CN107116575A - A kind of integrated rotation driving actuator - Google Patents
A kind of integrated rotation driving actuator Download PDFInfo
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- CN107116575A CN107116575A CN201710416180.5A CN201710416180A CN107116575A CN 107116575 A CN107116575 A CN 107116575A CN 201710416180 A CN201710416180 A CN 201710416180A CN 107116575 A CN107116575 A CN 107116575A
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- motor
- encoder
- speed reducer
- ring flange
- driving actuator
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- 230000001360 synchronised effect Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
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- 238000013461 design Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000002708 enhancing effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
- B25J19/0041—Means for supplying energy to the end effector arranged within the different robot elements having rotary connection means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of integrated rotation driving actuator, including motor, coaxial speed reducer and shaft flange；Motor is provided with motor encoder, and is driven by drive circuit board；The input of coaxial speed reducer coordinates with motor, and coaxial speed reducer is provided with decelerator encoder；Shaft flange is the output shaft provided with ring flange, the output end cooperation of ring flange and coaxial speed reducer, output shaft output turn signal.When the driving actuator works, drive circuit board motor can obtain the rotating speed of motor and the rotating speed of coaxial speed reducer output end by encoder, rotating speed can be adjusted by drive circuit board according to speed conditions, realize accurate control.Driver, motor, encoder, coaxial speed reducer are integrated with a compact and flexible entirety by the driving actuator, improve the convenience installed and used.The driving actuator structure is compact, and small volume, output torque is big, it is easy to control, and control accuracy is high, safe.
Description
Technical field
The present invention relates to robotic technology field, in particular it relates to a kind of integrated rotation driving actuator.
Background technology
In the last few years with the development of industrial technology, intelligent robot has more in the fields such as industry, medical treatment, service and people
Many contacts.
The rigid joint that traditional robot is driven using motor-decelerator-load linearity.Rigid joint has structure letter
The advantages of list, volume compact, accurate positioning, industrial requirement can be met.But rigid joint environment can not be made to external world
Timely respond, this causes the poor compatibility for carrying the robot in rigid joint, low energy efficiency and energy consumption is very big, robot
When occurring rigid collision with environment, expensive device may be damaged or people and animals are injured.
At present, servo is generally driver and motor separation, and the two is connected by cable, and such connecting line is more, wiring
Trouble, and circuit is easily easily influenceed overall operation by external interference, loose contact or aging.Especially encoder line is with distance
Increase, the enhancing of external environmental interference, communication quality can be decreased obviously.
Existing servo mostly uses inner rotor motor, and its cost is high, and volume is big, and moment of torsion is small, and overload capacity is weak.Motor, drive
Dynamic device, encoder, which are separated, make it that the mixed and disorderly antijamming capability of circuit is weak, and causes overall volume big.
Existing servo overall volume is big, and cost performance is low, and energy utilization rate is low, and security is low.
The content of the invention
It is an object of the invention to provide a kind of integrated rotation driving actuator, the integrated rotation driving actuator knot
Structure is compact, integrated, miniaturization, low cost, high-performance, with the senior control such as Flexible Control.
In order to realize above-mentioned technical purpose, the invention provides integrated rotation driving actuator, including motor, coaxially subtract
Fast device and shaft flange；The motor is provided with motor encoder, and is driven by drive circuit board；The input of the coaxial speed reducer
Coordinate with the motor, the coaxial speed reducer is provided with decelerator encoder；The shaft flange is the output shaft provided with ring flange,
The output end of the ring flange and the coaxial speed reducer coordinates, and the output shaft exports turn signal.
Optionally, the coaxial speed reducer is harmonic wave drive speed reducer, and the harmonic wave drive speed reducer is from inside to outside successively
For inner ring cam, flexible bearing, upper steel wheel and lower steel wheel；The inner ring cam is the input, is coordinated with the motor；Institute
Lower steel wheel and cage connection are stated, the upper steel wheel is the output end, is connected with the ring flange.
Optionally, torsion spring buffer and end encoder, inner ring and the output shaft of the torsion spring buffer are additionally provided with
Coordinate, the outer ring flange output turn signal of the torsion spring buffer.
