Intelligent variable stiffness motor actuator

Abstract

The invention provides an intelligent variable-stiffness motor actuator, and the actuator comprises a hollow shaft part which is provided with a first end part and a second end part which are far away from each other; the connecting rod is arranged in the hollow shaft part in a penetrating manner and is provided with a first mounting end penetrating out of the first end part and a second mounting end penetrating out of the second end part; the middle position of the hollow shaft part is sleeved with a speed reduction part, and thrust bearings are installed on the two sides, facing the first end part and the second end part, of the speed reduction part correspondingly. The first installation end is sleeved with the flange part, the coupler is installed between the flange part and the speed reduction part, the coupler is arranged on the first end part in a sleeving mode, the coupler comprises the outer sleeve part, the inner sleeve part and the elastic piece parts, the inner sleeve part is installed in the middle of the outer sleeve part, and at least one elastic piece part is installed on the inner sleeve part and used for adjusting the rigidity of the coupler.

Description

Technical Field

[0001] The present application belongs to the technical field of robots, and in particular, relates to an intelligent variable stiffness motor actuator. Background Art

[0002] In the prior art, torque motor joint modules are often used in the joints of robots. The existing torque motor joint modules are made into elastic recovery structures through springs, etc. In actual applications, when the torque motor joint module is connected to the robot for external output, the output end has low sensitivity.

[0003] That is, when the existing elastic recovery structure is subjected to a load, if the initial value of the load borne by the elastic recovery structure is reduced, the elastic recovery structure will be irreversibly deformed when subjected to a larger load. While maintaining the elastic recovery structure's own restorability, the initial value of the load borne by the structure is higher. When subjected to a larger load, the existing torque will cause the robot's arm to vibrate violently during the process of adjusting the output, thereby reducing the reliability of the robot.

[0004] To address the above problems, no effective solution has been proposed yet.

[0005] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present invention and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because these solutions are described in the background technology section of the present invention. Summary of the invention

[0006] The purpose of this application is to provide an intelligent variable stiffness motor actuator to solve the above problems.

[0007] The present application provides an intelligent variable stiffness motor actuator, comprising:

[0008] A hollow shaft portion, the shaft portion having a first end portion and a second end portion that are spaced apart from each other;

[0009] A connecting rod passing through the hollow shaft portion, the connecting rod having a first mounting end passing through the first end portion and a second mounting end passing through the second end portion;

[0010] A speed reducing part is sleeved in the middle of the hollow shaft part, and thrust bearings are installed on both sides of the speed reducing part facing the first end part and the second end part;

[0011] A flange sleeved on the first mounting end, a connector installed between the flange and the speed reducing part, and the connector sleeved on the first end;

[0012] A first magnetic encoder is sleeved on the second end, a second magnetic encoder is sleeved on the outer side of the first magnetic encoder, and a magnetic encoder stator is sleeved on the outer side of the second magnetic encoder;

[0013] Wherein, the connector includes an outer sleeve, an inner sleeve and an elastic sheet, the inner sleeve is installed in the middle position of the outer sleeve, and at least one elastic sheet is installed on the inner sleeve, and the stiffness of the connector is positively correlated with the number of the elastic sheet.

[0014] Preferably, the speed reduction portion is in contact with a shell portion at a side wall away from the hollow shaft portion, and the shell portion extends toward a direction where the first end portion and the second end portion are located.

[0015] Preferably, an oil seal portion is provided on a side of the two thrust bearings away from the speed reduction portion.

[0016] Preferably, the speed reduction portion is configured as a worm gear structure.

[0017] Preferably, the thrust bearing is configured as a short cylindrical thrust bearing.

[0018] Preferably, a high-rigidity crossed roller bearing is installed between the coupling and the housing.

[0019] Preferably, the second mounting end sleeve is provided with a supporting portion, and an edge of the supporting portion is in contact with the second magnetic encoder.

[0020] Preferably, the first magnetic encoder is connected to a speed reduction unit for output.

[0021] Preferably, the support portion and the second end portion are connected via a bearing.

[0022] Preferably, a plurality of the elastic sheet parts are symmetrically welded to the inner sleeve part.

