CN106914921A - A kind of many motor parallel drive type electric joints and its manipulator - Google Patents
A kind of many motor parallel drive type electric joints and its manipulator Download PDFInfo
- Publication number
- CN106914921A CN106914921A CN201710338383.7A CN201710338383A CN106914921A CN 106914921 A CN106914921 A CN 106914921A CN 201710338383 A CN201710338383 A CN 201710338383A CN 106914921 A CN106914921 A CN 106914921A
- Authority
- CN
- China
- Prior art keywords
- motor
- bearing
- output
- mounting hole
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
The invention discloses a kind of many motor parallel drive type electric joints, including motor fixing plate, motor, drive gear, spring bearing, spring bearing fixed block, output bearing, output bearing (setting) plate and output gear；The motor is fixed on the motor fixing plate；The motor fixing plate includes matrix, bearing mounting hole, motor shaft via, motor fixing hole, connecting hole and mounting hole；Multiple motor are used to provide operating power；The drive gear is arranged in the rotary shaft of the motor；The spring bearing is arranged in the bearing mounting hole；Quantity by increasing meshing gear of the invention, reach the purpose of output gear uniform stressed, using the flexibility of motor itself, realize that multiple gear trains cooperate, the effect of muck in, the volume and weight of electronic joint reducing gear is substantially reduced, torque versus weight ratio very high can be obtained under general machining accuracy.
Description
Technical field
The present invention relates to electronic joint field, more particularly to a kind of many motor parallel drive type electric joints and its machinery
Hand.
Background technology
Electronic joint is a kind of electric device for robot, manipulator, and its effect is output torque, control machinery
The anglec of rotation, is typically made up of motor, travelling gear, control circuit etc..The diarthrodial performance of electricity is on robot, manipulator influence
It is huge, electric diarthrodial moment of torsion, weight than bigger, robot, manipulator construction weight it is lighter, high torque weight than electricity
Movable joint is the necessary component of high-performance robot.
Existing electronic joint is typically driven using single motor, by planetary reduction gear, harmonic speed reducer, cycloidal-pin wheel
Decelerator etc. reduces motor speed, and moment of torsion amplifies, while obtaining larger output torque and mechanical stiffness.But it is existing electronic
Joint is when realizing that high pulling torque is exported, it is necessary to gear of larger-diameter motor and large modulus etc. is used, to meet output torque
With the requirement of mechanical strength.Existing method, it is difficult to improve electric diarthrodial torque versus weight ratio, on the one hand, when using major diameter
During motor, in order to meet the requirement of low speed and large torque, it is necessary to use multipolar dynamo, to reduce rotating speed, reduce to a certain extent
The power density of motor.On the other hand, the number of teeth of existing deceleration device output stage actual participation engagement is less, with planetary reduction gear
As a example by device, planet carrier output stage only has 3 gears, to ensure gear mechanism intensity, now need bigger transverse tooth thickness, causes to slow down
Mechanism's weight is larger.To obtain torque versus weight ratio higher, it is necessary to increase and participate in meshed gears quantity, this is resulted in slowing down
Device, the requirement on machining accuracy of gear steeply rise, and the cost of decelerator also synchronously rises.
The content of the invention
It is an object of the invention to provide a kind of many motor parallel drive type electric joints, existing electronic joint moment of torsion weight is solved
Amount is than low problem.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
A kind of many motor parallel drive type electric joints of the present invention, including
For the motor fixing plate of fixed motor；The motor fixing plate include matrix, bearing mounting hole, motor shaft via,
Motor fixing hole, connecting hole and mounting hole；Described matrix is the disc with side wall；The bearing mounting hole is opened in described
Matrix bottom center；Multiple motor shaft vias are uniformly opened in the bearing mounting hole the week side of boss；The motor fixing hole is opened
It is located at around the motor shaft via；The connecting hole is arranged on the side wall of described matrix；The mounting hole is arranged on described
On the side wall of matrix, position is used for the motor fixing plate to be arranged on；
Multiple motor for providing operating power；The motor is bolted on the motor fixing hole, is made electronic
Machine is located at described matrix outside, and the rotary shaft of motor enters matrix inner side through the motor shaft via；
It is arranged on the drive gear in the rotary shaft of the motor；
It is arranged on the spring bearing in the bearing mounting hole；The outer ring of the spring bearing is fastened in bearing mounting hole, interior
Circle is arranged with spring bearing fixed block；The spring bearing fixed block is connected with output gear, and the output gear is located at described
Intrinsic silicon, engages with the drive gear；The opposite side of the output gear by export bearing be provided with output bearing consolidate
Fixed board, the output bearing (setting) plate is bolted on the connecting hole.
