Driving assembly

Abstract

The utility model discloses a driving assembly, and relates to the technical field of robots. The driving assembly comprises N driving devices, the driver is installed on the support, the transmission assembly is arranged on a first output shaft, the first output shaft rotationally connected with the support and a second output shaft of the driver are alternately arranged, and the second output shaft drives the transmission assembly to move; in the two adjacent driving devices in the preset direction, the first output shaft of at least one driving device is located on the side, facing the driver corresponding to the other driving device in the preset direction, of the corresponding second output shaft, N is an integer larger than or equal to 2, and the first output shaft and the second output shaft are arranged in a crossed mode in the preset direction. Every two adjacent driving devices are arranged in the preset direction, at least part of the structure of the transmission assembly and the first output shaft are arranged in the space in the arrangement direction of the two driving devices, the space occupied by the transmission assembly and the first output shaft in the preset direction can be saved, and the space occupied by the driving assembly in the preset direction is reduced.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a drive assembly. Background Technology

[0002] Robots have been widely used in industry. Robotic arms are often used to replace human hands in tasks such as grasping and manipulating, and are characterized by precision and flexibility. The performance of a robotic arm directly determines the robot's working capabilities, and the design of robotic arms typically imposes strict requirements on their size.

[0003] In related technologies, the drive assembly is used to drive the movement of the robotic arm, and the drive assembly occupies a large space. Utility Model Content

[0004] To address the aforementioned technical problems, embodiments of this application provide a drive assembly that reduces the space occupied by the drive assembly.

[0005] The embodiments of this application are implemented through the following technical solutions.

[0006] This application provides a drive assembly comprising N drive devices. Each drive device includes a bracket, a first output shaft rotatably connected to the bracket, a driver mounted on the bracket, and a transmission assembly disposed on the first output shaft. The driver includes a second output shaft. The first and second output shafts are arranged alternately, and the second output shaft drives the transmission assembly to rotate the first output shaft. Among M adjacent drive devices along a preset direction, at least one drive device's first output shaft is located on the side of the corresponding second output shaft facing the driver of the corresponding other drive device along the preset direction. Wherein, N is an integer greater than or equal to 2, M equals 2, and the preset direction intersects the first and second output shafts respectively.

[0007] In some embodiments, the transmission assembly includes:

[0008] The worm gear is connected to the second output shaft;

[0009] A worm gear meshes with the worm, and the worm gear is connected to the first output shaft;

[0010] In this configuration, the worm gear of at least one drive device is located on the side of the corresponding worm gear facing the driver of the corresponding other drive device along the preset direction.

[0011] In some embodiments, the first output shaft has an output mounting portion, and the output mounting portions of N drive devices are located on the same side of the bracket along the axial direction of the first output shaft.

[0012] In some embodiments, the drive device further includes an encoder and a cover plate, the encoder being partially disposed on the cover plate, the cover plate being connected to the bracket, and N encoders of the drive device being located at the end of the first output shaft opposite to the output mounting portion.

[0013] In some embodiments, the first output shafts of the M drive devices are located on the side of the driver corresponding to the second output shaft along the preset direction toward the driver of the corresponding other drive device.

[0014] In some embodiments, the drive device further includes a housing, the bracket is connected to one end of the housing along the axial direction of the second output shaft, the drive portion is located inside the housing, and the housing has a stop end face at one end along the axial direction of the second output shaft away from the bracket. M stop end faces of the drive devices abut against the bracket of a corresponding other drive device along the axial direction of the second output shaft.

[0015] In some embodiments, the bracket is partially embedded within the housing along the axial direction of the second output shaft.

[0016] In some embodiments, the housing has a first mounting cavity and a second mounting cavity arranged axially along the second output shaft and communicating with each other. The driver portion is located in the first mounting cavity, and the bracket portion is located in the second mounting cavity. The diameter of the second mounting cavity is larger than the diameter of the first mounting cavity. In the M drive devices, the direction in which the first mounting cavity of one drive device points to the second mounting cavity is opposite to the direction in which the first mounting cavity of the other drive device points to the second mounting cavity. The housings of the M drive devices have auxiliary molding holes on their adjacent sides. The first mounting cavities of the M drive devices communicate with the second mounting cavity of the corresponding other drive device through the corresponding auxiliary molding holes.