[0023] Preferably, the plurality of elastic sheet parts are all made of elastic material.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention provides a connector including an outer sleeve, an inner sleeve and a spring sheet, wherein the inner sleeve is installed in the middle of the outer sleeve, and at least one spring sheet is installed on the inner sleeve to adjust the stiffness of the connector.

[0026] 2. The present invention sets a first magnetic encoder on the second end, sets a second magnetic encoder on the outside of the first magnetic encoder, and then sets a magnetic encoder stator on the outside of the second magnetic encoder. Thus, a rotor-stator combination structure of double encoders can be formed to estimate the load torque when the ladder shaft and the connecting rod are output. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 is an overall structural diagram of an intelligent variable stiffness motor actuator provided in an embodiment of the present application;

[0029] Figure 2 It is a structural diagram of a connector of an intelligent variable stiffness motor actuator provided in an embodiment of the present application;

[0030] Figure 3 It is a structural diagram of a spring piece portion of an intelligent variable stiffness motor actuator provided in an embodiment of the present application;

[0031] Figure 4 This is an installation diagram of a spring piece portion of an intelligent variable stiffness motor actuator provided in an embodiment of the present application;

[0032] Figure 5 This is an angular contact ball bearing installation diagram of an intelligent variable stiffness motor actuator provided in an embodiment of the present application.

[0033] In the figure: 1. hollow shaft; 11. first end; 12. second end; 13. speed reduction portion; 14. thrust bearing; 2. connecting rod; 21. first mounting end; 22. second mounting end; 3. flange portion; 4. connector; 41. outer sleeve portion; 42. inner sleeve portion; 43. spring portion; 5. first magnetic encoder; 6. second magnetic encoder; 7. magnetic encoder stator; 8. shell portion; 81. cross roller bearing; 9. support portion. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0035] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "upper", "middle", "lower", "inner", "outer", "front", "back", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. The terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. The following describes an implementation method of the present invention based on its overall structure.

[0036] Reference Figure 1 As shown, the embodiment of the present application provides an intelligent variable stiffness motor actuator, comprising:

[0037] A hollow shaft portion 1, wherein the hollow shaft portion 1 has a first end portion 11 and a second end portion 12 that are far away from each other;

[0038] A connecting rod 2 is inserted into the hollow shaft portion 1, and the connecting rod 2 has a first mounting end 21 inserted through the first end portion 11 and a second mounting end 22 inserted through the second end portion 12;

[0039] A speed reducing portion 13 is sleeved in the middle of the hollow shaft portion 1, and thrust bearings 14 are installed on both sides of the speed reducing portion 13 facing the first end portion 11 and the second end portion 12;

[0040] A flange portion 3 is sleeved on the first mounting end 21, a connector 4 is installed between the flange portion 3 and the speed reduction portion 13, and the connector 4 is sleeved on the first end portion 11;

[0041] A first magnetic encoder 5 is sleeved on the second end portion 12, a second magnetic encoder 6 is sleeved on the outer side of the first magnetic encoder 5, and a magnetic encoder stator 7 is sleeved on the outer side of the second magnetic encoder 6;

[0042] Among them, the connector 4 includes an outer sleeve 41, an inner sleeve 42 and an elastic sheet 43. The inner sleeve 42 is installed in the middle position of the outer sleeve 41, and at least one elastic sheet 43 is installed on the inner sleeve 42. The stiffness of the connector 4 is positively correlated with the number of elastic sheets 43.

[0043] according to Figure 1, those skilled in the art can set a structure combining the hollow shaft portion 1 and the connecting rod 2. That is, a hollow structure can be set inside the hollow shaft portion 1, and then the connecting rod 2 is inserted into the hollow shaft portion 1. Specifically, the hollow shaft portion 1 has a first end 11 and a second end 12 that are far away from each other, and the connecting rod 2 also has a first mounting end 21 and a second mounting end 22 that are far away from each other. The first mounting end 21 is inserted through the first end 11, and the second mounting end 22 is inserted through the second end 12.