Further, the first control line via, the output bearing are provided with the base side walls of the motor fixing plate
The the second control line via coordinated with the first control line via is provided with fixed plate.
Further, it is provided with output bearing installation position on the output bearing (setting) plate；Outside the output bearing
Circle is stuck in the output bearing installation position, and inner ring is stuck on the boss of the output gear.
Further, the support for the rotary shaft through the motor is offered on the output bearing (setting) plate
Hole.
Further, the first mounting hole is offered on the spring bearing fixed block, is offered on the output gear
The second mounting hole coordinated with first mounting hole, institute is connected by bolt through first mounting hole and the second mounting hole
State spring bearing fixed block and output gear.
Further, the quantity of the motor shaft via is ten, is evenly distributed on the bearing mounting hole the week side of boss.
Further, two motor fixing holes, motor fixing hole are offered around each described motor shaft via
Equidistantly distributed is in motor shaft via both sides.
Further, lightening hole is offered on the output gear.
Further, the motor is speed reducing ratio 1：298 N20 decelerators.
A kind of many motor parallel drive-type manipulators, including mechanical gripper, be provided with any one described above it is electronic
The pitching joint in joint, it is provided with the diarthrodial rotary joint of any one described above electricity, rotary joint output toggle arm and absolutely
Edge bar；The mechanical gripper is connected by the pitching joint with one end of the rotary joint, the rotary joint it is another
One end connects the rotary joint output toggle arm, and the rotary joint output toggle arm is fixed on the insulating bar.
Compared with prior art, Advantageous Effects of the invention are as follows：
Quantity by increasing meshing gear of the invention, reaches the purpose of output gear uniform stressed, using the soft of motor itself
Property, realize that multiple gear trains cooperate, the effect of muck in substantially reduces the volume and weight of electronic joint reducing gear
Amount, can obtain torque versus weight ratio very high under general machining accuracy.
Brief description of the drawings
The invention will be further described for explanation below in conjunction with the accompanying drawings.
Fig. 1 is many motor parallel drive type electric joint explosive views of the invention；
Fig. 2 is many motor parallel drive type electric joint axonometric drawings of the invention；
Fig. 3 is drive gear of the invention and output gear cooperation schematic diagram；
Fig. 4 is motor fixing plate structural representation of the invention；
Fig. 5 is output bearing fixed plate structure schematic diagram of the invention；
Fig. 6 is output gear structural representation of the invention；
Fig. 7 is drive gear structural representation of the invention；
Fig. 8 is spring bearing fixed-block-architecture (FBA) schematic diagram of the invention；
Fig. 9 is many motor parallel drive type electric joint circuit connection diagrams of the invention；
Figure 10 is the structural representation of many motor parallel drive-type manipulators of the invention；
Description of reference numerals：1st, motor fixing plate；101st, matrix；102nd, bearing mounting hole；103rd, motor shaft via；104th, motor
Fixing hole；105th, connecting hole；106th, mounting hole；
2nd, motor；3rd, drive gear；4th, spring bearing；5th, spring bearing fixed block；6th, bearing is exported；7th, output bearing is fixed
Plate；8th, the first control line via；9th, the second control line via；10th, output bearing installation position；11st, supported hole；12nd, first install
Hole；13rd, output gear；14th, the second mounting hole；15th, lightening hole；
16th, mechanical gripper；17th, pitching joint；18th, rotary joint；19th, rotary joint output toggle arm；20th, insulating bar.
Specific embodiment
As shown in figure 1, a kind of one of which specific embodiment in many motor parallel drive type electric joints, including motor is solid
Fixed board 1, motor 2, drive gear 3, spring bearing 4, spring bearing fixed block 5, output bearing 6, output bearing (setting) plate 7 and
Output gear 13.
