CN112757280A - Steering wheel module and robot - Google Patents
Steering wheel module and robot Download PDFInfo
- Publication number
- CN112757280A CN112757280A CN202011587767.0A CN202011587767A CN112757280A CN 112757280 A CN112757280 A CN 112757280A CN 202011587767 A CN202011587767 A CN 202011587767A CN 112757280 A CN112757280 A CN 112757280A
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- CN
- China
- Prior art keywords
- motor
- brake
- steering engine
- ring
- engine module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- 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
- B25J19/0004—Braking devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/102—Structural association with clutches, brakes, gears, pulleys or mechanical starters with friction brakes
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
Abstract
The invention provides a steering engine module and a robot, wherein the steering engine module comprises a motor, a speed reducing assembly connected to the output end of the motor, an output shaft connected to the moving end of the speed reducing assembly, an encoder assembly used for detecting and recording angular displacement of the motor and the output shaft, and a brake assembly used for braking, the motor comprises a rotor and a stator arranged in the rotor, and a brake body of the brake assembly is arranged in the stator. According to the steering engine module and the robot, the rotor is arranged on the periphery of the stator and is the outer rotor motor, the brake body of the brake component is arranged inside the stator, the inner space of the stator of the outer rotor motor can be fully utilized, the axial length occupied by the brake component is reduced, the overall length of the steering engine module can be shortened, the occupied space is reduced, and the steering engine module and the robot can be further suitable for robots with more compact structures.
Description
Technical Field
The invention belongs to the technical field of mechanical transmission, and particularly relates to a steering engine module and a robot.
Background
The mechanical arm and the robot have great significance to the automation industry and are indispensable technical equipment in the automation industry. In a robot and a mechanical arm, a joint steering engine module for controlling the robot and the mechanical arm to move in a joint mode is vital, and the performance, the size and the assembly process of the joint steering engine have great influence on the use of the whole robot. The joint steering engine module of current robot, its brake module and motor element set up along the axial arrangement of steering engine module, lead to in spatial arrangement, can increase the axial length and the volume of steering wheel, can not be applicable to in the robot that the structure is compacter.
Disclosure of Invention
The embodiment of the invention aims to provide a steering engine module and a robot, and aims to solve the technical problems that the steering engine module in the prior art is large in axial length and large in occupied size.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a steering wheel module, including the motor, connect in the speed reduction subassembly of the output of motor, connect in the output shaft of the motion end of speed reduction subassembly, be used for detecting and the record the motor and the encoder subassembly of the angle displacement of output shaft and be used for the brake subassembly of braking, the motor includes the rotor and locates the inside stator of rotor, brake subassembly's brake body set up in the inside of stator.
In one embodiment, the brake assembly further comprises a brake body, a brake fixing seat and a brake pad for braking the output end of the motor, wherein the brake body and the stator are fixed on the brake fixing seat.
In one embodiment, the motor further comprises a motor transfer shaft fixedly connected with the rotor, the motor transfer shaft is sleeved on the periphery of the output shaft, and the brake fixing seat is connected to the periphery of the motor transfer shaft through a first bearing.
In one embodiment, the brake fixing seat comprises a first ring part and a second ring part which are axially connected, the stator is fixed on the outer wall of the first ring part, the brake body is fixed on the inner wall of the first ring part, and the outer ring of the first bearing is fixed on the inner wall of the second ring part.
In one embodiment, the motor further comprises a housing arranged on the periphery of the rotor, and the brake fixing seat further comprises a third ring part formed by radially and outwardly extending the outer ring of the second ring part, and the third ring part is fixedly connected with the housing.
In one embodiment, the periphery of the motor connecting shaft is provided with a square boss, and the inner wall of the brake pad is provided with a square hole matched with the square boss.
In one embodiment, the rotor includes a circular ring portion, a first cylindrical portion axially extended from an inner ring of the circular ring portion, and a second cylindrical portion axially extended from an outer ring of the circular ring portion, the stator is provided in the second cylindrical portion, and an input end of the reduction assembly is connected to the first cylindrical portion.
In one embodiment, the encoder assembly includes a control board, a first magnetic ring fixed to an output end of the motor, a second magnetic ring fixed to the output shaft, a first read head chip for detecting and recording an angular displacement of the first magnetic ring, and a second read head chip for detecting and recording an angular displacement of the second magnetic ring, and both the first read head chip and the second read head chip are fixed and electrically connected to the control board.