[0017] In some embodiments, the bracket has a carrier embedded in the housing along the axial direction of the second output shaft. The carrier is sleeved on the driver. The maximum distance between the outer surface of the carrier facing the other driving device along the preset direction and the central axis of the second output shaft is a first distance. The maximum distance between the outer surface of the carrier facing away from the other driving device along the preset direction and the central axis of the second output shaft is a second distance. The second distance of the same driving device is greater than the first distance.

[0018] In some embodiments, the inner surface of the carrier is arc-shaped, the outer surface of the carrier facing away from the corresponding other driving device along the preset direction is arc-shaped, and the outer surface of the carrier facing the corresponding other driving device along the preset direction is planar.

[0019] The improved drive assembly of this application integrates at least two drive devices together, enabling the drive assembly to output at least two drive forces. The two adjacent drive devices are arranged along a preset direction, and the first output shaft of at least one drive device is located on the side of the driver of the corresponding second output shaft facing the driver of the corresponding other drive device along the preset direction. The space of the arrangement direction of the two drive devices is used to arrange at least part of the structure of the transmission component and the first output shaft, which helps to save the space occupied by the transmission component and the first output shaft in the preset direction and reduces the space occupied by the drive assembly in the preset direction. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0021] Figure 1 This is a schematic diagram of the structure of the driving device according to an embodiment of this application;

[0022] Figure 2 for Figure 1 Sectional view at point AA;

[0023] Figure 3 This is a schematic diagram of the assembly of the outer shell and the bracket according to an embodiment of this application;

[0024] Figure 4 This is a schematic diagram of the structure of the bracket according to an embodiment of this application;

[0025] Figure 5 This is a schematic diagram of the structure of the bracket according to an embodiment of this application, showing the first distance and the second distance;

[0026] Figure 6 This is a schematic diagram of the outer casing according to an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures

[0028] 1. Driver; 11. Second output shaft; 12. Central axis of the second output shaft; 2. Bracket; 21. Bearing component; 3. First output shaft; 31. Output mounting part; 4. Transmission assembly; 41. Worm gear; 42. Worm wheel; 5. Encoder; 6. Cover plate; 7. Housing; 71. First mounting cavity; 72. Second mounting cavity; 73. Stop end face; 74. Auxiliary forming hole; 8. Protective cover; 10. Drive device; D1. First distance; D2. Second distance; R1. Axial direction of the first output shaft; R2. Axial direction of the second output shaft; R3. Preset direction. Detailed Implementation

[0029] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0030] 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 limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification and the foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0031] In the description of the embodiments of this application, the technical terms "first," "second," "third," "fourth," "fifth," "sixth," etc., are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects are in an "or" relationship.

[0034] In the description of the embodiments of this application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed, operated or used in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0035] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "linking," "communication," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0036] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical term "contact" refers to direct contact or indirect contact, which can be contact between two parties without interaction force or contact between two parties with interaction force.

[0037] In related technologies, the drive assembly of a robotic arm includes multiple drive devices to give the robotic arm multiple degrees of freedom, thereby improving the robotic arm's flexibility and precision. The drive device includes a driver, a transmission assembly, a first output shaft, and a bracket. The driver is mounted on the bracket, and the transmission assembly is located on the first output shaft. The first output shaft is rotatably connected to the bracket, and the driver drives the transmission assembly to rotate the first output shaft. The drive assembly requires a large amount of space to accommodate the transmission assembly and the first output shaft of the multiple drive devices, resulting in a large space footprint for the drive assembly.

[0038] This application provides a drive assembly; please refer to [link / reference]. Figures 1-6 The drive assembly includes N drive devices 10. Each drive device 10 includes a bracket 2, a first output shaft 3 rotatably connected to the bracket 2, a driver 1 mounted on the bracket 2, and a transmission assembly 4 disposed on the first output shaft 3. The driver 1 includes a second output shaft 11. The first output shaft 3 and the second output shaft 11 are arranged alternately. The second output shaft 11 drives the transmission assembly 4 to move so as to drive the first output shaft 3 to rotate. Among the M drive devices 10 adjacent along a preset direction R3, the first output shaft 3 of at least one drive device 10 is located on the side of the corresponding second output shaft 11 facing the driver 1 of the corresponding other drive device 10 along the preset direction R3. Wherein, N is an integer greater than or equal to 2, M is equal to 2, and the preset direction R3 is arranged intersecting the first output shaft 3 and the second output shaft 11 respectively.

