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CN-121989292-A - Power module and robot

CN121989292ACN 121989292 ACN121989292 ACN 121989292ACN-121989292-A

Abstract

The application discloses a power module and a robot. The power module comprises a palm and at least one power assembly, wherein the palm is used for being connected with fingers, the power assembly comprises a driving piece and a rope pulley, the driving piece is connected with the palm and comprises a rotating shaft, the rope pulley is fixedly connected with the rotating shaft, the rope pulley is connected with the fingers through a pull rope, and the rotating shaft is used for driving the rope pulley to rotate around the axial direction of the rotating shaft. From this, rope sheave and axis of rotation fixed connection for the rope sheave rotates along with the axis of rotation, and the rope sheave passes through stay cord and finger connection, and the rope sheave accessible stay cord drives the finger action, can improve finger flexibility, and improves the fingertip power and the load capacity of single palm of finger.

Inventors

  • WANG WEIGANG
  • LUO GUOPENG
  • YANG JUN

Assignees

  • 宁德时代未来能源(上海)研究院有限公司
  • 宁德时代新能源科技股份有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (19)

  1. 1. A power module comprising a palm and at least one power assembly, the palm being adapted to be connected to a finger, the power assembly comprising: The driving piece is connected with the palm and comprises a rotating shaft; The rope pulley is fixedly connected with the rotating shaft, and is connected with the finger through a pull rope, wherein the rotating shaft is used for driving the rope pulley to rotate around the axial direction of the rotating shaft.
  2. 2. The power module of claim 1, wherein the power assembly further comprises a reducer, the sheave is connected to the rotating shaft by the reducer, and a speed of the reducer at one end connected to the rotating shaft rotating around the axial direction is greater than a speed of the reducer at one end connected to the sheave rotating around the axial direction.
  3. 3. The power module according to claim 2, wherein the speed reducer includes a first driving wheel and a first driven wheel, the first driving wheel is sleeved on the rotating shaft, the first driven wheel is meshed with the first driving wheel, the sheave is connected with the first driven wheel, and in a radial direction of the rotating shaft, a size of the first driving wheel is smaller than a size of the first driven wheel.
  4. 4. A power module according to claim 3, wherein the number of the first driven wheels is at least two, at least two of the first driven wheels are disposed at intervals on the circumferential side of the first driving wheel in the circumferential direction of the rotating shaft, each of the first driven wheels is engaged with the first driving wheel, and the sheave is connected to each of the first driven wheels.
  5. 5. The power module according to claim 4, wherein the speed reducer includes an inner gear ring and at least two second driven wheels, each of the second driven wheels is connected to one side of the first driven wheel facing away from the palm, the inner gear ring is sleeved outside the at least two second driven wheels and meshed with the at least two second driven wheels, and the sheave is connected to each of the second driven wheels.
  6. 6. The power module of claim 5, wherein the sheave includes at least two pins spaced about the axial direction, each pin being interposed between one of the second driven wheels.
  7. 7. A power module according to any one of claims 3 to 6, characterized in that the sheave has a larger size than the first driven wheel in the radial direction.
  8. 8. A power module according to claim 3, wherein the speed reducer comprises a second driving wheel and a third driving wheel, the second driving wheel is connected to the side of the first driving wheel facing away from the palm, the third driving wheel is meshed with the second driving wheel, the size of the third driving wheel is larger than that of the second driving wheel in the radial direction, and the rope wheel is connected with the third driving wheel.
  9. 9. The power module of claim 8, wherein the sheave has a size that is larger than the size of the second drive wheel and/or the first drive wheel in the radial direction.
  10. 10. The power module according to any one of claims 1 to 9, characterized in that the sheave is provided with a winding groove extending in a circumferential direction of the rotating shaft, the winding groove being for winding the pull cord.
  11. 11. A power module according to any one of claims 1 to 10, wherein the palm is provided with a first accommodation space and a second accommodation space which are in communication with each other, and the driving member includes a driving assembly connected to the rotation shaft, the driving assembly being for driving the rotation shaft to rotate about the axial direction, the driving assembly being located in the first accommodation space, and the rotation shaft being located in the second accommodation space.
  12. 12. The power module of claim 11, wherein the drive assembly includes a rotor assembly and a stator assembly, the stator assembly being fixedly connected to the palm, the rotor assembly being fixedly connected to the shaft, the rotor assembly surrounding the stator assembly and being spaced apart from the stator assembly.
  13. 13. The power module of claim 12, wherein the drive assembly further comprises a rotating chassis spaced from the stator assembly, the rotating chassis being respectively coupled to the rotating shaft and the rotor assembly, the rotor assembly driving the rotating shaft to rotate about the axial direction via the rotating chassis.
  14. 14. The power module according to claim 12 or 13, wherein the palm includes a support column extending in the axial direction, the support column being provided with the second accommodation space, and the stator assembly is sleeved on an outer side wall of the support column.
  15. 15. The power module of any one of claims 12 to 14, wherein the rotor assembly includes a magnet steel and a rotor housing, the rotor housing being disposed around the stator assembly, the magnet steel being secured to an inner sidewall of the rotor housing.
  16. 16. The power module according to any one of claims 11 to 15, wherein the second accommodation space includes a shaft via hole and a bearing hole site that are in communication with each other, the shaft via hole and the bearing hole site being disposed in the axial direction in this order, the shaft being disposed through the shaft via hole and the bearing hole site, a radial dimension of the bearing hole site being larger than a radial dimension of the shaft via hole to form a step between the shaft via hole and the bearing hole site, the driving member including a bearing that is disposed in the bearing via hole and carried on the step, the bearing housing being disposed on an outer side wall of the shaft.
  17. 17. The power module of claim 16, wherein the number of bearing holes is two, two bearing holes are located at two ends of the shaft via hole in the axial direction, the number of bearings is two, and one bearing is located in one bearing via hole.
  18. 18. The power module of any one of claims 1 to 17, wherein the number of power assemblies is at least two, at least two of the power assemblies corresponding to one of the fingers.
  19. 19. A robot comprising a finger and a power module according to any one of claims 1 to 18, wherein the finger is connected to a palm of the power module.

