Anti-loosening mechanism for connecting output shaft of driver with load end and robot

Abstract

The invention discloses an anti-loosening mechanism for connecting an output shaft of a driver with a load end and a robot, and belongs to the technical field of robots, the anti-loosening mechanism comprises a first fastener and a second fastener; the first fastener is used for fixedly connecting the second fastener with the output shaft; the second fastener is fixedly connected with the load end; an anti-skid piece is arranged between the first fastening piece and the second fastening piece and used for preventing relative rotation movement between the first fastening piece and the second fastening piece. According to the anti-loosening mechanism for connecting the output shaft of the driver with the load end and the robot, the problems that in the prior art, the output shaft of the driver is fixed only through a flange plate and a screw, the screw is prone to loosening under the environments of high-frequency positive and negative rotation alternate operation of the driver, periodic impact of the load and the like can be effectively solved; and power transmission interruption is caused.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology. Specifically, it relates to an anti-loosening mechanism for connecting the output shaft of a driver to the load end, and a robot thereof. Background Technology

[0002] As an actuator with high-precision angular displacement control capabilities, actuators, such as servo motors, are widely used in various technical fields, including robot joint drives, UAV flight attitude control, automated production equipment actuators, and precision instrument positioning systems, thanks to their core advantages of rapid response and precise control. In the actual application chain of actuators, the output shaft is the core component for power and motion transmission. Its reliable connection with the external load directly determines the operational stability, control accuracy, and service life of the entire device. Currently, the connection methods between the actuator output shaft and the load mainly include threaded connections, keyed connections with snap ring limits, coupling fastening, and flange docking. Regardless of the connection method used, anti-loosening design is crucial to ensuring connection reliability. Especially for small actuators, the output shaft is only fixed by a flange and screws. Under the long-term effects of high-frequency alternating forward and reverse operation of the actuator, periodic load impacts, vibration transmission, and harsh environments such as high temperature and humidity, and dust corrosion, screws are prone to loosening. This can lead to the gradual loosening or even complete detachment of the connection between the output shaft and the load, resulting in increased equipment positioning deviation, sluggish action, and actuator malfunction. In severe cases, it can even cause equipment damage or safety accidents.

[0003] Therefore, developing a compact, highly reliable, easy-to-install, and versatile anti-loosening mechanism for connecting the output shaft of a drive driver to the load is of great significance for improving the reliability of drive applications, expanding their application scenarios, and reducing maintenance costs. This has become a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned shortcomings by providing an anti-loosening mechanism and robot for connecting the output shaft of a drive unit to the load end. This solves the problem that in existing technologies, the drive output shaft is only fixed by a flange and screws, which easily leads to screw loosening under conditions such as high-frequency alternating forward and reverse operation of the drive unit and periodic load impacts, resulting in power transmission interruption. To achieve the above objective, this invention provides the following technical solution: An anti-loosening mechanism for connecting the output shaft of a driver to the load end includes a first fastener and a second fastener; the first fastener is used to fix the second fastener to the output shaft; the second fastener is fixedly connected to the load end; an anti-slip element is provided between the first fastener and the second fastener to prevent relative rotational movement between the first fastener and the second fastener.

[0005] Furthermore, the first fastener includes a flange; the flange has a first through hole for the output shaft to pass through; the first through hole has an internal thread, and the output shaft has an external thread that mates with the internal thread; the flange is connected to the output shaft through the threaded engagement.

[0006] Furthermore, the first fastener also includes a first fastening screw, and the end of the output shaft is provided with a threaded hole in the radial direction to accommodate the first fastening screw; the first fastening screw cooperates with the threaded hole to fix the flange to the output shaft.

[0007] Furthermore, the second fastener includes a fixed flange, a connecting plate, and a second fastening screw; the fixed flange and the flange are uniformly provided with a plurality of second through holes; the fixed flange and the flange are fixedly connected by the second fastening screw and are arranged overlapping the flange; one end of the connecting plate is fixedly set to the fixed flange, and the other end is connected to the load end.

[0008] Furthermore, the connecting plate is perpendicularly connected to the fixed flange and passes through the center of the fixed flange.