[0044] A speed reducing part 13 is sleeved in the middle of the hollow shaft 1, and thrust bearings 14 are arranged on both sides of the speed reducing part 13. Figure 1 The inner ring of the thrust bearing 14 is sleeved on the hollow shaft portion 1 , and the outer ring of the thrust bearing 14 abuts against the inner wall of the shell portion 8 .

[0045] By means of the above structure, the output to the outside world can be completed by the rotation of the connecting rod 2. At the same time, the application of the thrust bearing 14 can make the output process of the connecting rod 2 more stable.

[0046] Furthermore, those skilled in the art can install the flange part 3 on the first end part 11. The rotation of the connecting rod 2 can drive the flange part 3 to rotate. The rotation of the flange part 3 can be output to the outside, thereby realizing external power output.

[0047] In the above structure, a connector 4 is installed between the flange part 3 and the speed reduction part 13 , and the connector 4 is sleeved on the first end part 11 , so as to effectively adapt to the external torque borne by the flange part 3 during output.

[0048] Specifically, when the flange 3 outputs to the outside, the external load will be directly transmitted to the connector 4. The connector 4 can resist the impact caused by the load change. That is, when the load on the output side of the flange 3 changes, the connector 4 will bear the torque caused by the load change, so that the flange 3 can output stably in various situations.

[0049] In the above structure, those skilled in the art sleeve the first magnetic encoder 5 on the second end 12, sleeve the second magnetic encoder 6 on the outside of the first magnetic encoder 5, and then sleeve the magnetic encoder stator 7 on the outside of the second magnetic encoder 6. Thus, a rotor-stator combination structure of dual encoders can be formed.

[0050] With the above structure, a dual encoder structure can be formed, that is, the output detection near the second end 12 and the load calculation can be realized through the dual encoder and the magnetic encoder stator 7.

[0051] In the above structure, those skilled in the art also provide a speed reduction unit 13. Preferably, the speed reduction unit 13 is provided as a worm gear structure. In this embodiment, the rotor-stator combination structure of the dual encoder can measure the torque after being connected.

[0052] Specifically, the first magnetic encoder 5 is directly connected to the hollow shaft 1 of the worm gear reduction part. By receiving the output signal when the worm gear moves, the movement position θ1 (i.e., angle θ1) of the hollow shaft 1 is determined. At the same time, the rotation of the connecting rod 2 can drive the flange 3 to rotate. The second magnetic encoder can monitor the rotation of the flange 3 to determine the position θ2 of the flange 3, and then characterize the torque size by θ1-θ2.

[0053] The above arrangement can read the torque of the load when the hollow shaft portion 1 and the connecting rod 2 are output through the first magnetic encoder 5 and the second magnetic encoder 6. It can be understood that in the above output process, the rotation of the hollow shaft portion 1 is output through the second end portion 12. At the same time, during the rotation of the hollow shaft portion 1, the connecting rod 2 also rotates, and the connecting rod 2 outputs through the flange portion 3 of the first mounting end 21. When subjected to external loads, the rotation of the connecting rod 2 and the rotation of the hollow shaft portion 1 will be out of sync. When the rotation of the connecting rod 2 and the rotation of the hollow shaft portion 1 are out of sync, there will be an angle difference in rotation between the connecting rod 2 and the hollow shaft portion 1, and the torque of the load can be calculated through the angle difference.

[0054] In the above structure, those skilled in the art install a connector 4 between the flange portion 3 and the speed reduction portion 13. The connector 4 includes an outer sleeve portion 41, an inner sleeve portion 42 and a spring sheet portion 43, wherein the inner sleeve portion 42 is installed in the middle of the outer sleeve portion 41, and at least one spring sheet portion 43 is installed on the inner sleeve portion 42 for adjusting the rigidity of the connector 4.

[0055] According to the above-mentioned embodiment, the torque of the load when the hollow shaft 1 and the connecting rod 2 are output is read by the first magnetic encoder 5 and the second magnetic encoder 6. According to different load conditions, the field can adjust the stiffness of the connector 4 by setting the number of spring pieces 43 installed on the connector 4. The adjustment of the stiffness of the connector 4 can effectively adapt to the load size borne by the connecting rod 2 and the output part of the hollow shaft 1.

