Steering engine connecting structure, steering engine and robot

Abstract

The invention discloses a steering engine connecting structure, a steering engine and a robot, and relates to the technical field of steering engines. According to the steering engine connecting structure, the assembling technology of the steering engine and the executing mechanism can be simplified, the steering engine and the executing mechanism can be disassembled and assembled conveniently, and the positions of the steering engine and the executing mechanism can be automatically adjusted. The steering engine connecting structure comprises a driving part and a driven part. Wherein the driving part is provided with a first connecting structure and a first transmission structure, and the driving part is connected with a speed reducer in the steering engine through the first connecting structure; the driven part is provided with a second connecting structure and a second transmission structure matched with the first transmission structure, the driven part is connected with the executing mechanism through the second connecting structure, the first transmission structure abuts against the second transmission structure in the circumferential direction of the driving part, and the first transmission structure is in sliding connection with the second transmission structure in the radial direction of the driving part.

Description

Technical Field

[0001] The present application relates to the technical field of steering gears, and in particular to a steering gear connection structure, a steering gear and a robot. Background Art

[0002] Robots usually use servos as an actuator to drive the actuator to perform corresponding actions. In the related art, the servo and the actuator are connected by flanges, and the flange and the servo are fixed by screws, etc. In order to enable the flange to transmit a sufficiently large torque, more screws are often used to fix the flange. This not only makes the assembly of the flange and the servo cumbersome, but also makes it difficult to adjust the relative position between the actuator and the servo after the actuator and the servo are connected by flanges. Summary of the invention

[0003] The present application provides a servo connection structure, a servo and a robot, which can simplify the assembly process of the servo and the actuator, facilitate the disassembly and assembly of the servo and the actuator, and can also realize automatic adjustment of the positions of the servo and the actuator.

[0004] The first aspect of the present application provides a steering gear connection structure, which includes: an active member and a driven member. The active member has a first connection structure and a first transmission structure, and the active member is connected to a reducer in the steering gear through the first connection structure; the driven member has a second connection structure and a second transmission structure matching the first transmission structure, and the driven member is connected to an actuator through the second connection structure. Along the circumference of the active member, the first transmission structure abuts against the second transmission structure, and along the radial direction of the active member, the first transmission structure is slidably connected to the second transmission structure.

[0005] The steering gear connection structure provided by the present application is convenient to connect the driving part with the reducer in the steering gear through the first connection structure because the first connection structure is arranged on the driving part, and convenient to connect the driven part with the actuator because the second connection structure is arranged on the driven part. In addition, the driving part and the driven part are respectively provided with matching first transmission structure and second transmission structure, which can not only realize the transmission of torque through the first transmission structure and the second transmission structure, but also can realize the transmission of torque through the first transmission structure and the second transmission structure in the process of assembling the steering gear and the actuator, and can fix the driving part with the reducer, fix the driven part with the actuator, and then flexibly connect the driving part and the driven part through the first transmission structure and the second transmission structure, so that the assembly process of the steering gear and the actuator can be simplified, and the steering gear and the actuator can be convenient to disassemble and assemble. At the same time, the first transmission structure and the second transmission structure are connected in a radial sliding manner of the driving part, and in the process of the driving part driving the driven part to rotate, the automatic centering of the driven part and the driving part can be realized, so that the position of the steering gear and the actuator can be automatically adjusted.

[0006] In a possible implementation of the present application, along the axial direction of the active member, the first transmission structure is slidably connected to the second transmission structure so that the active member and the driven member can move relative to each other along the axial direction.

[0007] In the technical solution of the present application, since the first transmission structure and the second transmission structure can slide relatively along the axial direction of the active member, after the servo motor and the actuator are connected through the transmission of the active member and the driven member, the relative sliding of the first transmission structure and the second transmission structure along the axial direction of the active member can be utilized to adjust the distance between the servo motor and the actuator, so as to facilitate the distance between the servo motor and the actuator to meet the accuracy requirements.

[0008] In a possible implementation of the present application, the first transmission structure and the second transmission structure slide relative to each other in the axial direction until the first transmission structure is separated from the second transmission structure.