Optionally, the first end cap, the second end cap, the 3rd end cap and the 4th are sequentially provided with from top to bottom on the outside of the ring flange
End cap；First end cap and second end cap are located on the outside of the ring flange, and the two is between the ring flange provided with friendship
Pitch roller bearing；3rd end cap and the 4th end cap are located at the outside of the torsion spring buffer, the two and the torsion spring
Crossed roller bearing is provided between buffer.
Optionally, encoder circuit plate, and encoder electricity are provided between the ring flange and the torsion spring buffer
Road plate is located between second end cap and the 3rd end cap；The rotor of the decelerator encoder is located at the ring flange
Upper surface, the stator of the decelerator encoder is located at the downside of the encoder circuit plate；The lower surface of the outer ring flange
Rotor provided with the end encoder, the stator of the end encoder is located at the upside of the encoder circuit plate.
Optionally, the encoder circuit plate is connected by path with the drive circuit board, and the path is from top to bottom
Sequentially pass through the 3rd cover plate, second cover plate, first cover plate and the shell.
Optionally, the coaxial speed reducer be planetary reduction gear, the planetary reduction gear be followed successively by from inside to outside sun gear,
Planetary gear, retainer and ring gear；The sun gear is the input, is coordinated with the motor；The ring gear with it is described
Cage connection, the retainer is the output end, is connected with the ring flange.
Optionally, the coaxial speed reducer is planet-cycloid reducer, and the planet-cycloid reducer includes eccentric shaft, pendulum
Drum, output retainer and pin wheel housing；The eccentric shaft is the input, is coordinated with the motor；The pin wheel housing and institute
Cage connection is stated, the output retainer is the output end, is connected with the ring flange.
Optionally, the motor is located at the upside of drive circuit board, and the rotor of the motor encoder is located at the motor
Rotor lower surface, the stator of the motor encoder is located at the upside of the drive circuit board.
Optionally, it is arranged structural member on the outside of the rotor of the motor encoder.
Optionally, in addition to synchronous drive mechanism and rotating shaft, the motor and the rotating shaft is set up in parallel, the motor
Rotor drives the axis of rotation, the rotating shaft and the input of the coaxial speed reducer by the synchronous drive mechanism
Coordinate.
Optionally, the motor and the rotating shaft are respectively positioned on the upside of the drive circuit board；The motor encoder
Rotor is located at the lower surface of the rotor of the motor, and the stator of the motor encoder is located at the upside of the drive circuit board；
The rotating shaft is provided with shaft encoder, and the rotor of the shaft encoder is located at the lower surface of the rotating shaft, the rotating shaft coding
The stator of device is located at the upside of the drive circuit board.
The integrated rotation driving actuator that the present invention is provided, including motor, coaxial speed reducer and shaft flange；Motor is provided with
Motor encoder, and driven by drive circuit board；The input of coaxial speed reducer coordinates with motor, and coaxial speed reducer is provided with deceleration
Device encoder；Shaft flange is the output shaft provided with ring flange, the output end cooperation of ring flange and coaxial speed reducer, output shaft output
Turn signal.
During integrated rotation driving actuator work, drive circuit board motor drives after electric motor starting and coaxially subtracted
Fast device and shaft flange, after coaxial speed reducer slows down, turn signal is exported by the output shaft of shaft flange.Motor is provided with motor
Encoder, coaxial speed reducer is provided with decelerator encoder, and the rotating speed and decelerator output end of motor can be obtained by encoder
Rotating speed, rotating speed can be adjusted by drive circuit board according to speed conditions, realize accurate control.The driving actuator
Driver, motor, encoder, coaxial speed reducer are integrated with a compact and flexible entirety, installation is improved and uses just
Profit.The driving actuator structure is compact, and small volume, output torque is big, it is easy to control, and control accuracy is high, safe.
Brief description of the drawings
Accompanying drawing is, for providing a further understanding of the present invention, and to constitute a part for specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.
