CN106914921B - Multi-motor parallel driving type electric joint and manipulator thereof - Google Patents
Multi-motor parallel driving type electric joint and manipulator thereof Download PDFInfo
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- CN106914921B CN106914921B CN201710338383.7A CN201710338383A CN106914921B CN 106914921 B CN106914921 B CN 106914921B CN 201710338383 A CN201710338383 A CN 201710338383A CN 106914921 B CN106914921 B CN 106914921B
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- motor
- hole
- bearing
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- fixing plate
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- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-motor parallel driving type electric joint, which comprises a motor fixing plate, a motor, a driving gear, a supporting bearing fixing block, an output bearing fixing plate and an output gear, wherein the motor fixing plate is connected with the motor; the motor is fixed on the motor fixing plate; the motor fixing plate comprises a base body, a bearing mounting hole, a motor shaft through hole, a motor fixing hole, a connecting hole and a mounting hole; a plurality of motors for providing operating power; the driving gear is arranged on the rotating shaft of the motor; the support bearing is arranged in the bearing mounting hole; the invention achieves the aim of uniformly bearing the output gear by increasing the number of the meshed gears, realizes the effect of cooperative work and common output of a plurality of gear sets by utilizing the flexibility of the motor, greatly reduces the volume and the weight of the electric joint speed reducing mechanism, and can obtain high torque-weight ratio under the general processing precision.
Description
Technical Field
The invention relates to the field of electric joints, in particular to a multi-motor parallel driving type electric joint and a manipulator thereof.
Background
The electric joint is an electric device for robots and manipulators, and is used for outputting torque and controlling the rotation angle of a machine, and is generally composed of a motor, a transmission gear, a control circuit and the like. The performance of the electric joint has great influence on the robot and the manipulator, the greater the torque and the weight ratio of the electric joint, the lighter the structural weight of the robot and the manipulator, and the electric joint with high torque-weight ratio is an essential component of the high-performance robot.
The existing electric joint is generally driven by a single motor, the rotating speed of the motor is reduced through a planetary speed reducer, a harmonic speed reducer, a cycloidal pin gear speed reducer and the like, the torque is amplified, and meanwhile, larger output torque and mechanical rigidity are obtained. However, when the existing electric joint realizes large torque output, a motor with a larger diameter, a gear with a large module and the like are required to be adopted so as to meet the requirements of output torque and mechanical strength. In the existing method, the torque-weight ratio of the electric joint is difficult to improve, on one hand, when a large-diameter motor is adopted, a multipolar motor is required to be adopted to reduce the rotating speed in order to meet the requirements of low speed and high torque, and the power density of the motor is reduced to a certain extent. On the other hand, the number of teeth actually engaged in the output stage of the existing speed reducer is small, and in the case of a planetary speed reducer, the output stage of the planetary carrier has only 3 gears, so that in order to ensure the mechanical strength of the gears, a larger tooth thickness is required, and the weight of the speed reducing mechanism is large. To achieve a higher torque-to-weight ratio, the number of gears involved in the engagement must be increased, which results in a dramatic increase in the machining accuracy requirements for the speed reducer, the gears, and the cost of the speed reducer.
Disclosure of Invention
The invention aims to provide a multi-motor parallel driving type electric joint, which solves the problem of low torque weight ratio of the existing electric joint.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention relates to a multi-motor parallel driving type electric joint, which comprises
A motor fixing plate for fixing the motor; the motor fixing plate comprises a base body, a bearing mounting hole, a motor shaft through hole, a motor fixing hole, a connecting hole and a mounting hole; the substrate is disc-shaped with side walls; the bearing mounting hole is formed in the center of the bottom surface of the substrate; the motor shaft through holes are uniformly formed in the periphery of the bearing mounting hole; the motor is fixed Kong Kaishe around the motor shaft via; the connecting hole is arranged on the side wall of the base body; the mounting holes are arranged on the side wall of the base body and used for mounting the motor fixing plate at the using position;
a plurality of motors for providing operating power; the motor bolt is fixed on the motor fixing hole, so that the motor is positioned outside the base body, and a rotating shaft of the motor passes through the motor shaft through hole and enters the inner side of the base body;
a drive gear provided on a rotation shaft of the motor;
a support bearing disposed within the bearing mounting hole; the outer ring of the support bearing is clamped in the bearing mounting hole, and the inner ring is clamped with a support bearing fixing block; the support bearing fixing block is connected with an output gear, and the output gear is positioned in the base body and meshed with the driving gear; the other side of the output gear is provided with an output bearing fixing plate through an output bearing, and the output bearing fixing plate is fixed on the connecting hole through a bolt.