[0009] Furthermore, the anti-slip component is a straight tooth; the straight tooth includes a first section and a second section that are fixedly connected in sequence; the fixed flange is provided with a third through hole; the first section is used to cooperate with the first fastening screw so that the straight tooth and the first fastening screw do not rotate relative to each other; the outer wall of the second section is provided with vertical teeth; the inner wall of the third through hole is provided with vertical teeth that cooperate with the outer wall of the second section.

[0010] Furthermore, the connecting plate is provided with an opening to accommodate the second segment; the two sides of the opening that contact the connecting plate are provided with vertical teeth that mate with the outer wall of the second segment.

[0011] Furthermore, the top of the first fastening screw is provided with a recessed first groove; the first segment is a shape adapted to the first groove.

[0012] Furthermore, the top of the second section is provided with a recessed second groove; the second groove is used to facilitate the fastening connection between the first fastening screw and the output shaft.

[0013] A robot includes the aforementioned anti-loosening mechanism connecting the output shaft of the driver to the load end.

[0014] The beneficial effects of this invention are: This invention further strengthens the structure of the flange by adding a fixed flange, a connecting plate, and a straight-tooth structure to the existing flange structure. This prevents the fastening screws between the drive output shaft and the flange from loosening, thus preventing the connection between the drive output shaft and the load end from gradually loosening or even completely separating, which could lead to problems such as increased equipment positioning deviation, sluggish action, and uncontrolled actuator. The connection between the straight-tooth structure and the fixed flange can be directly connected to the flange and the first fastening screw on the flange, making it highly versatile, compact in structure, highly reliable in preventing loosening, and easy to install. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the driver connected to the present invention; Figure 2 This is a schematic diagram of the connection structure between the actuator and the flange in the prior art; Figure 3 yes Figure 1 A schematic diagram of the exploded structure; Figure 4 yes Figure 2 A sectional view; Figure 5 This is a schematic diagram of the structure of the straight tooth and the second fastener of the present invention; Figure 6 This is a schematic diagram of the assembly of the present invention and the driver; In the attached diagram: 1. Driver; 11. Output shaft; 2. Flange; 3. First fastening screw; 4. Straight tooth; 5. Connecting plate; 6. Second fastening screw. Detailed Implementation

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to the following embodiments.

[0017] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0018] In the description of this invention, "first feature" and "second feature" may include one or more of the features.

[0019] In the description of this invention, "a plurality of" means two or more.

[0020] In the description of this invention, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or it may include the first and second features not being in direct contact but being in contact through another feature between them.

[0021] In the description of this invention, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicating that the first feature is at a higher horizontal level than the second feature.

[0022] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0023] Example 1 See attached Figures 1-6 This embodiment discloses an anti-loosening mechanism for connecting the output shaft of a driver to the load end, including a first fastener, a second fastener, and an anti-slip component. The first fastener is used to achieve a fixed connection with the output shaft 11 of the driver 1 and to provide an installation base for the second fastener. Specifically, the first fastener includes a flange 2 and a first fastening screw 3. The flange 2 is preferably made of a material capable of withstanding torque transmission and load impact during the operation of the driver 1. The flange 2 is generally circular, with a first through hole in its center for the output shaft 11 to pass through. The inner wall of the first through hole is machined with internal threads, which mate with the external threads on the outer wall of the output shaft 11 to achieve a preliminary threaded connection between the flange 2 and the output shaft 11. The first through hole on the flange 2 is closed at one end, with a mounting hole on its closed end. A radial threaded hole corresponding to the end of the output shaft 11 is provided for the first fastening screw 3 to pass through the mounting hole and tighten with the radial threaded hole on the output shaft 11, thereby securing the flange 2 to the output shaft 11 with the first fastening screw 3.

[0024] In this embodiment, the first fastening screw 3 is made of a material with excellent fatigue resistance and fastening reliability, which can effectively resist the risk of loosening caused by vibration and impact. It fits tightly with the threaded hole of the output shaft 11.

[0025] In this embodiment, the second fastener is used to connect the first fastener and the load end, specifically including a fixed flange, a connecting plate 5, and a second fastening screw 6. The fixed flange and the flange 2 have the same structure and the same diameter. Both the fixed flange and the flange 2 are provided with several second through holes, which correspond one-to-one and can be evenly spaced along the circumference of the fixed flange and the flange 2 according to actual needs. After the fixed flange and the flange 2 are placed overlapping, they are fastened by passing the second fastening screw 6 through the fixed flange and the flange 2 in sequence.