[0009] In the technical solution of the present application, since the first transmission structure and the second transmission structure can slide along the axial direction of the active member until they are separated, in the process of disassembling the servo and the actuator connected by the active member and the driven member, the servo and the actuator can be disassembled by sliding the first transmission structure and the second transmission structure along the axial direction of the active member until they are separated, thereby facilitating the disassembly of the servo and the actuator.

[0010] In a possible implementation of the present application, the first transmission structure includes one of N grooves and N ridges distributed along the circumference of the active member, and the groove or ridge is formed by extending from the active member along the axial direction of the active member; the second transmission structure includes the other of N ridges and N grooves distributed along the circumference, and the ridge or groove is formed by extending from the surface of the driven member close to the active member along the axial direction, the ridge matches the groove, and N is an integer greater than or equal to 2.

[0011] In the technical solution of the present application, since the first transmission structure and the second transmission structure are set as a structure of N grooves and N convex strips, the shapes of the convex strips and the grooves can be matched, and the convex strips can be located in the grooves, so that the convex strips can abut against the groove walls of the grooves, and the convex strips can slide relative to the grooves, thereby realizing the transmission of torque and relative movement between the active member and the driven member.

[0012] In a possible implementation of the present application, the first transmission structure and the second transmission structure are clearance-matched in the radial direction; and / or, the first transmission structure and the second transmission structure are clearance-matched in the circumferential direction of the active component.

[0013] In the technical solution of the present application, since there is a gap between the first transmission structure and the second transmission structure, a lubricating material can be accommodated between the gap between the first transmission structure and the second transmission structure, which is beneficial to reduce the surface wear of the first transmission structure and the second transmission structure, and can also simplify the manufacture and installation of the active part and the driven part.

[0014] In a possible implementation of the present application, the servo connection structure further includes an elastic member, which is circumferentially arranged between the first transmission structure and the second transmission structure, and the hardness of the elastic member is smaller than the hardness of at least one of the first transmission structure and the second transmission structure.

[0015] In the technical solution of the present application, since there is an elastic member between the first transmission structure and the second transmission structure, and the hardness of the elastic member is less than the hardness of the first transmission structure and / or the second transmission structure, the elastic member can be used to form a soft connection between the first transmission structure and the second transmission structure, so that the deformation caused by the extrusion of the elastic member can be used to eliminate or compensate for the coaxiality error between the active member and the driven member.

[0016] In a possible implementation of the present application, the first connection structure includes at least one of the following: a connecting through hole, a connecting threaded hole.

[0017] In the technical solution of the present application, since the first connection structure on the active component includes a connecting through hole and a connecting threaded hole, etc., fasteners such as bolts that match the connecting through hole or the connecting threaded hole can be used to fix the active component and the reducer of the servo gear through a threaded connection.

[0018] In a possible implementation of the present application, the active member further has a connecting shaft, the connecting shaft is located at an end of the active member away from the first transmission structure, and the connecting shaft is connected to the reducer.

[0019] In the technical solution of the present application, since a connecting shaft is also provided on the active component, more connection points can be provided between the active component and the reducer through the connecting shaft, which is beneficial to improving the reliability of the connection between the active component and the reducer.

[0020] The second aspect of the present application provides a steering gear, which comprises: a driving member, a reducer and a steering gear connection structure provided by any one of the above-mentioned first aspects. The reducer is connected to the driving member, and the driving member can drive the reducer to rotate; the active member is connected to the reducer through the first connection structure.

[0021] The servo provided in the present application includes the servo connection structure provided in the first aspect above, and therefore, the assembly process of the servo and the actuator can be simplified, the servo and the actuator can be easily disassembled and assembled, and the positions of the servo and the actuator can be automatically adjusted.

[0022] The third aspect of the present application provides a robot, which includes: a base, a steering gear and an actuator, wherein the driving member and the reducer are both arranged on the base; and the actuator is connected to the driven member through a second connecting structure.

[0023] The robot provided in the embodiment of the present application includes the servo provided in the second aspect above, so the assembly process of the servo and the actuator can be simplified, the disassembly and assembly of the servo and the actuator can be facilitated, and the automatic adjustment of the positions of the servo and the actuator can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0025] Figure 1 The structure diagram of the servo provided for this application Figure 1 ;

[0026] Figure 2 An exploded schematic diagram of the servo provided for this application;

[0027] Figure 3 A schematic diagram of the structure of the active components in the servo provided in this application;

[0028] Figure 4 A schematic diagram of the structure of the driven part in the servo provided in this application;

[0029] Figure 5 The structure diagram of the active parts in the servo provided in this application Figure 2 .

