Transmission assembly and robot

Abstract

The utility model discloses a transmission assembly and a robot, the transmission assembly comprises a mounting seat, the mounting seat comprises a mounting part, a first connecting part and a first strain beam group, the first connecting part is arranged on the mounting part, and the first strain beam group is arranged on the first connecting part; the first input shaft is connected with the first strain beam group; and the first torque sensing assembly comprises a first strain gauge group, and the first strain gauge group is arranged on the first strain beam group. According to the technical scheme provided by the invention, the direct transmissibility of torque measurement can be ensured, so that the applied torque can be accurately controlled, and accurate feedback is provided for a control system of the robot.

Description

Technical Field

[0001] This application belongs to the field of mechanical transmission technology, and in particular relates to a transmission component and a robot. Background Technology

[0002] Humanoid robots typically have transmission components at their wrists or ankles, using various transmission methods such as push rods, timing belts, and gears to control the lateral or pitching movements of the wrists or ankles.

[0003] In existing technologies, in order to measure the output torque information, a six-dimensional force sensor is usually added directly. However, the torque needs to be decoupled to other joints, and the torque information cannot be obtained directly, which will result in errors. Alternatively, a current loop feedback method is used, but this method cannot take into account the transmission error at the motor output end.

[0004] Both of these methods are prone to errors and have the drawback of being unable to achieve direct force control via articulation. Utility Model Content

[0005] The purpose of this application is to provide a transmission component and a robot.

[0006] According to a first aspect of the embodiments of this application, a transmission assembly is provided, comprising:

[0007] The mounting base includes a mounting part, a first connecting part, and a first strain beam assembly, wherein the first connecting part is disposed on the mounting part, and the first strain beam assembly is disposed on the first connecting part;

[0008] The first input shaft is connected to the first strain beam assembly;

[0009] A first torque sensing component, comprising a first strain gauge group disposed on the first strain beam group.

[0010] Optionally, the first connecting part is provided with a first through hole, and the first strain beam group includes a plurality of first strain beams. The plurality of first strain beams are arranged at circumferential intervals along the first through hole. One end of each first strain beam is connected to the inner wall of the first through hole, and the other end of each first strain beam is connected to the circumferential surface of the first input shaft.

[0011] The first strain gauge group includes a plurality of first strain gauges, and each first strain beam has at least one first strain gauge.

[0012] Optionally, the first connecting part is provided with a first through hole, the first strain beam group includes a plurality of first strain beams and a bushing, the plurality of first strain beams are arranged circumferentially along the first through hole, one end of each first strain beam is connected to the inner wall of the first through hole, the other end of the first strain beam is connected to the circumferential surface of the bushing, and the first input shaft is connected to the bushing.

[0013] The first strain gauge group includes a plurality of first strain gauges, and each first strain beam is disposed at least in one first strain gauge.

[0014] Optionally, the first strain beam group includes four first strain beams, which are evenly distributed along the circumference of the first through hole.

[0015] Optionally, the first strain gauge assembly includes eight first strain gauges, with each first strain beam having one first strain gauge on each side of the first through hole in the circumferential direction.

[0016] Optionally, the first strain gauge is a silicon strain gauge or a resistance strain gauge.

[0017] Optionally, the mounting base is an integral structure.

[0018] Optionally, the mounting base further includes a second connecting portion, which is disposed on the mounting portion and is spaced apart from the first connecting portion along the X direction;

[0019] The transmission assembly also includes:

[0020] The fixing base includes a third connecting part and a fourth connecting part, which are spaced apart along the Y direction.

[0021] A center seat, which is located between the first connecting portion and the second connecting portion, and between the third connecting portion and the fourth connecting portion;

[0022] The first input shaft is rotatably connected to the central seat about the X-axis, the central seat is rotatably connected to the second connecting part about the X-axis, the central seat is rotatably connected to the third connecting part about the Y-axis, and the central seat is rotatably connected to the fourth connecting part about the Y-axis.

[0023] Optionally, the center seat includes a body, a second strain beam group, and a second input shaft, wherein the second strain beam group is disposed on the body and the second input shaft is connected to the second strain beam group;

[0024] The transmission assembly further includes a second torque sensing assembly, which includes a second strain gauge group disposed on the second strain beam group.