Further, a first control line via hole is formed in the side wall of the base body of the motor fixing plate, and a second control line via hole matched with the first control line via hole is formed in the output bearing fixing plate.
Still further, the output bearing fixing plate is provided with an output bearing mounting position; the outer ring of the output bearing is clamped in the output bearing mounting position, and the inner ring is clamped on a boss of the output gear.
Still further, the output bearing fixing plate is provided with a supporting hole for passing through the rotating shaft of the motor.
Still further, set up first mounting hole on the support bearing fixed block, set up on the output gear with first mounting hole complex second mounting hole passes through the bolt first mounting hole and second mounting hole connect support bearing fixed block and output gear.
Still further, the quantity of motor shaft via hole is ten, evenly distributed in bearing mounting hole week side.
Still further, two motor fixing holes are formed around each motor shaft via hole, and the motor fixing holes are distributed on two sides of the motor shaft via hole at equal intervals.
Still further, the output gear is provided with a lightening hole.
Still further, the motor is a reduction ratio 1: 298.
A multi-motor parallel driving manipulator comprises a mechanical clamp holder, a pitching joint provided with any one of the electric joints, a rotating joint output crank arm and an insulating rod; the mechanical clamp holder is connected with one end of the rotary joint through the pitching joint, the other end of the rotary joint is connected with the rotary joint output crank arm, and the rotary joint output crank arm is fixed on the insulating rod.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention achieves the aim of uniformly bearing the output gear by increasing the number of the meshed gears, realizes the effect of cooperative work and common output of a plurality of gear sets by utilizing the flexibility of the motor, greatly reduces the volume and the weight of the electric joint speed reducing mechanism, and can obtain high torque-weight ratio under the general processing precision.
Drawings
The invention is further described with reference to the following description of the drawings.
FIG. 1 is an exploded view of a multi-motor parallel drive electric joint of the present invention;
FIG. 2 is an isometric view of a multi-motor parallel drive electric joint of the present invention;
FIG. 3 is a schematic diagram of the cooperation of the driving gear and the output gear according to the present invention;
FIG. 4 is a schematic view of a motor mounting plate structure according to the present invention;
FIG. 5 is a schematic view of an output bearing retainer plate structure according to the present invention;
FIG. 6 is a schematic diagram of an output gear configuration of the present invention;
FIG. 7 is a schematic diagram of a driving gear structure according to the present invention;
FIG. 8 is a schematic view of a support bearing retainer block according to the present invention;
FIG. 9 is a schematic diagram of a circuit connection of a multi-motor parallel drive type electric joint according to the present invention;
FIG. 10 is a schematic diagram of a multi-motor parallel drive manipulator according to the present invention;
reference numerals illustrate: 1. a motor fixing plate; 101. a base; 102. bearing mounting holes; 103. a motor shaft via hole; 104. a motor fixing hole; 105. a connection hole; 106. a mounting hole;
2. a motor; 3. a drive gear; 4. a support bearing; 5. a support bearing fixing block; 6. an output bearing; 7. an output bearing fixing plate; 8. a first control line via; 9. a second control line via; 10. outputting a bearing installation position; 11. a support hole; 12. a first mounting hole; 13. an output gear; 14. a second mounting hole; 15. a lightening hole;
16. a mechanical gripper; 17. a pitch joint; 18. a rotary joint; 19. a rotary joint output crank arm; 20. an insulating rod.