Fig. 1 is the sectional view of the first embodiment of integrated rotation driving actuator provided by the present invention；
Fig. 2 is the stereogram of another section of the integrated rotation driving actuator shown in Fig. 1；
Fig. 3 is the sectional view of integrated second of embodiment of rotation driving actuator provided by the present invention；
Wherein, the corresponding relation between references and component names of the Fig. 1 into Fig. 3 is as follows：
Motor 1；Drive circuit board 11；Encoder circuit plate 12；Structural member 13；
Coaxial speed reducer 2；Inner ring cam 21；Flexible bearing 22；Upper steel wheel 23；Lower steel wheel 24；
Shaft flange 3；Ring flange 31；Output shaft 32；
Torsion spring buffer 4；Inner ring 41；Outer ring flange 42；
Shell 5；First end cap 51；Second end cap 52；3rd end cap 53；4th end cap 54；Crossed roller bearing 55；Path 56；
Synchronous drive mechanism 6；
Rotating shaft 7；Shaft encoder 71.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched
The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
Fig. 1 to Fig. 3 is refer to, Fig. 1 is the first specific implementation of integrated rotation driving actuator provided by the present invention
The sectional view of mode, Fig. 2 is the stereogram of another section of the integrated rotation driving actuator shown in Fig. 1, and Fig. 3 is this hair
The sectional view of bright provided integrated second of embodiment of rotation driving actuator.
In a kind of specific embodiment, the invention provides a kind of integrated rotation driving actuator, including motor
1st, coaxial speed reducer 2 and shaft flange 3；Motor 1 is provided with motor encoder, and is driven by drive circuit board 11；Coaxial speed reducer 2
Input coordinates with motor 1, and coaxial speed reducer 2 is provided with decelerator encoder；Shaft flange 3 is the output shaft provided with ring flange 31
32, the output end of ring flange 31 and coaxial speed reducer 2 coordinates, the output turn signal of output shaft 32.
During the integrated rotation driving actuator work, the motor 1 of drive circuit board 11, by same after the startup of motor 1
Axle decelerator 2 drives shaft flange 3, after the deceleration of coaxial speed reducer 2, and turn signal is exported by the output shaft 32 of shaft flange 3.
Motor 1 is provided with motor encoder, and coaxial speed reducer 2 is provided with decelerator encoder, motor 1 can be obtained by two encoders
The rotating speed of rotating speed and the output end of coaxial speed reducer 2, rotating speed can be adjusted by drive circuit board 11 according to speed conditions,
Realize accurate control.
The integrated rotation driving actuator by driver, motor 1, encoder, coaxial speed reducer 2 be integrated with one it is compact
It is flexible overall, the convenience installed and used is improved, small volume connection is convenient, strong antijamming capability.The low essence of cost
Degree is high, and driving uses the design of low-cost and high-performance, and design driven circuit board 11 passes through such method optimizing enhancing
Energy.
It is preferred that, motor 1 is brushless electric machine, using external rotor electric machine, and outside, magnetic moment of torsion radius is big for rotor, so turning round
Square density is high.Structure can be made flat, can so be adapted to empty axle, and external diameter is big, can use bigger code-disc, such encoder point
Resolution is higher.Rotor inertia is big, and motor overload ability is strong.
The integrated rotation driving actuator structure is compact, and small volume, output torque is big, it is easy to control, and control accuracy is high,
It is safe.
It should be noted that coaxial speed reducer 2 can slow down for harmonic wave drive speed reducer, planetary reduction gear or cycloidal-pin wheel
Device, or other can realize the decelerator of coaxial speed-down, the below technical side by taking harmonic wave drive speed reducer as an example to the present invention
Case is illustrated.
It is a kind of preferred embodiment in, coaxial speed reducer 2 be harmonic wave drive speed reducer, harmonic wave drive speed reducer by it is interior to
It is followed successively by inner ring cam 21, flexible bearing 22, upper steel wheel 23 and lower steel wheel 24 outside；Inner ring cam 21 is input, is matched somebody with somebody with motor 1
Close；Lower steel wheel 24 is connected with shell 5, and upper steel wheel 23 is output end, is connected with ring flange 31.