In one embodiment, the first readhead chip and the second readhead chip are respectively fixed and electrically connected to two opposite surfaces of the control board.
The invention further provides a robot which comprises the steering engine module.
The steering engine module and the robot provided by the invention have the beneficial effects that: compared with the prior art, the steering engine module comprises the motor, the speed reduction assembly, the output shaft, the encoder assembly and the brake assembly, wherein the motor comprises a rotor and a stator, the rotor is arranged on the periphery of the stator and is an outer rotor motor, in addition, the brake body of the brake assembly is arranged inside the stator, the inner space of the stator of the outer rotor motor can be fully utilized, and the axial length occupied by the brake assembly is reduced, so that the overall length of the steering engine module can be shortened, the occupied space is reduced, and the steering engine module can be further suitable for robots with more compact structures.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a cross-sectional view of a steering engine module according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a brake fixing seat of the steering engine module according to the embodiment of the invention;
FIG. 3 is a cross-sectional view of a rotor of a steering engine module according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of an encoder assembly provided by an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
1-a motor; 11-a stator; 12-a rotor; 121-a first cylindrical section; 122-a second cylindrical section; 123-circular part; 13-a housing; 131-an outer cylinder part; 132-end face portion; 133-a support flange; 14-a motor transfer shaft; 141-square boss; 142-a second positioning step; 2-a speed reduction assembly; 21-wave generator; 22-a rigid wheel; 23-a flexible gear; 3-an output shaft; 31-a shaft body; 32-flange plate; 4-an encoder component; 41-a control panel; 411 — first read head chip; 412-a second read chip; 42-a drive plate; 43-a first magnetic ring; 44-a second magnetic ring; 45-studs; 46-a pair of plug terminals; 5-a brake component; 51-a brake body; 52-brake fixing seat; 53-brake pads; 521-a first ring portion; 522-a second ring portion; 523-third ring section; 524-fourth ring part; 525-a positioning flange; 526-first positioning step; 6-a first bearing; 7-a second bearing; 8-steering engine end cover; 9-wire sheath.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The steering engine module provided by the embodiment of the invention is explained.
In one embodiment of the present invention, referring to fig. 1, the steering engine module includes a motor 1, a speed reducing component 2, an output shaft 3, an encoder component 4, and a brake component 5, the speed reducing component 2 is connected to an output end of the motor 1, the output shaft 3 is connected to an output end of the speed reducing component 2, and the speed reducing component 2 is configured to reduce the speed of the output shaft 1, so that the speed of the output shaft 3 is suitable for the rotation speed of joints and other parts in the robot. The encoder assembly 4 is used to detect and record the angular displacement of the output of the motor 1 and the output shaft 3. The brake assembly 5 is used for braking the motor 1, so that the motor 1 can be stopped immediately when receiving a braking command. Motor 1 includes rotor 12 and stator 11, and rotor 12 sets up in the periphery of stator 11, makes this motor 1 be the external rotor motor, and the brake body 51 among the brake subassembly 5 sets up in the inside of stator 11 for the brake body 51 need not additionally to occupy the axial space of steering wheel module, with the axial space of the same department of motor 1 sharing steering wheel module can, thereby can shorten the axial length of steering wheel module, make its structure compacter. It should be noted that, because the motor 1 is an external rotor motor, and a relatively large space is provided inside the stator 11 of the external rotor motor, the brake body 51 is disposed inside the stator 11, and the space inside the stator 11 in the existing structure is directly and fully utilized without modifying the stator 11 of the external rotor motor 1. Wherein, speed reduction unit 2, motor 1 and encoder subassembly 4 can set gradually along the axial of output shaft 3.
The steering wheel module in the above-mentioned embodiment, including motor 1, speed reduction unit 2, output shaft 3, encoder subassembly 4 and brake subassembly 5, motor 1 includes rotor 12 and stator 11, rotor 12 sets up in stator 11's periphery, for the external rotor electric machine, and, brake subassembly 5's the body 51 of stopping sets up in stator 11's inside, can make full use of external rotor electric machine's stator 11's inner space, reduce the shared axial length of brake subassembly 5, therefore can shorten the overall length of steering wheel module, reduce its space that occupies, and then can be applicable to in the more compact robot of structure.
