CN105162280B - The self-positioning power transmission of adaptive anglec of rotation deviation - Google Patents
The self-positioning power transmission of adaptive anglec of rotation deviation Download PDFInfo
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- CN105162280B CN105162280B CN201510607802.3A CN201510607802A CN105162280B CN 105162280 B CN105162280 B CN 105162280B CN 201510607802 A CN201510607802 A CN 201510607802A CN 105162280 B CN105162280 B CN 105162280B
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Abstract
The self-positioning power transmission of adaptive anglec of rotation deviation, it is related to a kind of power transmission.The present invention solves existing power transmission and exported when target connects the problem of cannot be guaranteed the corresponding of both anglecs of rotation, causing connection procedure complexity and the volume and larger quality of power transmission.Motor shaft lower end fixed seat is packed in the bottom of motor housing, motor shaft upper end fixed seat is arranged in connection positioning shell, the upper end of motor shaft is arranged in the fixed seat of motor shaft upper end by motor shaft upper end bearing, rotor connector is arranged on the middle part of motor shaft, the lower end of motor shaft is arranged in the fixed seat of motor shaft lower end by motor shaft bottom end bearing, harmonic wave drive speed reducer is sleeved on motor shaft and connected in positioning shell, the flexbile gear of harmonic wave drive speed reducer is connected by motor shaft upper end fixed seat with connection interface module, the steel wheel of harmonic wave drive speed reducer is fixedly connected with being connected positioning shell.The power that the present invention is used for industrial production line transmits.
Description
Technical field
The present invention relates to a kind of power transmission, and in particular to a kind of self-positioning power of adaptive anglec of rotation deviation
Transmitting device.
Background technology
In commercial Application, various operation instruments are typically used as driving using rotary motion.And each operation instrument is equipped with and driven
Dynamic model block will bring certain wasting of resources.If general rotating power transmitting device can be provided, pass through plain mode
Power transmission is completed, for reducing industrial cost, improving industrial production efficiency has very important status, has important grind
Study carefully value.
Existing power transmission needs auxiliary positioning mechanism when being connected with output target.And in random connection not
It can guarantee that the correspondence of both anglecs of rotation so that existing power transmission needs substantial amounts of work first to ensure two in connection
The correspondence of person's anglec of rotation.In addition, in existing design, when needing larger output torque, the volume of power transmission and
Quality is also larger.These factors all limit the application of power transmission.
To sum up, existing power transmission is led with cannot be guaranteed the corresponding of both anglecs of rotation during output target connection
Cause connection procedure complicated；In addition, when needing larger output torque, the volume and quality of power transmission are larger.
The content of the invention
The present invention cannot be guaranteed both anglecs of rotation to solve existing power transmission with exporting when target is connected
It is corresponding, cause connection procedure complicated and in the larger output torque of needs, the volume and quality of power transmission are larger
Problem, and then a kind of self-positioning power transmission of adaptive anglec of rotation deviation is provided.