As shown in figure 1, the power transmission shaft of motor 1 coordinates with inner ring cam 21, upper steel wheel 23 is connected with ring flange 31, lower steel wheel
24 are connected with shell 5.When the power transmission shaft of motor 1 drives the rotation of inner ring cam 21, lower steel wheel 24 is remained stationary as, and inner ring cam 21 leads to
Crossing flexible bearing 22 drives the upper differential of steel wheel 23 to rotate, and plays a part of deceleration.Harmonic wave drive speed reducer transmission speed ratio is big, volume
It is small, high transmission accuracy, transmission efficiency, stable movement.
In further specific embodiment, be additionally provided with torsion spring buffer 4 and end encoder, torsion spring buffer 4 it is interior
Circle 41 coordinates with output shaft 32, the output turn signal of outer ring flange 42 of torsion spring buffer 4.
The mutation that torsion spring buffer 4 is loaded using torsion spring as accumulating mechanism come absorbing external, can also pass through torsion spring
Relatively rotate the size for measuring external loading.Torsion spring buffer 4 can play a part of flexible buffer, decelerator encoder and end
End encoder, which coordinates, can learn the deflection of torsion spring buffer 4, and then learn the moment of torsion of end output, can realize flexible control
The various senior controls such as system；Can also according to the deformation state of torsion spring buffer 4, learn decelerator 2 whether normal work.Pass through
Real-time perception output torque, electrodeless regulation is carried out to moment of torsion, can reach that similar muscle is controlled like flexility is obtained so that the drive
Dynamic actuator can be used in the turntable in the joint of robot, automation equipment, and rotary cylinder, stepper motor waits rotation to hold
Row mechanism.Intellisense to load is realized by the cooperation of encoder and torsion spring buffer 4, collision can be prevented.
In a kind of specific embodiment, the outside of ring flange 31 is sequentially provided with the first end cap 51, the second end cap from top to bottom
52nd, the 3rd end cap 53 and the 4th end cap 54；First end cap 51 and the second end cap 52 are located at the outside of ring flange 31, the two and ring flange
Crossed roller bearing 55 is provided between 31；3rd end cap 53 and the 4th end cap 54 are located at the outside of torsion spring buffer 4, the two and torsion
Crossed roller bearing 55 is provided between spring buffer 4.
As shown in figure 1, fixing shaft flange 3 by the first end cap 51 and the second end cap 52, pass through the 3rd end cap 53 and the 4th
End cap 54 fixes torsion spring buffer 4.Between shaft flange 3 and end cap, it is respectively provided with and intersects between torsion spring buffer 4 and end cap
Roller bearing 55, crossed roller bearing 55 can bear the load of multiple directions, can bear larger axial load and radial direction
Load.
Slotted in the excircle of shaft flange 3, as the inner ring of crossed roller bearing 55, in the first end cap 51 and the second end cap
52 inner peripherys are slotted respectively, collectively form the outer ring of crossed roller bearing 55, reduce the installation dimension of crossed roller bearing 55,
Space is saved, helps to further reduce the overall dimensions of driving actuator.
Similar, the excircle fluting of torsion spring buffer 4, as the inner ring of crossed roller bearing 55, in the 3rd end cap 53
Slotted respectively with the inner periphery of the 4th end cap 54, collectively form the outer ring of crossed roller bearing 55, further reduced driving and perform
The overall dimensions of device.
In further preferred embodiment, encoder circuit plate 12 is provided between ring flange 31 and torsion spring buffer 4, and
Encoder circuit plate 12 is located between the second end cap 52 and the 3rd end cap 53；The rotor of decelerator encoder is located at ring flange 31
Upper surface, the stator of decelerator encoder is located at the downside of encoder circuit plate 12；The lower surface of outer ring flange 42 is provided with end
The rotor of encoder, the stator of end encoder is located at the upside of encoder circuit plate 12.
Encoder circuit plate 12 is arranged between ring flange 31 and torsion spring buffer 4, and ring flange 31 can be obtained respectively
The rotating speed of the outer ring flange 42 of rotating speed and torsion spring buffer 4, and then the deformation of torsion spring is resulted in, and then learn the torsion of output
Square.
