 8The diagram only shows a portion of the bracket 122 near the motor 121, not the complete bracket 122. A driven block 1222 is located on the bracket 122 near the output end seat 130. After the components of the drive unit are assembled sequentially, the first torsion arm 1331 and the second torsion arm 1332 of the torsion spring 133 extend towards the bracket 122, and can be located on opposite sides of the driven block 1222. When the torsion spring 133 is in its initial state, the first torsion arm 1331 contacts the first end of the first opening 1312 and also abuts against the first side 12221 of the driven block 1222. Similarly, the second torsion arm 1332 contacts the first end of the second opening 1323 and also abuts against the second side 12222 of the driven block 1222. In other words, the first side 12221 of the driven block 1222 and the first end of the first opening 1312 can be located approximately in the same plane, and the second side 12222 of the driven block 1222 and the first end of the second opening 1323 can be located approximately in the same plane.
[0059] Of course, in some other embodiments, the driven block can also be set on the motor housing. In this case, a clearance hole can be provided on the bracket at the position corresponding to the driven block, so that the driven block can extend out from the second receiving groove of the bracket to complete the mating assembly with the output end seat.
[0060] Please refer to the above. Figure 10 and Figure 11 As shown, Figure 10 A partial structural side view of the driving device provided in an embodiment of this application in one working state. Figure 11 for Figure 10The diagram shows a cross-sectional view of the drive unit at point BB. When the motor rotates clockwise to the right from its initial position around the output axis, the positive gravity work of the motor 121 and the driven components (e.g., the support and the robot head) results in the following: For the lower output end seat 130, the first torsion arm 1331 of the torsion spring 133 rotates synchronously with the motor 121 under the drive of the corresponding driven block 1222, and the second torsion arm 1332 abuts against the first end 13231 of the second opening 1323 and remains stationary; For the upper output end seat 130, the first torsion arm 1331 of the torsion spring 133 abuts against the first end 13121 of the first opening 1312 and remains stationary, and the second torsion arm 1332 rotates synchronously with the motor 121 under the drive of the corresponding driven block 1222. As the motor 121 rotates, the torsion springs 133 on both sides gradually contract. During this process, the positive work done by the gravity of the motor 121 and the driven component can be converted into elastic potential energy and stored in the torsion springs 133, making the torsion springs 133 an energy storage state. When the motor 121 returns to the center from the right, the gravity of the motor 121 and the driven component does negative work. During this process, in addition to the driving force of the motor 121, the torsion springs 133 also release the stored potential energy, thus offsetting or partially offsetting the negative work done by the gravity of the motor 121 and the driven component. It should be noted that the directional terms such as "up," "down," "left," and "right" used in the drive device of this embodiment are mainly based on the drive device's position on the ground. Figure 10 and Figure 11 The description of the display orientation does not constitute a limitation on the orientation of the driving device in actual application scenarios.
[0061] It should be understood that, in the above process, the maximum rotation angle of the motor 121 to the right can be determined by the rotation angle of the lower first torsion arm 1331 within the first opening 1312. When the first torsion arm 1331, driven by the driven block 1222, abuts against the second end 13122 of the first opening 1312, it can be understood that the motor 121 has rotated to its right limit position. In practical applications, the size of the first opening 1312 can be designed according to the motion requirements of the mechanical equipment, which will not be elaborated further here.
[0062] Of course, in some other embodiments, the maximum rotation angle of the motor 121 to the right can also be determined by the rotation angle of the upper second torsion arm 1332 within the second opening 1323. When the second torsion arm 1332 abuts against the second end 13232 of the second opening 1323 under the drive of the driven block 1222, it can be understood that the motor 121 has rotated to the right limit position. For example, the dimensions of the first opening 1312 of the lower output end seat 130 and the second opening 1323 of the upper output end seat 130 can be the same, so that when the motor 121 rotates to the limit position, the output end seats 130 on both sides can simultaneously limit it, thereby improving the working reliability of the drive device.
[0063] It should also be noted that by rotatably connecting the two output shafts of motor 121 to the base via output end seats 130, the smoothness of motor 121's operation can be improved. Furthermore, the work done by the gravity of motor 121 and the driven components can be shared by the torsion springs 133 of the two output end seats 130 on both sides, thus reducing the energy storage requirements of the torsion springs 133 and consequently reducing the cost of the output end seats 130. In practical implementation, since the output end seats 130 on both sides have the same structure, they can be shared, further reducing design and manufacturing costs.
[0064] Please refer to the above. Figure 12 and Figure 13 As shown, Figure 12 A partial structural side view of the driving device provided in an embodiment of this application under another operating state. Figure 13 for Figure 12 The diagram shows a cross-sectional view of the drive unit at point CC. When the motor rotates to the left (counterclockwise) about the output axis from its initial position, the gravity of the motor 121 and the driven components does positive work. For the lower output end 130, the first torsion arm 1331 of the torsion spring 133 abuts against the first end 13121 of the first opening 1312 and remains stationary. The second torsion arm 1332 rotates synchronously with the motor 121 under the drive of the corresponding driven block 1222. For the upper output end 130, the first torsion arm 1331 of the torsion spring 133 rotates synchronously with the motor 121 under the drive of the corresponding driven block 1222. The second torsion arm 1332 abuts against the first end 13231 of the second opening 1323 and remains stationary. As the motor 121 rotates, the torsion springs 133 on both sides gradually tighten. During this process, the positive work done by the gravity of the motor 121 and the driven component is converted into elastic potential energy and stored in the torsion springs 133, making the torsion springs 133 an energy storage state. When the motor returns to center from the left, the gravity of the motor 121 and the driven component does negative work. During this process, in addition to the driving force of the motor 121, the torsion springs 133 also release the stored potential energy to offset or partially offset the negative work done by the gravity of the motor 121 and the driven component. It should be noted that the directional terms such as "up," "down," "left," and "right" used in the drive device of this embodiment are mainly based on the drive device's position on the ground. Figure 12 and Figure 13 The description of the display orientation does not constitute a limitation on the orientation of the driving device in actual application scenarios.
