CN206598289U - The power module and robot of single transport axle - Google Patents
The power module and robot of single transport axle Download PDFInfo
- Publication number
- CN206598289U CN206598289U CN201720161303.0U CN201720161303U CN206598289U CN 206598289 U CN206598289 U CN 206598289U CN 201720161303 U CN201720161303 U CN 201720161303U CN 206598289 U CN206598289 U CN 206598289U
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- CN
- China
- Prior art keywords
- reducing gear
- power module
- axle
- transmission axle
- cycloid disc
- 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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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model discloses the power module and robot of a kind of single transport axle, including shell, motor, reducing gear and transmission axle, transmission axle one end is contained in motor stator, the sensor-magnet that transmission axle top dead center position is set contacts connection with angular transducer, the other end of transmission axle is contained in reducing gear, and is connected by the output panel of reducing gear with transmission mechanism.One transmission axle is only set between motor and reducing gear of the present utility model, so that by the information transfer of the rotation of motor to reducing gear, the transmission mechanism of outside is transferred to by reducing gear, such design eliminates the output shaft being separately provided in reducing gear, save raw material, also the volume of power module is further reduced, power module is set to apply in the robot of small size, and because motor signal is directly passed to reducing gear by transmission axle, the output of reducing gear is more accurate, so that obtaining more accurate with the action executing of this power module, it is quick and smooth.
Description
Technical field
The utility model is related to technical field of power transmission, more particularly to a kind of input precision height, the single transport of small volume
The power modular structure of axle and the robot with this kind of power module.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, and advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
Work taken up, for example, produce industry, construction industry, or dangerous work.With the development of technology, many production lines or daily
In service, robot can be used more, and current robot is all manufactured towards apery class, or small size is manufactured into, but it is small
The robot of volume will perform the action of Various Complex, and the performance parameter such as precision and speed reducing ratio of its power plant module must be obtained
Improve.
In power module, especially in the connection of motor and reductor, typically all motor output shaft and reductor
Input shaft connection, such as Authorization Notice No. is CN201339697Y, and patent name is《Combined swinging ring speed reducer》Utility model
Patent, reductor input shaft and motor output shaft direct connection, solid input shaft is coupled by shaft coupling with motor output shaft, so big
The big volume for increasing power module, and middle attachment means are more, connected mode is complicated, makes aobvious not tight of overall structure
Gather, because intermediate link is excessive, greatly reduces the accuracy of intermediate transmission, when being applied to robot, make to drop significantly
Di Liao robots perform the accuracy acted during task and fluency.
Utility model content
For weak point present in above-mentioned technology, the utility model provides a kind of motor and shares one with reducing gear
The power modular structure of transmission axle and the robot with this structure, structure design are simple, small volume, and operation precision is high.
In order to achieve the above object, the utility model discloses a kind of power module of single transport axle, including shell, motor,
Reducing gear and transmission axle, described transmission axle one end are contained in motor stator, the sensing that transmission axle top dead center position is set
Device magnet contacts connection with angular transducer, and the other end of the transmission axle is contained in the through hole of reducing gear, and by subtracting
The output panel of fast mechanism is connected with transmission mechanism, and the motor, reducing gear and transmission axle are all contained in shell, the transmission
One end that axle is connected with reducing gear is arranged to curved eccentric structure, and it is convex that the eccentric structure top is provided with multiple annulus
Block, the annulus projection and the ball contact on retainer in reducing gear, and drive the cycloid disc on reducing gear to rotate, put
Output shaft group on drum transmits rotation information to output panel.
Wherein, the output shaft group includes rotational pin and guide, and the guide is set on the rotational pin, the output
Axle group is evenly spaced apart to be contained in the accommodating cavity on cycloid disc, and the guide is contacted with accommodating cavity, the two ends of the rotational pin
It is separately fixed at output panel and on input disc, the rotational pin is rotated against with guide.
Wherein, the reducing gear includes input disc, cycloid disc component and output panel, and cycloid disc is arranged on cycloid disc component
On, the cycloid disc component also includes the first rolling bearing and the second rolling bearing, and the output shaft group sequentially passes through defeated respectively
Enter the accommodating cavity on disk, cycloid disc and output panel, the transmission axle is contained in the through-hole structure of cycloid disk center.
Wherein, the cycloid disc is provided with multiple, and multiple cycloid discs are sequentially overlapped, and are synchronized with the movement, the cycloid disc
Outer surface is gear structure, when shell is set on power module, the groove of gear structure and enclosure on cycloid disc
Rolling pin contacts in structure, the cycloid disc is rotated under the support of roller bolt.