In one embodiment of the present invention, referring to fig. 1, the brake assembly 5 includes a brake body 51, a brake fixing seat 52 and a brake pad 53, the brake body 51 and the stator 11 are fixed on the brake fixing seat 52, no additional stator seat is required, and the brake fixing seat 52 supports both the brake body 51 and the stator 11. Specifically, when the steering engine module is powered on, the brake pad 53 and the brake body 51 are magnetically attracted with each other, a gap is formed between the brake pad 53 and the output end of the motor 1, and the motor 1 can normally work; when the steering wheel module loses the electricity, the magnetic attraction between brake block 53 and the brake body 51 disappears, and brake block 53 butt in the output of motor 1, through the output braking of frictional force to motor 1. Alternatively, the brake fixing seat 52 is fixed on the housing 13 of the motor 1 and can be matched with the housing 13 of the motor 1 to form a space for accommodating the stator 11 and the rotor 12, so that the material of the housing 13 of the motor 1 is saved, and the outer side of the brake fixing seat 52 is used as a part of the outer surface of the motor 1. Moreover, the cable of the stator 11 and the cable of the brake assembly 5 can be fixed to the brake fixing base 52 at the same time, reducing the possibility of the cable being worn.
In one embodiment of the present invention, referring to fig. 1 and fig. 2, the motor 1 includes a stator 11, a rotor 12, and a motor coupling shaft 14, the motor coupling shaft 14 is fixedly connected to the rotor 12, the motor coupling shaft 14 is an output end of the motor 1, the speed reduction assembly 2 can be connected to the stator 11 or the motor coupling shaft 14, and a rotation speed of the output end of the speed reduction assembly 2 is the same as a rotation speed of the motor coupling shaft 14. The motor switching shaft 14 is sleeved on the periphery of the output shaft 3 and is arranged coaxially with the output shaft 3, so that the radial space occupied by the motor switching shaft 14 and the output shaft 3 is reduced, and the steering engine module is miniaturized as much as possible. Brake fixing base 52 is connected in the periphery of motor switching axle 14 through first bearing 6, makes motor switching axle 14 can be in the relative brake fixing base 52 free rotation under the drive of rotor 12, and first bearing 6 has support and limiting displacement to motor switching axle 14 simultaneously. Alternatively, one end of the motor transfer shaft 14 is fixedly connected with the rotor 12, the rotor 12 is rotatably connected with the housing 13 of the motor 1 through the second bearing 7, the other end of the motor transfer shaft 14 is rotatably connected with the brake fixing seat 52 through the first bearing 6, and the brake fixing seat 52 is rotatably connected with the housing 13 of the motor 1. Thus, the two ends of the motor coupling shaft 14 are respectively supported by the first bearing 6 and the second bearing 7, so that the motor coupling shaft 14 can rotate smoothly.
Optionally, referring to fig. 1 and fig. 2, the brake fixing base 52 includes a first ring portion 521 and a second ring portion 522, and the first ring portion 521 and the second ring portion 522 are connected along an axial direction of the output shaft 3. The stator 11 is fixed to the outer wall of the first ring portion 521, the brake body 51 is fixed to the inner wall of the first ring portion 521, the rotor 12 is disposed on the outer periphery of the stator 11, the outer ring of the first bearing 6 is fixed to the inner wall of the second ring portion 522, and the inner ring of the first bearing 6 is fixed to the outer periphery of the motor transfer shaft 14. Since the outer diameter of the motor transfer shaft 14 is much smaller than the outer diameter of the brake body 51, the inner diameter of the first ring portion 521 is larger than the inner diameter of the second ring portion 522. Wherein, the outer ring of the brake body 51 is fixed with the inner wall of the first ring part 521, and the inner ring of the brake block 53 is arranged at an interval with the outer ring of the motor transfer shaft 14. The inner ring of the brake block 53 is provided with a square hole, the outer ring of the motor transfer shaft 14 is provided with a square boss 141, the square hole and the square boss 141 are identical in structure, but the size of the square hole is larger than that of the square boss 141, when the steering engine module needs to be braked, the brake block 53 is retracted to clamp the square boss 141 of the motor transfer shaft 14, the motor transfer shaft 14 and the rotor 12 are enabled to stop rotating, and the braking of the steering engine module is achieved. In other embodiments, the inner ring of the brake pad 53 and the outer ring of the motor transfer shaft 14 may be provided with other structures (non-circular structures) as long as the motor transfer shaft 14 can be braked. The joint of the first ring 521 and the second ring 522 forms a first positioning step 526, and the first positioning step 526 can position the brake body 51. Optionally, the outer periphery of the motor coupling shaft 14 is provided with a second positioning step 142 for limiting the inner ring of the first bearing 6, the inner ring of the second ring portion 522 is formed with a positioning flange 525 radially inward, and the positioning flange 525 is used for limiting the outer ring of the first bearing 6.