[0025] Optionally, the body has a second through hole, and the second strain beam group includes a plurality of second strain beams. The plurality of second strain beams are arranged circumferentially along the second through hole. One end of each second strain beam is connected to the inner wall of the second through hole, and the other end of each second strain beam is connected to the circumferential surface of the second input shaft.

[0026] The second strain gauge group includes a plurality of second strain gauges, and each second strain beam has at least one second strain gauge.

[0027] Optionally, the second strain beam group includes four second strain beams, which are uniformly distributed circumferentially along the second through hole.

[0028] Optionally, the second strain gauge group includes eight second strain gauges, with each second strain beam having a second strain gauge on each side of the second through hole in the circumferential direction.

[0029] Optionally, the second strain gauge is a silicon strain gauge or a resistance strain gauge.

[0030] Optionally, the central seat is an integral structure.

[0031] According to a second aspect of the embodiments of this application, a robot is provided, including the transmission components described above.

[0032] One technical advantage of this application embodiment is that it can ensure that the first input axis is both a direct input end and a measurement end, thereby guaranteeing the direct transmission of torque measurement, enabling precise control of the applied torque, and providing accurate feedback for the robot's control system.

[0033] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0035] Figure 1 This is a schematic diagram of the transmission assembly in the embodiments of this application;

[0036] Figure 2 for Figure 1 Sectional view at EE in the middle;

[0037] Figure 3 This is a schematic diagram of the transmission assembly in the embodiments of this application;

[0038] Figure 4 for Figure 1 Sectional view at FF in the middle;

[0039] Figure 5 This is a schematic diagram of the mounting base in the embodiments of this application;

[0040] Figure 6 This is a schematic diagram of the structure of the mounting base and the first input shaft in an embodiment of this application;

[0041] Figure 7 This is a schematic diagram of the structure of the central seat in an embodiment of this application;

[0042] Figure 8 This is a schematic diagram of the structure of the center seat in an embodiment of this application.

[0043] Explanation of reference numerals in the attached figures:

[0044] Mounting base 1; Mounting part 11; First connecting part 12; First through hole 121; Second connecting part 13; First mounting hole 131; First shoulder 132; First strain beam assembly 14; First strain beam 141; First end face 1411; Second end face 1412; Bushing 142;

[0045] Center seat 2; Body 21; Second through hole 211; Second strain beam assembly 22; Second strain beam 221; Third end face 2211; Fourth end face 2212; Second input shaft 23; Second shoulder 231; First connecting shaft 24; First shoulder 241; Second mounting hole 25; Second shoulder 251; First limiting part 252; Fourth mounting hole 26; Second limiting part 261;

[0046] Fixed base 3; third connecting part 31; third mounting hole 311; third shoulder 3111; fourth connecting part 32;

[0047] First torque sensing component 4; First strain gauge group 41; First strain gauge 411; First circuit board 42;

[0048] Second torque sensing component 5; Second strain gauge group 51; Second strain gauge 511; Second circuit board 52;

[0049] First input axis 6;

[0050] Second connecting shaft 7; Third shaft shoulder 71;

[0051] First bearing A; Second bearing B; Third bearing C; Fourth bearing D. Detailed Implementation

[0052] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0053] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0054] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0055] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0056] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0057] First, it should be noted that the X and Y directions mentioned in the embodiments of this application are referred to in the appendix. Figure 1 , Figure 3 The marked directions. Among them, the axis in the X direction intersects the axis in the Y direction.

[0058] like Figures 1-8 As shown, according to a first aspect of the embodiments of this application, a transmission assembly is provided, including a mounting base 1, a first input shaft 6, and a first torque sensing assembly 4; the mounting base 1 includes a mounting portion 11, a first connecting portion 12, and a first strain beam assembly 14, the first connecting portion 12 being disposed on the mounting portion 11, and the first strain beam assembly 14 being disposed on the first connecting portion 12; the first input shaft 6 is connected to the first strain beam assembly 14; the first torque sensing assembly 4 includes a first strain gauge assembly 41, the first strain gauge assembly 41 being disposed on the first strain beam assembly 14.

