Driving device and mechanical arm system
By introducing damping components into the robotic arm system to consume vibration energy and provide friction, the problems of energy loss and motion instability in robotic arm drive are solved, achieving efficient and stable robotic arm drive, and reducing noise and cost.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI SENSEROBOT INTELLIGENT TECHNOLOGY CO LTD
- Filing Date
- 2025-02-12
- Publication Date
- 2026-04-10
AI Technical Summary
Existing robotic arm drive methods suffer from problems such as large energy loss, complex structure, heavy weight, high cost, high noise, and are prone to motion stall and vibration.
The drive unit and robotic arm system incorporate damping components, including first and second damping elements and a lubrication layer. These damping components dissipate vibration energy and provide friction, preventing the robotic arm from stalling and vibrating, thus eliminating the need for a traditional deceleration system.
It improves drive efficiency and precision, reduces energy loss and mechanical wear, lowers vibration and noise, achieves a compact design for the robotic arm, and ensures the stability and accuracy of movement.
Smart Images
Figure CN224102965U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of mechanical arm, in particular to a driving device and a mechanical arm system. BACKGROUND
[0002] With the development of automation technology, mechanical arms are increasingly widely used in the industrial field. In the related art, a high-speed servo motor and a speed reduction system are often used as a driving unit for driving a mechanical arm, wherein the motor drives the mechanical arm to move through the speed reduction system. This driving method can cause energy loss during transmission in the speed reduction system, low energy utilization, and a large installation space and weight of the complex speed reduction system, which is not conducive to the miniaturization and light weight of the product, has large operation noise and high cost. However, if the speed reduction system is not set, the mechanical arm can easily have movement stall and jitter problems when being driven. CONTENT OF THE UTILITY MODEL
[0003] Therefore, it is necessary to provide a driving device and a mechanical arm system aiming at the above-mentioned technical problems.
[0004] A driving device, comprising:
[0005] a driving mechanism having a driving output end, the driving mechanism being configured to drive a first body connected based on the driving output end, thereby driving the first body to move relative to a second body;
[0006] an adapter mechanism comprising a damping component, the adapter mechanism being configured to be assembled between the first body and the second body.
[0007] In one of the embodiments, the damping component comprises a first damping piece and a second damping piece, the first damping piece is arranged on the first body, the second damping piece is arranged on the second body, and the first damping piece and the second damping piece abut against each other.
[0008] In one of the embodiments, the damping component further comprises a lubricating layer arranged between the first damping piece and the second damping piece.
[0009] In one of the embodiments, the driving mechanism comprises a mounting bracket and a driving element, the driving element is arranged on the mounting bracket, the driving element has the driving output end, and the driving output end is directly connected with the first body.
[0010] A mechanical arm system, comprising:
[0011] a housing;
[0012] a mechanical arm device movably connected with the housing.
[0013] The driving device of any one of the above, wherein the first body is the mechanical arm device, the second body is the housing, the driving output end of the driving mechanism is drivingly connected with the mechanical arm device, and the adapter mechanism is arranged between the mechanical arm device and the housing.
[0014] In one of the embodiments, the mechanical arm device comprises a mechanical arm shell, a rotating shaft, a mechanical arm skeleton and a mechanical arm module, the rotating shaft is connected with the mechanical arm shell and is rotationally connected with the housing, the mechanical arm skeleton is connected with the mechanical arm shell and the mechanical arm module.
[0015] The driving mechanism is connected with the mechanical arm skeleton, and is configured to drive the mechanical arm skeleton, the mechanical arm shell and the mechanical arm module to rotate around the center line of the rotating shaft.
[0016] In one of the embodiments, the damping component is arranged between the mechanical arm shell and the housing and surrounds the periphery of the rotating shaft.
[0017] In one of the embodiments, the mechanical arm system further comprises a limiting component, the limiting component is connected with the housing, and the limiting component is configured to block and limit the mechanical arm skeleton.
[0018] In one of the embodiments, the mechanical arm system further comprises a bearing assembly, the bearing assembly is arranged between the limiting component and the mechanical arm skeleton and is connected with the limiting component and the mechanical arm skeleton respectively.