As shown in figures 1-8, motor is arranged on motor fixing plate, and specifically, the motor fixing plate 1 includes matrix
101st, bearing mounting hole 102, motor shaft via 103, motor fixing hole 104, connecting hole 105 and mounting hole 106.Described matrix
101 is the disc with side wall.The bearing mounting hole 102 is opened in the bottom center of described matrix 101, and the bearing is installed
Spring bearing 4 is installed in hole 102.More specifically, the outer ring of the spring bearing 4 is fastened in bearing mounting hole 102, interior
Circle is arranged with spring bearing fixed block 5.The first mounting hole 12, the output gear are offered on the spring bearing fixed block 5
The second mounting hole 14 coordinated with first mounting hole 12 is offered on 13, the He of the first mounting hole 12 is passed through by bolt
Second mounting hole 14 connects the spring bearing fixed block 5 and output gear 13, output gear is pivotally mounted to bearing
In mounting hole.Ten motor shaft vias 103 are uniformly opened in the week side of boss of the bearing mounting hole 102 in this specific embodiment,
Two motor fixing holes 104, the equidistantly distributed of motor fixing hole 104 are offered around each described motor shaft via 103
In the both sides of motor shaft via 103.The motor 2 is bolted on the motor fixing hole 104, motor 2 is located at institute
The outside of matrix 101 is stated, the rotary shaft of motor 2 enters the inner side of matrix 101, the motor 2 through the motor shaft via 103
Rotary shaft on drive gear 3 is installed, the output gear 13 also is located inside described matrix 101, nibbled with the drive gear 3
Close.Connecting hole 105 and mounting hole 106 are formed on the side wall of described matrix 101, is formed on the output bearing (setting) plate 7
Output bearing installation position 10, the outer ring of the output bearing 6 is stuck in the output bearing installation position 10, and inner ring is stuck in described defeated
Go out on the boss of gear 13, then output bearing (setting) plate 7 is arranged on connecting hole by interior hexagonal dormant bolt, make output
The fixation of gear is more stable, and output end will not be rocked.Mounting hole 106 uses position for the motor fixing plate 1 to be arranged on,
Fixation of the invention is completed, then output gear is connecting tumbler, to reach the purpose of work.
More specifically, motor 2 described in this specific embodiment is speed reducing ratio 1：298 N20 decelerators, support
Bearing and output bearing use F6806ZZ deep groove ball bearings, and the interior hexagonal dormant bolt for installing output bearing (setting) plate 7 is used
Hexagonal dormant bolt in the metric system M3 of length 8mm, mechanical structure portion is manufactured by 6061 aluminium alloys, and main process is milling
Cut.
This specific embodiment forms first in addition to above-mentioned technical characteristic on the side wall of matrix 101 of the motor fixing plate 1
Control line via 8, the second control line coordinated with the first control line via 8 is offered on the output bearing (setting) plate 7
Via 9.As shown in figure 9, electric wire is penetrated by the first control line via and the second control line via after installation of the present invention, will
Each motor is in parallel.
Other, offer the supported hole for the rotary shaft through the motor 2 on the output bearing (setting) plate 7
11, the rotary shaft of motor is rotated more steady, reduce energy dissipation.Lightening hole 15 is offered on the output gear 13, is subtracted
Few loss, increases output torque.
As shown in Figure 10, the present invention provides a kind of many motor parallels for applying this many motor parallel drive type electric joint and drives
Dynamic formula manipulator, including mechanical gripper 16, be mounted with as disclosed in above example electric diarthrodial pitching joint 17, install
Electric diarthrodial rotary joint 18, rotary joint output toggle arm 19 and insulating bar 20 as disclosed in above example；The machine
Tool clamper 16 is connected by the pitching joint 17 with one end of the rotary joint 18, allows mechanical gripper about 16
Pitching.The other end of the rotary joint 18 connects the rotary joint output toggle arm 19, the rotary joint output toggle arm 19
It is fixed on the insulating bar 20, rotates mechanical gripper 16.Here a kind of application mode is only provided, is only used as
Bright, not as specific restriction, many motor parallel drive type electric joints of the invention can also have many other ground application mode.
Embodiment described above is only that preferred embodiment of the invention is described, and not the scope of the present invention is carried out
Limit, on the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art make to technical scheme
Various modifications and improvement, all should fall into claims of the present invention determination protection domain in.