The stator of decelerator encoder and the stator of end encoder are arranged on encoder circuit plate 12.Shaft flange 3
During rotation, cooperated positioned at the upper surface rotor of ring flange 31 with the stator on the downside of encoder circuit plate and be converted into angular displacement
Electric signal；When the outer ring flange 42 of torsion spring buffer 4 is rotated, the rotor and encoder of the end encoder of the downside of outer ring flange 42
Stator on the upside of circuit board coordinates is converted into electric signal by angular displacement.
In a kind of specific embodiment, encoder circuit plate 12 is connected by path 56 with drive circuit board 11, path
56 sequentially pass through the 3rd cover plate 53, the second cover plate 52, the first cover plate 51 and shell 5 from top to bottom.
As shown in Fig. 2 path 56 sequentially passes through the 3rd cover plate 53, the second cover plate 52, the first cover plate 51 and outer from top to bottom
Shell 5, encoder circuit plate 12 is connected with drive circuit board 11, and drive circuit board 11 is adjusted according to the speed of the feedback of each encoder
The whole rotating speed of motor 1, can accurately control output speed, moment of torsion etc..
By setting path 56, directly encoder circuit plate 12 is connected with drive circuit board 11, a plurality of line can be saved
Mixed and disorderly, strong antijamming capability.Meanwhile, motor, driving, encoder are integrated in a metal shell, are connected using monobus
Connect, electromagnetic interference can be shielded, it is ensured that system is reliable and stable, interference will not be also produced to external world.
Second preferred embodiment in, coaxial speed reducer 2 is planetary reduction gear, and planetary reduction gear is from inside to outside successively
For sun gear, planetary gear, retainer and ring gear；Sun gear is input, is coordinated with motor 1；Ring gear and cage connection, are protected
Frame is held for output end, is connected with ring flange 31.
The power transmission shaft of motor 1 drives sun gear to rotate, and planetary gear differential between sun gear and ring gear is rotated, and is played and is subtracted
The effect of speed, ring gear is remained stationary as with cage connection, and the retainer output for connecting each planetary gear is rotated, and is connected with ring flange 31
Connect.
The third preferred embodiment in, coaxial speed reducer 2 is planet-cycloid reducer, and planet-cycloid reducer includes
Eccentric shaft, cycloid disc, output retainer and pin wheel housing；Eccentric shaft is input, is coordinated with motor 1；Pin wheel housing and cage connection,
Output retainer is output end, is connected with ring flange 31.
Motor 1 drives eccentric shaft turns, and eccentric shaft drives cycloid disc differential to rotate and eccentric mobile, while cycloid disc and pin
Tooth shell coordinates, and pin wheel housing is remained stationary as with cage connection, and the rotation of cycloid disc is exported by exporting retainer.
In above-mentioned each specific embodiment, motor 1 is located at the upside of drive circuit board 11, and the rotor of motor encoder is set
In the lower surface of the rotor of motor 1, the stator of motor encoder is located at the upside of drive circuit board 11.
The rotor of motor encoder is pasted onto to the lower surface of the rotor of motor 1, while the stator of motor encoder is set
Put in the upside of drive circuit board 11, when the rotor of motor encoder is rotated with the rotor of motor 1, can coordinate with stator and obtain
Obtain the rotation situation of motor 1.
In further specific embodiment, structural member 13 is arranged on the outside of the rotor of motor encoder.
As shown in figure 1, being arranged with structural member 13 on the rotor of motor encoder, structural member 13 can increase the attached of rotor
Area, the installation accuracy of motor encoder, adhesive strength, stability and the degree of accuracy is improved.
In summary, the main movement process of the driving actuator is that motor 1 drives inner ring cam 21 to revolve by axle input
Turn, produce harmonic wave, the flexbile gear for driving decelerator by flexible bearing 22 engages upper steel wheel 23 and lower steel wheel 24, and steel wheel is produced up and down
Rotated relative to differential and realize that reduction deceleration increasing is turned round.Output is slowed down to torsion spring buffer 4 by shaft flange 3, torsion spring buffer 4 it is outer
Enclose flange 42 and drive end load.