[0030] Description of reference numerals:

[0031] 1-active member; 11-first connecting structure; 12-first transmission structure; 13-connecting shaft; 2-driven member; 21-second connecting structure; 22-second transmission structure; 3-elastic member; 4-driving member; 5-reducer; 6-fastener; 7-housing; C-circumferential direction; Z-axial direction. DETAILED DESCRIPTION

[0032] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification of this application and the above-mentioned drawings and any variations thereof are intended to cover non-exclusive inclusions.

[0034] In the description of the embodiments of the present application, the technical terms "first", "second", "third", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0035] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0036] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0037] In the description of the embodiments of the present application, the orientation or position relationship indicated by technical terms such as "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", and "circumferential" are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0038] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0039] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, the technical term "contact" should be understood in a broad sense, and may be direct contact or contact through an intermediate medium layer. It may be contact with essentially no interaction force between the two contacting parties, or it may be contact with interaction force between the two contacting parties.

[0040] The robot's servo and actuator are connected through a flange, and the flange and the servo are fixed by multiple screws. When the flange and the servo are assembled and fixed by screws, more screws can improve the torque transmission capacity of the flange, but it also increases the workload of assembly. In the process of disassembling and assembling the flange, it is also easy to cause the problem of screw damage, such as damage to the cross slot of the screw, and the breakage of the screw rod. After the actuator and the servo are connected through the flange, the manufacturing accuracy of the flange has a great influence on the assembly position relationship between the actuator and the servo. In order to make the position relationship between the actuator and the servo (such as coaxiality, parallelism, etc.) meet the use requirements, it is necessary to improve the processing accuracy and assembly accuracy of the servo, flange and actuator, which will increase the manufacturing cost of the servo, flange and actuator.

[0041] The embodiment of the present application provides a steering gear connection structure, which can simplify the assembly process of the steering gear and the actuator, and can also realize automatic adjustment of the position of the steering gear and the actuator. Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 The structure diagram of the servo provided for this application Figure 1 , Figure 2 The exploded schematic diagram of the servo provided for this application, Figure 3 This is a schematic diagram of the structure of the active parts in the servo provided in this application. Figure 4 This is a schematic diagram of the structure of the driven part in the servo provided in this application.

[0042] The steering gear connection structure provided in the embodiment of the present application includes: an active member 1 and a driven member 2. The active member 1 has a first connection structure 11 and a first transmission structure 12, and the active member 1 is connected to the reducer 5 in the steering gear through the first connection structure 11; the driven member 2 has a second connection structure 21 and a second transmission structure 22 matching the first transmission structure 12, and the driven member 2 is connected to the actuator through the second connection structure 21. Along the circumferential direction C of the active member 1, the first transmission structure 12 abuts against the second transmission structure 22, and along the radial direction of the active member 1, the first transmission structure 12 is slidably connected to the second transmission structure 22.

[0043] In the embodiment of the present application, the steering gear can be used as a driving part in a robot, a mechanical arm, or other equipment, so as to drive the actuator in the equipment to rotate. Figure 1 and Figure 2 As shown, the steering engine and the actuator (not shown in the figure) can be connected through the driving component 1 and the driven component 2.

[0044] In the present application embodiment, Figure 3 As shown, the first connection structure 11 can be provided on the active member 1, and correspondingly, a structure matching the first connection structure 11 can be provided on the reducer 5 in the steering gear, so that the active member 1 and the reducer 5 are fixedly connected through the first connection structure 11. For example, a through hole can be provided on the reducer 5, and a connecting shaft 13 matching the through hole can be provided on the active member 1, and the connecting shaft 13 can be used as the first connection structure 11 of the active member 1, and the connecting shaft 13 can be inserted into the through hole of the reducer 5, and the connecting shaft 13 and the reducer 5 can be fixedly connected.