[0039] For example, the reducer includes a motor and a planetary gear reducer, with the second output shaft 11 located at the output end of the planetary gear reducer.

[0040] For example, N equals 2.

[0041] For example, N is equal to 3 or 4.

[0042] For example, in two adjacent drive devices 10, the first output shaft 3 of both drive devices 10 is located on the side of the driver 1 of the corresponding second output shaft 11 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3.

[0043] In this embodiment, at least two drive devices 10 are integrated together, enabling the drive assembly to output at least two driving forces. Two adjacent drive devices 10 are arranged along a preset direction R3. The first output shaft 3 of at least one drive device 10 is located on the side of the driver 1 of the corresponding second output shaft 11 along the preset direction R3 toward the driver 1 of the corresponding other drive device 10. At least part of the structure of the transmission component 4 and the first output shaft 3 are arranged in the space of the arrangement direction of the two drive devices 10, which helps to save the space occupied by the transmission component 4 and the first output shaft 3 in the preset direction R3, and reduces the space occupied by the drive assembly in the preset direction R3.

[0044] In some embodiments, please refer to Figure 2 The transmission assembly 4 includes a worm 41 and a worm wheel 42. The worm 41 is connected to the second output shaft 11. The worm wheel 42 meshes with the worm 41 and is connected to the first output shaft 3. The worm wheel 42 of at least one drive device 10 is located on the side of the corresponding worm 41 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3.

[0045] For example, in two adjacent drive devices 10, the worm gears 42 of both drive devices 10 are located on the side of the corresponding worm 41 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3.

[0046] In this embodiment, two drive devices 10 are integrated together. The worm wheel 42 of at least one drive device 10 is located on the side of the corresponding worm 41 facing the driver 1 of the other drive device 10 along a preset direction R3. The worm wheel 42 and the first output shaft 3 are arranged in the space of the arrangement direction of the two adjacent drivers 1, which helps to save the space occupied by the turbine and the first output shaft 3 in the preset direction R3 and reduces the space occupied by the drive assembly in the preset direction R3.

[0047] It is understood that the worm gear 42 of at least one drive device 10 is not limited to the side of the corresponding worm 41 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3. For example, the worm gears 42 of M drive devices 10 are located on the side of the corresponding worm 41 away from the driver 1 of the corresponding other drive device 10 along a preset direction R3.

[0048] For example, compared to the transmission assembly 4 being a linkage assembly, the power transmission efficiency of the meshing transmission between the worm gear 42 and the worm 41 can be increased by 40%.

[0049] In some embodiments, the first output shaft 3 includes an output main shaft, a metering shaft, and a locking member. The output main shaft includes a first mounting shaft section and a first limiting shaft section connected to each other, the diameter of the first limiting shaft section being larger than the diameter of the first mounting shaft section. The metering shaft includes a second mounting shaft section and a second limiting shaft section connected to each other, the diameter of the second limiting shaft section being larger than the diameter of the second mounting shaft section. A worm gear 42 is axially mounted across the first mounting shaft section and the second mounting shaft section, and abuts against the first limiting shaft section and the second limiting shaft section along the axial direction of the worm gear 42. The encoder 5 is at least partially disposed on the metering shaft. The locking member is connected to the output main shaft and the metering shaft respectively.

[0050] For example, the output spindle and the metering spindle are arranged at intervals.

[0051] For example, the encoder 5 includes a code disk and a signal rotator, the code disk being connected to the first output shaft 3 and the signal rotator being mounted on the bracket 2.

[0052] In some embodiments, please refer to Figures 1-6 The first output shaft 3 has an output mounting portion 31, and the output mounting portions 31 of the N drive devices 10 are located on the same side of the bracket 2 along the axial direction R1 of the first output shaft.

[0053] For example, the output mounting part 31 is a boss that protrudes radially along the first output shaft 3.

[0054] For example, the output mounting part 31 is a spline or a flat key.

[0055] For example, the output mounting part 31 is interference-fitted with the driven component.

[0056] In this embodiment, N drive devices 10 are integrated together, and the output mounting portions 31 of the N drive devices 10 are located on the same side of the bracket 2 along the axial direction R1 of the first output shaft. The dimensions of each first output shaft 3 protruding from the bracket 2 toward the corresponding output mounting portion 31 are as close as possible, which helps to save the axial space of the first output shaft 3 and reduce the space occupied by the drive assembly on the axial direction R1 of the first output shaft.

