Steering engine connecting structure, steering engine and robot

Abstract

The utility model 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 engine, in particular to a steering engine connecting structure, a steering engine and a robot. BACKGROUND

[0002] Robots usually use steering engines as an execution component to drive an execution member to perform corresponding actions. In the related art, the steering engine and the execution member are connected through a flange, and the flange and the steering engine are fixed by screws. In order to enable the flange to transmit a large enough torque, more screws are often used to fix the flange. This not only makes the assembly of the flange and the steering engine cumbersome, but also makes it difficult to adjust the relative position between the execution member and the steering engine after connecting them through the flange. CONTENT OF THE UTILITY MODEL

[0003] The present application provides a steering engine connecting structure, a steering engine and a robot, which can simplify the assembly process of the steering engine and the execution mechanism, facilitate the disassembly and assembly of the steering engine and the execution mechanism, and automatically adjust the position of the steering engine and the execution mechanism.

[0004] The first aspect of the present application provides a steering engine connecting structure, which comprises: a driving member and a driven member. The driving member has a first connecting structure and a first transmission structure thereon, and the driving member is connected with a reducer in the steering engine through the first connecting structure. The driven member has a second connecting structure and a second transmission structure matched with the first transmission structure thereon, and the driven member is connected with an execution mechanism through the second connecting structure. The first transmission structure and the second transmission structure abut along the circumferential direction of the driving member, and the first transmission structure and the second transmission structure are slidingly connected along the radial direction of the driving member.

[0005] The steering engine connecting structure provided by the present application is convenient for connecting the driving member with the reducer in the steering engine through the first connecting structure on the driving member, and connecting the driven member with the execution mechanism through the second connecting structure on the driven member. Moreover, the first transmission structure and the second transmission structure matched with each other are arranged on the driving member and the driven member respectively. The torque can be transmitted through the first transmission structure and the second transmission structure, and in the process of assembling the steering engine and the execution mechanism, the driving member and the reducer can be fixedly connected, the driven member and the execution mechanism can be fixedly connected, and then the driving member and the driven member can be movably connected through the first transmission structure and the second transmission structure. Therefore, the assembly process of the steering engine and the execution mechanism can be simplified, and the steering engine and the execution mechanism can be disassembled and assembled conveniently. Meanwhile, the first transmission structure and the second transmission structure are slidingly connected along the radial direction of the driving member, and the driven member and the driving member can be automatically aligned in the process of rotating the driven member driven by the driving member. Therefore, the position of the steering engine and the execution mechanism can be automatically adjusted.

[0006] In a possible implementation manner of the present application, the first transmission structure and the second transmission structure are in sliding connection along the axial direction of the driving member, so that the driving member and the driven member can move relatively 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 driving member, after the steering engine and the actuating mechanism are connected in transmission through the driving member and the driven member, the distance between the steering engine and the actuating mechanism can be adjusted by using the relative sliding of the first transmission structure and the second transmission structure along the axial direction of the driving member, so as to make the distance between the steering engine and the actuating mechanism meet the precision requirement.

[0008] In a possible implementation manner of the present application, the first transmission structure and the second transmission structure slide relatively along the axial direction until the first transmission structure and the second transmission structure are separated.

[0009] In the technical solution of the present application, since the first transmission structure and the second transmission structure can slide to be separated along the axial direction of the driving member, in the process of disassembling the steering engine and the actuating mechanism connected through the driving member and the driven member, the steering engine and the actuating mechanism can be disassembled by sliding the first transmission structure and the second transmission structure to be separated along the axial direction of the driving member, so as to facilitate the disassembly of the steering engine and the actuating mechanism.

[0010] In a possible implementation manner of the present application, the first transmission structure comprises one of N grooves and N protrusions distributed along the circumferential direction of the driving member, and the groove or the protrusion is formed by extending from the driving member along the axial direction; the second transmission structure comprises the other of N protrusions and N grooves distributed along the circumferential direction, and the protrusion or the groove is formed by extending from the surface of the driven member close to the driving member along the axial direction, the protrusion and the groove are matched, 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 arranged as the structure of N grooves and N protrusions, the shape of the protrusion and the groove can be matched, and the protrusion can be located in the groove, so that the protrusion can abut against the groove wall, the protrusion can slide relative to the groove, and the transmission of the torque and the relative movement between the driving member and the driven member can be realized.