[0059] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the transmission assembly includes a mounting base 1, a first input shaft 6, and a first torque sensing assembly 4.

[0060] Among them, such as Figure 5 and Figure 6As shown, the mounting base 1 includes a mounting part 11, a first connecting part 12, and a first strain beam assembly 14. The mounting part 11 is used to mount the wrist or foot, and can also mount other components. The first connecting part 12 is disposed on the mounting part 11, and the first strain beam assembly 14 is disposed on the first connecting part 12. The first input shaft 6 is connected to the first strain beam assembly 14. The first input shaft 6 is used to connect to the first drive mechanism. The first drive mechanism can drive the mounting part 11 to rotate around the axis of the first input shaft 6 through the first input shaft 6, so as to drive the wrist or foot to rotate.

[0061] To further explain, the first torque sensing component 4 includes a first strain gauge group 41, which is disposed on the first strain beam group 14. Specifically, the driving force of the first drive mechanism is input by the first input shaft 6, which transmits the input torque to the first strain beam group 14. When the first strain beam group 14 is subjected to torque, the first strain gauge group 41 located on the first strain beam group 14 will generate strain, and the resistance value of the first strain gauge group 41 will change accordingly. According to the Wheatstone bridge principle, this resistance change can be converted into a voltage signal to measure the torque. The first strain beam group 14 transmits the torque to the first connecting part 12, which drives the mounting part 11 to rotate together.

[0062] Therefore, the transmission component of this application can ensure that the first input shaft 6 is both a direct input end and a measurement end, thereby ensuring the direct transmission of torque measurement, enabling precise control of the applied torque, and providing accurate feedback for the robot's control system.

[0063] The principle of torque measurement using the Huygens bridge is based on the resistance change of a strain gauge. When an object is subjected to torque, its surface will produce strain, and the resistance value of the strain gauge attached to the surface of the object will change accordingly. Through the Huygens bridge circuit, this resistance change can be converted into a voltage signal, thereby measuring the torque.

[0064] In one specific embodiment, the first torque sensing component 4 further includes a first circuit board 42, which is disposed on the first connecting portion 12. The first strain gauge group 41 is electrically connected to the first circuit board 42, and the first circuit board 42 is used for communication connection with the robot's control system.

[0065] In an optional embodiment, the first connecting portion 12 is provided with a first through hole 121, and the first strain beam group 14 includes a plurality of first strain beams 141. The plurality of first strain beams 141 are arranged circumferentially at intervals along the first through hole 121. One end of each first strain beam 141 is connected to the inner wall of the first through hole 121, and the other end of each first strain beam 141 is connected to the circumferential surface of the first input shaft 6.

[0066] The first strain gauge group 41 includes a plurality of first strain gauges 411, and each first strain beam 141 has at least one first strain gauge 411.

[0067] Further explanation: the first connecting part 12 has a first through hole 121, the axial direction of the first through hole 121 is the same as the axial direction of the first input shaft 6; the first strain beam group 14 includes a plurality of first strain beams 141, which are spaced apart circumferentially along the first through hole 121. Each first strain beam 141 includes a first connecting end and a second connecting end. The first connecting end is connected to the inner wall of the first through hole 121, and the second connecting end is connected to the outer surface of the first input shaft 6. In this embodiment, the first input shaft 6 is directly connected to the first strain beam 141, wherein the first input shaft 6 can be integrally formed with the mounting base 1. That is, the first input shaft 6 is machined on the mounting base 1. This structure can improve the structural strength of the mounting base 1.

[0068] To further explain, the first strain gauge group 41 includes multiple first strain gauges 411, and at least one first strain gauge 411 is provided on each first strain beam 141; that is, one, two, three or more first strain gauges 411 can be provided on the first strain beam 141.