Description

Power module and robot Technical Field The application relates to the technical field of robots, in particular to a power module and a robot. Background In the related art, a robot smart hand is generally installed at the end of a robot arm, and can grasp a tool designed for a person in different scenes like a hand of a person. The robot palm main board is generally connected with a plurality of smart fingers, has high freedom degree and has certain grasping capacity. In the current driving mode, a hollow cup is mostly adopted as a power module to drive fingers to move, however, the hollow cup has small size and light weight, but has weak power and torque output capability, and the load capability of a dexterous hand is greatly restricted. Disclosure of Invention The application mainly aims to provide a power module and a robot, which aim to solve the technical problems in the prior art. In order to solve the problems, the application provides a power module which comprises a palm and at least one power assembly, wherein the palm is used for being connected with fingers, the power assembly comprises a driving piece and a rope pulley, the driving piece is connected with the palm and comprises a rotating shaft, the rope pulley is fixedly connected with the rotating shaft, the rope pulley is connected with the fingers through a pull rope, and the rotating shaft is used for driving the rope pulley to rotate around the axial direction of the rotating shaft. From this, rope sheave and axis of rotation fixed connection for the rope sheave rotates along with the axis of rotation, and the rope sheave passes through stay cord and finger connection, and the rope sheave accessible stay cord drives the finger action, can improve finger flexibility, and improves the fingertip power and the load capacity of single palm of finger. In some embodiments, the power assembly further comprises a reducer, the sheave is connected to the rotating shaft by the reducer, and a speed of rotation of one end of the reducer connected to the rotating shaft in the axial direction is greater than a speed of rotation of one end of the reducer connected to the sheave in the axial direction. Therefore, the rotating speed transmitted to the rope pulley through the speed reducer is reduced, so that the pulling force of the pulling rope is increased through the rope pulley, and the adaptability of the rope pulley to a driving piece is improved. In some embodiments, the speed reducer comprises a first driving wheel and a first driven wheel, the first driving wheel is sleeved on the rotating shaft, the first driven wheel is meshed with the first driving wheel, the rope wheel is connected with the first driven wheel, and the size of the first driving wheel is smaller than that of the first driven wheel in the radial direction of the rotating shaft. Therefore, the first driven wheel and the first driving wheel with larger sizes are meshed, and the rope wheel is connected with the first driven wheel, so that the rotation speed transmitted to the rope wheel by the rotation shaft is reduced through the cooperation of the first driven wheel and the first driving wheel, and the pulling force of the pulling rope is improved through the rope wheel. In some embodiments, the number of the first driven wheels is at least two, the at least two first driven wheels are arranged on the peripheral side of the first driving wheel at intervals in the circumferential direction of the rotating shaft, each first driven wheel is meshed with the first driving wheel, and the rope wheel is connected with each first driven wheel. Therefore, the rope wheel is meshed with the first driving wheel through at least two first driven wheels, and the rope wheel is connected with each first driven wheel, so that the stability of rotation of the rope wheel is improved. In some embodiments, the speed reducer comprises an inner gear ring and at least two second driven wheels, each second driven wheel is connected to one side, away from the palm, of the first driven wheel, the inner gear ring is sleeved on the outer side of the at least two second driven wheels and meshed with the at least two second driven wheels, and the rope wheel is connected with each second driven wheel. Therefore, each second driven wheel is connected to one side of one first driven wheel, which is away from the palm, so that the second driven wheels and the first driven wheels synchronously rotate, the inner gear sleeve is sleeved on the outer sides of at least two second driven wheels and meshed with the at least two second driven wheels, so that the at least two first driven wheels can be mutually fixed through the inner gear ring and the at least two second driven wheels, and the rotation stability of the rope wheel is further improved. In some embodiments, the sheave includes at least two latches disposed in spaced relation about the axial direction, each latch being interposed between one of the second driven