[0012] In a possible implementation manner of the present application, the first transmission structure and the second transmission structure are in clearance fit along the radial direction; and / or, the first transmission structure and the second transmission structure are in clearance fit along the circumferential direction of the driving member.

[0013] In the technical solution of the present application, since the first transmission structure and the second transmission structure have a gap therebetween, the lubricating material can be accommodated between the gap of the first transmission structure and the second transmission structure, thereby facilitating reduction of surface wear of the first transmission structure and the second transmission structure, and the manufacturing and installation of the driving member and the driven member can be simplified.

[0014] In a possible implementation manner of the present application, the steering engine connecting structure further comprises an elastic member, which is arranged between the first transmission structure and the second transmission structure in the circumferential direction, and the hardness of the elastic member is less 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 the first transmission structure and the second transmission structure have the elastic member therebetween, 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 of the elastic member caused by being extruded can eliminate or compensate the coaxiality error between the driving member and the driven member.

[0016] In a possible implementation manner of the present application, the first connecting structure comprises at least one of a connecting through hole and a connecting threaded hole.

[0017] In the technical solution of the present application, since the first connecting structure on the driving member comprises a connecting through hole and a connecting threaded hole, etc., a fastener such as a bolt matched with the connecting through hole or the connecting threaded hole can be used to fixedly connect the driving member and the reducer of the steering engine in a threaded connection manner.

[0018] In a possible implementation manner of the present application, the driving member further has a connecting shaft, which is located at one end of the driving member away from the first transmission structure, and the connecting shaft is connected with the reducer.

[0019] In the technical solution of the present application, since the connecting shaft is further arranged on the driving member, the connecting shaft can provide more connection points between the driving member and the reducer, thereby facilitating improvement of the reliability of the connection between the driving member and the reducer.

[0020] The second aspect of the present application provides a steering engine, which comprises a driving member, a reducer and the steering engine connecting structure provided in any one of the first aspect.

[0021] The steering engine provided in the present application, since the steering engine comprises the steering engine connecting structure provided in the first aspect, the assembly process of the steering engine and the actuating mechanism can be simplified, the steering engine and the actuating mechanism can be conveniently disassembled and assembled, and automatic adjustment of the position of the steering engine and the actuating mechanism can be realized.

[0022] The third aspect of the present application provides a robot, comprising a base body, an actuator and the rudder provided in the second aspect. The driving member and the speed reducer are arranged on the base body; the actuator is connected with the driven member through the second connecting structure.

[0023] The robot provided in the embodiments of the present application can simplify the assembly process of the rudder and the actuator, facilitate the disassembly and assembly of the rudder and the actuator, and automatically adjust the positions of the rudder and the actuator. BRIEF DESCRIPTION OF DRAWINGS

[0024] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the present application. Moreover, like reference numerals designate like parts throughout the several views in the drawings. In the drawings:

[0025] Figure 1 Structure diagram of the rudder provided in the present application Figure 1 ;

[0026] Figure 2 Exploded view of the rudder provided in the present application

[0027] Figure 3 Structure diagram of the driving member in the rudder provided in the present application

[0028] Figure 4 Structure diagram of the driven member in the rudder provided in the present application

[0029] Figure 5 Structure diagram of the driving member in the rudder provided in the present application Figure 2 .

[0030] BRIEF DESCRIPTION OF DRAWINGS

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

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

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of this application; the use of the terms "including," "comprising," or "having" and variations thereof herein is intended to be broad and encompass the terms "consisting of" and "consisting essentially of" and variations thereof. Unless otherwise noted, the terms "including" and "comprising" are open-ended and do not exclude the presence of unrecited elements or limitations.

[0034] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like 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 "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0035] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are they necessarily mutually exclusive or alternative embodiments. It is explicitly and implicitly understood that the embodiments described herein can 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 the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are "or" relationship.

[0037] In the description of the embodiments of the present application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and are not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed in a particular orientation, be operated or used, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0038] In the description of the embodiments of the present application, unless specifically defined and limited otherwise, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled 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 specifically defined and limited otherwise, the technical term "contact" should be understood in a broad sense, which can be direct contact or contact through an intermediate medium layer, which can be contact between two objects in contact without interaction force, or contact between two objects in contact with interaction force.