The present invention adopts the technical scheme that to solve above-mentioned technical problem：
The self-positioning power transmission of the adaptive anglec of rotation deviation of the present invention includes power take-off module, connect
Mouth mold block and rotary power module；
Power take-off module include output positioning shell, power output shaft, power output installed part, power output retainer ring,
Power output pre-load nut and two power output bearings, the power output installed part are embedded in output positioning shell vertically
Interior, power output retainer ring is embedded in the bottom of output positioning shell, and power output installed part and power output retainer ring are by up to
Under set gradually, power output shaft by two power output bearings be arranged on power output installed part on, power output shaft
Bottom is provided with first shoulder, is in contact positioned at the lower surface of the power output bearing of bottom with first shoulder, power output is pre-
Tight nut is threadedly coupled with the middle part of power output shaft, upper surface and the power output pretension of superposed power output bearing
The lower surface of nut is in contact；From top to bottom flaring is set output positioning shell lower ending opening, and the bottom of power output shaft is machined with
The groove of axial symmetry branch；
Connection interface module by connection positioning shell, connecting interface shell, connecting interface bearing, connecting interface bearing race snap and
Multiple night bolt component compositions, the connecting interface shell are arranged in connection positioning shell by connecting interface bearing, and connection is fixed
Annular protrusion is along the circumferential direction machined with the inwall of position shell, the lower surface overlapping edges of connecting interface bearing are in annular protrusion
On, the upper surface of connecting interface bearing is compressed by connection interface bearing race snap to be positioned, and is along the circumferential direction added on connecting interface shell
Work has multiple cylindrical holes, and a night bolt component is provided with each cylindrical hole；The upper end of connection positioning shell is machined with
The conical surface coordinated with output positioning shell lower ending opening；
Rotary power module includes motor housing, motor shaft lower end fixed seat, motor shaft bottom end bearing preload piece, motor
Axle, motor, rotor connector, harmonic wave drive speed reducer, motor shaft upper end fixed seat, motor shaft bottom end bearing, motor shaft
Upper end bearing and even number foil gauge, motor shaft lower end fixed seat are packed in the bottom of motor housing, and motor shaft upper end is consolidated
Reservation is arranged in connection positioning shell, and the upper end of motor shaft is arranged on motor shaft upper end fixed seat by motor shaft upper end bearing
On, rotor connector is arranged on the middle part of motor shaft, and the lower end of motor shaft is arranged on motor by motor shaft bottom end bearing
In the fixed seat of axle lower end, harmonic wave drive speed reducer be sleeved on motor shaft and connect positioning shell in, harmonic wave drive speed reducer it is soft
Wheel is connected by motor shaft upper end fixed seat with connection interface module, and the steel wheel of harmonic wave drive speed reducer is fixed with being connected positioning shell
Connection；Motor shaft bottom end bearing is fixed axially through motor shaft bottom end bearing preload piece, and even number foil gauge axial symmetry is attached to
On motor housing.
The invention has the advantages that：
The self-positioning power transmission of the adaptive anglec of rotation deviation of the present invention is provided with power take-off module, connection
Interface module and rotary power module, the present invention can realize self-positioning when exporting target connection, simplified system complexity,
So as to reduce the volume of power transmission and quality；It can not be protected when being connected with existing power transmission with output target
The correspondence of both anglecs of rotation of card is compared, and PTO of the invention can adaptively overcome the anglec of rotation before connection inclined
Difference, simplify connection procedure；PTO volume-torque ratio of the present invention is big, practical；The power output dress of the present invention
Put and exported with torque-feedback, being capable of the high-precision constant moment of closed loop output.
Brief description of the drawings
Fig. 1 is the overall structure stereo decomposing of the self-positioning power transmission of the adaptive anglec of rotation deviation of the present invention
Figure, Fig. 2 is the main sectional view of connection interface module 1-2 in the specific embodiment of the invention one, and Fig. 3 is specific embodiment party of the present invention
Power take-off module 1-1 main sectional view in formula one, Fig. 4 are the rotary power module 1-3 of present invention main sectional views.