[0026] In this embodiment, the connecting plate 5 is integrally formed and connected to the fixed flange. The connecting plate 5 has a rectangular structure, is perpendicular to the fixed flange, and its centerline coincides with the axis of the fixed flange, ensuring that the force at the load end can be transmitted along the axial direction and avoiding eccentric force. The end of the connecting plate 5 away from the fixed flange is used for fixed connection with the load end.

[0027] In this embodiment, the anti-slip component is a straight tooth 4 structure, made of a material with higher strength and wear resistance, capable of withstanding meshing forces for a long time without tooth deformation. Specifically, it includes a first section and a second section fixedly connected. The first section is located at the lower end of the straight tooth 4 and engages with the first fastening screw 3, preventing relative rotation between the straight tooth 4 and the first fastening screw 3. Specifically, the top of the first fastening screw 3 has a recessed first groove, which is an internal hexagonal structure. The first section of the straight tooth 4 is a hexagonal prism protrusion, precisely fitting with the first groove to restrict relative rotation between them.

[0028] In this embodiment, the second section of the straight tooth 4 is located at the upper end of the first section. Its outer wall is machined with vertical teeth, and a third through hole is opened at the center of the fixed flange. Its inner wall is machined with a vertical tooth structure that matches the outer wall of the second section. The vertical tooth structure forms a tight meshing between the second section and the fixed flange.

[0029] In this embodiment, the connecting plate 5 has an opening at one end near the fixed flange to accommodate the second section of the anti-slip component. The opening has the same diameter as the third through hole. Both sides of the opening are machined with vertical teeth that are adapted to the outer wall of the second section. The second section and the connecting plate 5 are tightly engaged by the vertical teeth.

[0030] In this embodiment, the second segment of the straight tooth 4 engages tightly with both the fixed flange and the connecting plate 5 through vertical teeth, and works in conjunction with the first fastening screw 3 to restrict the relative rotation between the first fastener and the second fastener.

[0031] In this embodiment, the top of the second section of the straight tooth 4 is provided with a concave second groove. The groove is an internal hexagonal structure, which makes it convenient to use an internal hexagonal wrench to engage with the second groove during assembly. By directly screwing the straight tooth 4, the first fastening screw 3 is engaged with the threaded hole of the output shaft 11. At the same time, the material usage of the straight tooth 4 is reduced, thereby reducing the overall weight.

[0032] In this embodiment, four second through holes are provided on both the flange 2 and the fixed flange. The four second through holes are symmetrically distributed in the center, with two on each side of the connecting plate 5 as the central axis, to ensure that the connection between the fixed flange and the flange 2 is subjected to uniform force.

[0033] The assembly process of the anti-loosening mechanism in this embodiment is simple and convenient. First, align the first through hole of the flange 2 with the output shaft 11, and slowly rotate the flange 2 to screw it in along the thread direction until the closed end of the first through hole of the flange 2 contacts the output shaft 11. At this time, the mounting hole on the flange 2 is completely aligned with the radial thread hole of the output shaft 11. Pass the first fastening screw 3 through the mounting hole of the flange 2 and slowly screw it into the radial thread hole of the output shaft 11 with an Allen wrench to complete the fixed connection between the first fastener and the output shaft 11.

[0034] Next, align the first section of the straight tooth 4 with the first groove on the top of the first fastening screw 3, ensuring that the hexagonal prism protrusion is fully embedded in the first groove. Insert the fixing flange downward from above the second section of the straight tooth 4 until the vertical teeth on the third through hole and the opening of the connecting plate 5 engage with the vertical teeth on the outer wall of the second section of the straight tooth 4, ensuring no circumferential rotation. At this point, the fixing flange and the flange 2 are arranged to overlap and fit together.

[0035] Finally, after the fixed flange and the straight tooth 4 are assembled, the four second through holes on it are aligned with the four second through holes on the flange 2, and the fixed flange and the flange 2 are tightly connected by the second fastening screw 6 cooperating with the second through holes.