[0045] In the present application embodiment, Figure 4 As shown, a second connection structure 21 can be provided on the follower 2, and correspondingly, a structure matching the second connection structure 21 can be provided on the actuator, so as to fix the follower 2 and the actuator through the second connection structure 21. For example, a through hole can be provided on the follower 2, a boss matching the through hole can be provided on the actuator, the actuator can be sleeved on the boss through the through hole, and a key can be provided between the boss and the through hole, so as to fix the follower 2 and the actuator. Alternatively, a threaded hole can be provided on the follower 2, a bolt matching the threaded hole can be used, and a through hole matching the bolt can be provided on the actuator, so that the actuator and the follower 2 can be fixedly connected by bolts. The specific structure of the second connection structure 21 is not limited in the embodiment of the present application.

[0046] Exemplarily, a first transmission structure 12 may be provided on the active member 1, and correspondingly, a second transmission structure 22 may be provided on the driven member 2. For example, the first transmission structure 12 may be distributed on the active member 1 around the axial direction Z of the active member 1, and the second transmission structure 22 may also be distributed on the driven member 2 around the axial direction Z of the driven member 2. For example, the first transmission structure 12 may be provided as a convex strip, and a plurality of convex strips may be distributed at intervals along the circumferential direction C of the active member 1. The convex strips may be extended along the axial direction Z of the active member 1, and the second transmission structure 22 may be provided as a groove matching the convex strips. In this way, Figure 1 As shown, along the circumferential direction C of the active member 1 , the first transmission structure 12 and the second transmission structure 22 can be brought into contact with each other, so that torque can be transmitted through the first transmission structure 12 and the second transmission structure 22 .

[0047] In another example, when the first transmission structure 12 and the second transmission structure 22 are provided, the first transmission structure 12 and the second transmission structure 22 can be relatively moved along the radial direction of the active member 1. For example, along the radial direction of the active member 1, the distance between the bottoms of the two grooves located on the same diameter of the driven member 2 can be made smaller than the distance between the two convex strips located on the same diameter of the active member 1. In this way, in the process of the active member 1 driving the driven member 2 to rotate, if the axis of the driven member 2 and the axis of the active member 1 do not coincide, the driven member 2 can slide relative to the active member 1 along the radial direction to achieve automatic centering, so that the axes of the driven member 2 and the active member 1 coincide again, thereby achieving the transmission of torque between the driven member 2 and the active member 1, reducing the occurrence of jamming of the active member 1 and the driven member 2 due to misalignment during the rotation process, and reducing the requirements for the processing accuracy of the active member 1 and the driven member 2, which is conducive to reducing the manufacturing cost of the servo connection structure.

[0048] The servo connection structure provided in the embodiment of the present application is convenient to connect the servo 1 with the reducer 5 in the servo through the first connection structure 11, and convenient to connect the servo 2 with the actuator by providing a second connection structure 21 on the driven member 2. In addition, the servo 1 and the driven member 2 are respectively provided with matching first transmission structures 12 and second transmission structures 22, which can not only realize the transmission of torque through the first transmission structure 12 and the second transmission structure 22, but also in the process of assembling the servo and the actuator, the servo 1 can be fixedly connected with the reducer 5, the driven member 2 can be fixedly connected with the actuator, and then the servo 1 and the driven member 2 can be flexibly connected through the first transmission structure 12 and the second transmission structure 22. Therefore, the assembly process of the servo and the actuator can be simplified, and the disassembly and assembly of the servo and the actuator can be facilitated. At the same time, the first transmission structure 12 and the second transmission structure 22 are connected by radial sliding connection along the active member 1. In the process that the active member 1 drives the driven member 2 to rotate, the driven member 2 and the active member 1 can be automatically aligned, thereby realizing automatic adjustment of the positions of the servo and the actuator.

[0049] In some possible embodiments of the present application, along the axial direction Z of the active member 1 , the first transmission structure 12 is slidably connected to the second transmission structure 22 so that the active member 1 and the driven member 2 can move relative to each other along the axial direction Z of the active member 1 .

[0050] In the embodiment of the present application, the first transmission structure 12 and the second transmission structure 22 can be set to a structural form that can move relative to each other along the axial direction Z of the active member 1. For example, the surface of the convex strip of the first transmission structure 12 along the axial direction Z of the active member 1 can be made parallel or nearly parallel to the axial direction Z of the active member 1, and the surface of the groove of the second transmission structure 22 along the axial direction Z of the active member 1 can be made parallel or nearly parallel to the axial direction Z of the active member 1. In this way, the surfaces of the first transmission structure 12 and the second transmission structure 22 that abut against each other along the circumferential direction C of the active member 1 can satisfy a parallel relationship with the axial direction Z of the active member 1, so that in the process of the active member 1 driving the driven member 2 to rotate, the active member 1 and the driven member 2 can also slide relative to each other along the axial direction Z of the active member 1.

