TW201321149A - Self-locking dual-shaft concurrent dual-motor motion module - Google Patents

Abstract

The present invention provides a self-locking dual-shaft concurrent dual-motor motion module, which comprises a shell body, two servo motors, two transmission modules and an output module with two degrees of freedom, wherein the servo motors are configured on the shell body having one output shaft connected with each transmission module to drive the transmission module. Each transmission module is configured with a transmission worm shaft and a driven worm gear to achieve the self-locking effect and disable the reverse driving of each servo motor. Each transmission module is connected to the output module with two degrees of freedom, such that the output module with two degrees of freedom may output the combined motion in two directions based on the linkage with the servo motors. Thus, the manufacturer needs only to produce the dual-motor motion module in a modularization manner to be assembled at the joint of industrial robotic arm or the hand or foot of robot, so as to simplify the structure of robotic arm or robot and thus realize the large range of motion with two degrees of freedom and achieve the large motion range within a limited volume. Moreover, by the self-locking effect of the transmission worm shafts and the driven worm gears, the present invention can avoid damage to the servo motor, and also maintain the motion gesture of the output module with two degrees of freedom by the self-locking effect while the servo motors are not activated, so as to achieve the energy saving effect.

Description

Self-locking dual-axis common point dual motor motion module

The invention relates to a motion module, in particular to a motion module which has two servo motors and is provided with components such as a worm and a worm wheel to realize a self-locking function, so as to control the linkage relationship between the two servo motors. The output member of the motion module can be rotated in one direction or two directions. At the same time, the output member can be prevented from being affected by the external force, and the servo motor is driven in the reverse direction, thereby causing damage to the servo motor.

In the 1980s, because the robot arm has a plurality of joints that allow it to move in multiple directions of freedom or linear displacement in a plane or three-dimensional space, it can mimic the movement of human arms. The robotic arm has been successfully applied to the manufacturing industry of the automobile industry or other fields. It belongs to the field of robot technology and is the most widely used automatic mechanical device. Today, many industrial processes have high-risk assembly and painting. , welding, high-temperature casting and forging, etc., most of them have used mechanical arms instead of manual operations, even medical rescue, entertainment services, military preservation and space exploration, etc., can find the relevant devices for the application of mechanical arms.

In addition, in addition to the large-scale application in the field of robotics, robots for entertainment or competition are becoming popular, and there are even many robot competitions, such as the WRO International Olympic Robot Competition and the FLL OIC (Open International Championship) Kaohsiung World Cup Robot Competition. The PMC Robotics Creative Competition, the Hong Kong Young Robot World Cup (RCJHK), etc., therefore, many manufacturers have improved the structure of various parts of the robot to meet the various needs of users. Referring to FIG. 1 , in general, the limbs of the robot 1 and the like are provided with a plurality of joints for simulating human movements, and a drive motor module 11 is added to each joint. Each of the driving motor modules 11 can drive the connected output member 13 to move back and forth or left and right. For example, as the arm on the right side of FIG. 1 , the upper driving motor module 11A can drive the upper output member 13A. The driving motor module 11B can drive the lower output member 13B to move in the front-rear direction, so that the lower output member 13B can drive the motor module 11A, 11B drive state (such as: start, close), and a single direction of freedom movement (back and forth movement, left and right movement) or two-direction freedom movement (simultaneously moving back and forth).

Generally speaking, if the operator wants the movement of the robot or the robot arm to be very close to the manual operation, it is necessary to set a large number of joints in order to achieve the same movement as the human being. As mentioned above, in order to maintain the joint activity, the operator needs to A drive motor module is assembled at one joint, but in order to make the appearance of the robot's hand, foot and the like similar to the human hand and foot, the operator must make the joints of the robot as compact as possible, or make the drive motor module reach Miniaturization, in order to avoid the length of the limbs, feet and other limbs of the robot become larger due to the accumulation of the joint parts, causing them to be far away from the human body, feet and other limbs, making it difficult to achieve action close to humans, and will occupy Excessive activity space, in vain increase the difficulty of collection or operation. However, since the drive motor module is usually composed of a motor, a speed reduction mechanism and a power transmission device therebetween, the number of components is too large, and it is not easy to be miniaturized. At the same time, the excessive number of components also causes the user to assemble and maintain. Trouble with maintenance.