Optionally, referring to fig. 1 and fig. 2, the motor 1 includes a rotor 12 and a stator 11, and further includes a housing 13, the stator 11 and the rotor 12 are both disposed inside the housing 13, and the brake fixing base 52 is fixedly connected to the housing 13, so as to form a stable support for the stator 11 and the brake body 51. Specifically, the brake fixing seat 52 includes a third ring portion 523, and the third ring portion 523 can be formed by radially extending the outer ring of the second ring portion 522 outwards, so that the third ring portion 523 can extend to be close to the outer shell 13, and the brake fixing seat 52 and the outer shell 13 are fixedly connected through the third ring portion 523 and the outer shell 13. Optionally, the brake fixing seat 52 further includes a fourth ring portion 524, the fourth ring portion 524 may be formed by extending an end surface of the third ring portion 523 in the axial direction, and an end of the fourth ring portion 524, which is far away from the third ring portion 523, may abut against the encoder component 4, so that the encoder component 4 is more stable after being installed.
Alternatively, the housing 13 of the motor 1 includes an outer cylinder 131 and an end surface 132, the end surface 132 is connected to one end of the outer cylinder 131, the third ring 523 of the brake holder 52 is connected to the other end of the outer cylinder 131, the end surface 132 and the third ring 523 form a space for accommodating the stator 11 and the rotor 12, and the third ring 523 can be used as a partial housing of the motor 1.
Optionally, referring to fig. 1 and fig. 3, the rotor 12 includes a circular ring portion 123, a first cylindrical portion 121, and a second cylindrical portion 122, the first cylindrical portion 121 is connected to an inner ring of the circular ring portion 123, the second cylindrical portion 122 is connected to an outer ring of the circular ring portion 123, the stator 11 is disposed in the second cylindrical portion 122, and the second cylindrical portion 122, the stator 11, the first circular portion 521, the brake body 51, the motor connecting shaft 14, and the output shaft 3 are sequentially disposed from an outer layer to a center of the steering engine module. The circular ring portion 123 is used for connecting the first cylindrical portion 121 and the second cylindrical portion 122, so that the first cylindrical portion 121 is disposed close to the speed reduction assembly 2, and the first cylindrical portion 121 is fixedly connected with the input end of the speed reduction assembly 2 to drive the input end of the speed reduction assembly 2 to rotate. Specifically, the input end of the reduction gear unit 2 may be fixedly connected to the end surface of the first cylindrical portion 121. The inner diameter of the first cylindrical portion 121 is smaller than the inner diameter of the second cylindrical portion 122.
Alternatively, the inner ring of the end surface portion 132 extends axially to form a support flange 133, and a second bearing 7 is provided between the outer periphery of the first cylindrical portion 121 and the inner ring of the support flange 133, so that the housing 13 and the rotor 12 of the motor 1 are rotationally connected through the second bearing 7.
In one embodiment of the present invention, referring to fig. 4, the encoder assembly 4 includes a control board 41, a first magnetic ring 43, a second magnetic ring 44, a first reading head chip 411 and a second reading head chip 412, and the control board 41 can control the start and stop of the motor 1, the rotation speed of the output shaft 3, and the like according to the feedback signal. The control plate 41 has a central hole at its center, so that it is circular and the output shaft 3 can pass through the central hole. The first magnetic ring 43 is arranged opposite to the first reading head chip 411, the first reading head chip 411 is used for detecting and recording the angular displacement of the first magnetic ring 43, the second magnetic ring 44 is arranged opposite to the second reading head chip 412, and the second reading head chip 412 is used for detecting and recording the angular displacement of the second magnetic ring 44. The first magnetic ring 43 is fixed to the output end of the motor 1, and may be specifically fixed to the motor transfer shaft 14. The second magnetic ring 44 is fixed on the output shaft 3, the motor coupling shaft 14 is the output end of the motor 1, and the output shaft 3 is the output end of the steering engine module. First reading head chip 411 and second reading head chip 412 are all fixed and electric connection on control panel 41, and like this, first reading head chip 411 and second reading head chip 412 need not through cable and control panel 41 electric connection, also need not additionally to set up the circuit board, can reduce the material, reduce the assembly degree of difficulty, reduce the volume of steering wheel module. More specifically, when the steering engine module operates, the output end of the motor 1 rotates to rotate the first magnetic ring 43, and the first reading head chip 411 can detect and record the angular displacement of the first magnetic ring 43, that is, the angular displacement of the output end of the motor 1; accordingly, the output end of the motor 1 is decelerated by the deceleration assembly 2, so that the output shaft 3 rotates, the second magnetic ring 44 fixed to the output shaft 3 rotates, and the second head chip 412 can detect and record the angular displacement of the second magnetic ring 44, that is, the angular displacement of the output shaft 3.