[0069] In an optional embodiment, the first connecting portion 12 is provided with a first through hole 121, the first strain beam group 14 includes a plurality of first strain beams 141 and a bushing 142, the plurality of first strain beams 141 are arranged circumferentially at intervals along the first through hole 121, one end of each first strain beam 141 is connected to the inner wall of the first through hole 121, and the other end of the first strain beam 141 is connected to the circumferential surface of the bushing 142, and the first input shaft 6 is connected to the bushing 142;

[0070] The first strain gauge group 41 includes a plurality of first strain gauges 411, and each first strain beam 141 is provided with at least one first strain gauge 411.

[0071] like Figure 5 and Figure 6As shown, the first connecting part 12 has a first through hole 121, the axial direction of the first through hole 121 is the same as the axial direction of the first input shaft 6; the first strain beam group 14 includes a plurality of first strain beams 141 and a bushing 142, the axial direction of the bushing 142 is the same as the axial direction of the first input shaft 6, the first input shaft 6 is connected to the bushing 142 to connect with the first strain beam group 14; specifically, the plurality of first strain beams 141 are arranged circumferentially at intervals along the first through hole 121, each first strain beam 141 includes a first connecting end and a second connecting end, the first connecting end is connected to the inner wall of the first through hole 121, and the second connecting end is connected to the outer surface of the bushing 142, so the bushing 142 is located inside the first through hole 121, and the bushing 142 and the first through hole 121 can be concentrically arranged; in this embodiment, the bushing 142 is used to connect the first strain beam 141 and the first input shaft 6 together, and the first input shaft 6 and the first strain beam group 14 are detachably connected, which has high flexibility.

[0072] To further explain, the first strain gauge group 41 includes multiple first strain gauges 411, and at least one first strain gauge 411 is provided on each first strain beam 141; that is, one, two, three or more first strain gauges 411 can be provided on the first strain beam 141.

[0073] In one alternative implementation, such as Figure 5 As shown, the first strain beam group 14 includes four first strain beams 141, which are evenly distributed around the first through hole 121. Specifically, the four first strain beams 141 should be evenly arranged around the first through hole 121 to ensure that the measurement results can accurately reflect the influence of torque, thereby improving the stability and accuracy of the measurement.

[0074] Among them, when the torque is transmitted through the first strain beam 141, the structural strength of the mounting base 1 can be guaranteed.

[0075] In one alternative embodiment, the first strain gauge group 41 includes eight first strain gauges 411, with each first strain beam 141 having a first strain gauge 411 on each side of the first through hole 121 in the circumferential direction.

[0076] like Figure 5As shown, the first strain gauge group 41 includes eight first strain gauges 411, with two first strain gauges 411 disposed on each of the four first strain beams 141. Specifically, the first strain beam 141 includes a first end face 1411 and a second end face 1412, which are arranged circumferentially along the first through hole 121. The first end face 1411 and the second end face 1412 are located on opposite sides of the first strain beam 141, with one first strain gauge 411 disposed on the first end face 1411 and one first strain gauge 411 disposed on the second end face 1412. Since there is a certain distance between the first end face 1411 and the second end face 1412, the torque on the first strain beam 141 can be calculated based on the strain of the two first strain gauges 411 by setting two first strain gauges 411. In this embodiment, the measurement error caused by the thickness of the first strain beam 141 can be reduced, thereby ensuring the accuracy of torque measurement.

[0077] In one alternative embodiment, the first strain gauge 411 is a silicon strain gauge or a resistance strain gauge; the first strain gauge 411 can be either a silicon strain gauge or a resistance strain gauge, which can be selected as needed.

[0078] Silicon strain gauges operate based on the piezoresistive effect of semiconductor materials. When silicon is subjected to external force, its resistivity changes; specifically, the carrier mobility in silicon changes due to variations in its crystal structure, resulting in a change in resistance. By measuring this change in resistance, the strain applied to the silicon strain gauge can be calculated.

[0079] Resistance strain gauges are based on the principle of resistance change. They utilize the resistance strain effect of metal or semiconductor materials. When a strain gauge is subjected to external force and deforms, its resistance value changes. This change is proportional to the strain, thus allowing the strain applied to the resistance strain gauge to be calculated.