[0056] Specifically, when the output end of the connecting rod 2 and the hollow shaft portion 1 needs to bear a larger load, the number of the spring pieces 43 on the connector 4 can be increased, thereby improving the bearing capacity of the output end of the connecting rod 2 and the hollow shaft portion 1.

[0057] In this embodiment, preferably, the side wall of the speed reduction portion 13 away from the hollow shaft portion 1 is in contact with the shell portion 8, and the shell portion 8 extends toward the direction where the first end portion 11 and the second end portion 12 are located. That is, those skilled in the art can set the shell portion 8 to protect the parts inside the intelligent variable stiffness motor actuator.

[0058] By means of the above structure, the shell 8 and the hollow shaft 1 can protect the installed parts. Preferably, a high-rigidity cross roller bearing is installed between the connector 4 and the housing 8. The high-rigidity cross roller bearing can make the connector 4 more stable when working.

[0059] That is, the coupling 4 rotates and deforms along with the flange 3 during the process of bearing the load. The high-rigidity cross roller bearing can make the coupling 4 more stable during the process of rotation and deformation.

[0060] In one embodiment, preferably, the thrust bearing 14 is configured as a short cylindrical thrust bearing, so that the speed reduction unit 13 can maintain stable operation under heavy loads and obvious vibrations, thereby bearing the axial and radial forces of the power and improving the torque mass density.

[0061] according to Figure 1 The outer ring of the short cylindrical thrust bearing abuts against the inner wall of the shell 8, and the inner ring of the short cylindrical thrust bearing abuts against the hollow shaft 1, so that the relative position of the speed reduction part 13 can be determined, and at the same time, the space arrangement in the shell 8 is more reasonable.

[0062] In an optional embodiment, preferably, an oil seal is provided on the side of the two thrust bearings 14 away from the speed reducing part 13. By providing the oil seal, the parts inside the shell 8 can maintain a stable working environment.

[0063] Preferably, the first magnetic encoder 5 is connected to the speed reducer for output. That is, in this embodiment, the first magnetic encoder 5 can be connected to the speed reducer for rotation. In the above embodiment, the speed reducer is connected to the hollow shaft 1, so that the hollow shaft 1 can be rotated, and the rotation of the hollow shaft 1 can make the first magnetic encoder output to the outside, and by setting the speed reducer as a worm gear structure, the transmission of the speed reducer can have a larger transmission ratio.

[0064] In the arrangement of the first encoder 5 and the second magnetic encoder 6 by those skilled in the art, preferably, the second mounting end 22 is sleeved with a support portion 9, and the edge of the support portion 9 is in contact with the second magnetic encoder 6. Figure 1The first magnetic encoder 5 is directly sleeved on the outer wall of the hollow shaft 1, and there is a gap between the first magnetic encoder 5 and the second magnetic encoder 6. In this embodiment, the second magnetic encoder 6 can be fixed by the support part 9.

[0065] Furthermore, the support portion 9 can not only position and support the second magnetic encoder 6, but also cover the second end portion 12. That is, the middle position of the support portion 9 is sleeved on the second mounting end 22, and the second mounting end 22 passes through the second end portion 12, so that the support portion 9 covers the second end portion 12. In this embodiment, the second mounting end 22 does not exceed the side wall of the support portion 9 away from the hollow shaft portion 1, so that the second mounting end 22 can be protected.

[0066] With the above structure, preferably, the support portion 9 is connected to the second end portion 12 via a bearing, so that the structure inside the support portion 9 can be more stable.

[0067] For the arrangement inside the connector 4, according to Figure 2 Preferably, a plurality of spring pieces 43 are symmetrically welded on the inner sleeve. This can make the structure inside the connector 4 more stable. Moreover, when subjected to external force, the force inside the connector 4 can be more uniform, which greatly improves the service life and stability of the connector 4 during use. More preferably, the plurality of spring pieces 43 are all made of elastic material, which can be set to an amorphous alloy material, so that the connector 4 can recover after being subjected to external force to continue working.

[0068] according to Figure 5 In the above structure, the cross roller bearing 81 can be set as a large bearing. In practical applications, a small bearing 3005 is generally used. In this embodiment, those skilled in the art can use a large bearing 3510, thereby increasing the load of the actuator.