Optionally, the first magnetic ring 43 and the second magnetic ring 44 are coaxially arranged, so that the radial occupied space of the steering engine code control structure can be reduced, and the radial space of the steering engine code control structure is utilized as much as possible. The central axes of the first magnetic ring 43 and the second magnetic ring 44 may be selected to coincide with the central axis of the output shaft 3. The first magnetic ring 43 and the second magnetic ring 44 have different sizes, so that the first magnetic ring 43 and the second magnetic ring 44 can be prevented from magnetic interference. The inner diameter of the first magnetic ring 43 is larger than the inner diameter of the second magnetic ring 44, or the inner diameter of the first magnetic ring 43 is smaller than the inner diameter of the second magnetic ring 44.
Optionally, the first reading head chip 411 and the second reading head chip 412 are respectively fixed and electrically connected to two opposite surfaces of the control board 41, and the first magnetic ring 43 and the second magnetic ring 44 are also respectively disposed on two opposite sides of the control board 41, so that the space on the two opposite sides of the control board 41 can be fully utilized, and the space occupied by the steering engine encoding control structure is reduced as much as possible.
Optionally, the encoder assembly 4 further includes a driving board 42, the driving board 42 and the control board 41 are fixed and electrically connected, and the driving board 42 is used for controlling the switch of the motor 1. The drive plate 42 and the control plate 41 are arranged in parallel to minimize the volume of the encoder assembly 4. The driving plate 42 and the control board 41 can be fixedly connected through studs 45, the number of the studs 45 can be selected to be multiple, and the driving plate 42 and the control board 41 are electrically connected through plug terminal pairs 46.
In one embodiment of the present invention, referring to fig. 1, the output shaft 3 includes a shaft body 31 and a flange 32 fixed at one end of the shaft body 31, the shaft body 31 sequentially passes through the speed reduction assembly 2, the motor 1 and the encoder assembly 4, the shaft body 31 is a hollow shaft, so that a cable can pass through the shaft body 31, and the flange 32 is used for connecting with a swinging member of the robot, so as to drive the swinging member to swing. The flange plate 32 is arranged to facilitate the fixed connection of the output end of the speed reducing assembly 2 and the output end of the speed reducing assembly 2, so that the fixed connection of the output end of the speed reducing assembly 2 and the output shaft 3 is realized.
Optionally, the wire sheath 9 is sleeved at the center of the flange 32, so that when the cable passes through, the cable is protected, and the cable is prevented from being worn due to direct contact with a hole in the center of the flange 32. Optionally, the steering engine module further comprises a steering engine end cover 8, and the steering engine end cover 8 is arranged at one end, far away from the flange plate 32, of the shaft body 31. The steering engine end cover 8 can be fixed on the shell 13 of the motor 1 or fixed on the brake fixing seat 52, and the encoder assembly 4 can be arranged in an area enclosed by the steering engine end cover 8 and the brake fixing seat 52. Wherein, encoder subassembly 4 accessible double-screw bolt 45 is fixed at the inner wall of steering wheel end cover 8. The center of the steering engine end cover 8 is also provided with a wire protecting sleeve 9, and the two wire protecting sleeves 9 can be coaxially arranged, so that the abrasion of a cable caused by a center hole of the flange plate 32 and a center cover of the steering engine end cover 8 is avoided.