Embodiment
Embodiment one：As Figure 1-4, the self-positioning power of the adaptive anglec of rotation deviation of present embodiment
Transmitting device includes power take-off module 1-1, connection interface module 1-2 and rotary power module 1-3；
Power take-off module 1-1 includes output positioning shell 5, power output shaft 9, power output installed part 10, power output
Retainer ring 11, power output pre-load nut 14 and two power output bearings 12, the power output installed part 10 are interior vertically
In output positioning shell 5, power output retainer ring 11 is embedded in the bottom of output positioning shell 5, the He of power output installed part 10
Power output retainer ring 11 is from top to bottom set gradually, and power output shaft 9 is arranged on power by two power output bearings 12
Export on installed part 10, the bottom of power output shaft 9 is provided with first shoulder 9-1, the power output bearing 12 positioned at bottom
Lower surface is in contact with first shoulder 9-1, and power output pre-load nut 14 is threadedly coupled with the middle part of power output shaft 9, is located at
The upper surface of the power output bearing 12 on top is in contact with the lower surface of power output pre-load nut 14；Under output positioning shell 5
From top to bottom flaring is set end opening, and the bottom of power output shaft 9 is machined with the groove 9-2 of axial symmetry branch；
Connection interface module 1-2 is consolidated by connection positioning shell 1, connecting interface shell 2, connecting interface bearing 3, connecting interface bearing
Determine ring 4 and multiple night bolt component 1-2-1 compositions, the connecting interface shell 2 is arranged on connection by connecting interface bearing 3 to be determined
In the shell 1 of position, annular protrusion 1-4, the lower surface of connecting interface bearing 3 are along the circumferential direction machined with the inwall of connection positioning shell 1
Overlapping edges are on annular protrusion 1-1, and the upper surface of connecting interface bearing 3 is compressed by connection interface bearing race snap 4 to be positioned, even
Multiple cylindrical hole 2-1 are along the circumferential direction machined with connection interface shell 2, a spring is provided with each cylindrical hole 2-1 and is inserted
Pin assemblies 1-2-1；The upper end of connection positioning shell 1 is machined with the conical surface coordinated with output positioning shell 5 lower ending opening；
Rotary power module 1-3 includes motor housing 16, motor shaft lower end fixed seat 17, motor shaft bottom end bearing preload piece
18th, motor shaft 20, motor 21, rotor connector 22, harmonic wave drive speed reducer 23, motor shaft upper end fixed seat 25, motor
Axle bottom end bearing 19, motor shaft upper end bearing 24 and even number foil gauge 15, motor shaft lower end fixed seat 17 are packed in electricity
The bottom of machine shell 16, motor shaft upper end fixed seat 25 are arranged in connection positioning shell 1, and the upper end of motor shaft 20 passes through motor shaft
Upper end bearing 24 is arranged in motor shaft upper end fixed seat 25, and rotor connector 22 is arranged on the middle part of motor shaft 20, electricity
The lower end of arbor 20 is arranged in motor shaft lower end fixed seat 17 by motor shaft bottom end bearing 19,23 sets of harmonic wave drive speed reducer
On motor shaft 20 and in connection positioning shell 1, the flexbile gear of harmonic wave drive speed reducer 23 by motor shaft upper end fixed seat 25 with
Connection interface module 1-2 connections, the steel wheel of harmonic wave drive speed reducer 23 are fixedly connected with being connected positioning shell 1；Motor shaft lower end axle
Hold 19 to fix axially through motor shaft bottom end bearing preload piece 18, the axial symmetry of even number foil gauge 15 is attached to motor housing 16
On.
Embodiment two：As shown in Fig. 2 present embodiment night bolt component 1-2-1 quantity is four.So
Set, the processing of connecting interface shell 2 and connection interface module 1-2 assembly difficulty can be reduced.Other compositions and annexation
It is identical with embodiment one.
Embodiment three：As shown in Fig. 2 present embodiment night bolt component 1-2-1 axial symmetry branch is connecting
On interface shell 2.It is so designed that, in a circumferential direction, night bolt component 1-2-1 can be carried out evenly to power output shaft 9
Rotary drive.Other compositions and annexation are identical with embodiment one or two.
Embodiment four：As shown in Fig. 2 each night bolt component 1-2-1 of present embodiment include spring base 6,
Spring 7 and slide bolt 8, one end of slide bolt 8 are arranged on spring base 6 by spring 7, the other end of slide bolt 8 with
Groove 9-2 on power output shaft 9 is in contact.It is so designed that, connection interface module 1-2 can be driven dynamic by slide bolt 8
Power output shaft 9 is rotated.Other compositions and annexation are identical with embodiment three.
Embodiment five：As shown in figure 4, present embodiment motor 21 is hollow motor, motor 21 and harmonic drive
Decelerator 23 is integrated.It is so designed that, motor 21 carries out integrated design with harmonic wave drive speed reducer 23, effectively reduces rotation
Rotatory force module 1-3 volume.Other compositions and annexation are identical with embodiment one, two or four.
