CN107246461B - Servo steering engine and robot - Google Patents
Servo steering engine and robot Download PDFInfo
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- CN107246461B CN107246461B CN201611248256.XA CN201611248256A CN107246461B CN 107246461 B CN107246461 B CN 107246461B CN 201611248256 A CN201611248256 A CN 201611248256A CN 107246461 B CN107246461 B CN 107246461B
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- gear
- power
- steering engine
- shaft
- servo steering
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- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims abstract description 57
- 230000001603 reducing effect Effects 0.000 claims abstract description 34
- 230000009467 reduction Effects 0.000 claims abstract description 22
- 238000009434 installation Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000003638 chemical reducing agent Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009776 industrial production Methods 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
- 238000000465 moulding Methods 0.000 description 1
- 238000005096 rolling process 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
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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
- 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
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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
- 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 applicable to 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 arranged on the first output shaft; the speed reducing mechanism comprises a power gear matched with the power input gear, a first transmission gear coaxially arranged with the power gear and synchronously rotating with the power gear, and a speed reducing assembly 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 way. 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 has a simple structure and a large single-stage transmission ratio; and the power input gear and the power gear are in a staggered engagement mode, so that noise between the cooperation of gears at all levels is reduced, and the reduction ratio of the reduction mechanism is increased.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a servo steering engine and a robot with the servo steering engine.
Background
In current automated industrial production, robots are at their heart. However, some operations of robots require relatively slow speeds, requiring a large ratio of speed reducer transmissions. The existing speed reducer is generally insufficient in transmission ratio, particularly in a joint servo steering engine of a humanoid intelligent robot, the speed reducer is required to be small in size, large in torque and compact in structure, and the specific speed reducer requirement is met.
In order to meet the specific reduction ratio requirement, the servo steering engine is usually realized by adopting parallel shaft gear transmission, has small single-stage reduction ratio, and is not compact in structural arrangement.
Disclosure of Invention
The invention aims to provide a servo steering engine, and aims to solve the technical problem that the speed reduction ratio is small due to the fact that the servo steering engine adopts parallel shaft gear transmission in the prior art.
The invention is realized in that a servo steering engine comprises:
a driving device for providing power and having a first output shaft for outputting power, the first output shaft being mounted with a power input gear;
the speed reducing mechanism is used for changing the power output direction of the driving device and comprises a power gear matched with the power input gear, a first transmission gear coaxially arranged with the power gear and synchronously rotating with the power gear, and a speed reducing assembly driven by the first transmission gear to rotate;
the power output mechanism is driven by the speed reduction mechanism to rotate and comprises a second output shaft which is driven by the output end of the speed reduction assembly to rotate and is connected with an external element;
wherein, the power input gear is meshed with the power gear in a staggered way.
Further, the axial direction of the first output shaft is perpendicular to the axial direction of the power gear.
Further, the power input gear and the power gear are worm gears, crossed axis bevel gears or hypoid bevel gears which are meshed with each other.
Further, the speed reduction assembly comprises a fixed shaft axially parallel to the power gear, a second transmission gear meshed with the first transmission gear, and a planetary gear set coaxially arranged with the second transmission gear and connected with the power output mechanism, wherein the second transmission gear and the planetary gear set are installed on the fixed shaft, the second transmission gear comprises a first gear and a second gear coaxially arranged and mutually fixed, the first gear is meshed with the first transmission gear, and the second gear is meshed with the planetary gear set.
Further, the planetary gear set comprises three planetary gears which are arranged on the outer side of the second gear in a surrounding mode and meshed with the second gear, a planetary carrier which is used for installing the planetary gears and installed on the fixed shaft, and fixed gears which are sleeved on the periphery of the planetary carrier and meshed with the planetary gears to limit the idle running of the planetary gears, and the power output mechanism and the planetary gear set are coaxially installed on the fixed shaft.
Further, the power output mechanism further comprises an end cover fixedly connected with the second output shaft and fixedly connected with the planet carrier, and the end cover is positioned between the second output shaft and the planet carrier; the planet carrier comprises a lower clamping plate fixedly connected with the end cover and a planet shaft fixedly connected with each planet gear, an installation opening for installing each planet gear is formed between the end cover and the lower clamping plate, and the planet shaft is arranged in the installation opening, one end of the planet shaft is inserted into the end cover, and the other end of the planet shaft is inserted into the lower clamping plate.
Further, the servo steering engine further comprises a machine base provided with a first accommodating cavity, a side cover fixedly connected with the machine base and forming a second accommodating cavity with the machine base, the driving device is installed in the first accommodating cavity, the machine base comprises a fixing plate which is arranged on the cavity wall of the first accommodating cavity in a protruding mode and used for installing the fixing shaft and the power gear, and a shell part which is mutually abutted and fixed with the side cover, the speed reducing mechanism is installed in the second accommodating cavity, the shell part is provided with a first fixing hole used for fixedly installing the power output mechanism, and the fixing gear is fixed on the shell part and the side cover.
Further, the servo steering engine further comprises a mounting assembly fixedly mounted on one side of the housing part, facing the fixing plate, to be coaxially arranged with the second output shaft, the housing part is provided with a second fixing hole opposite to the first fixing hole, and the mounting assembly comprises a connecting plate fixedly mounted on the fixing plate and a connecting column penetrating through the second fixing hole to be fixedly mounted on the connecting plate and provided with a connecting shaft hole.
Further, the power output mechanism comprises a fixed bearing which is annularly arranged on the periphery of the end cover and a clamping ring which is clamped between the hole wall of the first fixed hole and the periphery of the fixed bearing.
The invention also provides a robot comprising the servo steering engine.
Compared with the prior art, the invention has the technical effects that: 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 has a simple structure and a large single-stage transmission ratio; and the power input gear and the power gear are in a staggered engagement mode, so that noise between the cooperation of gears at all levels is reduced, and the reduction ratio of the reduction mechanism is increased.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following description will briefly explain the embodiments of the present invention or the drawings used in the description of the prior art, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a servo steering engine provided by an embodiment of the present invention;
FIG. 2 is a cross-sectional view of the servo steering engine of FIG. 1 in one direction;
FIG. 3 is a cross-sectional view of the servo steering engine of FIG. 1 in another direction;
FIG. 4 is an exploded view of the servo steering engine of FIG. 1;
fig. 5 is an exploded view of a drive device, a reduction mechanism, and a power take-off mechanism provided by an embodiment of the present invention;
fig. 6 is a structural view of the driving device, the reduction mechanism, and the power output mechanism in fig. 5.
Reference numerals illustrate:
| 10 | driving device | 60 | Mounting assembly |
| 12 | First output shaft | 62 | Connecting plate |
| 14 | Power input gear | 64 | Connecting column |
| 20 | Speed reducing mechanism | ||
| 21 | Power gear | ||
| 22 | First transmission gear | 30 | Power output mechanism |
| 24 | Speed reducing assembly | 31 | End cap |
| 240 | Fixed shaft | 32 | Second output shaft |
| 242 | Second transmission gear | 34 | Fixed bearing |
| 244 | First gear | 36 | Clamping ring |
| 245 | Second gear | 40 | Stand base |
| 246 | Planetary gear set | 42 | First accommodating cavity |
| 2460 | Planetary gear | 44 | Fixing plate |
| 2462 | Planet carrier | 45 | Housing part |
| 2464 | Lower clamping plate | 450 | First fixing hole |
| 2466 | Planetary shaft | 452 | Second fixing hole |
| 2468 | Mounting opening | 50 | Side cover |
| 248 | Fixed gear | 52 | Second accommodating cavity |
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Referring to fig. 1 to 6, a servo steering engine provided in an embodiment of the present invention includes:
a drive device 10 for providing power and having a first output shaft 12 for outputting power, the first output shaft 12 is provided with a power input gear 14;
a speed reducing mechanism 20, wherein the speed reducing mechanism 20 is used for changing the power output direction of the driving device 10, and comprises a power gear 21 matched with the power input gear 14, a first transmission gear 22 coaxially arranged with the power gear 21 and synchronously rotating with the power gear 21, and a speed reducing assembly 24 driven by the first transmission gear 22 to rotate;
a power output mechanism 30, wherein the power output mechanism 30 is driven to rotate by the speed reducing mechanism 20, and comprises a second output shaft 32 which is driven to rotate by the output end of the speed reducing assembly 24 and is connected with an external element;
wherein the power input gear 14 and the power gear 21 are engaged with each other in a staggered manner.
The servo steering engine provided by the embodiment of the invention utilizes the speed reducing mechanism 20 to carry out power transmission, and utilizes the power gear 21 in the speed reducing mechanism 20 to be meshed with the power input gear 14 and the power gear 21 to drive the first transmission gear 22 and the speed reducing assembly 24 to carry out power transmission, so that the servo steering engine has a simple structure and a large single-stage transmission ratio; and the power input gear 14 and the power gear 21 are in a staggered engagement mode, so that noise between gear cooperation of each stage is reduced, and the reduction ratio of the reduction mechanism 20 is increased.
In this embodiment, the driving device 10 is a driving motor, and different types of driving motors can be selected according to the actually required output power.
In this embodiment, the speed reducing mechanism 20 further includes a mounting shaft (not shown) for mounting the power gear 21 and the first transmission gear 22, the mounting shaft being perpendicular to the first output shaft 12, and the power gear 21 mounted on the mounting shaft being engaged with the power input gear 14 mounted on the first output shaft 12 in a staggered manner, the power input gear 14 and the power gear 21 engaged with each other in a staggered manner can effectively reduce noise of the servo steering engine, and can increase a single-stage reduction ratio of the servo steering engine.
Referring to fig. 2 to 6, further, the axial direction of the first output shaft 12 is perpendicular to the axial direction of the power gear 21. The axial direction of the first output shaft 12 is perpendicular to the axial direction of the mounting shaft, so that the power output direction of the driving device 10 is changed. In addition, the first output shaft 12 is perpendicular to the mounting shaft in a staggered manner, and the power input gear 14 is meshed with the power gear 21 in a staggered manner, so that the single-stage reduction ratio of the whole servo steering engine is improved, and noise is reduced.
Further, the power input gear 14 and the power gear 21 are worm gears, crossed helical gears or hypoid helical gears which mesh with each other. It will be appreciated that the servo steering engine uses intermeshing worm gears, crossed helical gears or hypoid helical gears for power input and changes the direction of power transmission of the drive 10 to transmit power to external components via the second output shaft 32 in the power take-off mechanism 30.
In this embodiment, the teeth of the power input gear 14 are spirally arranged along the axis of the first output shaft 12, the teeth of the power gear 21 are obliquely arranged along the outer circumferential surface of the power gear 21, and the oblique direction is obliquely arranged along the axis of the mounting shaft.
In this embodiment, the mounting shaft and the second output shaft 32 are arranged parallel to each other, i.e. the first output shaft 12 is perpendicular to the second output shaft 32.
In this embodiment, the gear outer diameter of the power gear 21 is larger than the outer diameter of the first transmission gear 22, and the number of teeth of the power gear 21 is larger than the number of teeth of the first transmission gear 22.
In this embodiment, the first transmission gear 22 and the power gear 21 are disposed together on the same gear seat, that is, the first transmission gear 22 rotates with the rotation of the power gear 21.
Referring to fig. 2 to 6, further, the reduction assembly 24 includes a fixed shaft 240 axially parallel to the power gear 21, a second transmission gear 242 meshed with the first transmission gear 22, and a planetary gear set 246 coaxially disposed with the second transmission gear 242 and connected to the power output mechanism 30, wherein the second transmission gear 242 and the planetary gear set 246 are mounted on the fixed shaft 240, the second transmission gear 242 includes a first gear 244 and a second gear 245 coaxially disposed and fixed to each other, the first gear 244 is meshed with the first transmission gear 22, and the second gear 245 is meshed with the planetary gear set 246. The servo steering engine is meshed with the planetary gear set 246 by arranging the second transmission gear 242 in the speed reducing mechanism 20 so that the servo steering engine has a sufficient speed reducing effect. It will be appreciated that the stationary shaft 240 is disposed coaxially with the second output shaft 32 and parallel to the mounting shaft. Preferably, the number of teeth of the second transmission gear 242 is greater than the number of teeth of the first transmission gear 22 to achieve the corresponding reduction ratio. The second transmission gear 242 is driven by the first transmission gear 22 to rotate, the first gear 244 and the second gear 245 are disposed on the same gear base 40 and rotate synchronously, and the first transmission gear 22 is meshed with the first gear 244 and rotates along with the rotation of the first gear 244. The second gear 245 is meshed with the planetary gear set 246 to drive the planetary gear set 246 to rotate.
In this embodiment, the second gear 245 protrudes along the disk surface of the first gear 244 and is provided with gear teeth that mesh with the planetary gear set 246. Preferably, the first gear 244 and the second gear 245 are integrally formed, and the second gear 245 rotates along with the rotation of the first gear 244 and has the same rotation speed to drive the planetary gear set 246 to rotate.
Referring to fig. 4 to 5, further, the planetary gear set 246 includes three planetary gears 2460 disposed around the outer side of the second gear 245 and meshed with the second gear 245, a planet carrier 2462 for mounting the planetary gears 2460 on the fixed shaft 240, and a fixed gear 248 sleeved on the periphery of the planet carrier 2462 and meshed with each of the planetary gears 2460 to limit the idle rotation of the planetary gears 2460, and the power output mechanism 30 and the planetary gear set 246 are coaxially mounted on the fixed shaft 240. Each of the planetary gears 2460 meshes with the second gear 245 and drives the planetary carrier 2462 to rotate, thereby driving the power output mechanism 30 to rotate. It may be appreciated that the planet carrier 2462 is provided with a through hole, and the external teeth of the second gear 245 are meshed with the external teeth of each of the planet gears 2460 to drive the planet gears 2460 to rotate, and the planet gears 2460 drive the planet carrier 2462 to rotate, and drive the power output mechanism 30 to rotate along with the planet carrier 2462.
The servo steering engine uses the three planetary gears 2460 to simultaneously transmit load by arranging the three planetary gears 2460 in the planetary gear set 246, so that the power is split, and the bearing capacity of the speed reducing mechanism 20 is high.
In this embodiment, the speed reducing mechanism 20 adopts a planetary gear 2460 for transmission, so that the single-stage reduction ratio is large, and therefore, the whole servo steering engine can meet the total reduction ratio requirement only by the power gear 21, the first transmission gear 22, the second transmission gear 242 and the planetary gear set 246. Moreover, since the servo steering engine adopts the planetary gear 2460, the number of gears used by the servo steering engine is greatly reduced, the assembly steps of the servo steering engine are relatively reduced, the cost is saved, and meanwhile, the structure of the speed reducing mechanism 20 is very compact and the bearing capacity is high due to the adoption of the planetary gear 2460 for transmission.
In this embodiment, the fixed gear 248 is provided with internal gear teeth that mesh with each of the planetary gears 2460. It will be appreciated that the inner teeth of the fixed gear 248 mesh with the outer teeth of the planetary gears 2460 to prevent each of the planetary gears 2460 from idling, ensuring proper operation of each of the planetary gears 2460.
Referring to fig. 2 to 6, further, the power output mechanism 30 further includes an end cover 31 fixedly connected to the second output shaft 32 and fixedly connected to the planet carrier 2462, and the end cover 31 is located between the second output shaft 32 and the planet carrier 2462; the planet carrier 2462 includes a lower clamping plate 2464 fixedly connected with the end cover 31 and a planet shaft 2466 fixedly connected with each of the planet gears 2460, a mounting opening 2468 for mounting each of the planet gears 2460 is formed between the end cover 31 and the lower clamping plate 2464, and the planet shaft 2466 is disposed in the mounting opening 2468, with one end inserted into the end cover 31 and the other end inserted into the lower clamping plate 2464. The servo steering engine is compact in structure and convenient to assemble and disassemble by arranging the end cover 31 and the lower clamping plate 2464 so as to mount the planetary gears 2460.
In this embodiment, the end cap 31 and the second output shaft 32 are formed by integral molding. The servo steering engine mounts each of the planetary gears 2460 using the end cover 31 and the lower clamp plate 2464, and a planetary shaft 2466 is provided between the end cover 31 and the lower clamp plate 2464 to fixedly mount each of the planetary gears 2460 on the planetary shaft 2466.
When the planetary gear 2466 is installed, each planetary shaft 2466 is inserted into the corresponding planetary gear 2460 and is fixedly matched with the planetary gear 2460, one end of each planetary shaft 2466 is inserted into the lower clamping plate 2464, the end cover 31 is arranged relative to the lower clamping plate 2464, the other end of each planetary shaft 2466 is inserted into the end cover 31, and the end cover 31 and the lower clamping plate 2464 are fixed together by locking screws, so that the planetary shaft 2466 and the planetary gear 2460 are installed in the installation opening 2468, and the planetary gear 2460 drives the end cover 31 and the lower clamping plate 2464 which are mutually fixed to rotate under the meshing action of the second gear 245.
Referring to fig. 5, in this embodiment, the lower plate 2464 includes a base (not labeled) and a plurality of protruding columns (not labeled) protruding along a surface of the base toward one side of the end cap 31, each protruding column is disposed at intervals, one planetary gear 2460 is mounted between two adjacent protruding columns, a through hole (not labeled) for the second gear 245 to pass through and a first mounting groove (not labeled) between two adjacent protruding columns are disposed on the base, and one end of the planetary shaft 2466 is inserted into the first mounting groove. The end cap 31 is provided with a second mounting groove (not shown) opposite to the first mounting groove, and the other end of the planetary shaft 2466 is inserted into the second mounting groove. The end cover 31 is opposite to the lower clamping plate 2464, so that the first mounting groove is opposite to the second mounting groove, and the end cover 31 is penetrated by a locking screw and locked in the protruding columns of the lower clamping plate 2464, so that two adjacent protruding columns and the end cover 31 are enclosed to form the mounting opening 2468 for mounting the planetary gear 2460. The seat body, the protruding column and the end cover 31 enclose to form the accommodating cavity for accommodating the second gear 245, the accommodating cavity is communicated with the mounting opening 2468, the second gear 245 is accommodated in the accommodating cavity and is meshed with each planetary gear 2460 mounted in the mounting opening 2468, so that the planetary gears 2460 drive the end cover 31 and the lower clamping plate 2464 to rotate, and the second output shaft 32 is driven to rotate to transmit power.
In this embodiment, two ends of each of the planetary shafts 2466 are respectively mounted in the first mounting groove and the second mounting groove through bearings, so that each of the planetary gears 2460 drives the end cover 31 and the lower clamping plate 2464 to rotate.
In this embodiment, the planetary gears 2460 are equally spaced along the circumference of the fixed shaft 240. The servo steering engine is provided with the planetary gears 2460 at equal intervals so as to uniformly transmit load at the same time and uniformly split power.
Referring to fig. 2 to 6, further, the servo steering engine further includes a housing 40 provided with a first accommodating cavity 42, and a side cover 50 fixedly connected with the housing 40 and forming a second accommodating cavity 52 with the housing 40, the driving device 10 is installed in the first accommodating cavity 42, the housing 40 includes a fixing plate 44 protruding on a cavity wall of the first accommodating cavity 42 and used for installing the fixing shaft 240 and the power gear 21, and a housing portion 45 mutually abutting and fixed with the side cover 50, the speed reducing mechanism 20 is installed in the second accommodating cavity 52, the housing portion 45 is provided with a first fixing hole 450 for fixedly installing the power output mechanism 30, and the fixing gear 248 is fixed on the housing portion 45 and the side cover 50. The stand 40 and the side cover 50 form an outer appearance part of the servo steering engine, and form a housing structure of the servo steering engine, so as to protect the power input device and the speed reducing mechanism 20. The fixed gear 248 is fixed on the frame 40 and the side cover 50, and is accommodated in the second accommodating cavity 52.
Referring to fig. 2 to 6, further, the servo steering engine further includes a mounting assembly 60 fixedly mounted on a side of the housing portion 45 facing the fixing plate 44 and coaxially disposed with the second output shaft 32, the housing portion 45 is provided with a second fixing hole 452 opposite to the first fixing hole 450, and the mounting assembly 60 includes a connecting plate 62 fixedly mounted on the fixing plate 44 and a connecting post 64 penetrating through the second fixing hole 452 and fixedly mounted on the connecting plate 62 and having a connecting shaft hole. The servo steering engine is connected with external elements by arranging the connecting plate 62 and the connecting post 64, and the connecting post 64 is coaxially disposed with the second output shaft 32 for ease of mounting to an external component.
Referring to fig. 2 to 6, further, the power output mechanism 30 includes a fixed bearing 34 disposed around the end cover 31, and a clamping ring 36 clamped between the wall of the first fixed hole 450 and the periphery of the fixed bearing 34. The servo steering engine is characterized in that the power output mechanism 30 is provided with the fixed bearing 34 to be additionally provided with a primary bearing outside the servo steering engine to fix the power output mechanism 30, so that the servo steering engine structure is more stable, and the output angle of the power output mechanism 30 is more accurate. The servo steering engine is characterized in that the clamping ring 36 is embedded at the periphery of the fixed bearing 34, so that the fixed bearing 34 is stably arranged in the stand 40, and the radial deviation of the fixed bearing is avoided.
In the above embodiments, the fixed bearing 34 includes an inner ring (not shown) that is fitted over the second output shaft 32, an outer ring (not shown) that is coaxial with the inner ring and is provided at a distance from the inner ring, and rolling elements (not shown) that are provided between the inner ring and the outer ring. The outer ring is clamped in the clamping ring 36, and is fixed between the outer ring and the stand 40 by the clamping ring 36, so that the fixed bearing 34 is fixed in the stand 40, and the rotation friction between the second output shaft 32 and the clamping ring 36 is reduced.
Referring to fig. 1 to 6, a robot provided by an embodiment of the present invention includes the servo steering engine. The servo steering engine in this embodiment has the same structure as the servo steering engine in each of the above embodiments, and functions the same, and will not be described here again.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. A servo steering engine for a joint of a humanoid robot, comprising:
a driving device for providing power and having a first output shaft for outputting power, the first output shaft being mounted with a power input gear;
the speed reducing mechanism is used for changing the power output direction of the driving device and comprises a power gear matched with the power input gear, a first transmission gear coaxially arranged with the power gear and synchronously rotating with the power gear, and a speed reducing assembly driven by the first transmission gear to rotate;
the power output mechanism is driven by the speed reducing mechanism to rotate, the second output shaft is driven by the output end of the speed reduction assembly to rotate and is connected with an external element;
wherein, the power input gear is meshed with the power gear in a staggered way;
the power input gear and the power gear are worm gears, staggered shaft bevel gears or hypoid bevel gears which are meshed with each other;
the servo steering engine further comprises a machine seat provided with a first accommodating cavity and a side cover fixedly connected with the machine seat and forming a second accommodating cavity with the machine seat, the driving device is arranged in the first accommodating cavity, and the speed reducing mechanism is arranged in the second accommodating cavity;
the machine base comprises fixing plates which are arranged on the cavity wall of the first accommodating cavity in a protruding mode, and shell parts which are mutually butted and fixed with the side covers, wherein two shell parts are arranged, and the fixing plates are arranged between the two shell parts;
the shell part is provided with a first fixing hole for fixedly mounting the power output mechanism and a second fixing hole opposite to the first fixing hole,the saidA first fixing hole and the second fixing hole are respectively arranged on the two shell parts;
the servo steering engine further comprises a mounting assembly which is fixedly mounted on one side of the shell part, facing the fixing plate, and is coaxially arranged with the second output shaft, and the mounting assembly comprises a connecting plate fixedly mounted on the fixing plate and a connecting column penetrating through the second fixing hole and fixedly mounted on the connecting plate.
2. The servo steering engine of claim 1 wherein an axial direction of the first output shaft is perpendicular to an axial direction of the power gear.
3. The servo steering engine as set forth in any one of claims 1 to 2 wherein said reduction assembly comprises a stationary shaft disposed axially parallel to said power gear, a second drive gear intermeshed with said first drive gear, and a planetary gear set coaxially disposed with said second drive gear and coupled to said power take off mechanism, the second transmission gear and the planetary gear set are arranged on the fixed shaft, the second transmission gear comprises a first gear and a second gear which are coaxially arranged and mutually fixed, the first gear is mutually meshed with the first transmission gear, and the second gear is mutually meshed with the planetary gear set.
4. The servo steering engine as recited in claim 3 wherein said planetary gear set comprises three planetary gears disposed around and engaged with said second gear, a planet carrier for mounting said planetary gears and mounted on said fixed shaft, a fixed gear disposed around said planet carrier and engaged with each of said planetary gears to limit said planetary gears from idling, said power take-off mechanism being mounted on said fixed shaft coaxially with said planetary gear set.
5. The servo steering engine of claim 4 wherein said power take off mechanism further comprises an end cap fixedly connected to said second output shaft and fixedly connected to said planet carrier, said end cap being positioned between said second output shaft and said planet carrier; the planet carrier comprises a lower clamping plate fixedly connected with the end cover and a planet shaft fixedly connected with each planet gear, an installation opening for installing each planet gear is formed between the end cover and the lower clamping plate, and the planet shaft is arranged in the installation opening, one end of the planet shaft is inserted into the end cover, and the other end of the planet shaft is inserted into the lower clamping plate.
6. The servo steering engine of claim 5 wherein said fixed plate is adapted to mount said fixed shaft and said power gear, said fixed gear being secured to said housing portion and said side cover.
7. The servo steering engine of claim 6 wherein the connecting post has a connecting shaft bore;
the connecting column is coaxial with the second output shaft;
the end cover and the second output shaft are integrally formed.
8. The servo steering engine of claim 6 wherein the power take off mechanism comprises a fixed bearing disposed around the periphery of the end cap and a snap ring snapped between the wall of the first fixed bore and the periphery of the fixed bearing.
9. A robot comprising a servo steering engine according to any one of claims 1 to 8.
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 |
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| 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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| CN107246461A CN107246461A (en) | 2017-10-13 |
| CN107246461B true CN107246461B (en) | 2024-02-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611248256.XA Active CN107246461B (en) | 2016-12-29 | 2016-12-29 | Servo steering engine and robot |
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| Country | Link |
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| CN (1) | CN107246461B (en) |
| WO (1) | WO2018121695A1 (en) |
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| CN107246461B (en) * | 2016-12-29 | 2024-02-02 | 深圳市优必选科技有限公司 | Servo steering engine and robot |
| CN106763515B (en) * | 2016-12-31 | 2020-03-27 | 深圳市优必选科技有限公司 | Steering engine |
| CN107856054B (en) * | 2017-11-28 | 2023-08-04 | 深圳市优必选科技有限公司 | Steering engine transmission structure, robot skeleton texture and robot |
| CN107863847B (en) * | 2017-11-29 | 2023-07-18 | 深圳市优必选科技有限公司 | Steering engine device and cradle head equipment with same |
| CN108679203B (en) * | 2018-07-03 | 2023-09-22 | 曹林 | Miniature steering engine transmission mechanism |
| CN109139810A (en) * | 2018-10-28 | 2019-01-04 | 今峰精密机电（上海）有限公司 | A kind of twin shaft gear reduction unit |
| CN110450084A (en) * | 2019-05-14 | 2019-11-15 | 成都生活家网络科技有限公司 | A kind of wardrobe fixing device for installing |
| CN113942018A (en) * | 2020-07-15 | 2022-01-18 | Oppo广东移动通信有限公司 | Steering wheel and charging equipment |
| CN113843776A (en) * | 2021-09-30 | 2021-12-28 | 达闼机器人有限公司 | Modularization executor, arm and robot |
| CN114427808A (en) * | 2022-01-19 | 2022-05-03 | 湖北三江航天红峰控制有限公司 | Foldable steering wheel |
| CN117682057B (en) * | 2024-01-31 | 2024-05-28 | 北京大学 | Driving mechanism, steering engine and aircraft |
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Also Published As
| Publication number | Publication date |
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| CN107246461A (en) | 2017-10-13 |
| WO2018121695A1 (en) | 2018-07-05 |
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