[0019] In one of the embodiments, the bearing assembly comprises a first bearing and a second bearing, the first bearing and the second bearing are arranged along the direction of the center line of the rotating shaft, and the center line of the first bearing and the center line of the second bearing are both collinear with the center line of the rotating shaft.
[0020] The driving device and the mechanical arm system provided by the application have the damping component arranged between the mechanical arm device and the shell, and when the driving mechanism drives the mechanical arm device to move relative to the shell, the damping component can consume the vibration energy generated by the operation of the driving mechanism, thereby playing a buffering and damping role; when the driving mechanism removes the driving effect on the mechanical arm device, the damping component can provide resistance, so that the friction between the mechanical arm device and the shell is large, the inertia of the movement of the mechanical arm device is reduced, and the movement position of the mechanical arm device is accurately controlled. Therefore, the damping component can avoid the problem of stalling and shaking of the mechanical arm device during high-speed movement, and the mechanical arm system runs more stably. Compared with the existing driving mode, the driving device and the mechanical arm system of the application can omit the traditional speed reduction system, thereby reducing the energy loss and mechanical wear of the intermediate speed reduction system, improving the efficiency and precision of the driving device, making the movement of the mechanical arm device more accurate and stable, and at the same time, the overall structure of the mechanical arm system is more compact, the size, weight and cost are reduced, and the vibration and noise are reduced. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 A cross-sectional structure schematic diagram of a mechanical arm system provided by an embodiment of the application.
[0022] Figure 2 An external structure schematic diagram of a mechanical arm system provided by an embodiment of the application.
[0023] Figure 3 A partial enlarged view in Figure 1
[0024] REFERENCE NUMERALS:
[0025] 10, mechanical arm system;
[0026] 100, shell;
[0027] 210, mechanical arm shell; 220, rotating shaft; 230, mechanical arm skeleton; 240, mechanical arm module;
[0028] 311, mounting bracket; 312, driving element; 313, driving output end; 320, damping component; 321, first damping piece; 322, second damping piece; 323, lubricating layer;
[0029] 400, limiting component;
[0030] 510, first bearing; 520, second bearing. DETAILED DESCRIPTION
[0031] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described herein and by one of ordinary skill in the art without departing from the spirit and scope of the present application, and it is therefore intended that all such variations be considered as falling within the scope of the present application. It should be understood that the use of the terms "include", "comprise" or "contain" herein should not be understood as limiting the present application to the features or steps described herein, but rather the use of these terms is intended to cover the presence of the features or steps described herein as well as the presence of other features or steps not described herein.
[0032] In the description of the present application, it should be understood that, if these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0033] In addition, if these terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined with "first", "second" can include at least one of the features explicitly or implicitly. In the description of the present application, if the term "a plurality of" appears, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.
[0034] In the present application, unless otherwise specifically defined and limited, if the terms "mount", "connect", "connect", "fix" and the like appear, these terms should be interpreted broadly. 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 or interaction relationship of two elements, unless otherwise specifically limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0035] In the present application, unless specifically defined and limited otherwise, if there is a description of a first feature "on" or "under" a second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "over", "above" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.
[0036] It should be noted that if an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.
[0037] Referring to Figures 1 to 3 As shown in the schematic structural diagram of the mechanical arm system 10 in the embodiment of the present application, the mechanical arm system 10 provided by the embodiment of the present application comprises a housing 100, a mechanical arm device and a driving device, wherein the driving device comprises a driving mechanism and an adapter mechanism, and the adapter mechanism comprises a damping component 320. Based on the structural design of the driving device, the mechanical arm system 10 can realize precise driving of the mechanical arm movement, avoiding the problem of movement stall and jitter of the mechanical arm when being driven.
[0038] Specifically, the housing 100 forms the outline of the mechanical arm system 10, and is used as the support structure of the mechanical arm system 10 as a whole and protects the internal parts. The specific shape of the housing 100 is not limited in the embodiment.
[0039] The mechanical arm device is movably connected with the housing 100, so that the mechanical arm device can move relative to the housing 100 under the driving of external force, thereby completing the corresponding function by using the mechanical arm device.
[0040] The driving mechanism has a driving output end 313, and the driving output end 313 is connected with the mechanical arm device. The driving mechanism is configured to provide power to drive the mechanical arm device to move relative to the housing 100.
