CN-224223933-U - Transmission assembly and robot

Abstract

The utility model discloses a transmission assembly and a robot, which comprise a mounting seat, a first input shaft and a first moment sensing assembly, wherein 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, 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 moment sensing assembly comprises a first strain sheet group which is arranged on the first strain beam group. The technical scheme provided by the utility model can ensure the direct transmissibility of torque measurement, thereby being capable of accurately controlling the applied torque and providing accurate feedback for a control system of the robot.

Inventors

• Request for anonymity

Assignees

• 智元创新(上海)科技股份有限公司

Dates

Publication Date

20260512

Application Date

20250424

Claims (11)

1. 1. A transmission assembly, comprising: The mounting seat comprises a mounting part, a first connecting part and a first strain beam group, wherein the first connecting part is arranged on the mounting part, and the first strain beam group is arranged on the first connecting part; a first input shaft connected to the first set of strain beams; the first moment sensing assembly comprises a first strain gauge set, and the first strain gauge set is arranged on the first strain beam set.
2. 2. The transmission assembly according to claim 1, wherein the first connecting portion is provided with a first through hole, the first strain beam group comprises a plurality of first strain beams, the first strain beams are arranged at intervals along the circumferential direction of the first through hole, one end of each first strain beam is connected with the inner wall of the first through hole, and the other end of each first strain beam is connected with the circumferential surface of the first input shaft; The first strain gauge group comprises a plurality of first strain gauges, and each first strain beam is provided with at least one first strain gauge.
3. 3. The transmission assembly according to claim 1, wherein the first connecting portion is provided with a first through hole, the first strain beam group comprises a plurality of first strain beams and a shaft sleeve, the first strain beams are arranged at intervals along the circumferential direction of the first through hole, one end of each first strain beam is connected with the inner wall of the first through hole, the other end of each first strain beam is connected with the circumferential surface of the shaft sleeve, and the first input shaft is connected with the shaft sleeve; The first strain gauge group comprises a plurality of first strain gauges, and each first strain beam is at least arranged on one first strain gauge.
4. 4. A transmission assembly according to claim 2 or 3, wherein the first set of strain beams comprises four of the first strain beams, the four first strain beams being evenly distributed along the circumference of the first through bore.
5. 5. The transmission assembly according to claim 4, wherein the first strain gage group includes eight first strain gages, one first strain gage being provided on each of the first strain beams on both sides in the circumferential direction of the first through hole.
6. 6. A transmission assembly according to claim 2 or 3, wherein the first strain gauge is a silicon strain gauge or a resistive strain gauge.
7. 7. The transmission assembly of claim 1, wherein the mount is a unitary structure.
8. 8. The transmission assembly of claim 1, wherein the mounting base further comprises a second connecting portion, the second connecting portion being provided on the mounting portion, the second connecting portion being spaced apart from the first connecting portion along the X-direction; The transmission assembly further includes: The fixing seat comprises a third connecting part and a fourth connecting part, and the third connecting part and the fourth connecting part are arranged at intervals along the Y direction The center seat is positioned between the first connecting part and the second connecting part and between the third connecting part and the fourth connecting part; The first input shaft is rotationally connected with the center seat around the axis of the X direction, the center seat is rotationally connected with the second connecting portion around the axis of the X direction, the center seat is rotationally connected with the third connecting portion around the axis of the Y direction, and the center seat is rotationally connected with the fourth connecting portion around the axis of the Y direction.
9. 9. The transmission assembly of claim 8, wherein the center mount comprises a body, a second set of strain beams disposed on the body, and a second input shaft connected to the second set of strain beams; the transmission assembly further comprises a second moment sensing assembly, the second moment sensing assembly comprises a second strain gauge set, and the second strain gauge set is arranged on the second strain beam set.
10. 10. The transmission assembly according to claim 9, wherein the body is provided with a second through hole, the second strain beam group comprises a plurality of second strain beams, the second strain beams are arranged at intervals along the circumferential direction of the second through hole, one end of each second strain beam is connected with the inner wall of the second through hole, and the other end of each second strain beam is connected with the circumferential surface of the second input shaft; the second strain gauge group comprises a plurality of second strain gauges, and each second strain beam is provided with at least one second strain gauge.
11. 11. A robot comprising a transmission assembly according to any one of claims 1-10.