[0040] The steering engine of the robot is connected with the actuator through a flange, and the flange is fixed with the steering engine by a plurality of screws. When the flange and the steering engine are assembled and fixed by the screws, more screws can improve the torque capacity of the flange, but also increase the workload of assembly. During disassembly and assembly of the flange, problems such as damage of the cross slot of the screw and breakage of the screw rod are prone to occur. Moreover, after the actuator is connected with the steering engine through the flange, the manufacturing precision of the flange has a great influence on the assembly position relationship between the actuator and the steering engine. In order to make the position relationship (such as coaxiality and parallelism) between the actuator and the steering engine meet the use requirements, it is necessary to improve the machining precision and assembly precision of the steering engine, the flange and the actuator, which will increase the manufacturing cost of the steering engine, the flange and the actuator.

[0041] The embodiment of the present application provides a steering engine connecting structure, which can simplify the assembly process of the steering engine and the actuator, and also can realize automatic adjustment of the position of the steering engine and the actuator. Referring to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , Figure 1 the structure of the steering engine provided by the present application is shown in Figure 1 , Figure 2 the exploded view of the steering engine provided by the present application is shown in Figure 3 the structure of the driving member in the steering engine provided by the present application is shown in Figure 4 the structure of the driven member in the steering engine provided by the present application is shown in.

[0042] The rudder connecting structure provided by the embodiment of the application comprises a driving part 1 and a driven part 2. The driving part 1 is provided with a first connecting structure 11 and a first transmission structure 12, and the driving part 1 is connected with a speed reducer 5 in the rudder through the first connecting structure 11. The driven part 2 is provided with a second connecting structure 21 and a second transmission structure 22 matched with the first transmission structure 12, and the driven part 2 is connected with an executing mechanism through the second connecting structure 21. The first transmission structure 12 and the second transmission structure 22 abut along the circumferential direction C of the driving part 1, and the first transmission structure 12 and the second transmission structure 22 are connected in sliding mode along the radial direction of the driving part 1.

[0043] In the embodiment of the application, the rudder can be used as a driving part in a robot, a mechanical arm or the like, so as to drive the executing mechanism in the device to rotate. For example, as shown in Figure 1 and Figure 2 , the rudder and the executing mechanism (not shown in the figure) can be connected through the driving part 1 and the driven part 2.

[0044] In the embodiment of the application, as shown in Figure 3 , the first connecting structure 11 can be arranged on the driving part 1, and correspondingly, a structure matched with the first connecting structure 11 can be arranged on the speed reducer 5 in the rudder, so as to fixedly connect the driving part 1 and the speed reducer 5 through the first connecting structure 11. For example, a through hole can be arranged on the speed reducer 5, and a connecting shaft 13 matched with the through hole can be arranged on the driving part 1. The connecting shaft 13 can be used as the first connecting structure 11 of the driving part 1, the connecting shaft 13 is inserted into the through hole of the speed reducer 5, and the connecting shaft 13 is fixedly connected with the speed reducer 5.

[0045] In the embodiment of the application, as shown in Figure 4 , the second connecting structure 21 can be arranged on the driven part 2, and correspondingly, a structure matched with the second connecting structure 21 can be arranged on the executing mechanism, so as to fixedly connect the driven part 2 and the executing mechanism through the second connecting structure 21. For example, a through hole can be arranged on the driven part 2, and a convex column matched with the through hole can be arranged on the executing mechanism. The executing mechanism is sleeved on the convex column through the through hole, and a key or the like can be arranged between the convex column and the through hole, so as to fixedly connect the driven part 2 and the executing mechanism. Alternatively, a threaded hole can be arranged on the driven part 2, a bolt matched with the threaded hole is adopted, and a through hole matched with the bolt is arranged on the executing mechanism. In this way, the executing mechanism and the driven part 2 can be fixedly connected through the bolt. The specific structure of the second connecting structure 21 is not limited in the embodiment of the application.