[0041] The damping component 320 of the switching mechanism is arranged between the mechanical arm device and the shell 100, and is configured to prevent the mechanical arm device from moving relative to the shell 100 when the driving mechanism stops driving the mechanical arm device. The damping component 320 can be made of a material that can provide a certain friction, such as rubber, polyurethane, etc., to ensure that a large enough resistance can be provided by the damping component 320 to prevent the mechanical arm device from moving relative to the shell 100.
[0042] With the above structure, when the driving mechanism drives the mechanical arm device to move relative to the shell 100, the damping component 320 can consume the vibration energy generated by the operation of the driving mechanism, thereby playing a role of buffering and damping. When the driving mechanism stops driving the mechanical arm device, the damping component 320 can provide resistance, so that the friction between the mechanical arm device and the shell 100 is large, the inertia of the movement of the mechanical arm device is reduced, and the movement position of the mechanical arm device can be accurately controlled. Therefore, the damping component 320 can avoid the problem of stalling and shaking of the mechanical arm device during high-speed movement, and the mechanical arm system 10 can operate more stably.
[0043] In addition, since the damping component 320 actively brakes the mechanical arm device when the driving mechanism stops driving, and the damping component 320 can solve the problems of stalling and shaking of the mechanical arm device, the driving device and the mechanical arm system 10 of the embodiment can eliminate the traditional speed reduction system. Therefore, compared with the traditional speed reduction system such as belt, chain, gear, etc. used in the existing driving mode, the driving device and the mechanical arm system 10 of the embodiment reduce the energy loss and mechanical wear of the intermediate speed reduction system, improve the efficiency and accuracy of the driving device, make the movement of the mechanical arm device more accurate and stable, and at the same time, the overall structure of the mechanical arm system 10 is more compact, the size, weight and cost are reduced, and the vibration and noise are reduced.
[0044] Referring to Figure 3 In some embodiments, the damping component 320 includes a first damping member 321 and a second damping member 322, which are arranged in layers between the mechanical arm device and the shell 100. The first damping member 321 is arranged on the mechanical arm device, for example, the first damping member 321 can be bonded to the outer surface of the mechanical arm device. The second damping member 322 is arranged on the shell 100, for example, the second damping member 322 can be bonded to the inner surface of the shell 100. The first damping member 321 and the second damping member 322 abut each other, wherein the abutting refers to the interaction between the first damping member 321 and the second damping member 322, so that when the first damping member 321 and the second damping member 322 move relative to each other, a certain amount of friction is generated between them. For example, when the mechanical arm device moves relative to the shell 100, the first damping member 321 and the second damping member 322 will be driven to move relative to each other, and the friction between them will increase, thereby preventing the mechanical arm device from moving relative to the shell 100. Figure 3In the illustrated perspective, the upper surface of the first damping member 321 can be in direct contact with the lower surface of the second damping member 322, or a coating can be filled between the upper surface of the first damping member 321 and the lower surface of the second damping member 322, so that the first damping member 321 and the second damping member 322 can transmit force to each other.
[0045] Thus, when the driving mechanism drives the mechanical arm device to move relative to the shell 100, the first damping member 321 can move with the mechanical arm device, while the second damping member 322 remains stationary relative to the shell 100; when the driving mechanism just ceases to drive the mechanical arm device, at this time the power of the first damping member 321 disappears, and then under the action of the friction between the first damping member 321 and the second damping member 322, the second damping member 322 can quickly stop the first damping member 321 from continuing to move by inertia, thereby quickly braking the mechanical arm device, and at the same time, the vibration energy brought by the operation of the driving mechanism can be reduced through the cooperation of the first damping member 321 and the second damping member 322, thereby avoiding the problem of stall and jitter of the mechanical arm device.
[0046] Further, in some embodiments, the damping component 320 further comprises a lubricating layer 323 disposed between the first damping member 321 and the second damping member 322. Exemplarily, the lubricating layer 323 can be made of lubricating grease. When the driving is removed, the mechanical arm device continues to move due to inertia, at this time the first damping member 321 and the second damping member 322 generate frictional resistance, and in combination with the buffering effect of the lubricating layer 323, the mechanical arm device can be quickly inhibited from jittering and stalling. Moreover, the lubricating layer 323 can consume the vibration brought by the operation of the driving mechanism, reduce the friction noise, and make the driving mechanism run smoothly, which can not only improve the transmission accuracy, but also reduce various performance indicators of the driving mechanism.