[0057] It is understood that the output mounting portions 31 of the N drive devices 10 are not limited to being located on the same side of the bracket 2 along the axial direction R1 of the first output shaft. Exemplarily, the output mounting portions 31 of the N drive devices 10 are located on both sides of the bracket 2 along the axial direction R1 of the first output shaft.

[0058] In some embodiments, please refer to Figures 1-6 The drive device 10 also includes an encoder 5 and a cover plate 6. The encoder 5 is partially disposed on the cover plate 6. The cover plate 6 is connected to the bracket 2. The encoders 5 of the N drive devices 10 are located at the end of the corresponding first output shaft 3 away from the corresponding output mounting part 31.

[0059] In this embodiment, the encoders 5 of the N drive devices 10 are located at the end of the corresponding first output shaft 3 away from the corresponding output mounting part 31. The N drive devices 10 are integrated together, and the encoders 5 and the cover plate 6 of the N drive devices 10 are located on the same side of the drive assembly. This makes it easier to arrange the side where the cover plate 6 of the N drive devices 10 is located in a relatively concealed position of the drive assembly, which is beneficial for shielding the encoders 5. The encoders 5 are located at the end away from the output mounting part 31, which reduces the influence of the encoders 5 on the rotation of the output mounting part 31.

[0060] It is understood that the encoders 5 of the N drive devices 10 are not limited to the end of the corresponding first output shaft 3 that is away from the corresponding output mounting portion 31. For example, the encoders 5 of the N drive devices 10 are located at the end of the corresponding first output shaft 3 that faces the corresponding output mounting portion 31.

[0061] In some embodiments, please refer to Figures 1-6 The first output shaft 3 of the M drive devices 10 is located on the side of the driver 1 of the corresponding second output shaft 11 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3.

[0062] It should be noted that among the M drive devices 10, the first output shaft 3 of each drive device 10 is located on the side of the driver 1 of the corresponding second output shaft 11 facing the driver 1 of the corresponding other drive device 10 along the preset direction R3.

[0063] In this embodiment of the application, the first output shaft 3 of the M drive devices 10 is located on the side of the driver 1 of the corresponding second output shaft 11 along the preset direction R3 toward the driver 1 of the corresponding other drive device 10. The first output shaft 3 of the two drive devices 10 is arranged in the space of the arrangement direction of the two drive devices 10, which further saves the space occupied by the two first output shafts 3 in the preset direction R3 and reduces the space occupied by the drive assembly in the preset direction R3.

[0064] It is understood that the first output shaft 3 of the M drive devices 10 is not limited to the side of the corresponding second output shaft 11 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3. For example, the first output shaft 3 of one drive device 10 is located on the side of the corresponding second output shaft 11 facing away from the driver 1 of the corresponding other drive device 10 along a preset direction R3, and the first output shaft 3 of another drive device 10 is located on the side of the corresponding second output shaft 11 facing the driver 1 of the corresponding other drive device 10 along a preset direction R3.

[0065] In some embodiments, please refer to Figures 1-6The drive device 10 also includes a housing 7, a bracket 2 connected to one end of the housing 7 along the axial direction R2 of the second output shaft, a driver 1 part located inside the housing 7, and a stop end face 73 at one end of the housing 7 away from the bracket 2 along the axial direction R2 of the second output shaft. The stop end face 73 of the M drive devices 10 abuts against the bracket 2 of the corresponding other drive device 10 along the axial direction R2 of the second output shaft.

[0066] It should be noted that, among the M drive devices 10, the stop end face 73 of each drive device 10 abuts against the bracket 2 of the corresponding other drive device 10 along the axial direction R2 of the second output shaft.

[0067] In this embodiment, the stop end faces 73 of the M drive devices 10 abut against the bracket 2 of the corresponding other drive device 10 along the axial direction R2 of the second output shaft. The two drive devices 10 are integrated together, and the bracket 2 of each drive device 10 abuts against the housing 7 of the other drive device 10, reducing the space occupied by the drive assembly along the axial direction R2 of the second output shaft. The stop end faces 73 of the two drive devices 10 abut against the bracket 2 of the corresponding other drive device 10 along the axial direction R2 of the second output shaft, and the load of the bracket 2 along the axial direction R2 of the second output shaft is directly transmitted to the housing 7, reducing the load of the bracket 2 along the axial direction R2 of the second output shaft transmitted to the driver 1.