Description

Transmission assembly and robot Technical Field The application belongs to the technical field of mechanical transmission, and particularly relates to a transmission assembly and a robot. Background The wrist or ankle of the humanoid robot is usually provided with a transmission assembly, and the yaw or pitch motion of the wrist or ankle is controlled by utilizing various transmission modes such as a push rod, a synchronous belt, a gear and the like. In the prior art, in order to measure the output torque information, a six-dimensional force sensor is usually directly added, but the torque is required to be decoupled to other joints, the torque information cannot be directly obtained, and thus errors can occur, or a current loop feedback mode is adopted, and the transmission errors of the output end of the motor cannot be considered. The two modes can generate errors, and have the defect that the joint type direct force control cannot be realized. Disclosure of utility model The embodiment of the application aims to provide a transmission assembly and a robot. According to a first aspect of an embodiment of the present application, there is provided a transmission assembly comprising: The mounting seat comprises a mounting part, a first connecting part and a first strain beam group, wherein the first connecting part is arranged on the mounting part, and the first strain beam group is arranged on the first connecting part; a first input shaft connected to the first set of strain beams; the first moment sensing assembly comprises a first strain gauge set, and the first strain gauge set is arranged on the first strain beam set. Optionally, the first connection portion is provided with a first through hole, the first strain beam group includes a plurality of first strain beams, the plurality of first strain beams are arranged at intervals along the circumferential direction of the first through hole, one end of each first strain beam is connected with the inner wall of the first through hole, and the other end of each first strain beam is connected with the circumferential surface of the first input shaft; The first strain gauge group comprises a plurality of first strain gauges, and each first strain beam is provided with at least one first strain gauge. Optionally, the first connection portion is provided with a first through hole, the first strain beam group includes a plurality of first strain beams and a shaft sleeve, the plurality of first strain beams are arranged at intervals along the circumferential direction of the first through hole, one end of each first strain beam is connected with the inner wall of the first through hole, the other end of each first strain beam is connected with the circumferential surface of the shaft sleeve, and the first input shaft is connected with the shaft sleeve; The first strain gauge group comprises a plurality of first strain gauges, and each first strain beam is at least arranged on one first strain gauge. Optionally, the first strain beam group includes four first strain beams, and the four first strain beams are uniformly distributed along the circumference of the first through hole. Optionally, the first strain gauge assembly includes eight first strain gauges, and each first strain beam is provided with one first strain gauge along two sides of the circumference of the first through hole. Optionally, the first strain gauge is a silicon strain gauge or a resistive strain gauge. Optionally, the mounting base is an integral structure. Optionally, the mounting seat further comprises a second connecting part, the second connecting part is arranged on the mounting part, and the second connecting part and the first connecting part are arranged at intervals along the X direction; The transmission assembly further includes: The fixing seat comprises a third connecting part and a fourth connecting part, and the third connecting part and the fourth connecting part are arranged at intervals along the Y direction The center seat is positioned between the first connecting part and the second connecting part and between the third connecting part and the fourth connecting part; The first input shaft is rotationally connected with the center seat around the axis of the X direction, the center seat is rotationally connected with the second connecting portion around the axis of the X direction, the center seat is rotationally connected with the third connecting portion around the axis of the Y direction, and the center seat is rotationally connected with the fourth connecting portion around the axis of the Y direction. Optionally, the center seat includes a body, a second strain beam set and a second input shaft, the second strain beam set is disposed on the body, and the second input shaft is connected with the second strain beam set; the transmission assembly further comprises a second moment sensing assembly, the second moment sensing assembly comprises a second strain gauge set