[0080] In one optional embodiment, the mounting base 1 is an integral structure; specifically, the first connecting part 12, the mounting part 11, and the first strain beam group 14 are an integral structure, and the first strain beam group 14 can be formed by machining on the first connecting part 12; in this embodiment, the mounting base 1 adopts an integral structure, which can improve the structural strength of the mounting base 1.

[0081] In one embodiment where the mounting base 1 also includes a second connecting part 13, the mounting part 11, the first connecting part 12, the second connecting part 13, and the first strain beam assembly 14 are an integral structure.

[0082] In an optional embodiment, the mounting base 1 further includes a second connecting portion 13, which is disposed on the mounting portion 11, and the second connecting portion 13 and the first connecting portion 12 are spaced apart along the X direction;

[0083] The transmission assembly further includes a fixed seat 3 and a center seat 2. The fixed seat 3 includes a third connecting part 31 and a fourth connecting part 32. The third connecting part 31 and the fourth connecting part 32 are spaced apart along the Y direction. The center seat 2 is located between the first connecting part 12 and the second connecting part 13, and between the third connecting part 31 and the fourth connecting part 32.

[0084] The first input shaft 6 is rotatably connected to the center seat 2 about the X-axis, the center seat 2 is rotatably connected to the second connecting part 13 about the X-axis, the center seat 2 is rotatably connected to the third connecting part 31 about the Y-axis, and the center seat 2 is rotatably connected to the fourth connecting part 32 about the Y-axis.

[0085] like Figures 1-6 As shown, the mounting base 1 also includes a second connecting part 13, which is disposed on the mounting part 11. The second connecting part 13 and the first connecting part 12 are arranged along the X direction, and the axial direction of the first through hole 121 is the same as the X direction.

[0086] like Figure 2 and Figure 4 As shown, the transmission assembly also includes a fixed seat 3 and a center seat 2; the fixed seat 3 includes a third connecting part 31 and a fourth connecting part 32, which are spaced apart along the Y direction; the center seat 2 is located between the first connecting part 12 and the second connecting part 13, and between the third connecting part 31 and the fourth connecting part 32; wherein, the first input shaft 6 is rotatably connected to the center seat 2, and the axial direction of the first input shaft 6 is the same as the X direction; the center seat 2 is rotatably connected to the second connecting part 13, and the second connecting part 13 can rotate relative to the center seat 2 about the X-direction axis; the mounting base 1 rotates about the rotation axis of the second connecting part 13 and... The axes of the first input shaft 6 coincide, so the mounting base 1 can rotate relative to the center base 2 about the X direction. Its power source is the first drive mechanism connected to the first input shaft 6. The center base 2 is rotatably connected to the third connecting part 31, and the center base 2 can rotate relative to the third connecting part 31 about the Y direction axis. The center base 2 is rotatably connected to the fourth connecting part 32, and the center base 2 can rotate relative to the fourth connecting part 32 about the Y direction axis. The rotation axis of the center base 2 about the third connecting part 31 coincides with the rotation axis about the fourth connecting part 32. Therefore, the center base 2 and the mounting base 1 can rotate relative to the fixed base 3 about the Y direction at the same time.

[0087] In this embodiment, the mounting base 1 can rotate around the axis in the X direction, and can also rotate around the axis in the Y direction along with the central base 2. When the wrist or foot is mounted on the mounting base 1, the wrist or foot can perform lateral or lateral movements, thereby maximizing the simulation of the movement ability of the human hand or foot.

[0088] In one optional embodiment, the center seat 2 includes a body 21, a second strain beam group 22, and a second input shaft 23. The second strain beam group 22 is disposed on the body 21, and the second input shaft 23 is connected to the second strain beam group 22.

[0089] The transmission assembly further includes a second torque sensing assembly 5, which includes a second strain gauge group 51 disposed on the second strain beam group 22.

[0090] like Figure 7 and Figure 8 As shown, the center seat 2 includes a body 21, a second strain beam assembly 22, and a second input shaft 23. The second strain beam assembly 22 is mounted on the body 21, and the second input shaft 23 is connected to the second strain beam assembly 22. The second input shaft 23 is used to connect to a second drive mechanism, which can drive the body 21 to rotate around the axis of the second input shaft 23 via the second input shaft 23, thereby driving the center seat 2 and the mounting base 1 to rotate. The axial direction of the second input shaft 23 intersects with the axial direction of the first input shaft 6.