[0068] It is understood that the stop end faces 73 of the M drive devices 10 are not limited to abutting against the bracket 2 of the corresponding other drive device 10 along the axial direction R2 of the second output shaft. For example, the stop end faces 73 of the M drive devices 10 are spaced apart from the bracket 2 of the corresponding other drive device 10 along the axial direction R2 of the second output shaft.

[0069] In some embodiments, please refer to Figures 1-6 The bracket 2 is partially embedded in the housing 7 along the axial direction R2 of the second output shaft.

[0070] In this embodiment, the bracket 2 is partially embedded in the housing 7 along the axial direction R2 of the second output shaft. Utilizing the space within the housing 7 to install the bracket 2 reduces the space occupied by the drive assembly along the axial direction R2 of the second output shaft, and also improves the stability of the bracket 2 installation. The partial embedding of the bracket 2 along the axial direction R2 of the second output shaft into the housing 7 facilitates the transfer of load from the housing 7 to the bracket 2, reducing the load transferred from the housing 7 to the driver 1, which is beneficial for protecting the driver 1.

[0071] It is understood that the bracket 2 is not limited to being partially embedded in the housing 7 along the axial direction R2 of the second output shaft. Exemplarily, the bracket 2 is connected to the surface of the housing 7 along the axial direction R2 of the second output shaft.

[0072] In some embodiments, please refer to Figures 2-6The housing 7 has a first mounting cavity 71 and a second mounting cavity 72 arranged and communicating with each other along the axial direction R2 of the second output shaft. The driver 1 is located in the first mounting cavity 71, and the bracket 2 is located in the second mounting cavity 72. The diameter of the second mounting cavity 72 is larger than the diameter of the first mounting cavity 71. Among the M driving devices 10, the direction in which the first mounting cavity 71 of one driving device 10 points to the second mounting cavity 72 is opposite to the direction in which the first mounting cavity 71 of another driving device 10 points to the second mounting cavity 72. The housing 7 of the M driving devices 10 has an auxiliary molding hole 74 on the side that is close to each other. The first mounting cavity 71 of the M driving devices 10 communicates with the second mounting cavity 72 of the corresponding other driving device 10 through the corresponding auxiliary molding hole 74.

[0073] It should be noted that, among the M driving devices 10, the first mounting cavity 71 of each driving device 10 is connected to the second mounting cavity 72 of the corresponding other driving device 10 through the corresponding auxiliary forming hole 74.

[0074] In this embodiment, among the M driving devices 10, the direction in which the first mounting cavity 71 of one driving device 10 points to the second mounting cavity 72 is opposite to the direction in which the first mounting cavity 71 of the other driving device 10 points to the second mounting cavity 72. The outer shells 7 of the M driving devices 10 have auxiliary forming holes 74 on their adjacent sides. The first mounting cavities 71 of two driving devices 10 communicate with the second mounting cavity 72 of the corresponding other driving device 10 through the corresponding auxiliary forming holes 74. Given the limited space in the preset direction R3, the inner surfaces of the first mounting cavity 71 and the second mounting cavity 72 of the driving devices 10 are both easily machined arc shapes, avoiding the formation of arc surfaces and other shape combinations on the inner surfaces of the first and second mounting cavities 71 and 72, thus facilitating the machining of the first and second mounting cavities 71 and 72. The auxiliary forming holes 74 on the adjacent sides of the outer shells 7 of the M driving devices 10 are located between the two outer shells 7, reducing the weight of the outer shells 7 while having minimal impact on their structural strength. The bracket 2 is located inside the second mounting cavity 72. The diameter of the second mounting cavity 72 is larger than that of the first mounting cavity 71, so that the load of the bracket 2 can be directly transmitted to the cavity wall of the second mounting cavity 72, reducing the impact of the load of the bracket 2 on the driver 1 and helping to protect the driver 1.

[0075] It is understood that the first mounting cavities 71 of the M drive devices 10 are not limited to being connected to the second mounting cavity 72 of the corresponding other drive device 10 through the corresponding auxiliary forming hole 74. Exemplarily, the first mounting cavities 71 of the M drive devices 10 are isolated from the second mounting cavities 72 of the corresponding other drive device 10.