Claims (10)
1. a kind of many motor parallel drive type electric joints, it is characterised in that：Including
For fixed motor（2）Motor fixing plate（1）；The motor fixing plate（1）Including matrix（101）, bearing install
Hole（102）, motor shaft via（103）, motor fixing hole（104）, connecting hole（105）And mounting hole（106）；Described matrix
（101）It is the disc with side wall；The bearing mounting hole（102）It is opened in described matrix（101）Bottom center；Multiple institutes
State motor shaft via（103）Uniformly it is opened in the bearing mounting hole（102）The week side of boss；The motor fixing hole（104）It is opened in
The motor shaft via（103）Around；The connecting hole（105）It is arranged on described matrix（101）Side wall on；The mounting hole
（106）It is arranged on described matrix（101）Side wall on, for by the motor fixing plate（1）Installed in using position；
Multiple motor for providing operating power（2）；The motor（2）It is bolted to the motor fixing hole
（104）On, make motor（2）Positioned at described matrix（101）Outside, motor（2）Rotary shaft pass through the motor shaft via
（103）Into matrix（101）Inner side；
It is arranged on the motor（2）Rotary shaft on drive gear（3）；
It is arranged on the bearing mounting hole（102）Interior spring bearing（4）；The spring bearing（4）Outer ring be fastened on bearing
Mounting hole（102）Interior, inner ring is arranged with spring bearing fixed block（5）；The spring bearing fixed block（5）It is connected with output gear
（13）, the output gear（13）Positioned at described matrix（101）Inside, with the drive gear（3）Engagement；The output gear
（13）Opposite side by exporting bearing（6）It is provided with output bearing (setting) plate（7）, the output bearing (setting) plate（7）Pass through
It is bolted to the connecting hole（105）On.
2. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The motor fixing plate
（1）Matrix（101）The first control line via is provided with the wall of side（8）, the output bearing (setting) plate（7）On be provided with and institute
State the first control line via（8）The the second control line via for coordinating（9）.
3. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The output bearing is fixed
Plate（7）On be provided with output bearing installation position（10）；The output bearing（6）Outer ring be stuck in the output bearing installation position
（10）Interior, inner ring is stuck in the output gear（13）Boss on.
4. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The output bearing is fixed
Plate（7）On offer for through the motor（2）Rotary shaft supported hole（11）.
5. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The spring bearing is fixed
Block（5）On offer the first mounting hole（12）, the output gear（13）On offer and first mounting hole（12）Coordinate
The second mounting hole（14）, first mounting hole is passed through by bolt（12）With the second mounting hole（14）Connect the support shaft
Hold fixed block（5）And output gear（13）.
6. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The motor shaft via
（103）Quantity be ten, be evenly distributed on the bearing mounting hole（102）The week side of boss.
7. many motor parallel drive type electric joints according to claim 6, it is characterised in that：Each described motor shaft mistake
Hole（103）Surrounding offers two motor fixing holes（104）, motor fixing hole（104）Equidistantly distributed is in motor shaft mistake
Hole（103）Both sides.
8. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The output gear（13）
On offer lightening hole（15）.
9. many motor parallel drive type electric joints according to claim 1, it is characterised in that：The motor（2）For
Speed reducing ratio 1：298 N20 decelerators.
10. a kind of many motor parallel drive-type manipulators, it is characterised in that：Including mechanical gripper（16）, be provided with such as right
It is required that the diarthrodial pitching joint of any one electricity described in 1-9（17）, be provided with any one as described in claim 1-9
The diarthrodial rotary joint of electricity（18）, rotary joint output toggle arm（19）And insulating bar（20）；The mechanical gripper（16）It is logical
Cross the pitching joint（17）With the rotary joint（18）One end connection, the rotary joint（18）The other end connection institute
State rotary joint output toggle arm（19）, the rotary joint output toggle arm（19）It is fixed on the insulating bar（20）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338383.7A CN106914921B (en) | 2017-05-15 | 2017-05-15 | Multi-motor parallel driving type electric joint and manipulator thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710338383.7A CN106914921B (en) | 2017-05-15 | 2017-05-15 | Multi-motor parallel driving type electric joint and manipulator thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106914921A true CN106914921A (en) | 2017-07-04 |
| CN106914921B CN106914921B (en) | 2023-10-17 |
Family