[0051] Exemplarily, after the servo connection structure is used to connect the servo and the actuator, the distance between the active member 1 and the driven member 2 along the axial Z of the active member 1 can be adjusted according to the distance between the servo and the actuator. For example, when the servo connection structure is applied to a humanoid robot, the servo connection structure can be applied to the hip side position, thereby reducing the processing requirements of the axial Z limit workpiece at the hip side position, that is, it is no longer necessary to improve the axial Z accuracy between the servo and the actuator at the hip side position through the axial Z limit workpiece, because according to the axial Z dimension requirements between the servo and the actuator at the hip side position, the axial Z dimension between the servo and the actuator at the hip side position can be adjusted by adjusting the positions of the first transmission structure 12 and the second transmission structure 22 along the axial Z of the active member 1 to achieve the required accuracy.

[0052] In the above embodiment, since the first transmission structure 12 and the second transmission structure 22 can slide relatively along the axial direction Z of the active member 1, after the servo motor and the actuator are connected through the active member 1 and the driven member 2, the relative sliding of the first transmission structure 12 and the second transmission structure 22 along the axial direction Z of the active member 1 can be utilized to adjust the distance between the servo motor and the actuator, so as to make the distance between the servo motor and the actuator meet the accuracy requirements.

[0053] In some possible embodiments of the present application, the first transmission structure 12 and the second transmission structure 22 slide relatively along the axial direction Z of the active member 1 until the first transmission structure 12 and the second transmission structure 22 are separated.

[0054] In the embodiment of the present application, the first transmission structure 12 and the second transmission structure 22 can be set as structures that can be separated from each other along the axial direction Z of the active member 1. For example, along the axial direction Z of the active member 1, any cross section of the first transmission structure 12 can be matched with any position of the second transmission structure 22. In this way, the first transmission structure 12 can be slid to any position relative to the second transmission structure 22 along the axial direction Z of the active member 1, and the first transmission structure 12 and the second transmission structure 22 can be separated along the axial direction Z of the active member 1.

[0055] In the above embodiment, since the first transmission structure 12 and the second transmission structure 22 can slide along the axial direction Z of the active member 1 until they are separated, in the process of disassembling the servo and the actuator connected through the active member 1 and the driven member 2, the servo and the actuator can be disassembled by sliding the first transmission structure 12 and the second transmission structure 22 along the axial direction Z of the active member 1 until they are separated, which facilitates the disassembly of the servo and the actuator.

[0056] In some possible embodiments of the present application, the first transmission structure 12 includes one of N grooves and N convex strips distributed along the circumferential direction C of the active member 1, and the groove or boss is formed by extending along the axial direction Z of the active member 1; the second transmission structure 22 includes another of N convex strips and N grooves distributed along the circumferential direction C of the driven member 2, and the convex strip or groove is formed by extending from the surface of the driven member 2 close to the active member 1 along the axial direction Z of the active member 1, the convex strip matches the groove, and N is an integer greater than or equal to 2.

[0057] In the present application embodiment, Figure 3 As shown, the first transmission structure 12 can be set to include N grooves, for example, N can be an integer greater than or equal to 2, such as 2, 3, 4, etc. Each groove on the active member 1 is formed by extending from the active member 1 along the axial direction Z of the active member 1. The N grooves can be evenly distributed on the active member 1 along the circumferential direction C of the active member 1, such as setting the grooves to have a U-shaped cross section. Correspondingly, Figure 4 As shown, the second transmission structure 22 can be set to a structure including N convex strips, and the cross-section of the convex strips is also an approximately U-shaped structure. Each convex strip on the driven member 2 is extended from the driven member 2 toward the surface of the active member 1 along the axial direction Z of the driven member 2. The N convex strips can be evenly distributed on the driven member 2 along the circumferential direction C of the driven member 2, and the number of convex strips is consistent with the number of grooves, that is, each convex strip can be inserted into a corresponding groove.