[0076] In some embodiments, please refer to Figures 2-5The bracket 2 has a support member 21 embedded in the housing 7 along the axial direction R2 of the second output shaft. The support member 21 is sleeved on the driver 1. The maximum distance between the outer surface of the support member 21 facing the other driving device 10 along the preset direction R3 and the central axis 12 of the second output shaft is the first distance D1. The maximum distance between the outer surface of the support member 21 away from the other driving device 10 along the preset direction R3 and the central axis 12 of the second output shaft is the second distance D2. The second distance D2 of the same driving device 10 is greater than the corresponding first distance D1.

[0077] In this embodiment, the maximum distance between the outer surface of the support member 21 facing the other driving device 10 along the preset direction R3 and the central axis 12 of the second output shaft is the first distance D1, and the maximum distance between the outer surface of the support member 21 away from the other driving device 10 along the preset direction R3 and the central axis 12 of the second output shaft is the second distance D2. The second distance D2 of the same driving device 10 is greater than the corresponding first distance D1. The second distance D2 is larger, and the support member 21 can bear more external impact loads on the side of the driving device 10 away from the other driving device 10 along the preset direction R3. The first distance D1 is smaller, and the volume of the support member 21 on the side of the driving device 10 facing the other driving device 10 along the preset direction R3 is smaller, reducing the space occupied by the support member 21.

[0078] It is understood that the second distance D2 of the same drive device 10 is not limited to being greater than the corresponding first distance D1. For example, the second distance D2 of the same drive device 10 is equal to the corresponding first distance D1.

[0079] In some embodiments, please refer to Figure 4 The inner surface of the support member 21 is arc-shaped, the outer surface of the support member 21 facing away from the corresponding other driving device 10 along the preset direction R3 is arc-shaped, and the outer surface of the support member 21 facing the corresponding other driving device 10 along the preset direction R3 is flat.

[0080] For example, the outer surface of the driver 1 is arc-shaped.

[0081] In this embodiment, the inner surface of the support member 21 is arc-shaped, which facilitates the connection between the driver 1 and the support member 21 and reduces stress concentration on the inner surface of the support member 21. The outer surface of the support member 21 facing away from the corresponding other driving device 10 along the preset direction R3 is arc-shaped, and the outer surface of the support member 21 facing the corresponding other driving device 10 along the preset direction R3 is flat. The support member 21 can bear more external impact loads on the side of the driving device 10 facing away from the other driving device 10 along the preset direction R3, and the space occupied by the support member 21 on the side of the driving device 10 facing the other driving device 10 along the preset direction R3 is small.

[0082] It is understood that the outer surface of the support member 21 facing the side corresponding to the other driving device 10 along the preset direction R3 is not limited to being a plane. For example, the outer surface of the support member 21 facing the side corresponding to the other driving device 10 along the preset direction R3 is arc-shaped.

[0083] In some embodiments, please refer to Figure 6 The drive unit 10 also includes a housing 7, a bracket 2 connected to one end of the housing 7 along the axial direction R2 of the second output shaft, and a driver 1 part located inside the housing 7. The housing 7 of the M drive units 10 is integrally formed.

[0084] It should be noted that the integral molding of the housing 7 of the M drive devices 10 means that the housing 7 of one drive device 10 and the housing 7 of another drive device 10 are integrally molded.

[0085] In this embodiment, the bracket 2 is connected to one end of the housing 7 along the axial direction R2 of the second output shaft, the driver 1 is partially located inside the housing 7, the housing 7 of the M drive devices 10 is integrally formed, the housing 7 of the drive device 10 has good integrity, and the drive assembly has high integration.

[0086] It is understood that the housing 7 of the M drive units 10 is not limited to being integrally formed. Exemplarily, the housing 7 of the drive units 10 are manufactured separately and assembled independently.

[0087] In some embodiments, the drive unit 10 further includes a controller, which is at least partially mounted on the bracket 2.

[0088] In some embodiments, the controller is connected to the bracket 2 and the housing 7 respectively, and the driver 1 is located at least partially within the space enclosed by the housing 7 and the controller.

[0089] In some embodiments, the drive device 10 further includes a protective cover 8 and a second connector, wherein the protective cover 8 is connected to the housing 7 and the support 2 via the second connector, and the second connector passes through the controller.

[0090] For example, the maximum dimension of the drive assembly along the axial direction R2 of the second output shaft is 82.2 mm.

[0091] For example, the maximum dimension of the drive assembly along the axial direction R1 of the first output shaft is 23.17 mm.

[0092] For example, the maximum dimension of the drive assembly along the preset direction R3 is 23.6 mm.