[0036] In this embodiment, when the driver 1 is working, the output shaft 11 drives the flange 2 to rotate synchronously through a threaded connection. The flange 2 drives the fixed flange and the connecting plate 5 to rotate through the second fastening screw 6. The connecting plate 5 then drives the load end to achieve a preset movement. The first section of the straight tooth 4 is tightly engaged with the internal hexagonal groove at the top of the first fastening screw 3, restricting the relative rotation between the two. This means that the rotation of the first fastening screw 3 must drive the straight tooth 4 to rotate synchronously. On the other hand, the second section of the straight tooth 4 engages with the third through hole of the fixed flange and the opening of the connecting plate 5 through vertical teeth. The fixed flange is fixedly connected to the flange 2, and the connecting plate 5 is fixedly connected to the load end. The entire second fastener and the load end form a stable and rigid whole. This means that the first fastening screw 3 requires a larger torque to rotate relative to the drive shaft. Therefore, compared to a structure that only has the flange 2 and screws, it is more difficult for loosening to occur.

[0037] Example 2 This embodiment discloses a humanoid robot. Each joint employs the anti-loosening mechanism described in Embodiment 1, connecting the drive output shaft to the load end, ensuring a reliable connection between the drive 1 and the joint load end. This enhances the connection reliability of the robot joints, ensures the robot's motion stability, and extends the robot's service life.

[0038] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention. Technical aspects, shapes, and structures not described in detail in this invention are all well-known technologies.

Claims

1. A mechanism for preventing loosening of the connection between the output shaft of a driver and the load end, characterized in that: It includes a first fastener and a second fastener; the first fastener is used to fix the second fastener to the output shaft (11); the second fastener is fixedly connected to the load end; an anti-slip element is provided between the first fastener and the second fastener to prevent relative rotational movement between the first fastener and the second fastener.

2. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 1, characterized in that: The first fastener includes a flange (2); the flange (2) is provided with a first through hole for the output shaft (11) to pass through; the first through hole is provided with an internal thread, and the output shaft (11) is provided with an external thread that mates with the internal thread; the flange (2) is connected to the output shaft (11) by thread engagement.

3. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 2, characterized in that: The first fastener also includes a first fastening screw (3), and the end of the output shaft (11) is provided with a threaded hole in the radial direction to accommodate the first fastening screw (3); the first fastening screw (3) cooperates with the threaded hole to fix the flange (2) and the output shaft (11) in a fixed connection.

4. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 3, characterized in that: The second fastener includes a fixed flange, a connecting plate (5), and a second fastening screw (6); the fixed flange and the flange (2) are evenly provided with a plurality of second through holes; the fixed flange and the flange (2) are fixedly connected by the second fastening screw (6) and overlapped with the flange (2); one end of the connecting plate (5) is fixedly connected to the fixed flange, and the other end is connected to the load end.

5. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 4, characterized in that: The connecting plate (5) is perpendicularly connected to the fixed flange and passes through the center of the fixed flange.

6. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 4, characterized in that: The anti-slip component is a straight tooth (4); the straight tooth (4) includes a first section and a second section that are fixedly connected in sequence; the fixed flange is provided with a third through hole; the first section is used to cooperate with the first fastening screw (3) so that the straight tooth (4) and the first fastening screw (3) do not rotate relative to each other; the outer wall of the second section is provided with vertical teeth; the inner wall of the third through hole is provided with vertical teeth that cooperate with the outer wall of the second section.

7. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 6, characterized in that: The connecting plate (5) is provided with an opening to accommodate the second section; the two sides of the opening that are in contact with the connecting plate (5) are provided with vertical teeth that cooperate with the outer wall of the second section.

8. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 6, characterized in that: The first fastening screw (3) has a recessed first groove at its top; the first segment is a shape adapted to the first groove.

9. The anti-loosening mechanism for connecting the output shaft of the driver and the load end according to claim 6, characterized in that: The top of the second section is provided with a recessed second groove; the second groove is used to facilitate the fastening connection between the first fastening screw (3) and the output shaft (11).

10. A robot, characterized in that: The device includes the anti-loosening mechanism for connecting the output shaft of the driver and the load end as described in any one of claims 1 to 9.

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