[0058] Alternatively, the first transmission structure 12 may be configured as a structure including N convex strips, each of which is formed by extending from the active member 1 along the axial direction Z of the active member 1. The N convex strips may be evenly distributed on the surface of the active member 1 near the driven member 2 along the circumferential direction C of the active member 1. Correspondingly, the second transmission structure 22 may be configured as a structure including N grooves, each of which is formed by extending from the surface of the driven member 2 toward the active member 1 along the axial direction Z of the driven member 2, and the N grooves may be evenly distributed on the driven member 2 along the circumferential direction C of the driven member 2.

[0059] In the above embodiment, since the first transmission structure 12 and the second transmission structure 22 are set as a structure of N grooves and N convex strips, the shapes of the convex strips and the grooves can be matched, and the convex strips can be located in the grooves, so that the convex strips can abut against the groove walls of the grooves, and the convex strips can slide relative to the grooves, thereby realizing the transmission of torque and relative movement between the active member 1 and the driven member 2.

[0060] In some possible embodiments of the present application, along the radial direction of the active part 1, the first transmission structure 12 and the second transmission structure 22 are clearance-matched; and / or, along the circumferential direction C of the active part 1, the first transmission structure 12 and the second transmission structure 22 are clearance-matched.

[0061] In the embodiment of the present application, when the first transmission structure 12 and the second transmission structure 22 are set, a gap can be provided between the second transmission structure 22 and the first transmission structure 12 so that a clearance fit is formed between the first transmission structure 12 and the second transmission structure 22 .

[0062] Illustratively, along the radial direction of the active member 1, a gap can be provided between the portions of the first transmission structure 12 and the second transmission structure 22 located on the same diameter. For example, the radial distance between two grooves on the same diameter can be made smaller than the distance between two ridges on the same diameter. In this way, the ridges can move in the grooves in the radial direction of the active member 1.

[0063] As another example, along the circumferential direction C of the active member 1, a gap can be provided between the abutting surfaces of the first transmission structure 12 and the second transmission structure 22. For example, the width of the groove along the circumferential direction C of the active member 1 can be made greater than the width of the convex strip along the circumferential direction C of the active member 1. In this way, in the process of the active member 1 switching from forward rotation to reverse rotation, since there is a gap between the first transmission structure 12 and the second transmission structure 22 in the circumferential direction C, the driven member 2 will be delayed for a period of time before rotating with the active member 1.

[0064] In the above embodiment, since there is a gap between the first transmission structure 12 and the second transmission structure 22, a lubricating material can be accommodated between the gap between the first transmission structure 12 and the second transmission structure 22, which is beneficial to reduce the surface wear of the first transmission structure 12 and the second transmission structure 22, and can also simplify the manufacturing and installation of the active member 1 and the driven member 2.

[0065] In some possible embodiments of the present application, refer to Figure 5 , Figure 5 The structure diagram of the active component 1 in the servo provided in this application Figure 2 The servo connection structure further includes an elastic member 3 , which is disposed between the first transmission structure 12 and the second transmission structure 22 along the circumferential direction C of the active member 1 , and has a hardness smaller than that of at least one of the first transmission structure 12 and the second transmission structure 22 .

[0066] In the embodiment of the present application, the first transmission structure 12 and the second transmission structure 22 can be abutted along the circumferential direction C of the active member 1 through the elastic member 3, so as to utilize the deformation of the elastic member 3 to eliminate or compensate the coaxiality error between the active member 1 and the driven member 2.

[0067] For example, Figure 5As shown, along the circumferential direction C of the active member 1, a larger gap can be provided between the first transmission structure 12 and the second transmission structure 22, and an elastic member 3 can be provided in the gap between the first transmission structure 12 and the second transmission structure 22. For example, the elastic member 3 can be made of nylon, tin bronze, etc., and the hardness of the material of the elastic member 3 can be smaller than that of the first transmission structure 12 and / or the second transmission structure 22. In this way, when the active member 1 drives the driven member 2 to rotate, the active member 1 abuts against the driven member 2 through the elastic member 3.