Detailed Description
As shown in fig. 1, one embodiment of a multi-motor parallel driving type electric joint includes a motor fixing plate 1, a motor 2, a driving gear 3, a support bearing 4, a support bearing fixing block 5, an output bearing 6, an output bearing fixing plate 7, and an output gear 13.
As shown in fig. 1 to 8, the motor is mounted on a motor fixing plate, and in particular, the motor fixing plate 1 includes a base body 101, a bearing mounting hole 102, a motor shaft via hole 103, a motor fixing hole 104, a connection hole 105, and a mounting hole 106. The base 101 is disc-shaped with side walls. The bearing mounting hole 102 is formed in the center of the bottom surface of the base body 101, and the supporting bearing 4 is mounted in the bearing mounting hole 102. More specifically, the outer ring of the support bearing 4 is clamped in the bearing mounting hole 102, and the inner ring is clamped with the support bearing fixing block 5. The first mounting hole 12 is formed in the support bearing fixing block 5, the second mounting hole 14 matched with the first mounting hole 12 is formed in the output gear 13, the support bearing fixing block 5 and the output gear 13 are connected through bolts penetrating through the first mounting hole 12 and the second mounting hole 14, and the output gear is rotatably mounted in the bearing mounting hole. In this embodiment, ten motor shaft through holes 103 are uniformly formed on the circumferential side of the bearing mounting hole 102, two motor fixing holes 104 are formed around each motor shaft through hole 103, and the motor fixing holes 104 are distributed on two sides of the motor shaft through hole 103 at equal intervals. The motor 2 is fixed on the motor fixing hole 104 by bolts, so that the motor 2 is positioned outside the base body 101, a rotating shaft of the motor 2 passes through the motor shaft through hole 103 to enter the inside of the base body 101, a driving gear 3 is arranged on the rotating shaft of the motor 2, and the output gear 13 is also positioned inside the base body 101 and meshed with the driving gear 3. The side wall of the base body 101 is provided with a connecting hole 105 and a mounting hole 106, the output bearing fixing plate 7 is provided with an output bearing mounting position 10, the outer ring of the output bearing 6 is clamped in the output bearing mounting position 10, the inner ring is clamped on a boss of the output gear 13, and then the output bearing fixing plate 7 is mounted on the connecting hole through an inner hexagonal countersunk bolt, so that the output gear is more stable to fix, and the output end cannot shake. The mounting hole 106 is used for mounting the motor fixing plate 1 at a use position, completing the fixing of the invention, and then the output gear is connected with the rotating device so as to achieve the purpose of work.
More specifically, the motor 2 in this embodiment is a reduction ratio 1:298, the supporting bearing and the output bearing are both F6806ZZ deep groove ball bearings, the inner hexagonal countersunk head bolt for installing the output bearing fixing plate 7 is a metric M3 inner hexagonal countersunk head bolt with the length of 8mm, the mechanical structure part is made of 6061 aluminum alloy, and the main processing technology is milling.
In addition to the above technical features, the side wall of the base body 101 of the motor fixing plate 1 is formed with a first control line via hole 8, and the output bearing fixing plate 7 is formed with a second control line via hole 9 matched with the first control line via hole 8. As shown in fig. 9, after the installation of the present invention, the electric wires are threaded through the first control wire via hole and the second control wire via hole, and the motors are connected in parallel.
In addition, the output bearing fixing plate 7 is provided with a supporting hole 11 for penetrating through the rotating shaft of the motor 2, so that the rotating shaft of the motor rotates more stably, and energy waste is reduced. The output gear 13 is provided with a lightening hole 15, so that loss is reduced, and output torque is increased.
As shown in fig. 10, the present invention provides a multi-motor parallel drive type manipulator to which the present multi-motor parallel drive type electric joint is applied, comprising a mechanical gripper 16, a pitch joint 17 to which the electric joint as disclosed in the above embodiments is mounted, a rotary joint 18 to which the electric joint as disclosed in the above embodiments is mounted, a rotary joint output crank arm 19, and an insulating rod 20; the mechanical gripper 16 is connected to one end of the rotary joint 18 through the pitch joint 17, so that the mechanical gripper 16 can pitch up and down. The other end of the rotary joint 18 is connected with the rotary joint output crank arm 19, and the rotary joint output crank arm 19 is fixed on the insulating rod 20, so that the mechanical gripper 16 can rotate. Only one application is provided here, but the multi-motor parallel drive type electric joint of the present invention is not limited to the specific one, and many other applications are possible.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the design spirit of the present invention.