In one embodiment of the present invention, referring to fig. 1, the deceleration component 2 is a harmonic component. In other embodiments, the speed reduction assembly 2 may also be a planetary gear speed reduction assembly, a worm gear speed reduction assembly, a cycloidal pin gear speed reduction assembly, or the like. The harmonic component comprises a wave generator 21, a rigid gear 22 and a flexible gear 23, wherein the wave generator 21 is fixedly connected to the rotor 12, and the rigid gear 22 is fixedly connected with the output shaft 3. When the wave generator 21 is driven by the rotor 12 to rotate, the flexible gear 23 generates controllable elastic deformation and is meshed with the rigid gear 22 to transmit power, so that the speed of the output end of the motor 1 is reduced.
The invention further provides a robot which comprises the steering engine module in any embodiment. The steering engine module can be used in the joint of the robot and provides power for the swinging arm and other structural components of the robot.
The robot provided by the invention adopts the steering engine module in any embodiment, the steering engine module comprises a motor 1, a speed reduction component 2, an output shaft 3, an encoder component 4 and a brake component 5, the motor 1 comprises a rotor 12 and a stator 11, the rotor 12 is arranged on the periphery of the stator 11 and is an outer rotor motor, in addition, a brake body 51 of the brake component 5 is arranged inside the stator 11, the internal space of the stator 11 of the outer rotor motor can be fully utilized, the axial length occupied by the brake component 5 is reduced, the whole length of the steering engine module can be shortened, the occupied space is reduced, and the robot can be further suitable for robots with more compact structures.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides a steering wheel module which characterized in that: including the motor, connect in the speed reduction subassembly of the output of motor, connect in the output shaft of the motion end of speed reduction subassembly, be used for detecting and the record the motor and the encoder subassembly of the angle displacement of output shaft and the brake subassembly that is used for the braking, the motor includes the rotor and locates the inside stator of rotor, brake subassembly's brake body set up in the inside of stator.
2. The steering engine module of claim 1, wherein: the brake assembly further comprises a brake body, a brake fixing seat and a brake pad for braking the output end of the motor, wherein the brake body and the stator are fixed on the brake fixing seat.
3. The steering engine module of claim 2, wherein: the motor still include with rotor fixed connection's motor switching axle, motor switching axle sleeve is located the periphery of output shaft, the brake fixing base pass through first bearing connect in the periphery of motor switching axle.
4. The steering engine module of claim 3, wherein: the brake fixing seat comprises a first ring portion and a second ring portion which are axially connected, the stator is fixed on the outer wall of the first ring portion, the brake body is fixed on the inner wall of the first ring portion, and the outer ring of the first bearing is fixed on the inner wall of the second ring portion.
5. The steering engine module of claim 4, wherein: the motor is still including locating the shell of rotor periphery, the brake fixing base still include by the radial outside third ring portion that extends formation of outer lane of second ring portion, third ring portion with shell fixed connection.
6. The steering engine module of claim 3, wherein: the periphery of motor switching axle is provided with square boss, the inner wall of brake block be equipped with the quad slit of square boss adaptation.
7. The steering engine module of claim 1, wherein: the rotor comprises a circular ring part, a first cylindrical part formed by axially extending an inner ring of the circular ring part and a second cylindrical part formed by axially extending an outer ring of the circular ring part, the stator is arranged in the second cylindrical part, and the input end of the speed reduction assembly is connected to the first cylindrical part.
8. The steering engine module of claim 1, wherein: the encoder assembly comprises a control board, a first magnetic ring fixed at the output end of the motor, a second magnetic ring fixed at the output shaft, a first reading head chip used for detecting and recording the angular displacement of the first magnetic ring and a second reading head chip used for detecting and recording the angular displacement of the second magnetic ring, wherein the first reading head chip and the second reading head chip are both fixed and electrically connected to the control board.
9. The steering engine module of claim 8, wherein: the first reading head chip and the second reading head chip are respectively fixed and electrically connected to two opposite surfaces of the control board.
10. Robot, its characterized in that: comprising the steering engine module of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587767.0A CN112757280A (en) | 2020-12-28 | 2020-12-28 | Steering wheel module and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587767.0A CN112757280A (en) | 2020-12-28 | 2020-12-28 | Steering wheel module and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112757280A true CN112757280A (en) | 2021-05-07 |
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ID=75696672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011587767.0A Pending CN112757280A (en) | 2020-12-28 | 2020-12-28 | Steering wheel module and robot |
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| CN (1) | CN112757280A (en) |
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