[0047] Referring to Figure 1 and Figure 2 In some embodiments, the mechanical arm device comprises a mechanical arm shell 210, a rotating shaft 220, a mechanical arm skeleton 230, and a mechanical arm module 240. At least part of the mechanical arm shell 210 is located inside the shell 100, and the mechanical arm shell 210 is used to protect the components inside, such as the mechanical arm skeleton 230. The rotating shaft 220 is connected with the mechanical arm shell 210 and is rotationally connected with the shell 100, for example, the rotating shaft 220 can be integrally formed with the mechanical arm shell 210, the rotating shaft 220 extends out of the shell 100, and the rotating shaft 220 is configured to rotate relative to the shell 100 under the driving of external force. The mechanical arm skeleton 230 is connected with the mechanical arm shell 210 and the mechanical arm module 240, and the mechanical arm skeleton 230 is mainly disposed inside the mechanical arm shell 210 and is used to support and connect. Exemplarily, the mechanical arm module 240 can comprise a large arm member and a small arm member connected in sequence, and the large arm member is connected with the mechanical arm skeleton 230 and can move with the mechanical arm skeleton 230.
[0048] The driving mechanism is connected with the mechanical arm skeleton 230, and is configured to drive the mechanical arm skeleton 230, the mechanical arm shell 210 and the mechanical arm module 240 to rotate around the center line of the rotating shaft 220. The center line of the rotating shaft 220 is a straight line L shown in FIG. 2, and the center line of the rotating shaft 220 can be understood as the straight line L in the present disclosure unless otherwise specified. The direction of the center line of the rotating shaft 220 is the extension direction of the straight line L. Thus, the driving mechanism can drive the mechanical arm skeleton 230 to rotate around the straight line L, thereby driving the mechanical arm module 240 to rotate around the straight line L to realize the corresponding function by the mechanical arm module 240. Figure 1
[0049] Since the mechanical arm device as a whole is driven by the driving mechanism to rotate relative to the shell 100, in order to improve the braking effect of the damping component 320 on the mechanical arm device, in some embodiments, the damping component 320 is arranged between the mechanical arm shell 210 and the shell 100, and the damping component 320 is arranged around the periphery of the rotating shaft 220. Exemplarily, the damping component 320 is arranged as an annular structure as a whole. The annular arrangement makes it possible for the damping component 320 to realize friction braking at any position in the circumferential direction of the rotating shaft 220 when the mechanical arm device rotates around the center line of the rotating shaft 220, thereby improving the braking effect.
[0050] In some embodiments, the driving mechanism includes a mounting bracket 311 and a driving element 312. The mounting bracket 311 is used to provide a mounting basis for the driving element 312, and the driving element 312 is arranged on the mounting bracket 311. The driving element 312 has a driving output end 313. Exemplarily, the driving element 312 can be an electric motor such as a stepper motor. The output shaft of the electric motor, i.e., the driving output end 313, is directly connected with the mechanical arm skeleton 230. Thus, the driving element 312 can directly output torque to the mechanical arm skeleton 230 to drive the mechanical arm device as a whole to rotate around the center line of the rotating shaft 220. This direct driving mode can reduce energy transmission loss, improve the efficiency and precision of the driving mechanism, and can use an electric motor with smaller rotational inertia, thereby reducing the requirements for the selection of the electric motor. Moreover, due to the damping and braking effect of the damping component 320, it is not necessary to arrange a speed reduction system. The transmission ratio of the driving element 312 to the mechanical arm device is 1:1, which is high in transmission efficiency and can ensure accurate and smooth transmission.