In summary, it can be seen that the conventional robot or robot arm structure is capable of moving in multiple directions of freedom to simulate the movement of a human hand, and a drive motor module is provided at each joint position. This not only causes the robot's limb appearance to be too large, but also affects the flexibility and activity space of the limb movement. Moreover, when there are too many joints on the limb, the drive motor module of the adjacent body (such as the drive motor module of Fig. 1) 11A) In operation, not only must it withstand a large external force, but also must receive a large current, in order to maintain its sufficient power to drive the entire limb, causing the drive motor module to consume too much power, and easy to cause Damage caused by high temperatures generated by overload. Therefore, how to design a new power mechanism to replace the original drive motor module for the aforementioned defects and problems in the conventional robot or the robot arm is an important subject to be discussed herein.

In view of the many problems mentioned above, after long-term efforts and experiments, the inventors finally developed and designed a self-locking dual-axis common-point dual-motor motion module of the present invention, which can integrate two motors and related components. The output member connected to the dual motor motion module can perform the effect of rotating in two directions of freedom without having to install a motor in each joint in a series connection manner as in the conventional robot structure, so as to achieve two directions of freedom. The effect of the degree of rotation can effectively reduce the load of the dual motor motion module, and can achieve a wide range of motion effects while greatly reducing the body volume of the robot.

One object of the present invention is to provide a dual motor motion module capable of self-locking two-axis common points, comprising a casing, two servo motors (Servo Motor), two transmission modules and one or two degrees of freedom output modules, wherein Each of the servo motors is assembled to the housing, and an output shaft thereof is respectively connected to each of the transmission modules to drive the transmission modules, and each of the transmission modules has a self-locking effect and cannot be reversely driven. Each of the servo motors, and each of the transmission modules are respectively connected to the two-degree-of-freedom output module, so that the two-degree-of-freedom output module can be driven by each of the transmission modules, thereby outputting the front-rear direction and the left-right direction. The rotation of Degrees of freedom (yaw and pitch), so that the manufacturer can modularly produce the dual motor motion module, and only need to be in the joint position of the industrial robot or robot, the dual motor The motion module can control the starting or closing of each motor to make the components connected to the two-degree-of-freedom output module perform a biaxial common point including a single direction of freedom rotation or two directions of freedom rotation. move.

Another object of the present invention is that each of the transmission modules includes a plurality of transmission gears, a transmission worm, a driven worm gear, and at least one driven gear, wherein the transmission gears are respectively connected to output shafts of corresponding servo motors And the driving worms, and mesh with each other, so that the servo motor can drive the driving worm to rotate, the driving worm is still engaged to the driven worm wheel to drive the driven worm wheel to rotate, and the guiding between the driving worm and the driven worm wheel The design angle is less than a predetermined angle (for example, 4 degrees), and the self-locking effect is generated. Moreover, the driven worm wheel is still connected with the driven gear to drive the driven gear to rotate. In this way, by changing the diameter of the transmission gears, the rotation speed of the servo motor to the driven gear can be effectively changed, and the user can adjust the rotation speed and torque of the output component (such as the limb of the robot or the robot). The self-locking effect between the driving worm and the driven worm wheel makes the driven gear unable to drive the servo motor in the reverse direction, thereby avoiding the risk of the servo motor burning due to the high torque.

According to still another aspect of the present invention, the two-degree-of-freedom output module includes a hollow frame, two first shafts, two first bevel gears, a second shaft, a second bevel gear, and an output member. Each of the first shafts is respectively connected and pivotally connected to two corresponding sides of the hollow frame, and each of the first bevel gears is located at two corresponding positions in the hollow frame, and two ends of the first shafts are respectively connected Corresponding to the first bevel gear and the driven gear, so that each of the driven gears can sequentially drive the corresponding first shaft and the first bevel gear, thereby enabling the hollow frame to perform a directional degree of freedom Rotating, in addition, the second shaft is penetrated and pivoted on the other two corresponding sides of the hollow frame, the second bevel gear is located in the hollow frame and is connected to the middle portion of the second shaft, the first Two ends of the two shafts are respectively connected to the two ends of the output member, and the second bevel gears are respectively meshed to the first bevel gears, and when the second bevel gear is driven to rotate, the a second shaft that allows the output member to perform another direction of freedom Of rotation, so, since this can still rotate with the output member of the hollow frame, so that the output can be a single member or two directions at the same rotational degrees of freedom.

For your convenience, the review committee can make a further understanding and understanding of the purpose, technical features and effects of the present invention. The embodiments are combined with the drawings, and the details are as follows:

Generally speaking, whether it is a robot or an industrial robot, the volume of the motion module (ie, the drive motor module) on it is usually much smaller than the body part of the robot or the volume of the table. Therefore, it is assembled in the vicinity. The stability of the body part or the motion module of the workbench is better. Therefore, in view of the characteristics of the above-mentioned overall structure, the inventor specially designed a dual motor motion module, which can form an entire module and assemble In the position adjacent to the body part or the workbench, and it can produce two-way degree of freedom rotation (or angular displacement), so that the operator does not need to set another motion module in other joints, so it can effectively simplify the robot arm or robot. Structure.

Referring to FIGS. 2A and 2B , the present invention is a self-locking dual-axis common point dual motor motion module. In a preferred embodiment, the dual motor motion module 2 includes a housing 20 and two. a servo motor 21 (Servo Motor), a second transmission module 23 and a two-degree-of-freedom output module 25, wherein the servo motor 21, the transmission module 23 and the two-degree-of-freedom output module 25 are all disposed on the housing 20 to Forming the dual motor motion module 2, the manufacturer assembles the housing 20 to the body or workbench of the robot to form a joint of the robot's hand, foot or robot arm, and one of the servo motors 21 The output shaft 211 can be respectively connected to each of the transmission modules 23 to drive the operation of each of the transmission modules 23, and each of the transmission modules 23 is respectively connected to the two-degree-of-freedom output module 25, so that the two-degree-of-freedom output module The group 25 can output the rotation of the front and rear direction and the left and right direction of freedom at the same time or separately, and thus the components connected to the two-degree-of-freedom output module 25 (eg, the wrist, the foot joint, or other limbs of the robot) ), it is possible to perform one or two directions of freedom Exercise without having to install additional motion modules, so that the body or table components away from the robot can greatly reduce their overall size and weight.

Only the detailed structure of the transmission module 23 and the two-degree-of-freedom output module 25 will be described. Referring to Figures 2A and 3, some components of the dual motor motion module 2 of FIG. 2A will be shielded. Other components, so as to clearly reveal the overall technical characteristics of the case, the third figure is to omit some of the components, in order to clearly express the connection relationship of each component, together with Chen Ming. Moreover, each of the transmission modules 23 includes a plurality of transmission gears 231, a transmission worm 233 (Worm), a driven worm gear 235 (Worm Gear) and at least one driven gear 237, respectively, because each of the transmission modules 23 and each The connection relationship of the servo motor 21 is the same. Therefore, only the connection relationship between the transmission module 23 and the servo motor 21 on the right side of FIG. 2A will be described. In this embodiment, there are four transmission gears 231, wherein FIG. 2A The leftmost transmission gear 231 is assembled to the output shaft 211 of the servo motor 21, and the rightmost transmission gear 231 of FIG. 1 is assembled to the transmission worm 233. Further, the transmission gears 231 are still meshed with each other, so that when the servo When the output shaft 211 of the motor 21 rotates, the transmission gear 231 can be driven to rotate through the transmission gears 231. Further, the operator can adjust the gear ratio of the plurality of transmission gears 231 to achieve the required rotation speed and Torque and other requirements to meet the individual requirements of different products that the manufacturer needs to produce.

In addition, referring to FIGS. 2A and 3, the driving worm 233 is meshed with the driven worm wheel 235 to drive the driven worm wheel 235 to rotate, and the driven worm wheel 235 is still connected to the driven gear 237. To drive the driven gear 237 to rotate, wherein the lead angle of the tooth portion of the driving worm 233 and the driven worm wheel 235 is less than a predetermined angle (for example, 4 degrees), so that the driven worm wheel 235 can only Driven by the drive worm 233, the drive worm 233 cannot be reversely driven to form a self-locking effect. Thus, when an external force is applied to the driven gear 237, the drive worm 233 and the follower are driven. The worm wheel 235 will bear most of the external force, and at the same time, prevent the external force from causing the servo motor 21 to be forced to rotate and be damaged, and the self-locking effect of the aforementioned transmission worm 233 and the driven worm wheel 235, and the transmission The components connected to the module 23 can maintain the original motion posture without being forced to change due to the influence of the external force. Therefore, the servo motor 21 of the present invention can change itself to the startup state or close according to the actual use condition. State without Holding the transmission module 23 is connected with the exercise posture of the element, often in the activated state, and thus can reduce a double module of the present invention the motion of the motor 2 the energy consumed. In addition, in this embodiment, two driven gears 237 are taken as an example, wherein one driven gear 237 and the driven worm gear 235 are disposed together on one shaft, and the driven gear 237 can drive another driven Gear 237, however, in other embodiments of the present invention, the operator can use only one driven gear 237, or two or more driven gears 237, depending on the actual design requirements.

Furthermore, as shown in FIGS. 2A and 3, the two-degree-of-freedom output module 25 includes a hollow frame 250, two first shafts 251, two first bevel gears 252, and a second shaft 253, one. a second bevel gear 254 and an output member 255, wherein each of the first shafts 251 is respectively penetrated and pivoted on two corresponding sides of the hollow frame 250, and each of the first bevel gears 252 is located in the hollow frame 250. Two corresponding positions, and two ends of each of the first shafts 251 are respectively connected to the corresponding first bevel gear 252 and the driven gear 237, and when each of the driven gears 237 is rotated, the corresponding driving can be sequentially performed. The first shaft 251 and the first bevel gear 252 are rotated to further rotate the hollow frame 250 in the front-rear direction (in the second drawing, the lower left is the front, the upper right is the rear), and the second The shaft 253 is penetrated and pivoted on the other two corresponding sides of the hollow frame 250, and the second bevel gear 254 is located in the hollow frame 250 and is connected to the middle of the second shaft 253, the second shaft 253 The two ends are respectively connected to the two ends of the output member 255, and the second bevel gear 254 is respectively engaged to Waiting for the first bevel gear 252, the differential relationship between the first bevel gears 252 will drive the second bevel gear 254, so that the output member 255 can thus perform the rotation in the left and right direction degrees of freedom (in the A2 diagram) The left side is the left side and the lower right side is the right side. Thus, since the output member 255 can still rotate with the hollow frame 250, the output member 255 can simultaneously perform the two-axis total of the front-rear direction and the left-right direction. Point exercise.

In order to clearly explain the differential relationship of the two-degree-of-freedom output module 25, as shown in FIGS. 2A and 4, when one of the servo motors 21 is activated and the other servo motor 21 is turned off, one of the first shafts 251 Will be driven to rotate clockwise (such as the first shaft 251 on the left side of Figure 4), and drive the corresponding first bevel gear 252 and the second bevel gear 254 to rotate clockwise, the other first axis The rod 251 does not rotate (as the first shaft 251 on the right in FIG. 4), so that the corresponding other first bevel gear 252 does not rotate, and therefore, the second bevel gear 254 follows another The surface of an bevel gear 252 rotates, and the hollow frame 250 is rotated by the first shaft 251 to rotate clockwise, and the output member 255 is rotated. At the same time, the output member 255 is still driven by the second shaft 253. In the clockwise direction, the output member 255 has two degrees of freedom of rotation.

As shown in FIGS. 2A and 5, when each of the servo motors 21 is activated and the corresponding first shaft 251 is rotated clockwise at the same speed, each of the first shafts 251 is driven. The corresponding first bevel gear 252 is rotated clockwise. Since each of the first bevel gears 252 drives the second bevel gears 254 in opposite directions, each of the first bevel gears 252 is driven by the differential formula. The rotation speed of the second bevel gear 254 is subtracted to 0, that is, the second bevel gear 254 does not drive the second shaft 253 to rotate, that is, the hollow frame 250 is driven by each of the first shafts 251. The clockwise direction rotates and drives the output member 255 to rotate, but the output member 255 is not driven by the second shaft 253, so it has only one direction of freedom of rotation. In addition, as shown in FIGS. 2A and 6 , when each of the servo motors 21 is activated and respectively drives the corresponding first shaft 251 to rotate in different directions (for example, the first shaft 251 on the left side of FIG. 6 ) Rotating clockwise, the right first shaft 251 is rotated counterclockwise, and each of the first shafts 251 drives each of the first bevel gears 252 to rotate in a corresponding direction. At this time, the hollow frame 250 is At the same time, the opposite force is applied, and the rotation cannot be performed. However, since the first bevel gear 252 drives the second bevel gear 254 in the same direction, the second bevel gear 254 rotates clockwise and drives the first Since the two shafts 253 are rotated, the output member 255 is only driven by the second shaft 253, and has only one direction of freedom of rotation.

In summary, the manufacturer only needs to modularly produce the dual motor motion module 2, and the dual motor motion module 2 can be disposed at an joint of an industrial robot arm or a robot hand or a foot. Controlling the linkage relationship between the two servomotors 21, so that the end members of the robot arm or the robot hand and the foot (the components connected to the output member 255) are rotated in a single direction of freedom (only forward and backward rotation or left and right rotation), or simultaneously Perform the rotation of the two directions of freedom (simultaneously turning back and forth and turning left and right) (as shown in Figures 4 to 6), instead of setting the servo motor at each joint as in the design of the previous robot or robot. In order to achieve the rotation of the two degrees of freedom, the dual motor motion module 2 of the present invention not only facilitates the modular production and assembly of the operator, but also effectively simplifies the structure of the robot arm or the robot to achieve the robot arm or the robot. The joint maintains a large range of motion while achieving a compact size. The above is only the preferred embodiment of the present invention, but the scope of the claims of the present invention is not limited thereto, and according to those skilled in the art, according to the technical content disclosed in the present invention, Equivalent changes that are easily considered are within the scope of protection of the invention.

2. . . Dual motor motion module

20. . . case

twenty one. . . Servo motor

211. . . Output shaft

twenty three. . . Transmission module

231. . . Transmission gear

233. . . Drive worm

235. . . Driven worm gear

237. . . Driven gear

25. . . Two degree of freedom output module

250. . . Hollow frame

251. . . First shaft

252. . . First bevel gear

253. . . Second shaft

254. . . Second bevel gear

255. . . Output

Figure 1 is a schematic diagram of the architecture of a conventional robot;

2A is a perspective view of the dual motor motion module of the present invention;

2B is a top plan view of the dual motor motion module of the present invention;

Figure 3 is a schematic view showing an omitted part of the dual motor motion module of the present invention;

Figure 4 is a schematic view showing an action of the two-degree-of-freedom output module of the present invention;

Figure 5 is a schematic view showing another operation of the two-degree-of-freedom output module of the present invention;

Fig. 6 is a schematic view showing still another operation of the two-degree-of-freedom output module of the present invention.

2. . . Dual motor motion module

20. . . case

twenty one. . . Servo motor

211. . . Output shaft

twenty three. . . Transmission module

231. . . Transmission gear

233. . . Drive worm

235. . . Driven worm gear

237. . . Driven gear

25. . . Two degree of freedom output module

250. . . Hollow frame

252. . . First bevel gear

253. . . Second shaft

254. . . Second bevel gear

255. . . Output

Claims (7)

A dual motor motion module capable of self-locking two-axis common points, comprising: a casing; two servo motors assembled to the casing and respectively provided with an output shaft; and two transmission modules respectively connected to the respective The output shaft is driven by each of the output shafts according to the starting state or the closed state of the servo motor, and the output shafts cannot be reversely driven; and the one or two degrees of freedom output modules are connected to the transmission modules Connected, and according to the driving of each of the transmission modules, the rotation of one direction of freedom or the rotation of two degrees of freedom is output. The dual motor motion module of claim 1, wherein each of the transmission modules comprises: a plurality of transmission gears, wherein one of the transmission gears is coupled to an output shaft of the servo motor and meshes with each other and is correspondingly The servo motor drives the rotation; a transmission worm is connected to the other transmission gear and can be rotated by the other transmission gear; a driven worm wheel is engaged with the transmission worm, and the transmission worm is coupled to the transmission worm The lead angle of the intermeshing teeth of the driven worm wheel is less than a predetermined angle to generate a self-locking effect; and at least one driven gear is coupled to the driven worm wheel to be rotated by the driven gear. The dual motor motion module of claim 2, wherein the two-degree-of-freedom output module comprises: a hollow frame; two first bevel gears, two corresponding positions in the hollow frame; and two first shafts And respectively connected to the two corresponding sides of the hollow frame, and the two ends thereof are respectively connected to the corresponding first bevel gear and the driven gear, so that each of the driven gears can sequentially drive the corresponding a first shaft and a first bevel gear, and the hollow frame performs a rotation of a directional degree of freedom; a second shaft is penetrated and pivotally connected to the other corresponding side of the hollow frame; an output member Two ends are respectively connected to two ends of the second shaft; and a second bevel gear is fastened in the hollow frame and connected to the middle portion of the second shaft and meshed to the first bevel gears In the state in which the second bevel gear is driven to rotate, the second shaft can be driven, and the output member can perform the rotation of the other direction of freedom. The dual motor motion module of claim 3, wherein one of the first shafts drives the corresponding first bevel gear and the hollow frame in a state in which one servo motor is started and the other servo motor is turned off. The other first shaft does not drive the corresponding other first bevel gear to rotate, so that the hollow frame performs a rotation of a directional degree of freedom, and the first bevel gear that has been rotated drives the second shaft The bevel gear rotates, the second bevel gear rotates along the surface of the other first bevel gear, and the second shaft rotates, so that the output member rotates according to the hollow frame and the second shaft And perform the rotation of the two degrees of freedom. The dual motor motion module according to claim 3, wherein each of the first motor shafts is driven, and each of the first shafts is driven in the same direction at the same speed, respectively, each of the first shafts is driven. Corresponding to each of the first bevel gear and the hollow frame rotating in the same direction, so that the hollow frame performs a rotation of a directional degree of freedom, and each of the first bevel gears respectively drives the direction of the second bevel gear to On the contrary, the second bevel gear cannot be rotated, so that the output member performs the rotation of one direction of freedom according to the rotation of the hollow frame. The dual motor motion module according to claim 3, wherein each of the first motor shafts is driven in a state in which each of the servo motors is activated and each of the corresponding first shafts is rotated in the opposite direction. The first bevel gear rotates in the opposite direction to make the hollow frame unable to rotate, and each of the first bevel gears respectively drives the second bevel gear in the same direction, so that the second bevel gear can face in one direction Rotating and driving the second shaft to rotate, the output member performs a rotation of a directional degree of freedom according to the rotation of the second shaft. The dual motor motion module of claim 3, 4, 5 or 6, wherein the predetermined angle is 4 degrees.