[0091] Further explanation: the second torque sensing component 5 includes a second strain gauge group 51, which is mounted on the second strain beam group 22. Specifically, the driving force of the second drive mechanism is input by the second input shaft 23, which transmits the input torque to the second strain beam group 22. When the second strain beam group 22 is subjected to torque, the second strain gauge group 51 on the second strain beam group 22 will generate strain, and the resistance value of the second strain gauge group 51 will change accordingly. According to the Wheatstone bridge principle, this resistance change can be converted into a voltage signal, thereby measuring the torque. The second strain beam group 22 transmits the torque to the body 21, and the body 21 and the mounting base 1 will rotate together. In this embodiment, by mounting the second torque sensing component 5 on the body 21, it can be ensured that the second input shaft 23 is both a direct output end and a torque measurement end, thereby ensuring the direct transmission of torque measurement and enabling precise control of the applied torque to provide accurate feedback for the robot's control system.

[0092] The second input shaft 23 is rotatably connected to the third connecting part 31.

[0093] In one specific embodiment, the second torque sensing component 5 further includes a second circuit board 52, which is disposed on the body 21. The second strain gauge group 51 is electrically connected to the second circuit board 52, and the second circuit board 52 is used for communication connection with the robot's control system.

[0094] In one specific embodiment, the fixed base 3 has a fixed connection surface, the center base 2 and the mounting base 1 are rotatable relative to the fixed base 3 about the Y-axis, and the mounting base 1 is rotatable relative to the fixed base 3 about the X-axis.

[0095] Specifically, such as Figure 2 As shown, the second connecting part 13 has a first mounting hole 131, the axis of the first mounting hole 131 is the same as the X direction, the first bearing A is disposed in the first mounting hole 131, the outer ring of the first bearing A is connected to the inner wall of the first mounting hole 131, the center seat 2 includes a first connecting shaft 24, the first connecting shaft 24 is connected to the body 21, the first connecting shaft 24 is disposed in the inner ring of the first bearing A, so as to realize the second connecting part 13 rotating about the axis of the X direction relative to the center seat 2; wherein, a first shoulder 132 is provided in the first mounting hole 131, the first shoulder 132 is located on the side of the first bearing A away from the first connecting part 12, and a first shaft shoulder 241 is provided on the first connecting shaft 24, the first shaft shoulder 241 is located on the side of the first bearing A close to the first connecting part 12, the first shoulder 132 and the second shaft shoulder 231 are used to restrict the movement of the first bearing A in the X direction.

[0096] like Figure 2 As shown, the center seat 2 has a second mounting hole 25, the axis of which coincides with the axis of the first mounting hole 131. The second bearing B is disposed in the second mounting hole 25, and the outer ring of the second bearing B is connected to the inner wall of the second mounting hole 25. The first input shaft 6 is disposed in the inner ring of the first bearing A to enable the first connecting part 12 to rotate relative to the center seat 2 about the axis in the X direction. The second mounting hole 25 has a second shoulder 251, which is located on the side of the second bearing B away from the second connecting part 131. The second mounting hole 25 has a first limiting part 252, which is located on the side of the second bearing B close to the second connecting part 131. The first limiting part 252 and the second shoulder 251 are used to restrict the movement of the second bearing B in the X direction.

[0097] like Figure 4As shown, the third connecting part 31 has a third mounting hole 311, the axis of the third mounting hole 311 is in the same direction as the Y direction, the third bearing C is disposed in the third mounting hole 311, the outer ring of the third bearing C is connected to the inner wall of the third mounting hole 311, and the second input shaft 23 is disposed in the inner ring of the third bearing C to realize the rotation of the center seat 2 relative to the third connecting part 31 around the axis in the Y direction; wherein, the third mounting hole 311 has a third shoulder 3111, the third shoulder 3111 is located on the side of the third bearing C away from the fourth connecting part 32, and the second input shaft 23 has a second shoulder 231, the second shoulder 231 is located on the side of the third bearing C close to the fourth connecting part 32, the third shoulder 3111 and the second bearing B are used to restrict the movement of the third bearing C in the Y direction.