[0068] In the above embodiment, since there is an elastic member 3 between the first transmission structure 12 and the second transmission structure 22, and the hardness of the elastic member 3 is less than the hardness of the first transmission structure 12 and / or the second transmission structure 22, the elastic member 3 can be used to form a soft connection between the first transmission structure 12 and the second transmission structure 22, so that the deformation caused by the extrusion of the elastic member 3 can be used to eliminate or compensate for the coaxiality error between the active member 1 and the driven member 2.

[0069] In some possible embodiments of the present application, the first connection structure 11 includes at least one of the following: a connection through hole, a connection threaded hole.

[0070] In the present application embodiment, Figure 2 and Figure 3 As shown, the first connection structure 11 on the active component 1 can be set as a through-hole structure, and the active component 1 can be fixedly connected to the reducer 5 of the steering gear by using a fastener 6 matching the through-hole.

[0071] Exemplarily, a countersunk hole may be provided on the active component 1, and the end of the countersunk hole with a larger aperture is located on the side of the active component 1 away from the reducer 5. For example, four countersunk holes may be provided on the active component 1, and the four countersunk holes are distributed on the active component 1 along the circumferential direction C of the active component 1. Threaded holes corresponding to the countersunk holes may be provided on the reducer 5, and the fastener 6 may be a bolt matching the threaded hole and the countersunk hole, so as to fix the active component 1 and the reducer 5 together by the bolt.

[0072] In another example, threaded holes may be provided on the active component 1, for example, four threaded holes may be provided on the active component 1, and the four countersunk holes are distributed on the active component 1 along the circumferential direction C of the active component 1. Through holes or countersunk holes matching with bolts may be provided on the reducer 5, so that the active component 1 and the reducer 5 may be fixedly connected by bolts.

[0073] In the above embodiment, since the first connection structure 11 on the active component 1 includes a connecting through hole and a connecting threaded hole, etc., a fastener 6 such as a bolt matching the connecting through hole or the connecting threaded hole can be used to fix the active component 1 and the reducer 5 of the servo by a threaded connection.

[0074] In some possible embodiments of the present application, the active member 1 further has a connecting shaft 13 , which is located at one end of the active member 1 away from the first transmission structure 12 , and the connecting shaft 13 is connected to the reducer 5 .

[0075] In the present application embodiment, Figure 2 and Figure 3 As shown, a connecting shaft 13 can also be provided on the active member 1 to provide more connection points for the active member 1 and the reducer 5 through the connecting shaft 13. For example, a connecting shaft 13 coaxial with the first transmission structure 12 can be provided on the active member 1, and the connecting shaft 13 matches the through hole on the reducer 5, and the connecting shaft 13 can be passed through the through hole on the reducer 5. The length of the connecting shaft 13 can also be made greater than the thickness of the reducer 5, so that the connecting shaft 13 can be extended to the position where other components in the servo are located. For example, the connecting shaft 13 can be connected to the output end encoder in the servo to form a closed loop through the output end encoder and the input end encoder, so that the rotation angle and speed of the active member 1 can be accurately controlled.

[0076] In the above embodiment, since a connecting shaft 13 is also provided on the active component 1, more connection points can be provided between the active component 1 and the reducer 5 through the connecting shaft 13, which is beneficial to improving the reliability of the connection between the active component 1 and the reducer 5.

[0077] In addition, the embodiment of the present application further provides a steering gear, which comprises: a driving member 4, a reducer 5 and a steering gear connection structure provided by any of the above embodiments. The reducer 5 is connected to the driving member 4, and the driving member 4 can drive the reducer 5 to rotate; the active member 1 is connected to the reducer 5 via a first connection structure 11.

[0078] In the present application embodiment, Figure 1 and Figure 2 As shown, the driving member 4 is used to generate driving force. For example, the driving member 4 can be a DC brushed motor, a brushless motor, a hollow cup motor, etc. The output end of the motor as the driving member 4 can be fixedly connected to the input end of the reducer 5. The reducer 5 can be a harmonic reducer 5, so as to reduce the rotation speed and amplify the torque by the reducer 5. The active member 1 can be fixedly connected to the reducer 5 through a first connecting structure 11. For example, the first connecting structure 11 can be a countersunk hole, and the reducer 5 has a threaded hole matching the countersunk hole. The active member 1 is fixedly connected to the reducer 5 through the countersunk hole and the threaded hole. A housing 7 can also be provided at one end of the driving member 4 away from the reducer 5, so that a fan, a driving circuit board, etc. can be arranged in the housing 7, so as to provide protection for the fan, the driving circuit board, etc. through the housing 7.