ID=59567887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710338383.7A Active CN106914921B (en) | 2017-05-15 | 2017-05-15 | Multi-motor parallel driving type electric joint and manipulator thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106914921B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000809A (en) * | 2019-05-10 | 2019-07-12 | 中国科学院合肥物质科学研究院 | A kind of modularization heavy-duty machinery shoulder joint |
| CN113305876A (en) * | 2021-05-26 | 2021-08-27 | 中国科学院自动化研究所 | High-redundancy flexible robot joint, robot and joint structure |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07243485A (en) * | 1994-03-04 | 1995-09-19 | Eiden Ri | Multifunctional power saving type transmission mechanism |
| JPH1029188A (en) * | 1997-03-12 | 1998-02-03 | Teijin Seiki Co Ltd | Joint device for industrial robot |
| WO2008149696A1 (en) * | 2007-06-01 | 2008-12-11 | Nabtesco Corporation | Reduction gear device with motors, and industrial machine |
| CN105397836A (en) * | 2015-12-23 | 2016-03-16 | 武汉穆特科技有限公司 | Highly-integrated modular robot joint |
| CN106514702A (en) * | 2017-01-13 | 2017-03-22 | 山东大学 | Single shaft and two-degree-of-freedom robot joint |
| CN206764819U (en) * | 2017-05-15 | 2017-12-19 | 保定市恒信达电气有限公司 | A kind of more motor parallel drive type electric joints and its manipulator |
-
2017
- 2017-05-15 CN CN201710338383.7A patent/CN106914921B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07243485A (en) * | 1994-03-04 | 1995-09-19 | Eiden Ri | Multifunctional power saving type transmission mechanism |
| JPH1029188A (en) * | 1997-03-12 | 1998-02-03 | Teijin Seiki Co Ltd | Joint device for industrial robot |
| WO2008149696A1 (en) * | 2007-06-01 | 2008-12-11 | Nabtesco Corporation | Reduction gear device with motors, and industrial machine |
| CN105397836A (en) * | 2015-12-23 | 2016-03-16 | 武汉穆特科技有限公司 | Highly-integrated modular robot joint |
| CN106514702A (en) * | 2017-01-13 | 2017-03-22 | 山东大学 | Single shaft and two-degree-of-freedom robot joint |
| CN206764819U (en) * | 2017-05-15 | 2017-12-19 | 保定市恒信达电气有限公司 | A kind of more motor parallel drive type electric joints and its manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000809A (en) * | 2019-05-10 | 2019-07-12 | 中国科学院合肥物质科学研究院 | A kind of modularization heavy-duty machinery shoulder joint |
| CN110000809B (en) * | 2019-05-10 | 2022-01-21 | 中国科学院合肥物质科学研究院 | Modular heavy-load mechanical arm joint |
| CN113305876A (en) * | 2021-05-26 | 2021-08-27 | 中国科学院自动化研究所 | High-redundancy flexible robot joint, robot and joint structure |
| CN113305876B (en) * | 2021-05-26 | 2022-02-25 | 中国科学院自动化研究所 | High-redundancy flexible robot joint, robot and joint structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106914921B (en) | 2023-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207141409U (en) | Intersect twin-rotor helicopter and its machine driven system | |
| CN106914921A (en) | A kind of many motor parallel drive type electric joints and its manipulator | |
| CN208634289U (en) | A kind of double outputting planetary gear reduction unit | |
| CN206764819U (en) | A kind of more motor parallel drive type electric joints and its manipulator | |
| CN107627112A (en) | A kind of NC rotary table with harmonic speed reducer | |
| CN106369117B (en) | A kind of speed adjusting gear | |
| CN205890525U (en) | Bi -motor power device and electric automobile are arranged to single file star | |
| CN202997827U (en) | Motor system assembly with deceleration mechanism | |
| CN104776164B (en) | Engineering machinery actuating unit | |
| CN110788848B (en) | Energy-saving type industrial robot with rear-mounted driving unit | |
| CN109017293A (en) | A kind of new-energy automobile actuating unit | |
| CN208169443U (en) | Coaxial-type large torque hollow shaft input and output planetary driving device | |
| CN106090150B (en) | The variable RV speed reducer of reduction ratio | |
| CN107650136A (en) | A kind of electronic clamper of four-point | |
| CN205219109U (en) | Numerical control machinery arm with get material clamping device | |
| CN207272699U (en) | A kind of NC rotary table with harmonic speed reducer | |
| CN103401355A (en) | Motor integrated with reducing and differential mechanism | |
| CN209615024U (en) | The simple grinding head device of lathe | |
| CN209925519U (en) | Novel speed reducer | |
| CN202098998U (en) | Metallurgy quenching crane | |
| CN209408488U (en) | Industry robot comprising acting axle construction | |
| CN206677073U (en) | A kind of bending apparatus for steel strand wires | |
| CN213122213U (en) | Efficient transfer mechanism for detecting speed reduction motor | |
| CN102537222A (en) | Coal mining machine and planetary gear transmission mechanism of rocker of coal mining machine | |
| CN206468752U (en) | For small size, small quality, high-specific-power electric operator reducing gear |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |