CN107246461A - Servo steering wheel and robot - Google Patents
Servo steering wheel and robot Download PDFInfo
- Publication number
- CN107246461A CN107246461A CN201611248256.XA CN201611248256A CN107246461A CN 107246461 A CN107246461 A CN 107246461A CN 201611248256 A CN201611248256 A CN 201611248256A CN 107246461 A CN107246461 A CN 107246461A
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- Prior art keywords
- gear
- power
- servo
- controller
- output shaft
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- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000009467 reduction Effects 0.000 claims abstract description 14
- 238000010276 construction Methods 0.000 claims description 13
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 15
- 238000009434 installation Methods 0.000 description 12
- 230000009471 action Effects 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/2809—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels
- F16H1/2827—Toothed gearings for conveying rotary motion with gears having orbital motion with means for equalising the distribution of load on the planet-wheels by allowing limited movement of the planet carrier, e.g. relative to its shaft
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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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/021—Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/08—General details of gearing of gearings with members having orbital motion
- F16H57/082—Planet carriers
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention is suitable for the technical field of robots, and provides a servo steering engine which comprises: the driving device is provided with a first output shaft, and a power input gear is mounted on the first output shaft; the speed reducing mechanism comprises a power gear matched with the power input gear, a first transmission gear which is coaxially arranged with the power gear and synchronously rotates with the power gear, and a speed reducing component which is driven by the first transmission gear to rotate; the power output mechanism is driven by the speed reducing mechanism to rotate and comprises a second output shaft; the power input gear and the power gear are meshed in a staggered manner. The servo steering engine utilizes the speed reducing mechanism to carry out power transmission, and utilizes the power gear in the speed reducing mechanism to be meshed with the power input gear and the power gear to drive the first transmission gear and the speed reducing component to carry out power transmission, so that the servo steering engine is simple in structure and large in single-stage transmission ratio; and the power input gear and the power gear adopt a staggered meshing mode so as to reduce the noise between the matching of all stages of gears and increase the reduction ratio of the reduction mechanism.
Description
Technical field
The invention belongs to robotic technology field, more particularly to a kind of Servo-controller and the machine with the Servo-controller
People.
Background technology
In current automatic industrial production, robot is its core.However, the certain operations of robot require speed
It is all slow, it is necessary to big speed ratio deceleration device transmission.Existing deceleration device generally existing gearratio is not big enough, particularly
In the joint servo steering wheel of humanoid intelligent robot, it is desirable to which its deceleration device small volume, moment of torsion be big and compact conformation, and full
The specific speed reducing ratio requirement of foot.
In order to meet specific speed reducing ratio requirement, usual Servo-controller is driven to realize using parallel-axes gears, with list
Level speed reducing ratio is small, and its structure arrangement is not compact enough.
The content of the invention
It is an object of the invention to provide a kind of Servo-controller, it is intended to solves Servo-controller in the prior art and uses parallel axes
Gear drive and cause the small technical problem of speed reducing ratio.
The present invention is achieved in that a kind of Servo-controller, including：
Drive device, for providing power and having on the first output shaft for being used for exporting power, first output shaft
Power input gear is installed；
Reducing gear, the reducing gear is used to changing the power output direction of the drive device, and including with it is described
Power gear that power input gear coordinates, it is coaxially disposed with the power gear and with the of the power gear synchronous axial system
One travelling gear, by first travelling gear drive its rotate reduction assemblies；
Power take-off mechanism, the power take-off mechanism drives it to rotate by the reducing gear, and including being subtracted by described
The output end of fast component drives the second output shaft that it rotates and is connected with outer member；
Wherein, staggeredly engaged between the power input gear and the power gear.
Further, the axial direction for being axially perpendicular to the power gear of first output shaft.
Further, the power input gear and the power gear are that intermeshing worm and gear, alternating axis are oblique
Gear or hypoid helical gear.
Further, the reduction assemblies include being arranged in an axially parallel mode with the power gear fixing axle, with described the
Intermeshing second travelling gear of one travelling gear and it is coaxially disposed with second travelling gear and defeated with the power
Go out the planetary gear set of mechanism connection, second travelling gear and the planetary gear set are installed in the fixing axle, described the
Two travelling gears include the first gear and second gear for being coaxially disposed and interfixing, and the first gear is passed with described first
Moving gear is intermeshed, and the second gear is intermeshed with the planetary gear set.
Further, the planetary gear set is located on the outside of the second gear including three and nibbled with the second gear
The planetary gear of conjunction, for the planetary gear is installed and is installed in the fixing axle planet carrier, be sheathed on the planet
Simultaneously engage to limit the fixed gear of the planetary gear idle running, the power take-off mechanism with each planetary gear in frame periphery
It is coaxially installed on the planetary gear set in the fixing axle.
Further, the power take-off mechanism also include be fixedly connected with second output shaft and with the planet carrier
The end cap being fixedly connected, the end cap is located between second output shaft and the planet carrier；The planet carrier includes and institute
State the lower plate that end cap is fixedly connected and the planet axis being fixedly connected with each planetary gear, the end cap and the lower folder
Formed between plate for installing each planetary construction opening, the planet axis is arranged in the construction opening and one
End is inserted in the end cap and the other end is inserted in the lower plate.
Further, the Servo-controller also includes the support provided with the first accommodating cavity and fixed with the support to connect
The side cover of cavity is connect and is housed with support formation second, the drive device is installed in the first accommodating cavity body, institute
Stating support is included being based in the cavity wall of the described first accommodating cavity and for installing the fixing axle and the power gear
Fixed plate and it is mutually butted fixed housing section with the side cover, the reducing gear is installed on the described second accommodating cavity
Interior, the housing section is provided with the first fixing hole for being used for that the power take-off mechanism to be fixedly mounted, and the fixed gear is fixed on
In the housing section and the side cover.
Further, the Servo-controller also include be fixedly installed in the housing section towards the fixed plate side with
The mounting assembly being coaxially disposed with second output shaft, the housing section is consolidated provided with relative with first fixing hole second
Determine hole, the mounting assembly includes the connecting plate being fixedly installed in the fixed plate and through second fixing hole with solid
Dingan County is loaded on the connecting plate and the connecting pole with connecting shaft hole.
Further, the power take-off mechanism includes being located on the fixing bearing of the end cap periphery and is arranged in institute
State the clamping ring between the hole wall of the first fixing hole and fixing bearing periphery.
Present invention also offers a kind of robot, including above-mentioned Servo-controller.
Having the technical effect that relative to prior art of the invention：The Servo-controller enters action edge using the reducing gear and passed
It is dynamic, and engaged using power gear described in the reducing gear with the power input gear and power gear drive
First travelling gear and the reduction assemblies enter action edge transmission, simple in construction and single staged transmission ratio is big；And the power
Input gear by the way of staggeredly engaging, to reduce the noise between gears cooperations at different levels, and increases with the power gear
The speed reducing ratio of the big reducing gear.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the embodiment of the present invention or prior art
The accompanying drawing used required in description is briefly described, it should be apparent that, drawings described below is only the present invention's
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the structure chart of Servo-controller provided in an embodiment of the present invention；
Fig. 2 be in Fig. 1 Servo-controller in the sectional view in a direction；
Fig. 3 be in Fig. 1 Servo-controller in the sectional view of other direction；
Fig. 4 is the exploded view of Servo-controller in Fig. 1；
Fig. 5 is the exploded view of drive device provided in an embodiment of the present invention, reducing gear and power take-off mechanism；
Fig. 6 is the structure chart of drive device, reducing gear and power take-off mechanism in Fig. 5.
Description of reference numerals：
| 10 | Drive device | 60 | Mounting assembly |
| 12 | First output shaft | 62 | Connecting plate |
| 14 | Power input gear | 64 | Connecting pole |
| 20 | Reducing gear | ||
| 21 | Power gear | ||
| 22 | First travelling gear | 30 | Power take-off mechanism |
| 24 | Reduction assemblies | 31 | End cap |
| 240 | Fixing axle | 32 | Second output shaft |
| 242 | Second travelling gear | 34 | Fixing bearing |
| 244 | First gear | 36 | Clamping ring |
| 245 | Second gear | 40 | Support |
| 246 | Planetary gear set | 42 | First accommodating cavity |
| 2460 | Planetary gear | 44 | Fixed plate |
| 2462 | Planet carrier | 45 | Housing section |
| 2464 | Lower plate | 450 | First fixing hole |
| 2466 | Planet axis | 452 | Second fixing hole |
| 2468 | Construction opening | 50 | Side cover |
| 248 | Fixed gear | 52 | Second accommodating cavity |
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In the description of the invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply signified dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the limit of the present invention
System.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.For the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.
Fig. 1 be refer to Fig. 6, Servo-controller provided in an embodiment of the present invention includes：
Drive device 10, for providing power and with the first output shaft 12 for exporting power, first output
Power input gear 14 is installed on axle 12；
Reducing gear 20, power output direction of the reducing gear 20 for changing the drive device 10, and including
With the power input gear 14 coordinate power gear 21, with the power gear 21 be coaxially disposed and with the power gear
First travelling gear 22 of 21 synchronous axial systems, by first travelling gear 22 drive its rotate reduction assemblies 24；
Power take-off mechanism 30, the power take-off mechanism 30 drives it to rotate by the reducing gear 20, and including by
The output end of the reduction assemblies 24 drives the second output shaft 32 that it rotates and is connected with outer member；
Wherein, staggeredly engaged between the power input gear 14 and the power gear 21.
Servo-controller provided in an embodiment of the present invention carries out power transmission using the reducing gear 20, and subtracts described in
Power gear 21 described in fast mechanism 20 is engaged with the power input gear 14 and the power gear 21 drives described
One travelling gear 22 and the reduction assemblies 24 enter action edge transmission, simple in construction and single staged transmission ratio is big；And the power is defeated
Enter gear 14 with the power gear 21 by the way of staggeredly engaging, to reduce the noise between gears cooperations at different levels, and
Increase the speed reducing ratio of the reducing gear 20.
In this embodiment, the drive device 10 is motor, can be according to the power output selection being actually needed
The motor of different model.
In this embodiment, the reducing gear 20 also includes being used to install the power gear 21 and first transmission
The installation axle (not shown) of gear 22, the installation axle is installed in the installation axle perpendicular to first output shaft 12
The power gear 21 staggeredly engage with the power input gear 14 that is installed on first output shaft 12, mutually friendship
The power input gear 14 of error articulation can effectively reduce the noise of the Servo-controller with the power gear 21, and
The single-stage speed reducing ratio of the Servo-controller can be increased.
Fig. 2 to Fig. 6 is refer to, further, first output shaft 12 is axially perpendicular to the power gear 21
Axially.The axial direction and the axial direction of the installation axle of first output shaft 12 are perpendicular, and formation interlocks, and are filled with changing the driving
Put 10 power output direction.In addition, first output shaft 12 is set with the installation axle serrated vertical and the power is defeated
Enter gear 14 to be staggeredly engaged with the power gear 21, to improve the single-stage speed reducing ratio of the whole Servo-controller, and reduction is made an uproar
Sound.
Further, the power input gear 14 and the power gear 21 are intermeshing worm and gear, interlocked
Axis helical teeth wheel or hypoid helical gear.It is to be appreciated that the Servo-controller utilizes worm and gear, the alternating axis being mutually twisted
Helical gear or hypoid helical gear enter action edge input, and change the power transmission direction of the drive device 10, with logical
The second output shaft 32 crossed in the power take-off mechanism 30 sends power to outer member.
In this embodiment, axis spiral of the gear teeth of the power input gear 14 along first output shaft 12 is set
Put, the periphery circular surfaces of the gear teeth of the power gear 21 along the power gear 21 are obliquely installed, and incline direction is along described
The axis of installation axle is obliquely installed.
In this embodiment, the installation axle and second output shaft 32 are arranged in parallel, i.e., described first output
Axle 12 is perpendicular to second output shaft 32.
In this embodiment, the outside diameter of gear of the power gear 21 is more than the external diameter of first travelling gear 22, and
The number of teeth of the power gear 21 is more than the number of teeth of first travelling gear 22.
In this embodiment, first travelling gear 22 is arranged at same pinion stand jointly with the power gear 21
On, i.e., described first travelling gear 22 is rotated with the rotation of the power gear 21.
Fig. 2 to Fig. 6 is refer to, further, the reduction assemblies 24 include and the power gear 21 is axially in parallel sets
The fixing axle 240 put, with intermeshing second travelling gear 242 of first travelling gear 22 and with the described second transmission
The planetary gear set 246 that gear 242 is coaxially disposed and is connected with the power take-off mechanism 30, second travelling gear 242 with
The planetary gear set 246 is installed in the fixing axle 240, and second travelling gear 242 includes being coaxially disposed and mutually solid
Fixed first gear 244 and second gear 245, the first gear 244 is intermeshed with first travelling gear 22, described
Second gear 245 is intermeshed with the planetary gear set 246.The Servo-controller is described by being set in the reducing gear 20
Second travelling gear 242 is engaged with the planetary gear set 246 so that the Servo-controller has enough slowing effects.It can manage
Xie Di, the fixing axle 240 is coaxially disposed with second output shaft 32, and is be arranged in parallel with the installation axle.Preferably, institute
The number of teeth for stating the second travelling gear 242 is more than the number of teeth of first travelling gear 22, to reach corresponding speed reducing ratio requirement.Institute
State the second travelling gear 242 drives it to rotate by first travelling gear 22, the first gear 244 and the second gear
245 are arranged on same herringbone gear 40 and synchronous axial system, and first travelling gear 22 is engaged simultaneously with the first gear 244
Rotated with the rotation of the first gear 244.The second gear 245 is intermeshed with the planetary gear set 246, with band
The planetary gear set 246 is moved to rotate.
In this embodiment, prominent extension in card of the second gear 245 along the first gear 244, and be provided with
With the intermeshing gear teeth of the planetary gear set 246.Preferably, the first gear 244 and the second gear 245 are by one
It is molded and is made, the second gear 245 is rotated with the rotation of the first gear 244, and there is identical rotating speed, with
The planetary gear set 246 is driven to rotate.
Fig. 4 to Fig. 5 is refer to, further, the planetary gear set 246 is located on the second gear 245 including three
Outside and engaged with the second gear 245 planetary gear 2460, for installing the planetary gear 2460 and being installed on institute
The planet carrier 2462 in fixing axle 240 is stated, the periphery of planet carrier 2462 is sheathed on and is engaged with each planetary gear 2460
To limit the fixed gear 248 that the planetary gear 2460 dallies, the power take-off mechanism 30 and the planetary gear set 246 are same
Axle is installed in the fixing axle 240.Each planetary gear 2460 engages with the second gear 245 and drives the planet
Frame 2462 is rotated, so as to drive the power take-off mechanism 30 to rotate.It is to be appreciated that the planet carrier 2462 is provided with conducting
Hole, the external tooth of the second gear 245 is meshed with the external tooth of each planetary gear 2460, the planetary gear with drive
2460 rotate, and drive the planet carrier 2462 to rotate by the planetary gear 2460, and drive the power take-off mechanism 30
As the planet carrier 2462 is rotated.
The Servo-controller utilizes three institutes by setting three planetary gears 2460 in the planetary gear set 246
Planetary gear 2460 is stated while transmitting load, makes power dividing, so, the bearing capacity of the reducing gear 20 is high.
In this embodiment, the Servo-controller is driven using planetary gear 2460 due to reducing gear 20, single-stage speed reducing
Than larger, therefore, whole Servo-controller only needs the power gear 21, the first travelling gear 22, the second travelling gear 242 and institute
Total reduction ratio requirement can just be met by stating planetary gear set 246.The Servo-controller is additionally, since using planetary gear 2460, this is watched
Take gear quantity used in steering wheel to greatly reduce, the installation step of the Servo-controller is relative to be reduced, and has saved cost, together
When, due to being driven using planetary gear 2460 so that closely, and bearing capacity is high for the structure of the reducing gear 20.
In this embodiment, the fixed gear 248 is provided with the interior gear teeth engaged with each planetary gear 2460.Can be with
Understand ground, the interior gear teeth of the fixed gear 248 are engaged with the external tooth of the planetary gear 2460, to prevent each row
Star gear 2460 dallies, it is ensured that the normal operation of each planetary gear 2460.
Fig. 2 to Fig. 6 is refer to, further, the power take-off mechanism 30 also includes solid with second output shaft 32
The fixed end cap 31 for connecting and being fixedly connected with the planet carrier 2462, the end cap 31 be located at second output shaft 32 with it is described
Between planet carrier 2462；The planet carrier 2462 include the lower plate 2464 that is fixedly connected with the end cap 31 and with it is each described
The planet axis 2466 that planetary gear 2460 is fixedly connected, forms each for installing between the end cap 31 and the lower plate 2464
The construction opening 2468 of the planetary gear 2460, the planet axis 2466 is arranged in the construction opening 2468 and one end is inserted
In the end cap 31 and the other end is inserted in the lower plate 2464.The Servo-controller is by setting the end cap 31
With the lower plate 2464 to realize the installation to each planetary gear 2460, compact conformation and convenient disassembly.
In this embodiment, the end cap 31 is made with second output shaft 32 by being integrally formed.The Servo-controller
Each planetary gear 2460 is installed using the end cap 31 and the lower plate 2464, and the end cap 31 with it is described
Set planet axis 2466 that each planetary gear 2460 is fixedly mounted in the planet axis 2466 between lower plate 2464.
During installation, each planet axis 2466 be inserted in the corresponding planetary gear 2460 and with the planetary gear
2460 secure fits, and one end of the planet axis 2466 is inserted in the lower plate 2464, the end cap 31 is relative to institute
State lower plate 2464 to set and in the other end insertion end cap 31 of the planet axis 2466, and utilize lock screw by institute
State end cap 31 and the lower plate 2464 is fixed together, so that the planet axis 2466 be pacified together with the planetary gear 2460
Loaded in the construction opening 2468, under the engagement of the second gear 245, the planetary gear 2460 drives mutually
The fixed end cap 31 and the lower plate 2464 is rotated.
Fig. 5 is refer to, in this embodiment, the lower plate 2464 includes pedestal (not indicating) and multiple along the seat
Body surface protrudes the convex column (not indicating) of extension facing to the side of end cap 31, and each convex column is arranged at intervals, and adjacent
Planetary gear 2460 described in one are installed, the pedestal is provided with to be passed through for the second gear 245 between convex column described in two
Via hole (not indicating) and the first mounting groove (not indicating) between convex column described in adjacent two, the planet axis
2466 one end is inserted in the first mounting groove.The end cap 31 is provided with second mounting groove relative with first mounting groove
(not indicating), the other end of the planet axis 2466 is inserted in second mounting groove.The end cap 31 and the lower plate
2464 are oppositely arranged and so that first mounting groove is faced with second mounting groove, and the end is passed through using lock screw
Lid 31 is simultaneously lock onto in the convex column of the lower plate 2464, and convex column described in so adjacent two encloses to be formed with the end cap 31
The construction opening 2468 of the planetary gear 2460 is installed.The pedestal, the convex column and the end cap 31 enclose shape
Into the host cavity for housing the second gear 245, the host cavity is communicated with the construction opening 2468, second tooth
Wheel 245 is contained in the host cavity and engaged with each planetary gear 2460 being installed in the construction opening 2468,
So that the planetary gear 2460 drives the end cap 31 and the lower plate 2464 to rotate, so as to drive second output shaft
32 rotate to transmit power.
In this embodiment, the two ends of each planet axis 2466 respectively by bearing be installed on first mounting groove and
In second mounting groove, so that each planetary gear 2460 drives the end cap 31 and the lower plate 2464 to rotate.
In this embodiment, circumferential equidistantly distributed of each planetary gear 2460 along the fixing axle 240.The servo
Steering wheel, with Transmit evenly load simultaneously, makes power uniform divided flows by planetary gear 2460 described in spaced set.
Fig. 2 to Fig. 6 is refer to, further, the Servo-controller also includes the support 40 provided with the first accommodating cavity 42
And the side cover 50 of cavity 52, the drive device are fixedly connected with and housed with the support 40 formation second with the support 40
10 are installed in the described first accommodating cavity 42, and the support 40 includes being based in the cavity wall of the described first accommodating cavity 42 simultaneously
For installing the fixed plate 44 of the fixing axle 240 and the power gear 21 and being mutually butted with the side cover 50 fixed
Housing section 45, the reducing gear 20 is installed in the described second accommodating cavity 52, and the housing section 45, which is provided with, is used for fixed peace
The first fixing hole 450 of the power take-off mechanism 30 is filled, the fixed gear 248 is fixed on the housing section 45 and the side
On lid 50.The support 40 and the side cover 50 form the appearance member of the Servo-controller, constitute the shell of the Servo-controller
Structure, plays a protective role to the power input device and the reducing gear 20.The periphery of the fixed gear 248 is fixed
In on the support 40 and the side cover 50, and it is contained in the described second accommodating cavity 52.
Fig. 2 to Fig. 6 is refer to, further, the Servo-controller also includes the court for being fixedly installed in the housing section 45
To mounting assembly 60 of the side of fixed plate 44 to be coaxially disposed with second output shaft 32, the housing section 45 be provided with
The second relative fixing hole 452 of first fixing hole 450, the mounting assembly 60 includes being fixedly installed in the fixed plate 44
On connecting plate 62 and through second fixing hole 452 to be fixedly installed on the connecting plate 62 and with connecting shaft hole
Connecting pole 64.The Servo-controller is by setting the connecting plate 62 and the connecting pole 64, to be connected with outer member, and institute
State connecting pole 64 to be coaxially disposed with second output shaft 32, in order to be installed on outer member.
Fig. 2 to Fig. 6 is refer to, further, the power take-off mechanism 30 includes being located on the periphery of end cap 31
Fixing bearing 34 and the clamping ring being arranged between the hole wall of first fixing hole 450 and the periphery of the fixing bearing 34
36.The Servo-controller on the power take-off mechanism 30 by setting the fixing bearing 34 with the increasing outside the Servo-controller
Plus one-level bearing fixes the power take-off mechanism 30, so that Servo-controller structure is more consolidated, be conducive to the power output
The angle that mechanism 30 is exported is more accurate.The Servo-controller by being fitted together to the clamping ring 36 in the periphery of the fixing bearing 34,
So that the fixing bearing 34 is stably installed in the support 40, it is to avoid its radially sideslip.
In the various embodiments described above, the fixing bearing 34 includes the inner ring being sheathed on second output shaft 32 (not
Diagram), with the inner ring is coaxial and spaced outer ring (not shown) and is arranged between the inner ring and the outer ring
Rolling element (not shown).The outer ring is arranged in the clamping ring 36, and the outer ring is fixed on using the clamping ring 36
Between the support 40, so that the fixing bearing 34 is fixed in the support 40, with reduce the second output shaft 32 with
Pivoting friction between clamping ring 36.
Fig. 1 be refer to Fig. 6, robot provided in an embodiment of the present invention includes above-mentioned Servo-controller.In the present embodiment
Servo-controller has identical structure with the Servo-controller in the various embodiments described above, and role is identical, will not be described here.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of Servo-controller, it is characterised in that including：
Drive device, is installed for providing power and having on the first output shaft for being used for exporting power, first output shaft
Dynamic input gear；
Reducing gear, the reducing gear is used to changing the power output direction of the drive device, and including with the power
The power gear and the power gear that input gear coordinates are coaxially disposed and passed with the first of the power gear synchronous axial system
Moving gear, by first travelling gear drive its rotate reduction assemblies；
Power take-off mechanism, the power take-off mechanism drives it to rotate by the reducing gear, and including by the deceleration group
The output end of part drives the second output shaft that it rotates and is connected with outer member；
Wherein, staggeredly engaged between the power input gear and the power gear.
2. Servo-controller as claimed in claim 1, it is characterised in that first output shaft is axially perpendicular to the power
The axial direction of gear.
3. Servo-controller as claimed in claim 1, it is characterised in that the power input gear and the power gear are phase
Worm and gear, crossed helical gears or the hypoid helical gear mutually engaged.
4. the Servo-controller as described in claims 1 to 3 any one, it is characterised in that the reduction assemblies include with it is described
Fixing axle that power gear is arranged in an axially parallel mode, with intermeshing second travelling gear of first travelling gear and with institute
State the planetary gear set that the second travelling gear is coaxially disposed and is connected with the power take-off mechanism, second travelling gear and institute
State planetary gear set to be installed in the fixing axle, second travelling gear includes the first gear for being coaxially disposed and interfixing
And second gear, the first gear and first travelling gear intermeshing, the second gear and the planetary gear set
Intermeshing.
5. Servo-controller as claimed in claim 4, it is characterised in that the planetary gear set is located on described second including three
The planetary gear that engages on the outside of gear and with the second gear, for installing the planetary gear and being installed on the fixing axle
On planet carrier, be sheathed on planet carrier periphery and engage what is dallied to limit the planetary gear with each planetary gear
Fixed gear, the power take-off mechanism is coaxially installed in the fixing axle with the planetary gear set.
6. Servo-controller as claimed in claim 5, it is characterised in that the power take-off mechanism also include with it is described second defeated
The end cap that shaft is fixedly connected and is fixedly connected with the planet carrier, the end cap is located at second output shaft and the planet
Between frame；The planet carrier includes the lower plate that is fixedly connected with the end cap and is fixedly connected with each planetary gear
Planet axis, is formed between the end cap and the lower plate for installing each planetary construction opening, the planet
Axle is arranged in the construction opening and one end is inserted in the end cap and the other end is inserted in the lower plate.
7. Servo-controller as claimed in claim 6, it is characterised in that also including the support provided with the first accommodating cavity and with
The support is fixedly connected and the side cover of cavity is housed with support formation second, and the drive device is installed on described first
In accommodating cavity body, the support includes being based in the cavity wall of the described first accommodating cavity and for installing the fixing axle and institute
State the fixed plate of power gear and be mutually butted fixed housing section with the side cover, the reducing gear is installed on described
In two accommodating cavity bodies, the housing section is provided with the first fixing hole for being used for that the power take-off mechanism to be fixedly mounted, the fixation
Gear is fixed on the housing section and the side cover.
8. Servo-controller as claimed in claim 7, it is characterised in that also including be fixedly installed in the housing section towards institute
The mounting assembly that fixed plate side is stated to be coaxially disposed with second output shaft, the housing section is provided with fixes with described first
The second relative fixing hole of hole, the mounting assembly includes being fixedly installed in connecting plate in the fixed plate and through described
Second fixing hole is to be fixedly installed on the connecting plate and the connecting pole with connecting shaft hole.
9. Servo-controller as claimed in claim 7, it is characterised in that the power take-off mechanism includes being located on the end cap
The fixing bearing of periphery and the clamping ring being arranged between the hole wall of first fixing hole and fixing bearing periphery.
10. a kind of robot, it is characterised in that including the Servo-controller as described in claim 1 to 9 any one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611248256.XA CN107246461B (en) | 2016-12-29 | 2016-12-29 | Servo steering engine and robot |
| PCT/CN2017/119556 WO2018121695A1 (en) | 2016-12-29 | 2017-12-28 | Servo steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611248256.XA CN107246461B (en) | 2016-12-29 | 2016-12-29 | Servo steering engine and robot |
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| Publication Number | Publication Date |
|---|---|
| CN107246461A true CN107246461A (en) | 2017-10-13 |
| CN107246461B CN107246461B (en) | 2024-02-02 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611248256.XA Active CN107246461B (en) | 2016-12-29 | 2016-12-29 | Servo steering engine and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107246461B (en) |
| WO (1) | WO2018121695A1 (en) |
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| WO2018121695A1 (en) * | 2016-12-29 | 2018-07-05 | 深圳市优必选科技有限公司 | Servo steering engine and robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2018121695A1 (en) | 2018-07-05 |
| CN107246461B (en) | 2024-02-02 |
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