[0069] In addition, an angular contact ball bearing can be provided between the support portion 9 and the shell portion 8 for connection. The shell portion 8 is fixed on the base, and the support portion 9 is connected to the output end of the load. Figure 5 , arranged at the second mounting end 22. The above arrangement can realize the decoupling of the second mounting end 22 and the speed reduction part 13, thereby reducing the interference to the first encoder 5 and the second magnetic encoder 6, and improving the accuracy of the first encoder 5 and the second magnetic encoder 6.

[0070] Generally, the use of deep groove ball bearings can only allow the actuator to withstand a smaller load. In this embodiment, the technicians in this field replace the deep groove ball bearings with angular contact ball bearings, thereby improving the radial runout of the shafts of the first encoder 5 and the second magnetic encoder 6, and further improving the accuracy of the first encoder 5 and the second magnetic encoder 6.

[0071] Although different specific embodiments are mentioned in the content of this application, this application is not limited to the situations described in the industry standards or embodiments, etc. Some industry standards or slightly modified implementation plans based on the implementation of the custom methods or embodiments can also achieve the same, equivalent or similar, or predictable implementation effects after deformation of the above embodiments. The embodiments of data acquisition, processing, output, judgment methods, etc. after these modifications or deformations can still fall within the scope of the optional implementation plans of this application.

[0072] Although the present application has been described through embodiments, those skilled in the art will appreciate that there are many modifications and changes to the present application without departing from the spirit of the present application. It is intended that the attached embodiments include these modifications and changes without departing from the present application.

Claims

1. An intelligent variable stiffness motor actuator, characterized in that: include: A hollow shaft portion, the shaft portion having a first end portion and a second end portion that are spaced apart from each other; A connecting rod passing through the hollow shaft portion, the connecting rod having a first mounting end passing through the first end portion and a second mounting end passing through the second end portion; A speed reducing part is sleeved in the middle of the hollow shaft part, and thrust bearings are installed on both sides of the speed reducing part facing the first end part and the second end part; A flange portion sleeved on the first mounting end, a connector is installed between the flange portion and the speed reducing portion, and the connector is sleeved on the first end portion; A first magnetic encoder is sleeved on the second end, a second magnetic encoder is sleeved on the outer side of the first magnetic encoder, and a magnetic encoder stator is sleeved on the outer side of the second magnetic encoder; Wherein, the connector includes an outer sleeve, an inner sleeve and an elastic sheet, the inner sleeve is installed in the middle position of the outer sleeve, and at least one elastic sheet is installed on the inner sleeve, and the stiffness of the connector is positively correlated with the number of the elastic sheet.

2. The intelligent variable stiffness motor actuator according to claim 1, characterized in that: The speed reduction portion is in contact with a shell portion on a side wall away from the hollow shaft portion, and the shell portion extends toward a direction where the first end portion and the second end portion are located.

3. The intelligent variable stiffness motor actuator according to claim 1, characterized in that: An oil seal is provided on one side of the two thrust bearings away from the speed reducing part.

4. The intelligent variable stiffness motor actuator according to claim 1, characterized in that: The speed reduction part is configured as a worm gear structure.

5. The intelligent variable stiffness motor actuator according to claim 1, characterized in that: The thrust bearing is configured as a short cylindrical thrust bearing.

6. The intelligent variable stiffness motor actuator according to claim 2, characterized in that: A high-rigidity crossed roller bearing is installed between the coupling and the housing.

7. The intelligent variable stiffness motor actuator according to claim 1, characterized in that: The second mounting end sleeve is provided with a supporting portion, and an edge of the supporting portion is in contact with the second magnetic encoder.

8. The intelligent variable stiffness motor actuator according to claim 7, characterized in that: The support portion and the second end portion are connected via a bearing.

9. The intelligent variable stiffness motor actuator according to claim 1, characterized in that: A plurality of the elastic sheet parts are symmetrically welded on the inner sleeve part.

10. The intelligent variable stiffness motor actuator according to claim 9, characterized in that: The plurality of elastic sheet parts are all made of elastic material.

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