[0098] like Figure 4 As shown, the center seat 2 has a fourth mounting hole 26, the axis of which is in the same direction as the Y direction, and the axis of the fourth mounting hole 26 coincides with the axis of the third mounting hole 311. The fourth bearing D is disposed in the fourth mounting hole 26, the outer ring of which is connected to the inner wall of the fourth mounting hole 26. One end of the second connecting shaft 7 is disposed in the inner ring of the fourth bearing D, and the other end of which is fixedly connected to the fourth connecting part 32, so as to realize the rotation of the center seat 2 relative to the fixed seat 3 around the Y-axis. The fourth mounting hole 26 has a second limiting part 261, which is located on the side of the fourth bearing D near the third connecting part 31. The second connecting shaft 7 has a third shoulder 71, which is located on the side of the fourth bearing D away from the third connecting part 31. The second limiting part 261 and the third shoulder 71 are used to restrict the movement of the fourth bearing D in the Y direction. The other end of the second connecting shaft 7 is fixed to the fourth connecting part 32 by screws.

[0099] In an optional embodiment, the body 21 has a second through hole 211, and the second strain beam group 22 includes a plurality of second strain beams 221. The plurality of second strain beams 221 are arranged circumferentially along the second through hole 211. One end of each second strain beam 221 is connected to the inner wall of the second through hole 211, and the other end of each second strain beam 221 is connected to the circumferential surface of the second input shaft 23.

[0100] The second strain gauge group 51 includes a plurality of second strain gauges 511, and each second strain beam 221 has at least one second strain gauge 511.

[0101] like Figure 7 and Figure 8As shown, the body 21 has a second through hole 211, the axial direction of the second through hole 211 is the same as the axial direction of the second input shaft 23; the second strain beam group 22 includes a plurality of second strain beams 221, which are arranged circumferentially along the second through hole 211. Each second strain beam 221 includes a third connecting end and a fourth connecting end. The third connecting end is connected to the inner wall of the second through hole 211, and the fourth connecting end is connected to the outer surface of the second input shaft 23. In this embodiment, the second input shaft 23 is directly connected to the second strain beam 221, which can improve the structural strength of the center seat 2.

[0102] To further explain, the second strain gauge group 51 includes multiple second strain gauges 511, and each second strain beam 221 is provided with at least one second strain gauge 511; that is, the second strain beam 221 may be provided with one, two, three or more second strain gauges 511.

[0103] In one optional embodiment, the second strain beam group 22 includes four second strain beams 221, which are uniformly distributed circumferentially along the second through hole 211. Specifically, the four second strain beams 221 are uniformly arranged circumferentially along the second through hole 211 to ensure that the measurement results can accurately reflect the influence of torque, thereby improving the stability and accuracy of the measurement.

[0104] Among them, when the torque is transmitted through the second strain beam 221, the structural strength of the center seat 2 can be guaranteed.

[0105] In one alternative embodiment, the second strain gauge group 51 includes eight second strain gauges 511, with each second strain beam 221 having a second strain gauge 511 on both sides of the circumferential direction of the second through hole 211.

[0106] like Figure 7As shown, the second strain gauge group 51 includes eight second strain gauges 511, with two second strain gauges 511 disposed on each of the four second strain beams 221. Specifically, the second strain beam 221 includes a third end face 2211 and a fourth end face 2212, which are arranged circumferentially along the second through hole 211. The third end face 2211 and the fourth end face 2212 are located on opposite sides of the second strain beam 221. One second strain gauge 511 is disposed on the third end face 2211, and one second strain gauge 511 is disposed on the fourth end face 2212. Since there is a certain distance between the third end face 2211 and the fourth end face 2212, the torque on the second strain beam 221 can be calculated based on the strain of the two second strain gauges 511 by setting two second strain gauges 511. In this embodiment, the measurement error caused by the thickness of the second strain beam 221 can be reduced, thereby ensuring the measurement accuracy of the torque.

[0107] In one alternative embodiment, the second strain gauge 511 is a silicon strain gauge or a resistance strain gauge; the second strain gauge 511 can be either a silicon strain gauge or a resistance strain gauge, which can be selected as needed.

[0108] In one optional embodiment, the center seat 2 is an integral structure; specifically, the body 21, the second input shaft 23, and the second strain beam group 22 are integral structures, and the second strain beam group 22 and the second input shaft 23 can be directly machined on the center seat 2; in this embodiment, the center seat 2 adopts an integral structure, which can improve the structural strength of the center seat 2.

[0109] According to a second aspect of the embodiments of this application, a robot is provided, including the transmission components described above.

[0110] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A transmission component, characterized in that, include: The mounting base includes a mounting part, a first connecting part, and a first strain beam assembly, wherein the first connecting part is disposed on the mounting part, and the first strain beam assembly is disposed on the first connecting part; The first input shaft is connected to the first strain beam assembly; A first torque sensing component, comprising a first strain gauge group disposed on the first strain beam group.

2. The transmission assembly according to claim 1, characterized in that, The first connecting part is provided with a first through hole, and the first strain beam group includes a plurality of first strain beams. The plurality of first strain beams are arranged circumferentially along the first through hole. One end of each first strain beam is connected to the inner wall of the first through hole, and the other end of each first strain beam is connected to the circumferential surface of the first input shaft. The first strain gauge group includes a plurality of first strain gauges, and each first strain beam has at least one first strain gauge.

3. The transmission assembly according to claim 1, characterized in that, The first connecting part has a first through hole, the first strain beam group includes a plurality of first strain beams and a bushing, the plurality of first strain beams are arranged circumferentially along the first through hole, one end of each first strain beam is connected to the inner wall of the first through hole, the other end of the first strain beam is connected to the circumferential surface of the bushing, and the first input shaft is connected to the bushing. The first strain gauge group includes a plurality of first strain gauges, and each first strain beam is disposed at least in one first strain gauge.

4. The transmission assembly according to claim 2 or 3, characterized in that, The first strain beam group includes four first strain beams, which are evenly distributed along the circumference of the first through hole.

5. The transmission assembly according to claim 4, characterized in that, The first strain gauge group includes eight first strain gauges, and each first strain beam has one first strain gauge on each side of the first through hole along the circumferential direction.

6. The transmission assembly according to claim 2 or 3, characterized in that, The first strain gauge is a silicon strain gauge or a resistance strain gauge.

7. The transmission assembly according to claim 1, characterized in that, The mounting base is a one-piece structure.

8. The transmission assembly according to claim 1, characterized in that, The mounting base further includes a second connecting portion, which is disposed on the mounting portion and is spaced apart from the first connecting portion along the X direction. The transmission assembly also includes: The fixing base includes a third connecting part and a fourth connecting part, which are spaced apart along the Y direction. A center seat, which is located between the first connecting portion and the second connecting portion, and between the third connecting portion and the fourth connecting portion; The first input shaft is rotatably connected to the central seat about the X-axis, the central seat is rotatably connected to the second connecting part about the X-axis, the central seat is rotatably connected to the third connecting part about the Y-axis, and the central seat is rotatably connected to the fourth connecting part about the Y-axis.

9. The transmission assembly according to claim 8, characterized in that, The central seat includes a body, a second strain beam assembly, and a second input shaft. The second strain beam assembly is disposed on the body, and the second input shaft is connected to the second strain beam assembly. The transmission assembly further includes a second torque sensing assembly, which includes a second strain gauge group disposed on the second strain beam group.

10. The transmission assembly according to claim 9, characterized in that, The body has a second through hole, and the second strain beam group includes a plurality of second strain beams. The plurality of second strain beams are arranged circumferentially along the second through hole. One end of each second strain beam is connected to the inner wall of the second through hole, and the other end of each second strain beam is connected to the circumferential surface of the second input shaft. The second strain gauge group includes a plurality of second strain gauges, and each second strain beam has at least one second strain gauge.

11. A robot, characterized in that, Includes the transmission assembly as described in any one of claims 1-10.

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