[0079] The servo provided in the embodiment of the present application includes the servo connection structure provided in any one of the above embodiments. Therefore, the assembly process of the servo and the actuator can be simplified, the servo and the actuator can be easily disassembled and assembled, and the positions of the servo and the actuator can be automatically adjusted.

[0080] The embodiment of the present application further provides a robot, which includes: a base, a steering gear and an actuator, wherein the driving member 4 and the reducer 5 are both arranged on the base; and the actuator is connected to the driven member 2 via a second connecting structure 21 .

[0081] In the embodiment of the present application, the robot may be a humanoid robot, or an intelligent machine such as a robotic arm that can work semi-autonomously or fully autonomously. The base is used to provide support for the robot. For example, when the robot is a humanoid robot, the base may be the body part of the humanoid robot, and the actuator may be the limbs of the humanoid robot; when the robot is a robotic arm, the base may be a base, and the actuator may be a clamp, an electric screwdriver, etc. The driving member 4 and the reducer 5 in the steering gear may be arranged on the base, and the driven member 2 may be fixedly connected to the actuator through the second connecting structure 21, so that the actuator and the steering gear are connected through the driving member 1 and the driven member 2.

[0082] The robot provided in the embodiment of the present application includes the servo provided in the above embodiment, so the assembly process of the servo and the actuator can be simplified, the disassembly and assembly of the servo and the actuator can be facilitated, and the automatic adjustment of the positions of the servo and the actuator can be achieved.

[0083] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A steering gear connection structure, characterized in that: include: An active member, wherein the active member has a first connection structure and a first transmission structure, and the active member is connected to a reducer in the steering gear through the first connection structure; A driven member, wherein the driven member has a second connecting structure and a second transmission structure matching the first transmission structure, the driven member is connected to the actuator via the second connecting structure, along the circumferential direction of the active member, the first transmission structure abuts against the second transmission structure, and along the radial direction of the active member, the first transmission structure is slidably connected with the second transmission structure.

2. The steering gear connection structure according to claim 1, characterized in that: The first transmission structure is slidably connected to the second transmission structure along the axial direction of the active member, so that the active member and the driven member can move relative to each other along the axial direction.

3. The steering gear connection structure according to claim 2, characterized in that: The first transmission structure and the second transmission structure slide relatively along the axial direction until the first transmission structure is separated from the second transmission structure.

4. The steering gear connection structure according to any one of claims 1 to 3, characterized in that: The first transmission structure includes one of N grooves and N convex strips distributed along the circumference of the active member, and the groove or the convex strip is extended from the active member along the axial direction of the active member; the second transmission structure includes the other of N convex strips and N grooves distributed along the circumference, and the convex strip or the groove is extended from the surface of the driven member close to the active member along the axial direction, the convex strip matches the groove, and N is an integer greater than or equal to 2.

5. The steering gear connection structure according to any one of claims 1 to 3, characterized in that: Along the radial direction, the first transmission structure and the second transmission structure are clearance-matched; and / or, Along the circumference of the active member, the first transmission structure and the second transmission structure are clearance-matched.

6. The steering gear connection structure according to any one of claims 1 to 3, characterized in that: It also includes an elastic member, which is arranged between the first transmission structure and the second transmission structure along the circumferential direction, and the hardness of the elastic member is smaller than the hardness of at least one of the first transmission structure and the second transmission structure.

7. The steering gear connection structure according to any one of claims 1 to 3, characterized in that: The first connection structure includes at least one of the following: a connection through hole, a connection threaded hole.

8. The steering gear connection structure according to any one of claims 1 to 3, characterized in that: The active member further has a connecting shaft, the connecting shaft is located at an end of the active member away from the first transmission structure, and the connecting shaft is connected to the reducer.

9. A steering gear, characterized in that: include: Driving parts; A reducer, the reducer is connected to the driving member, and the driving member can drive the reducer to rotate; In the steering gear connection structure according to any one of claims 1 to 8, the active member is connected to the reducer via the first connection structure.

10. A robot, characterized in that: include: matrix; The steering gear, the driving member and the reducer are both arranged on the base; An actuator is connected to the driven member via the second connecting structure.

Images