Claims (2)
1. The utility model provides a many motors parallel drive formula electric joint which characterized in that: comprising
A motor fixing plate (1) for fixing the motor (2); the motor fixing plate (1) comprises a base body (101), a bearing mounting hole (102), a motor shaft through hole (103), a motor fixing hole (104), a connecting hole (105) and a mounting hole (106); the substrate (101) is disc-shaped with side walls; the bearing mounting hole (102) is formed in the center of the bottom surface of the base body (101); the motor shaft through holes (103) are uniformly formed in the periphery of the bearing mounting hole (102); the motor fixing hole (104) is formed around the motor shaft through hole (103); the connecting hole (105) is arranged on the side wall of the base body (101); the mounting holes (106) are arranged on the side wall of the base body (101) and are used for mounting the motor fixing plate (1) at a use position;
a plurality of motors (2) for providing operation power; the motor (2) is fixed on the motor fixing hole (104) through bolts, so that the motor (2) is positioned outside the base body (101), and a rotating shaft of the motor (2) passes through the motor shaft through hole (103) to enter the inner side of the base body (101);
a drive gear (3) provided on the rotation shaft of the motor (2);
a support bearing (4) provided in the bearing mounting hole (102); the outer ring of the support bearing (4) is clamped in the bearing mounting hole (102), and the inner ring is clamped with a support bearing fixing block (5); the support bearing fixing block (5) is connected with an output gear (13), and the output gear (13) is positioned in the base body (101) and meshed with the driving gear (3); an output bearing fixing plate (7) is arranged on the other side of the output gear (13) through an output bearing (6), and the output bearing fixing plate (7) is fixed on the connecting hole (105) through a bolt;
a first control line via hole (8) is formed in the side wall of a base body (101) of the motor fixing plate (1), and a second control line via hole (9) matched with the first control line via hole (8) is formed in the output bearing fixing plate (7);
an output bearing mounting position (10) is arranged on the output bearing fixing plate (7); the outer ring of the output bearing (6) is clamped in the output bearing mounting position (10), and the inner ring is clamped on a boss of the output gear (13);
the output bearing fixing plate (7) is provided with a supporting hole (11) for penetrating through the rotating shaft of the motor (2);
a first mounting hole (12) is formed in the support bearing fixing block (5), a second mounting hole (14) matched with the first mounting hole (12) is formed in the output gear (13), and the support bearing fixing block (5) and the output gear (13) are connected through bolts penetrating through the first mounting hole (12) and the second mounting hole (14);
the number of the motor shaft through holes (103) is ten, and the motor shaft through holes are uniformly distributed on the periphery of the bearing mounting hole (102);
two motor fixing holes (104) are formed around each motor shaft through hole (103), and the motor fixing holes (104) are distributed on two sides of the motor shaft through holes (103) at equal intervals;
the output gear (13) is provided with a lightening hole (15);
the motor (2) has a reduction ratio of 1: 298.
2. A multi-motor parallel driving type manipulator is characterized in that: comprising a mechanical gripper (16), a pitch joint (17) provided with an electric joint according to claim 1, a rotary joint (18) provided with an electric joint according to claim 1, a rotary joint output crank arm (19) and an insulating rod (20); the mechanical clamp holder (16) is connected with one end of the rotary joint (18) through the pitching joint (17), the other end of the rotary joint (18) is connected with the rotary joint output crank arm (19), and the rotary joint output crank arm (19) is fixed on the insulating rod (20).
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 CN106914921A (en) | 2017-07-04 |
| CN106914921B true CN106914921B (en) | 2023-10-17 |
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| 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 |
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| Country | Link |
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| CN (1) | CN106914921B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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 |
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| Publication number | Publication date |
|---|---|
| CN106914921A (en) | 2017-07-04 |
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