Embodiment six：As shown in figure 3, present embodiment power output installed part 10 passes through power output retainer ring
11 are threadedly coupled progress pretension with output positioning shell 5.It is so designed that, it is possible to reduce the quantity of part and standard component so that structure
Highgrade integration.Other compositions and annexation are identical with embodiment five.
Embodiment seven：As shown in figure 3, the lower end of present embodiment power output shaft 9 is machined with circular cone chamfering, it is sliding
The other end of dynamic latch 8 is machined with arc surface.It is so designed that, power output shaft 9 being capable of compression spring 7 automatically in connection.Can
Adaptively to overcome power output shaft 9 and connection interface module 1-2 anglec of rotation deviation before connection.Other compositions and connection are closed
System is identical with embodiment one, two, four or six.
Operation principle：
As Figure 1-Figure 4,
Self-positioning connection：Power take-off module 1-1 and connection interface module 1-2 coarse localizations, axially promote, pass through connection
Positioning shell 1 and the output positioning conical surface guide effect of shell 5 are realized self-positioning；
Deviation is adaptive：During connection, be present angular deviation in groove and the connection interface module 1-2 of power output shaft 9, pass through
The two conical surface and fillet compression spring 7, slide bolt 8 reclaim, and when interface shell 2 to be connected rotates, slide bolt 8 is in spring 7
Automatic rebounding under restoring force, enter action edge transmission；
Power output：The drive motor axle 20 of motor 21 rotates, and by the transmission of harmonic wave drive speed reducer 23, makes connecting interface
Module 1-2 exports the rotary power of more high pulling torque, and by the examinations output torque of foil gauge 15.
Claims (6)
- A kind of 1. self-positioning power transmission of adaptive anglec of rotation deviation, it is characterised in that：The self-positioning power passes Defeated device includes power take-off module (1-1), connection interface module (1-2) and rotary power module (1-3)；Power take-off module (1-1) includes output positioning shell (5), power output shaft (9), power output installed part (10), power Export retainer ring (11), power output pre-load nut (14) and two power output bearings (12), the power output installed part (10) it is embedded in vertically in output positioning shell (5), power output retainer ring (11) is embedded in the bottom of output positioning shell (5), Power output installed part (10) and power output retainer ring (11) are from top to bottom set gradually, and power output shaft (9) passes through two Power output bearing (12) is arranged on power output installed part (10), and the bottom of power output shaft (9) is provided with first shoulder (9-1), it is in contact positioned at the lower surface of the power output bearing (12) of bottom with first shoulder (9-1), power output pretension spiral shell Female (14) are threadedly coupled with the middle part of power output shaft (9), the upper surface of superposed power output bearing (12) and power The lower surface of output pre-load nut (14) is in contact；From top to bottom flaring is set output positioning shell (5) lower ending opening, power output The bottom of axle (9) is machined with the groove (9-2) of axial symmetry branch；Connection interface module (1-2) is by connection positioning shell (1), connecting interface shell (2), connecting interface bearing (3), connecting interface axle Retainer ring (4) and multiple night bolt components (1-2-1) composition are held, the connecting interface shell (2) passes through connecting interface bearing (3) In connection positioning shell (1), annular protrusion (1-4) is along the circumferential direction machined with the inwall of connection positioning shell (1), is connected The lower surface overlapping edges of interface bearing (3) are on annular protrusion (1-4), and the upper surface of connecting interface bearing (3) is by connecing Mouth bearing race snap (4) compresses positioning, is along the circumferential direction machined with multiple cylindrical holes (2-1) on connecting interface shell (2), each A night bolt component (1-2-1) is provided with cylindrical hole (2-1)；The upper end of connection positioning shell (1) is machined with and exported Position the conical surface that shell (5) lower ending opening coordinates；Rotary power module (1-3) includes motor housing (16), motor shaft lower end fixed seat (17), motor shaft bottom end bearing pretension Part (18), motor shaft (20), motor (21), rotor connector (22), harmonic wave drive speed reducer (23), motor shaft upper end are consolidated Reservation (25), motor shaft bottom end bearing (19), motor shaft upper end bearing (24) and even number foil gauge (15), under the motor shaft End fixed seat (17) is packed in the bottom of motor housing (16), and motor shaft upper end fixed seat (25) is arranged on connection positioning shell (1) Interior, the upper end of motor shaft (20) is arranged in motor shaft upper end fixed seat (25) by motor shaft upper end bearing (24), and motor turns Sub- connecting member (22) is arranged on the middle part of motor shaft (20), and the lower end of motor shaft (20) is installed by motor shaft bottom end bearing (19) In motor shaft lower end fixed seat (17), harmonic wave drive speed reducer (23) is sleeved on motor shaft (20) and connects positioning shell (1) Interior, the flexbile gear of harmonic wave drive speed reducer (23) is connected by motor shaft upper end fixed seat (25) with connection interface module (1-2), humorous The steel wheel of ripple gearing speed-reducer (23) is fixedly connected with being connected positioning shell (1)；Motor shaft bottom end bearing (19) axially through electricity Arbor bottom end bearing preload piece (18) is fixed, and even number foil gauge (15) axial symmetry is attached on motor housing (16)；Each spring Latch assembly (1-2-1) includes spring base (6), spring (7) and slide bolt (8), and one end of slide bolt (8) passes through spring (7) it is arranged on spring base (6), the other end of slide bolt (8) is in contact with power output shaft (9).
- 2. the self-positioning power transmission of adaptive anglec of rotation deviation according to claim 1, it is characterised in that：Bullet The quantity of spring latch assembly (1-2-1) is four.
- 3. the self-positioning power transmission of adaptive anglec of rotation deviation according to claim 1 or 2, its feature exist In：Night bolt component (1-2-1) axial symmetry branch is on connecting interface shell (2).
- 4. the self-positioning power transmission of adaptive anglec of rotation deviation according to claim 3, it is characterised in that：Electricity Machine (21) is hollow motor, and motor (21) and harmonic wave drive speed reducer (23) are integrated.
- 5. the self-positioning power transmission of the adaptive anglec of rotation deviation according to claim 1,2 or 4, its feature exist In：Power output installed part (10) connects level with output positioning shell (5) screw thread by power output retainer ring (11) and carries out pretension.
- 6. the self-positioning power transmission of adaptive anglec of rotation deviation according to claim 5, it is characterised in that：It is dynamic The lower end of power output shaft (9) is machined with circular cone chamfering, and the other end of slide bolt (8) is machined with arc surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510607802.3A CN105162280B (en) | 2015-09-22 | 2015-09-22 | The self-positioning power transmission of adaptive anglec of rotation deviation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510607802.3A CN105162280B (en) | 2015-09-22 | 2015-09-22 | The self-positioning power transmission of adaptive anglec of rotation deviation |
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| Publication Number | Publication Date |
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| CN105162280A CN105162280A (en) | 2015-12-16 |
| CN105162280B true CN105162280B (en) | 2017-11-17 |
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| CN201510607802.3A Active CN105162280B (en) | 2015-09-22 | 2015-09-22 | The self-positioning power transmission of adaptive anglec of rotation deviation |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108599510B (en) * | 2018-07-09 | 2023-10-13 | 国网江苏省电力有限公司盐城供电分公司 | Brushless direct current motor for screwdriver |
| CN111452083B (en) * | 2019-01-21 | 2022-08-09 | 哈尔滨工业大学 | Integrated joint type driving and controlling module with force/position detection function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ES2407990T3 (en) * | 2009-09-22 | 2013-06-17 | Eads Casa Espacio S.L. | Retention and release device. |
| CN103341863B (en) * | 2013-07-10 | 2015-08-19 | 哈尔滨工业大学 | A kind of implementation space mechanical arm is from creeping and the end effector of load operation |
| CN203900235U (en) * | 2014-03-20 | 2014-10-29 | 中信戴卡宁波轮毂制造有限公司 | Improved aluminum wheel spinning mould |
| CN104816311B (en) * | 2015-04-20 | 2016-08-31 | 哈尔滨工业大学 | A kind of joint of mechanical arm rapid replacing interface system that can change in-orbit |
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