[0046] For example, the first transmission structure 12 can be distributed on the driving member 1 along the axial direction Z of the driving member 1, and the second transmission structure 22 can also be distributed on the driven member 2 along the axial direction Z of the driven member 2. For example, the first transmission structure 12 can be provided as a convex strip, and a plurality of convex strips can be distributed along the circumferential direction C of the driving member 1, and the convex strips can extend along the axial direction Z of the driving member 1 to form the first transmission structure 12, and the second transmission structure 22 can be provided as a groove matched with the convex strip. In this way, as shown in FIG. 11, along the circumferential direction C of the driving member 1, the first transmission structure 12 and the second transmission structure 22 can be in abutment, and the torque can be transmitted through the first transmission structure 12 and the second transmission structure 22. Figure 1

[0047] For 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 driving member 1. For example, along the radial direction of the driving member 1, the distance between the bottoms of two grooves located on the same diameter of the driven member 2 can be less than the distance between two convex strips located on the same diameter of the driving member 1. In this way, during the rotation of the driving member 1 driving the driven member 2, if the axis of the driven member 2 and the axis of the driving member 1 do not coincide, the driven member 2 can slide along the radial direction relative to the driving member 1 to realize automatic alignment, and the axis of the driven member 2 and the axis of the driving member 1 coincide again, so that the torque transmission between the driven member 2 and the driving member 1 can be realized, the jamming of the driving member 1 and the driven member 2 during rotation due to misalignment can be reduced, the machining precision of the driving member 1 and the driven member 2 can be reduced, the manufacturing cost of the steering engine connecting structure can be reduced.

[0048] ​The rudder connecting structure provided by the embodiment of the application is provided with the first connecting structure 11 on the driving part 1, so that the driving part 1 is connected with the speed reducer 5 in the rudder through the first connecting structure 11, and the second connecting structure 21 is arranged on the driven part 2, so that the driven part 2 is connected with the executing mechanism. In addition, the matching first transmission structure 12 and the second transmission structure 22 are arranged on the driving part 1 and the driven part 2 respectively, so that the torque can be transmitted through the first transmission structure 12 and the second transmission structure 22, and in the process of assembling the rudder and the executing mechanism, the driving part 1 and the speed reducer 5 can be fixedly connected, the driven part 2 and the executing mechanism can be fixedly connected, and then the driving part 1 and the driven part 2 can be movably connected through the first transmission structure 12 and the second transmission structure 22, so that the assembly process of the rudder and the executing mechanism can be simplified, and the rudder and the executing mechanism can be conveniently disassembled. At the same time, the first transmission structure 12 and the second transmission structure 22 are slidably connected along the radial direction of the driving part 1, so that the driven part 2 and the driving part 1 can be automatically aligned in the process of rotating the driven part 2 by the driving part 1, and the position of the rudder and the executing mechanism can be automatically adjusted.

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

[0050] In the embodiment of the application, the first transmission structure 12 and the second transmission structure 22 can be arranged in a structure form capable of moving relative to each other along the axial direction Z of the driving part 1. For example, the convex strip as the first transmission structure 12 can be arranged in parallel or close to parallel with the axial direction Z of the driving part 1 along the surface of the axial direction Z of the driving part 1, and the groove as the second transmission structure 22 can be arranged in parallel or close to parallel with the axial direction Z of the driving part 1 along the surface of the axial direction Z of the driving part 1. In this way, the surfaces of the first transmission structure 12 and the second transmission structure 22 abutting each other along the circumferential direction C of the driving part 1 can all satisfy the parallel relationship with the axial direction Z of the driving part 1, so that the driving part 1 and the driven part 2 can also slide relative to each other along the axial direction Z of the driving part 1 in the process of rotating the driven part 2 by the driving part 1.

[0051] For example, after the steering engine is connected with the actuator by using the steering engine connecting structure, the distance between the steering engine and the actuator can be adjusted according to the distance between the steering engine and the actuator. For example, when the steering engine connecting structure is applied to a humanoid robot, the steering engine connecting structure can be applied to a hip side position, so that the machining requirement of the hip side position in the axial direction Z can be reduced, that is, the axial Z precision between the steering engine and the actuator of the hip side position no longer needs to be improved by the axial Z limiting workpiece, because the axial Z size requirement between the steering engine and the actuator of the hip side position can be met by adjusting the positions of the first transmission structure 12 and the second transmission structure 22 in the axial direction Z of the driving member 1.