[0065] Similarly, in the above process, the maximum leftward rotation angle of the motor 121 can be determined by the rotation angle of the lower second torsion arm 1332 within the second opening 1323. When the second torsion arm 1332, driven by the driven block 1222, abuts against the second end 13232 of the second opening 1323, it can be understood that the motor 121 has rotated to the left limit position. Alternatively, the maximum leftward rotation angle of the motor 121 can also be determined by the rotation angle of the upper first torsion arm 1331 within the first opening 1312. For example, the second opening 1323 of the lower output end seat 130 and the first opening 1312 of the upper output end seat 130 can have the same size, so that when the motor 121 rotates to the limit position, the output end seats 130 on both sides can simultaneously limit it, thereby improving the working reliability of the drive device.
[0066] The above analysis shows that during the process of motor 121 and the driven component returning to center from the left or right, the potential energy released by torsion spring 133 is used to offset or partially offset the negative work done by the gravity of motor 121 and the driven component, thereby reducing the output torque of motor 121 during the returning process. As mentioned above, the stage where the gravity of motor 121 and the driven component does negative work is the stage where the output torque of motor 121 is the largest. Therefore, by reducing the output torque of motor 121 during this process, the rated power of motor 121 can be reduced, thereby reducing the specifications of the selected motor 121 and lowering its cost.
[0067] Furthermore, if the motor 121 suddenly loses power during rotation, and the motor 121 and the driven component rotate to the left or right and fall under the influence of gravity, the torsion spring 133 can also absorb the work done by the gravity of the motor 121 and the driven component by contraction and deformation. At this time, it is equivalent to using the torsion spring 133 to brake the motor 121, so that the speed of the motor 121 can be gradually reduced to zero, and finally the motor 121 and the driven component can be suspended in a certain position, thereby avoiding the risk of the driven component falling rapidly from a height and causing an accident.
[0068] In addition to the sudden power outage mentioned above, when the driven component is subjected to an external impact, the external impact force will also act on the torsion spring 133 first. At this time, the torsion spring 133 can also absorb the work done by the external force by contracting and deforming, thereby mitigating the impact of the impact force on the driven component and reducing the risk of motor 121 failure.
[0069] 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 device, characterized in that, Includes a base, a driver assembly, and an output connector, wherein: The base has a first receiving groove; The drive assembly is disposed in the first receiving groove, the output shaft of the drive assembly is set at an angle to the central axis of the first receiving groove, and a driven block is disposed on the drive assembly near the output shaft; The output end seat is fixedly connected to the output shaft of the drive assembly and the inner wall of the base, respectively, to support the drive assembly in the first receiving groove. The output end seat includes a first end cover, a second end cover, and a torsion spring. The first end cover and the second end cover are fastened together to form a receiving cavity. The first end cover is located near the output shaft. The first end cover has a first opening along the circumferential direction, and the second end cover has a second opening along the circumferential direction. The torsion spring is disposed in the receiving cavity. The two ends of the torsion spring have a first torsion arm and a second torsion arm, respectively. The first torsion arm extends out of the first opening and can slide within the first opening. The second torsion arm extends out of the second opening and can slide within the second opening. When the torsion spring is in the released state, the first torsion arm abuts against the first side of the driven block, and the second torsion arm abuts against the second side of the driven block.
2. The driving device as described in claim 1, characterized in that, The output shaft is perpendicular to the central axis of the first receiving groove.
3. The driving device as described in claim 1 or 2, characterized in that, The first opening and the second opening are offset circumferentially. The first opening has a first end close to the second opening and a second end away from the second opening, and the second opening has a first end close to the first opening and a second end away from the first opening; When the torsion spring is in the released state, the first torsion arm abuts against the first end of the first opening, and the second torsion arm abuts against the first end of the second opening.
4. The driving device as described in claim 3, characterized in that, When the driven block drives the first torsion arm to slide from the first end of the first opening to the second end of the first opening, the torsion spring contracts and changes from an energy-releasing state to an energy-storing state.
5. The driving device as described in claim 3 or 4, characterized in that, When the driven block drives the second torsion arm to slide from the first end of the second opening to the second end of the second opening, the torsion spring contracts and changes from an energy-releasing state to an energy-storing state.
6. The driving device according to any one of claims 1 to 5, characterized in that, The drive assembly has two output shafts, which extend outward from opposite sides of the drive assembly, and the axes of the two output shafts coincide. The number of output terminals is two, and the two output terminals respectively fix the two output shafts to the inner wall of the base.
7. The driving device according to any one of claims 1 to 6, characterized in that, The drive assembly includes a motor and a bracket. The bracket is fixedly disposed at the end of the motor away from the base and is used to fixally connect to the driven component.
8. The driving device as claimed in claim 7, characterized in that, The bracket has a second receiving groove, and the end of the motor facing away from the base is disposed in the second receiving groove.
9. The driving device as described in claim 7 or 8, characterized in that, The driven block is disposed on the housing of the motor; or, the driven block is disposed on the bracket.
10. A mechanical device, characterized in that, It includes a driven component and a driving device as described in any one of claims 1 to 9, wherein the driven component is fixedly connected to the driving assembly.