3rd end cap 53, the 4th end cap 54 form a rhombus track with torsion spring buffer 4, set crossed roller axle
Hold, axial force and radial load can be born, various end loads can be born.First end cap 51, the second end cap 52 and the shape of shaft flange 3
Into a rhombus track, crossed roller bearing is equally provided with, axial force and radial load can be born, ensure that torsion spring is buffered
Device 4 is solely subjected to torsional moment, is not subject to end load axial force.
Motor, driving, encoder are integrated in a metal shell.Metal-back is wrapped to form electro-magnetic screen layer entirely, resists
Interference performance is strong, and will not produce interference by electrical equipment to external world.
In a particular embodiment, motor 1 can directly coordinate with coaxial speed reducer 2, can also pass through other structures
Coordinate indirectly, as shown in Figure 3.
In another preferred embodiment, in addition to synchronous drive mechanism 6 and rotating shaft 7, motor 1 and rotating shaft 7 are set side by side
Put, the rotor of motor 1 drives rotating shaft 7 to rotate by synchronous drive mechanism 6, rotating shaft 7 and the input of coaxial speed reducer 2 coordinate.
By setting synchronous drive mechanism 6, the mechanisms such as motor 1 and coaxial speed reducer 2 are made to be arranged in parallel so that driving is performed
The integral thickness of device is thinner, and the structure disclosure satisfy that the use requirement of some special constructions.Synchronous drive mechanism 6 can be that band is passed
Move, gear drive, or other can realize the mechanism of Synchronous Transmission.
In further specific embodiment, motor 1 and rotating shaft 7 are respectively positioned on the upside of drive circuit board 11；Motor encoder
The rotor of device is located at the lower surface of the rotor of motor 1, and the stator of motor encoder is located at the upside of drive circuit board 11；Rotating shaft 7
Provided with shaft encoder 71, the rotor of shaft encoder 71 is located at the lower surface of rotating shaft 7, and the stator of shaft encoder 71 is located at drive
The upside of dynamic circuit board 11.
Motor 1 drives rotating shaft 7 to rotate by synchronous drive mechanism 6, and rotating shaft 7 coordinates with coaxial speed reducer 2, is the He of motor 1
Rotating shaft 7 sets encoder respectively, obtains the actual rotation situation of motor 1 and rotating shaft 7, it can be determined that in the rotation process of rotating shaft 7 with
Whether motor 1 is synchronous, if having delay, is easy to be accurately controlled output.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from
In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.
Claims (10)
1. a kind of integrated rotation driving actuator, it is characterised in that including motor, coaxial speed reducer and shaft flange；The electricity
Machine is provided with motor encoder, and is driven by drive circuit board；The input of the coaxial speed reducer coordinates with the motor, described
Coaxial speed reducer is provided with decelerator encoder；The shaft flange is the output shaft provided with ring flange, the ring flange with it is described same
The output end of axle decelerator coordinates, and the output shaft exports turn signal.
2. integration rotation driving actuator as claimed in claim 1, it is characterised in that the coaxial speed reducer passes for harmonic wave
Dynamic decelerator, the harmonic wave drive speed reducer is followed successively by inner ring cam, flexible bearing, upper steel wheel and lower steel wheel from inside to outside；Institute
Inner ring cam is stated for the input, is coordinated with the motor；The lower steel wheel and cage connection, the upper steel wheel are described defeated
Go out end, be connected with the ring flange.
3. integration rotation driving actuator as claimed in claim 2, it is characterised in that be additionally provided with torsion spring buffer and end
Encoder, inner ring and the output shaft of the torsion spring buffer coordinate, and the outer ring flange output of the torsion spring buffer is rotated
Signal.