[0052] In the above embodiment, since the first transmission structure 12 and the second transmission structure 22 can slide relative to each other in the axial direction Z of the driving member 1, after the steering engine and the actuator are connected by the driving member 1 and the driven member 2, the distance between the steering engine and the actuator can be adjusted by using the relative sliding of the first transmission structure 12 and the second transmission structure 22 in the axial direction Z of the driving member 1, so that the distance between the steering engine and the actuator can meet the precision requirement.

[0053] In some possible embodiments of the present application, the first transmission structure 12 and the second transmission structure 22 slide relative to each other in the axial direction Z of the driving member 1 until the first transmission structure 12 and the second transmission structure 22 are separated.

[0054] In the embodiments of the present application, the first transmission structure 12 and the second transmission structure 22 can be arranged as structures that can be separated from each other in the axial direction Z of the driving member 1. For example, any cross section of the first transmission structure 12 can be matched with any position of the second transmission structure 22 in the axial direction Z of the driving member 1. In this way, the first transmission structure 12 can slide relative to the second transmission structure 22 to any position in the axial direction Z of the driving member 1, so that the first transmission structure 12 and the second transmission structure 22 can be separated from each other in the axial direction Z of the driving member 1.

[0055] In the above embodiment, since the first transmission structure 12 and the second transmission structure 22 can slide to be separated from each other in the axial direction Z of the driving member 1, during the disassembly of the steering engine and the actuator connected by the driving member 1 and the driven member 2, the steering engine and the actuator can be disassembled by sliding the first transmission structure 12 and the second transmission structure 22 to be separated from each other in the axial direction Z of the driving member 1, so that the steering engine and the actuator can be disassembled conveniently.

[0056] In some possible embodiments of the present application, the first transmission structure 12 comprises one of N grooves and N protrusions distributed along the circumferential direction C of the driving member 1, and the grooves or protrusions are formed along the axial direction Z of the driving member 1; the second transmission structure 22 comprises the other one of N protrusions and N grooves distributed along the circumferential direction C of the driven member 2, and the protrusions or grooves are formed along the axial direction Z of the driving member 1 from the surface of the driven member 2 close to the driving member 1, the protrusions and the grooves are matched, and N is an integer greater than or equal to 2.

[0057] In the embodiments of the present application, as shown in Figure 3 the first transmission structure 12 can be configured as a structure comprising N grooves, for example, N can be 2, 3, 4, or other integers greater than or equal to 2. Each groove on the driving member 1 is formed along the axial direction Z of the driving member 1 from the driving member 1. The N grooves can be uniformly distributed along the circumferential direction C of the driving member 1, for example, the grooves are configured as structures with approximately U-shaped cross sections. Correspondingly, as shown in Figure 4 the second transmission structure 22 can be configured as a structure comprising N protrusions, and the cross sections of the protrusions are also approximately U-shaped structures. Each protrusion on the driven member 2 is formed along the axial direction Z of the driving member 1 from the surface of the driven member 2 close to the driving member 1, the N protrusions can be uniformly distributed along the circumferential direction C of the driven member 2, and the number of the protrusions is consistent with the number of the grooves, that is, each protrusion can be inserted into a groove.

[0058] Alternatively, the first transmission structure 12 can also be configured as a structure comprising N protrusions, and each protrusion on the driving member 1 is formed along the axial direction Z of the driving member 1 from the driving member 1. The N protrusions can be uniformly distributed along the circumferential direction C of the driving member 1 on the surface close to the driven member 2. Correspondingly, the second transmission structure 22 can be configured as a structure comprising N grooves, and each groove on the driven member 2 is formed along the axial direction Z of the driving member 1 from the surface of the driven member 2 close to the driving member 1, the N grooves can be uniformly distributed along the circumferential direction C of the driven member 2.

[0059] In the above embodiments, since the first transmission structure 12 and the second transmission structure 22 are configured as structures comprising N grooves and N protrusions, the shapes of the protrusions and the grooves can be matched, and the protrusions can be located in the grooves, so that the protrusions can abut against the groove walls, and the protrusions can slide relative to the grooves, thereby the transmission of the torque and the relative movement between the driving member 1 and the driven member 2 can be realized.

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

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

[0062] For example, along the radial direction of the driving member 1, a gap can be formed between the portions on the same diameter of the first transmission structure 12 and the second transmission structure 22, for example, the distance between the two grooves on the same diameter can be less than the distance between the two protrusions on the same diameter, so that the protrusions can move in the grooves along the radial direction of the driving member 1.