[0051] Optionally, in some embodiments, the center line of the driving output end 313 of the driving element 312 is collinear with the center line of the rotating shaft 220. Referring to FIG. 2, when the driving element 312 is an electric motor, the center line of the output shaft of the electric motor is collinear with the center line of the rotating shaft 220, which can avoid eccentric error during driving of the electric motor and improve driving precision. Figure 1
[0052] In some embodiments, the robotic arm system 10 further comprises a limiting component 400 connected with the housing 100, and the limiting component 400 is configured to limit the robotic arm skeleton 230. As shown in Figure 1 For example, as shown in
[0053] Continuing to refer to Figure 1 As shown in
[0054] Further, in some embodiments, the bearing assembly comprises a first bearing 510 and a second bearing 520, and the first bearing 510 and the second bearing 520 are arranged along the center line of the rotation shaft 220 in a spaced manner, wherein the spaced manner means that the first bearing 510 and the second bearing 520 have a gap in the direction of the center line of the rotation shaft 220. The first bearing 510 and the second bearing 520 are both arranged around the outer periphery of the bottom end of the robotic arm skeleton 230 and between the limiting component 400, and the center line of the first bearing 510 and the center line of the second bearing 520 are both collinear with the center line of the rotation shaft 220, that is, the center line of the first bearing 510, the center line of the second bearing 520 and the center line of the rotation shaft 220 are all straight lines L. Thus, the first bearing 510 and the second bearing 520 together support the robotic arm skeleton 230, so that the robotic arm skeleton 230 can rotate strictly around the center line of the rotation shaft 220, avoiding the position of the robotic arm skeleton 230 deviating from the center line of the rotation shaft 220, thereby ensuring the rotation stability of the robotic arm device.
[0055] It should be understood that in other alternative embodiments, the bearing assembly can also include more bearings, for example, the bearing assembly can include three bearings, four bearings, five bearings, etc., all of which are arranged along the center line direction of the rotating shaft 220.
[0056] The technical features of the above embodiments can be combined in any manner. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictions, it should be considered as the scope of the present disclosure.
[0057] The above embodiments only express several implementation manners of the present application, the description is more specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.
Claims
1. A drive device characterized by comprising: The driving device comprises: a driving mechanism having a driving output end, the driving mechanism being configured to drive a first body based on the driving output end, thereby driving the first body to move relative to a second body; an adapter mechanism comprising a damping component, the adapter mechanism being configured to be fitted between the first body and the second body.
2. The drive apparatus according to claim 1, characterized by The damping component comprises a first damping piece and a second damping piece, the first damping piece being arranged on the first body, the second damping piece being arranged on the second body, the first damping piece and the second damping piece abutting against each other.
3. The drive apparatus according to claim 2, characterized by The damping component further comprises a lubricating layer arranged between the first damping piece and the second damping piece.
4. The drive apparatus according to claim 1, characterized by The driving mechanism comprises a mounting bracket and a driving element arranged on the mounting bracket, the driving element having the driving output end, the driving output end being directly connected with the first body.
5. A robotic arm system, characterized by, The mechanical arm system comprises: a housing; a mechanical arm device movably connected with the housing; The driving device of any one of claims 1-4, wherein the first body is the mechanical arm device, the second body is the housing, the driving output end of the driving mechanism is drivingly connected with the mechanical arm device, and the adapter mechanism is arranged between the mechanical arm device and the housing.
6. The robotic arm system of claim 5, wherein, The mechanical arm device comprises a mechanical arm shell, a rotating shaft, a mechanical arm skeleton, and a mechanical arm module, the rotating shaft being connected with the mechanical arm shell and rotatably connected with the housing, the mechanical arm skeleton being connected with the mechanical arm shell and the mechanical arm module; The driving mechanism is connected with the mechanical arm skeleton, and is configured to drive the mechanical arm skeleton, the mechanical arm shell, and the mechanical arm module to rotate around a center line of the rotating shaft.
7. The robotic arm system of claim 6, wherein, The damping component is arranged between the mechanical arm shell and the housing and surrounds a periphery of the rotating shaft.
8. The robotic arm system of claim 6, wherein, The mechanical arm system further comprises a limiting component connected with the housing, the limiting component being configured to block and limit the mechanical arm skeleton.
9. The robotic arm system of claim 8, wherein, The mechanical arm system further comprises a bearing assembly arranged between and connected with the limiting component and the mechanical arm skeleton.
10. The robotic arm system of claim 9, wherein, The bearing assembly comprises a first bearing and a second bearing, the first bearing and the second bearing being arranged along a direction of a center line of the rotating shaft, and a center line of the first bearing and a center line of the second bearing are both collinear with the center line of the rotating shaft.