[0093] This application provides a finger, which includes a drive assembly and a phalanx. The phalanx is disposed on a first output shaft 3 so that the first output shaft 3 drives the phalanx to rotate around the first output shaft 3.

[0094] For example, the drive assembly includes two drive units 10, and the knuckle includes a first knuckle and a second knuckle. The first knuckle is disposed on the first output shaft 3 of one of the drive units 10, and the second knuckle is disposed on the first output shaft 3 of the other drive unit 10.

[0095] In some embodiments, the transmission assembly 4 is disengaged from the knuckle, and the knuckle disposed on the first output shaft 3 is the first knuckle. The first knuckle is disposed on the drive device 10 at a position outside the bracket 2 so that the first knuckle can be removed from the drive device 10 without disassembling the drive device 10.

[0096] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of this application.

Claims

1. A drive assembly characterized by, It includes N driving devices, each driving device including a bracket, a first output shaft rotatably connected to the bracket, a driver mounted on the bracket, and a transmission assembly disposed on the first output shaft. The driver includes a second output shaft, the first output shaft and the second output shaft are arranged alternately, and the second output shaft drives the transmission assembly to move so as to drive the first output shaft to rotate. Among M adjacent drive devices along a preset direction, the first output shaft of at least one of the drive devices is located on the side of the driver corresponding to the second output shaft along the preset direction toward the driver of the corresponding other drive device; Wherein, N is an integer greater than or equal to 2, M equals 2, and the preset direction is arranged to intersect with the first output shaft and the second output shaft respectively.

2. The drive assembly of claim 1, wherein, The transmission assembly includes: The worm gear is connected to the second output shaft; A worm gear meshes with the worm, and the worm gear is connected to the first output shaft; In this configuration, the worm gear of at least one of the drive devices is located on the side of the corresponding worm gear facing the driver of the corresponding other drive device along the preset direction.

3. Drive assembly according to claim 1 or 2, characterized in that The first output shaft has an output mounting portion, and the output mounting portions of N drive devices are located on the same side of the bracket along the axial direction of the first output shaft.

4. The drive assembly of claim 3, wherein, The drive device further includes an encoder and a cover plate. The encoder is partially disposed on the cover plate, and the cover plate is connected to the bracket. The N encoders of the drive device are located at the end of the first output shaft opposite to the output mounting part.

5. The drive assembly of claim 1 or 2, wherein, The first output shaft of each of the M drive devices is located on the side of the driver corresponding to the second output shaft along the preset direction toward the driver of the corresponding other drive device.

6. The drive assembly of claim 5, wherein, The drive device further includes a housing, the bracket is connected to one end of the housing along the axial direction of the second output shaft, the driver portion is located inside the housing, and the housing has a stop end face at one end opposite to the bracket along the axial direction of the second output shaft. The stop end faces of M drive devices abut against the bracket of the corresponding other drive device along the axial direction of the second output shaft.

7. The drive assembly of claim 6, wherein, The bracket is partially embedded in the housing along the axial direction of the second output shaft.

8. The drive assembly of claim 7, wherein, The housing has a first mounting cavity and a second mounting cavity arranged axially along the second output shaft and communicating with each other. The driver portion is located in the first mounting cavity, and the bracket portion is located in the second mounting cavity. The diameter of the second mounting cavity is larger than the diameter of the first mounting cavity. In the M driving devices, the direction in which the first mounting cavity of one driving device points to the second mounting cavity is opposite to the direction in which the first mounting cavity of another driving device points to the second mounting cavity. The housings of the M driving devices have auxiliary molding holes on their adjacent sides. The first mounting cavities of the M driving devices communicate with the second mounting cavity of the corresponding other driving device through the corresponding auxiliary molding holes.

9. The drive assembly of claim 7, wherein, The bracket has a support member embedded in the housing along the axial direction of the second output shaft. The support member is sleeved on the driver. The maximum distance between the outer surface of the support member facing the other driving device along the preset direction and the central axis of the second output shaft is a first distance. The maximum distance between the outer surface of the support member facing away from the other driving device along the preset direction and the central axis of the second output shaft is a second distance. The second distance of the same driving device is greater than the corresponding first distance.

10. The drive assembly of claim 9, wherein, The inner surface of the support member is arc-shaped, the outer surface of the support member facing away from the corresponding other driving device along the preset direction is arc-shaped, and the outer surface of the support member facing the corresponding other driving device along the preset direction is flat.

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