4. integration rotation driving actuator as claimed in claim 3, it is characterised in that on the outside of the ring flange from top to bottom
It is sequentially provided with the first end cap, the second end cap, the 3rd end cap and the 4th end cap；First end cap and second end cap are located at institute
State on the outside of ring flange, the two is provided with crossed roller bearing between the ring flange；3rd end cap and the 4th end cap
Positioned at the outside of the torsion spring buffer, the two is provided with crossed roller bearing between the torsion spring buffer.
5. integration rotation driving actuator as claimed in claim 4, it is characterised in that the ring flange delays with the torsion spring
Rush and encoder circuit plate be provided between device, and the encoder circuit plate be located at second end cap and the 3rd end cap it
Between；The rotor of the decelerator encoder is located at the upper surface of the ring flange, and the stator of the decelerator encoder is located at institute
State the downside of encoder circuit plate；The lower surface of the outer ring flange is provided with the rotor of the end encoder, and the end is compiled
The stator of code device is located at the upside of the encoder circuit plate.
6. integration rotation driving actuator as claimed in claim 5, it is characterised in that the encoder circuit plate passes through logical
Road is connected with the drive circuit board, and the path sequentially passes through the 3rd cover plate from top to bottom, second cover plate, described
First cover plate and the shell.
7. integration rotation driving actuator as claimed in claim 1, it is characterised in that the coaxial speed reducer subtracts for planet
Fast device, the planetary reduction gear is followed successively by sun gear, planetary gear, retainer and ring gear from inside to outside；The sun gear is institute
Input is stated, is coordinated with the motor；The ring gear and the cage connection, the retainer is the output end, with institute
State ring flange connection.
8. integration rotation driving actuator as claimed in claim 1, it is characterised in that the coaxial speed reducer is cycloidal pin
Wheel decelerator, the planet-cycloid reducer includes eccentric shaft, cycloid disc, output retainer and pin wheel housing；The eccentric shaft is
The input, coordinates with the motor；The pin wheel housing and the cage connection, the output retainer are the output
End, is connected with the ring flange.
9. the integrated rotation driving actuator as described in any one of claim 1 to 8, it is characterised in that the motor is located at
The upside of drive circuit board, the rotor of the motor encoder is located at the lower surface of the rotor of the motor, the motor encoder
The stator of device is located at the upside of the drive circuit board.
10. the integrated rotation driving actuator stated such as claim 9, it is characterised in that the rotor of the motor encoder
Outside is arranged structural member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710416180.5A CN107116575B (en) | 2017-06-06 | 2017-06-06 | Integrated rotary driving actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710416180.5A CN107116575B (en) | 2017-06-06 | 2017-06-06 | Integrated rotary driving actuator |
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| CN107116575A true CN107116575A (en) | 2017-09-01 |
| CN107116575B CN107116575B (en) | 2023-07-21 |
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| CN201710416180.5A Active CN107116575B (en) | 2017-06-06 | 2017-06-06 | Integrated rotary driving actuator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107962406A (en) * | 2017-10-24 | 2018-04-27 | 广州市昊志机电股份有限公司 | A kind of low-speed direct driving large torque numerical control rotating platform |
| CN108161728A (en) * | 2017-12-26 | 2018-06-15 | 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） | Polish rotary table and burnishing device |
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| CN109617312A (en) * | 2018-02-27 | 2019-04-12 | 前沿驱动（北京）技术有限公司 | A kind of actuator, mechanical arm and robot |
| CN109617313A (en) * | 2018-02-27 | 2019-04-12 | 前沿驱动（北京）技术有限公司 | A kind of actuator, mechanical arm and robot |
| CN109617312B (en) * | 2018-02-27 | 2024-02-27 | 达闼机器人股份有限公司 | Actuator, mechanical arm and robot |
| CN110630701A (en) * | 2019-09-24 | 2019-12-31 | 北京理工大学 | High-power-density integrated modular power unit suitable for bionic robot |
| CN112976047A (en) * | 2021-02-08 | 2021-06-18 | 佛山市华道超精科技有限公司 | Double-feedback flexible rotary joint mechanism and robot |
| CN113442124A (en) * | 2021-07-21 | 2021-09-28 | 清华大学 | Series elastic robot joint and using method thereof |
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