A drive mechanism, end effector and robot

Abstract

This application relates to the field of motor technology, and more particularly to a drive mechanism, an end effector, and a robot. The reducer includes a rotating component, and a drive assembly is configured to drive the rotating component. An output shaft is configured to be rotated by the rotating component. A circuit module and the rotating component are spaced apart along an axial direction parallel to the output shaft. A space for accommodating lubricating material is provided around the rotating component, and a groove extending circumferentially along the outer wall of the output shaft is provided in a predetermined area. The predetermined area includes the region between the rotating component and the circuit module in the axial direction of the output shaft. The groove is configured to prevent or reduce the flow of lubricating material from the output shaft to the circuit module. In this application, the groove design effectively delays or blocks the intrusion of lubricating material into the circuit module without increasing contact friction resistance, thereby improving the long-term reliability of the drive mechanism.

Description

Technical Field

[0001] This application relates to the field of motor technology, and in particular to a drive mechanism, an end effector, and a robot. Background Technology

[0002] In robot end effectors, drive components, reducers, and other circuitry are typically integrated into a single housing. Reducers require a large amount of grease to ensure their transmission efficiency and lifespan during high-speed operation. In this case, the grease within the reducer can flow axially along the gap between the reducer and the output shaft due to capillary action. If grease overflows and adheres to other circuitry components, it will contaminate those components.

[0003] In related technologies, in order to prevent grease from overflowing from the reducer, a skeleton oil seal or rubber ring is usually used between the output shaft and the reducer. Both the skeleton oil seal and the sealing ring seal the gap between the output shaft and the reducer through physical contact. The contact friction will consume the effective torque output by the drive component and reduce the efficiency of the drive component. Utility Model Content

[0004] This application provides a drive mechanism, an end effector, and a robot, aiming to improve the technical problems of existing contact seals that easily consume torque and have low transmission efficiency.

[0005] This utility model provides a driving mechanism, including:

[0006] Driver components;

[0007] A speed reducer, the speed reducer including a rotating element, the drive assembly being configured to drive the rotating element;

[0008] An output shaft, configured to be driven to rotate by the rotating member; and

[0009] The circuit module and the rotating component are spaced apart along an axial direction parallel to the output shaft;

[0010] The rotating component is surrounded by a space for accommodating lubricating material, and a pre-defined area on the outer wall of the output shaft is provided with a groove extending circumferentially along the output shaft. The pre-defined area includes the area between the rotating component and the circuit module in the axial direction of the output shaft. The groove is configured to prevent or reduce the flow of lubricating material through the output shaft to the circuit module.

[0011] Optionally, the reducer is provided with a first through hole, the drive assembly is provided with a second through hole communicating with the first through hole, and the output shaft passes through the first through hole and the second through hole.

[0012] Optionally, a first intercepting groove is provided on the inner wall of the first through hole; and / or

[0013] A second flow-cutting groove is provided on the inner wall of the second through hole.

[0014] Optionally, there may be multiple grooves, which are spaced apart along the axial direction of the output shaft.

[0015] Optionally, the groove includes an arc-shaped groove;

[0016] On the axial projection of the output shaft, at least two of the arc-shaped grooves form a circle.

[0017] Optionally, the groove includes an annular groove extending circumferentially along the output shaft.

[0018] Optionally, the annular groove is inclined along the axial direction of the output shaft.

[0019] Optionally, the circuit module includes an encoder.

[0020] This utility model also provides an end effector, including the drive mechanism described above.

[0021] This utility model also provides a robot including the aforementioned end effector.

[0022] In this invention, a space for accommodating lubricating material is provided around the rotating component. A groove extending circumferentially along the output shaft is provided in a predetermined area on the outer wall of the output shaft, and the predetermined area includes the region between the rotating component and the circuit module in the axial direction of the output shaft. During the process of the drive assembly driving the output shaft to rotate via the rotating component, the lubricating material on the rotating component inevitably overflows onto the output shaft. Due to capillary action, the lubricating material on the output shaft flows axially along the output shaft. The lubricating material flowing along the axial flow path of the output shaft can enter the groove, which can prevent the lubricating material around the rotating component from flowing along the axial direction of the output shaft. The axial flow of the output shaft to the circuit module prevents lubricating material from contaminating the circuit module, ensuring the cleanliness and performance of the circuit module. Furthermore, the groove design avoids physical contact sealing between the output shaft and the rotating component and the drive assembly using methods such as skeleton oil seals or sealing rings. This solves the problems of easy wear, oil leakage, reduced efficiency, and large radial thickness associated with contact seals, and avoids the technical problems of torque consumption and reduced transmission efficiency caused by physical contact sealing. This application achieves the goal of effectively delaying and blocking the intrusion of lubricating grease into the circuit module without increasing contact friction resistance, thus improving the long-term reliability of the drive mechanism. Attached Figure Description

[0023] Figure 1 This is a cross-sectional view of a drive mechanism provided in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of a drive mechanism provided in one embodiment of this application;

[0025] Figure 3 This is an exploded structural diagram of a drive mechanism provided in an embodiment of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 1. Drive assembly; 11. Second through hole; 12. Motor housing; 13. Motor stator; 14. Motor rotor; 2. Reducer; 21. Rotating component; 22. First through hole; 23. Harmonic reducer rigid wheel; 24. Harmonic reducer flexible wheel; 3. Output shaft; 31. Groove; 4. Circuit module; 41. Encoder; 5. Outer cover; 51. Internal space. Detailed Implementation

[0028] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0029] like Figures 1 to 3 As shown, this application embodiment provides a driving mechanism, including:

[0030] Driver component 1;

[0031] The reducer 2 includes a rotating component 21, and the drive assembly 1 is configured to drive the rotating component 21.

[0032] Output shaft 3, the output shaft 3 being configured to rotate by the rotating member 21; and

[0033] Circuit module 4, the circuit module 4 and the rotating component 21 are spaced apart along an axial direction parallel to the output shaft 3;

[0034] The rotating component 21 is surrounded by a space for accommodating lubricating material. A groove 31 extending circumferentially along the outer wall of the output shaft 3 is provided in a predetermined area. The predetermined area includes the area between the rotating component 21 and the circuit module 4 in the axial direction of the output shaft 3. The groove 31 is configured to prevent or reduce the flow of the lubricating material from the output shaft 3 to the circuit module 4.

[0035] The drive assembly 1 includes, but is not limited to, a motor, and the reducer 2 includes, but is not limited to, a gear reducer or a harmonic reducer. The output end of the drive assembly 1 is connected to the input end of the reducer 2, and the rotating part 21 of the reducer 2 is connected to the output shaft 3, so that the drive assembly 1 can drive the output shaft 3 to rotate through the reducer 2. It is understood that when the reducer 2 includes a harmonic reducer, the rotating part 21 can be driven to rotate by the flexible wheel of the reducer 2 or by the rigid wheel of the reducer 2; this is not limited here. The circuit module 4 includes, but is not limited to, a circuit board and an encoder 41; the lubricating substance includes, but is not limited to, grease and lubricating oil, which can lubricate the reducer 2; the preset drive is located between the rotating part 21 and the circuit module 4, that is, the groove 31 is disposed between the circuit module 4 and the rotating part 21. Preferably, the drive assembly 1 is located between the reducer 2 and the circuit module 4.

[0036] In this invention, a space for accommodating lubricating material is provided around the rotating component 21. A groove 31 extending circumferentially along the outer wall of the output shaft 3 is provided in a predetermined area, and the predetermined area includes the area between the rotating component 21 and the circuit module 4 in the axial direction of the output shaft 3. During the process of the drive assembly 1 driving the output shaft 3 to rotate via the rotating component 21, the lubricating material on the rotating component 21 inevitably overflows onto the output shaft 3. Due to capillary action, the lubricating material on the output shaft 3 flows axially along the output shaft 3. The lubricating material flowing along the axial channel of the output shaft 3 can enter the groove 31. The groove 31 can prevent the lubricating material around the rotating component 21 from flowing along the axial direction of the output shaft 3. The lubricant flows to the circuit module 4, thus preventing the circuit module 4 from being contaminated by the lubricant and ensuring the cleanliness and performance of the circuit module 4. In addition, the design of the groove 31 avoids the use of physical contact sealing methods such as skeleton oil seals and sealing rings between the output shaft 3 and the rotating part 21 and the drive assembly 1. This solves the problems of easy wear, oil leakage, reduced efficiency and large radial thickness caused by contact seals, and avoids the technical problems of torque consumption and reduced transmission efficiency caused by physical contact sealing. This application achieves the goal of effectively delaying and blocking the intrusion of lubricant into the circuit module 4 without increasing contact friction resistance, while greatly shortening the radial thickness of the drive mechanism, improving the long-term reliability of the drive mechanism and extending the service life of the drive mechanism.

[0037] In one embodiment, such as Figure 1As shown, the reducer 2 is provided with a first through hole 22, the drive assembly 1 is provided with a second through hole 11 that connects to the first through hole 22, and the output shaft 3 passes through the first through hole 22 and the second through hole 11.

[0038] The first through hole 22 and the second through hole 11 are coaxially arranged. The end of the output shaft 3 away from the rotating member 21 passes through the first through hole 22 and the first through hole 22 and is arranged opposite to the circuit module 4. The groove 31 connects the first through hole 22 and / or the second through hole 11.

[0039] Specifically, during the process of the drive assembly 1 rotating the output shaft 3 through the first through hole 22 and the second through hole 11 via the rotating member 21, since there is a certain gap between the output shaft 3 and the inner wall of the first through hole 22 and the second through hole 11, the lubricating material around the rotating member 21 is prevented from flowing to the circuit module 4 along the gap. A groove 31 is provided on the output shaft 3, and the lubricating material flowing along the axial direction of the output shaft 3 can enter the groove 31, thereby preventing the lubricating material from flowing to the circuit module 4 along the axial direction of the output shaft 3.

[0040] In this embodiment, the output shaft 3 passes through the first through hole 22 and the second through hole 11, hiding the output shaft 3 in the reducer 2 and the drive assembly 1, thereby improving the compactness of the drive mechanism and reducing its volume.

[0041] In one embodiment, a first intercepting groove (not shown in the figure) is provided on the inner wall of the first through hole 22.

[0042] The number of the first intercepting grooves can be set according to actual needs, and the shape of the first intercepting grooves can be the same as the shape of the groove 31.

[0043] Specifically, as the lubricating material around the rotating component 21 flows along the axial direction of the output shaft 3, the lubricating material can enter not only the groove 31 but also the first intercepting groove. Thus, the groove 31 and the first intercepting groove can prevent the lubricating material from flowing along the axial direction of the output shaft 3 to the circuit module 4, further preventing the lubricating material around the rotating component 21 from flowing along the axial direction of the output shaft 3 to the circuit module 4.

[0044] In one embodiment, a second intercepting groove (not shown in the figure) is provided on the inner wall of the second through hole 11.

[0045] The number of the second intercepting grooves can be set according to actual needs, and the shape of the second intercepting grooves can be the same as the shape of the groove 31.

[0046] Specifically, as the lubricating material around the rotating component 21 flows along the axial direction of the output shaft 3, the lubricating material can not only enter the groove 31, but also the first intercepting groove and / or the second intercepting groove. Thus, the groove 31, the first intercepting groove, and the second intercepting groove can all prevent the lubricating material from flowing along the axial direction of the output shaft 3 to the circuit module 4, further preventing the lubricating material around the rotating component 21 from flowing along the axial direction of the output shaft 3 to the circuit module 4.

[0047] In one embodiment, such as Figure 1 and Figure 3 As shown, there are multiple grooves 31, and the multiple grooves 31 are distributed at intervals along the axial direction of the output shaft 3.

[0048] The number of grooves 31 can be set according to actual needs. For example, there can be 7, 8, or 9 grooves 31.

[0049] In this embodiment, the output shaft 3 is provided with a plurality of grooves 31 spaced apart along the axial direction. Each groove 31 can intercept lubricating material along the axial direction, further preventing the lubricating material around the rotating part 21 from flowing along the axial direction of the output shaft 3 to the circuit module 4.

[0050] In one embodiment, such as Figure 1 As shown, the groove 31 includes an arc-shaped groove;

[0051] On the axial projection of the output shaft 3, at least two of the arc-shaped grooves form a circle.

[0052] The arc angle of the arc groove can be π, π / 2, etc., and the arc angle of the arc groove can be set according to actual needs; and on the axial projection of the output shaft 3, at least two of the arc grooves form a circle, so that multiple arc grooves can also play the role of intercepting lubricating substances in the circumferential direction.

[0053] In one embodiment, such as Figure 1 As shown, the groove 31 includes an annular groove extending circumferentially along the output shaft 3.

[0054] Specifically, the lubricating material overflowing from the rotating part sequentially enters the first annular groove and the second annular groove, and under the centrifugal force of the high-speed rotation of the output shaft 3, it forms a tiny fluid vortex in the groove 31, which greatly slows down the flow rate. The groove 31 not only provides sufficient physical space (locking the overflowing lubricating material in the groove 31), but also establishes a long-distance "non-contact fluid damping zone" between the reducer 2 and the circuit module 4.

[0055] In this embodiment, the outer wall of the output shaft 3, which has grooves 31, forms a narrow, elongated micro-gap channel with the drive assembly 1 and the rotating component 21. When liquefied lubricating material attempts to flow along the output shaft 3 to the circuit module 4 due to capillary effect, the multiple consecutive grooves 31 within this narrow channel disrupt the capillary effect, preventing the lubricating material from contaminating the circuit module 4. Furthermore, the flow-blocking grooves are not arbitrarily placed but precisely positioned in the section where the output shaft 3 passes through the drive assembly and the rotating component 21. The lower groove 31 is adjacent to the source of the lubricating material, while the upper groove 31 can be adjacent to the circuit module area, which is extremely sensitive to lubricating material.

[0056] In one embodiment, the annular groove is inclined along the axial direction of the output shaft 3.

[0057] In this embodiment, the groove 31 can be a spiral groove 31 or the like, and the annular groove can be in an inclined state, with the inclination angle set according to actual needs.

[0058] In one embodiment, such as Figure 1 and Figure 3 As shown, the circuit module 4 includes an encoder 41.

[0059] The encoder 41 measures the rotational speed of the output shaft 3. It is sensitive to lubricants; excessive lubricant contamination can cause it to malfunction. In this embodiment, the groove 31 intercepts lubricant along the axial direction of the output shaft 3, confining it to the area facing the reducer 2 and preventing it from entering the encoder 41. This protects the encoder 41 from lubricant interference, ensuring the control accuracy and long-term reliable operation of the drive mechanism.

[0060] In one specific embodiment, the drive assembly 1 includes a motor housing 12, a motor stator 13, and a motor rotor 14. The motor stator 13 is installed inside the motor housing 12, and the motor rotor 14 is installed in the inner through hole of the motor stator 13. When the motor stator 13 is energized, it can drive the motor rotor 14 to rotate. The motor rotor 14 is provided with a second through hole 11.

[0061] The circuit module 4 includes an encoder 41, and the drive mechanism also includes an outer cover 5. The outer cover 5 is mounted on the motor housing 12, and an internal space 51 is provided between the outer cover 5 and the motor housing 12. The encoder 41 is located in the internal space 51 and is arranged opposite to the output shaft 3.

[0062] The rotating component 21 is a wave generator, which has a first through hole 22; the reducer 2 also includes a harmonic reducer rigid wheel 23 and a harmonic reducer flexible wheel 24. The harmonic reducer flexible wheel 24 is rotatably installed in the first inner hole of the harmonic reducer rigid wheel 23, and the harmonic reducer rigid wheel 23 meshes with the harmonic reducer flexible wheel 24. The wave generator is installed in the second inner hole of the harmonic reducer flexible wheel 24 through a bearing.

[0063] In this embodiment, the drive mechanism can be divided into a reduction transmission zone, a motor drive zone, and a sensing and encoding zone along the axial direction of the output shaft 3. The wave generator, harmonic reducer wheel 23, and harmonic reducer flexible wheel 24 in the reduction transmission zone are filled with lubricating material during operation. When the drive mechanism operates under high load for extended periods, the internal temperature rises, causing the viscosity of the lubricating material to decrease. Combined with centrifugal force, this lubricating material easily flows into the sensing and encoding zone through the gap between the output shaft 3, the wave generator, and the electronic rotor.

[0064] To prevent the lubricating material from flowing axially along the output shaft 3 towards the sensing and encoding area, a plurality of grooves 31 are provided at intervals along the axial direction of the output shaft 3 in the transition section corresponding to the motor stator and rotor and the inner side of the wave generator. When the lubricating material flowing axially along the output shaft 3 encounters the grooves 31, the surface tension is disrupted, and the grease is forced to remain and be contained within the grooves 31; even if a very small amount of lubricating material crosses the first groove 31, it will be intercepted and delayed by the subsequent grooves 31.

[0065] This application utilizes a non-contact blocking structure formed by the surface space of the output shaft 3 itself to lock the lubricating grease in the reduction transmission area and motor drive area without increasing any additional sealing friction, thus completely protecting the upper encoder 41 from interference by lubricating substances and ensuring the control accuracy and long-term reliable operation of the drive mechanism.

[0066] An embodiment of this utility model also provides an end effector, including the drive mechanism described above.

[0067] The end effector includes, but is not limited to, joint drive modules.

[0068] An embodiment of this utility model also provides a robot, including the aforementioned end effector.

[0069] In this application, "multiple" refers to two or more.

[0070] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0071] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0072] 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, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0073] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, if the method includes steps A and B, it means that the method may include steps A and B performed sequentially, or it may include steps B and A performed sequentially. For example, if the method may also include step C, it means that step C may be added to the method in any order. For example, the method may include steps A, B, and C, or it may include steps A, C, and B, or it may include steps C, A, and B, etc.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A driving mechanism, characterized in that, include: Driver components; A speed reducer, the speed reducer including a rotating element, the drive assembly being configured to drive the rotating element; An output shaft, which is configured to be driven to rotate by the rotating member; as well as The circuit module and the rotating component are spaced apart along an axial direction parallel to the output shaft; The rotating component is surrounded by a space for accommodating lubricating material, and a pre-defined area on the outer wall of the output shaft is provided with a groove extending circumferentially along the output shaft. The pre-defined area includes the area between the rotating component and the circuit module in the axial direction of the output shaft. The groove is configured to prevent or reduce the flow of lubricating material through the output shaft to the circuit module.

2. The driving mechanism according to claim 1, characterized in that, The reducer is provided with a first through hole, the drive assembly is provided with a second through hole that connects to the first through hole, and the output shaft passes through the first through hole and the second through hole.

3. The driving mechanism according to claim 2, characterized in that, The inner wall of the first through hole is provided with a first intercepting groove; and / or A second flow-cutting groove is provided on the inner wall of the second through hole.

4. The driving mechanism according to claim 1, characterized in that, The number of grooves is multiple, and the multiple grooves are distributed at intervals along the axial direction of the output shaft.

5. The driving mechanism according to claim 4, characterized in that, The groove includes an arc-shaped groove; On the axial projection of the output shaft, at least two of the arc-shaped grooves form a circle.

6. The driving mechanism according to claim 1, characterized in that, The groove includes an annular groove extending circumferentially along the output shaft.

7. The driving mechanism according to claim 6, characterized in that, The annular groove forms a ring that is inclined along the axial direction of the output shaft.

8. The driving mechanism according to claim 1, characterized in that, The circuit module includes an encoder.

9. An end effector, characterized in that, Includes the drive mechanism as described in any one of claims 1 to 8.

10. A robot, characterized in that, Includes the end effector as described in claim 9.

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