[0063] For another example, along the circumferential direction C of the driving member 1, a gap can be formed 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 driving member 1 can be greater than the width of the protrusion along the circumferential direction C of the driving member 1, so that during the process of switching the driving member 1 from forward rotation to reverse rotation, the driven member 2 will be delayed for a period of time before rotating with the driving member 1 due to the gap in the circumferential direction C between the first transmission structure 12 and the second transmission structure 22.

[0064] In the above embodiments, since the first transmission structure 12 and the second transmission structure 22 have a gap therebetween, lubricating material can be accommodated between the gap of the first transmission structure 12 and the second transmission structure 22, thereby facilitating the reduction of surface wear of the first transmission structure 12 and the second transmission structure 22, and simplifying the manufacturing and installation of the driving member 1 and the driven member 2.

[0065] In some possible embodiments of the present application, referring to Figure 5 , Figure 5 The structure of the driving member 1 in the steering gear provided by the present application is shown in Figure 2 The steering gear connecting structure further comprises an elastic member 3, which is arranged between the first transmission structure 12 and the second transmission structure 22 along the circumferential direction C of the driving member 1, and the hardness of the elastic member 3 is less than the hardness of at least one of the first transmission structure 12 and the second transmission structure 22.

[0066] In the embodiments of the present application, the first transmission structure 12 and the second transmission structure 22 can abut each other along the circumferential direction C of the driving member 1 through the elastic member 3, so as to eliminate or compensate the coaxiality error between the driving member 1 and the driven member 2 by the deformation of the elastic member 3.

[0067] For example, as Figure 5As shown, along the circumference C of the driving member 1, a larger gap can be formed between the first transmission structure 12 and the second transmission structure 22, and the elastic member 3 can be arranged 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 is smaller than the hardness of the first transmission structure 12 and / or the second transmission structure 22. In this way, in the process of rotating the driving member 1 to drive the driven member 2, the driving member 1 abuts against the driven member 2 through the elastic member 3.

[0068] In the above embodiment, since the elastic member 3 is arranged between the first transmission structure 12 and the second transmission structure 22, and the hardness of the elastic member 3 is smaller 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 of the elastic member 3 caused by being pressed can eliminate or compensate for the coaxiality error between the driving member 1 and the driven member 2.

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

[0070] In the embodiments of the present application, as shown in Figure 2 and Figure 3 The first connecting structure 11 on the driving member 1 can be arranged as a through hole structure, and a fastener 6 matched with the through hole can be used to fixedly connect the driving member 1 and the reducer 5 of the steering engine.

[0071] For example, a counterbore hole can be arranged on the driving member 1, and the end of the counterbore hole with a larger diameter is located on the side of the driving member 1 away from the reducer 5. For example, four counterbore holes can be arranged on the driving member 1, and the four counterbore holes are distributed along the circumference C of the driving member 1. A threaded hole corresponding to the counterbore hole can be arranged on the reducer 5, and a bolt matched with the threaded hole and the counterbore hole can be used as the fastener 6 to fixedly connect the driving member 1 and the reducer 5.

[0072] For another example, a threaded hole can be arranged on the driving member 1, for example, four threaded holes can be arranged on the driving member 1, and the four threaded holes are distributed along the circumference C of the driving member 1. A through hole or a counterbore hole matched with the bolt can be arranged on the reducer 5, so that the driving member 1 and the reducer 5 can also be fixedly connected by the bolt.

[0073] In the above embodiment, since the first connecting structure 11 on the driving member 1 includes a connecting through hole and a connecting threaded hole, a bolt matched with the connecting through hole or the connecting threaded hole can be used as the fastener 6 to fixedly connect the driving member 1 and the reducer 5 of the steering engine in a threaded connection manner.

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

[0075] As shown in Figure 2 and Figure 3 , the connecting shaft 13 can also be arranged on the driving member 1 to provide more connecting points between the driving member 1 and the reducer 5. For example, the connecting shaft 13 coaxial with the first transmission structure 12 can be arranged on the driving member 1, the connecting shaft 13 is matched with the through hole on the reducer 5, and the connecting shaft 13 can pass through the through hole on the reducer 5. The length of the connecting shaft 13 can be greater than the thickness of the reducer 5, so that the connecting shaft 13 can extend to the positions of other components in the steering engine. For example, the connecting shaft 13 can be connected with an output encoder in the steering engine, so as to form a closed loop through the output encoder and the input encoder, thereby accurately controlling the rotation angle and rotation speed of the driving member 1.

[0076] In the above embodiments, the connecting shaft 13 is further arranged on the driving member 1, and the connecting shaft 13 can provide more connecting points between the driving member 1 and the reducer 5, which is beneficial to improve the reliability of the connection between the driving member 1 and the reducer 5.

[0077] In addition, the present application also provides a steering engine, which comprises a driving member 4, a reducer 5 and a steering engine connecting structure provided by any one of the above embodiments. The reducer 5 is connected with the driving member 4, and the driving member 4 can drive the reducer 5 to rotate. The driving member 1 is connected with the reducer 5 through the first connecting structure 11.

[0078] In the present application, as shown in Figure 1 and Figure 2 , the driving member 4 is used to generate driving force, for example, the driving member 4 can be a direct current brush motor, a brushless motor, a hollow cup motor, etc. The output end of the motor as the driving member 4 can be fixedly connected with 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 using the reducer 5. The driving member 1 can be fixedly connected with the reducer 5 through the first connecting structure 11, for example, the first connecting structure 11 can be a countersunk hole, the reducer 5 has a threaded hole matched with the countersunk hole, and a bolt is used to fixedly connect the driving member 1 with the reducer 5 through the countersunk hole and the threaded hole. A housing 7 can be arranged at one end of the driving member 4 away from the reducer 5, so as to arrange a fan, a driving circuit board, etc. in the housing 7, and to protect the fan, the driving circuit board, etc. by using the housing 7.

[0079] The rudder provided by the embodiment of the present application can simplify the assembly process of the rudder and the actuating mechanism, facilitate the disassembly and assembly of the rudder and the actuating mechanism, and automatically adjust the position of the rudder and the actuating mechanism.

[0080] The embodiment of the present application further provides a robot, which comprises a base body, a rudder and an actuating mechanism.

[0081] In the embodiment of the present application, the robot can be a humanoid robot or an intelligent machine such as a mechanical arm that can work semi-autonomously or autonomously. The base body is used to support the robot, for example, when the robot is a humanoid robot, the base body can be a body part of the humanoid robot, and the actuating mechanism can be a limb of the humanoid robot; when the robot is a mechanical arm, the base body can be a base, and the actuating mechanism can be a gripper or an electric wrench. The driving member 4 and the speed reducer 5 in the rudder can be arranged on the base body, and the driven member 2 can be fixedly connected to the actuating mechanism through the second connecting structure 21, so as to drive-connect the actuating mechanism and the rudder through the driving member 1 and the driven member 2.

[0082] The robot provided by the embodiment of the present application can simplify the assembly process of the rudder and the actuating mechanism, facilitate the disassembly and assembly of the rudder and the actuating mechanism, and automatically adjust the position of the rudder and the actuating mechanism.

[0083] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can be modified, or some or all of the technical features can be replaced equivalently; 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 be covered in the scope of the specification of the present application. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner.

Claims

1. A steering gear connecting structure characterized by comprising: The application relates to a steering engine connecting structure. The application relates to a steering engine connecting structure. The application relates to a steering engine connecting structure.

2. The steering gear connection structure according to claim 1, characterized by The application relates to a steering engine connecting structure.

3. The steering gear connection structure according to claim 2, characterized by The application relates to a steering engine connecting structure.

4. The steering gear connecting structure according to any one of claims 1 to 3, characterized in that, The application relates to a steering engine connecting structure.

5. The steering gear connection structure according to any one of claims 1 to 3, characterized in that, The application relates to a steering engine connecting structure. The application relates to a steering engine connecting structure.

6. The steering gear connecting structure according to any one of claims 1 to 3, characterized by The application relates to a steering engine connecting structure.

7. The steering gear connection structure according to any one of claims 1 to 3, characterized in that The application relates to a steering engine connecting structure.

8. The steering gear connection structure according to any one of claims 1 to 3, characterized by The application relates to a steering engine connecting structure.

9. A steering engine characterized by The application relates to a steering engine connecting structure. The application relates to a steering engine connecting structure. The application relates to a steering engine connecting structure. The application relates to a steering engine connecting structure.

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