Wherein, the position that first rolling bearing and the second rolling bearing are contacted with cycloid disc is both provided with avoiding bearing
Rotate the bearing protective ring of abrasion.
Wherein, the shell includes upper casing and lower casing, and the upper casing is provided separately with lower casing, and upper casing is set in motor position
Put, and be provided with upper casing on the groove of accommodating angular transducer, groove and be provided with through hole, the sensor-magnet on transmission axle is worn
Through hole is crossed to be connected with angular transducer；The lower casing is ring-shaped cylinder structure, and encloses one jointly with input disc and output panel
Individual closed cavity, the cycloid disc component is contained in closed cavity.
Wherein, the position that the lower casing is connected with input disc, and the position that lower casing is contacted with output panel are both provided with using
In sealed sealing ring.
Wherein, the motor includes stator, rotor and magnet piece, and the magnet piece is clamped between the stator and the rotor, institute
The center for stating rotor is the through-hole structure of accommodating transmission axle, and the stator work rotor driven is rotated, and transmission axle will be received
To power be transferred to reducing gear.
Wherein, the reducing gear is the through hole in planetary gear speed reducing mechanism, transmission axle one end connection motor stator, the other end
It is contained in the sun gear of planetary gear speed reducing mechanism.
The utility model discloses a kind of robot, is provided with the power module of above-mentioned introduced single transport axle, and angle
Sensor is electrically connected with robot governor circuit, and the output panel in the reducing gear is connected with ex-ternal transmission mechanism of robot.
The beneficial effects of the utility model are：
Compared with prior art, power module and the robot with the power module of the present utility model, motor is with subtracting
One transmission axle is only set between fast mechanism, and its one end is contained in motor stator, and the other end is contained between reducing gear, from
And by the information transfer of the rotation of motor to reducing gear, the transmission mechanism of outside, such design are transferred to by reducing gear
The output shaft being separately provided in reducing gear is eliminated, raw material are saved, the volume of power module is also further reduced, makes
Power module can be applied in the robot of small size, and because motor signal is directly passed to reducing gear by transmission axle,
The output of reducing gear is more accurate, so that obtain more accurate with the action executing of this power module, it is quick and smooth.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment；
Fig. 2 is the main modular exploded perspective view of the utility model embodiment；
Fig. 3 is the parts configuration schematic diagram of the utility model embodiment；
Fig. 4 is the rotational pin of the utility model embodiment and the structural representation of guide.
Main element explanation：
1st, shell 2, motor
3rd, reducing gear 4, transmission axle
5th, angular transducer
11st, upper casing 12, lower casing
21st, rotor 22, stator
31st, input disc 32, cycloid disc component
33rd, output panel 34, sealing ring
41st, sensor-magnet 42, annulus projection
111st, groove 311, interior input disc
312nd, outer input disc 321, the first rolling bearing
322nd, the second rolling bearing 323, cycloid disc
324th, output shaft group 325, retainer
326th, bearing protective ring 331, interior output panel
332nd, outer output panel 3241, rotational pin
3242nd, guide.
Embodiment
In order to more clearly state the utility model, the utility model is further described below in conjunction with the accompanying drawings.
Refer to Fig. 1-Fig. 3, the utility model discloses a kind of power module of single transport axle, including shell 1, motor 2, subtract
Fast mechanism 3 and transmission axle 4, shell 1 include upper casing 11 and lower casing 12, and motor 2 is connected to one with reducing gear 3 by transmission axle 4
Action edge transmission of going forward side by side is acted, and upper casing 11 is set on motor 2, lower casing 12 encloses reducing gear 3, upper casing 11 and lower casing 12
Contact connection, the top of upper casing 11, which is provided with a groove 111 with through hole, groove 111, is equipped with angular transducer 5, and
The top of transmission axle 4 is provided with sensor-magnet 41, and transmission axle 4 is electrically connected through groove 111 with angular transducer 5, obtains angle
Spend information.In the present embodiment, the one end of transmission axle 4 is contained in motor stator 22, and the other end is contained in reducing gear 3, electricity
Machine 2 is rotated, and is transferred to rotation information in reducing gear 3 by transmission axle 4, in the present embodiment, transmission axle 4 and reducing gear 3
One end of connection is arranged to be provided with multiple annulus projections 42, annulus projection 42 above curved eccentric structure, eccentric structure
Contacted with the ball (not shown) in reducing gear 3 on retainer 325, and do eccentric rotary, transmission axle 4 is rotated, touch ball
The cycloid disc 323 on reducing gear 3 is driven to rotate afterwards, the output shaft group 324 on cycloid disc 323 transmits rotation information to defeated
Placing 331, output panel 33 is transferred in the transmission mechanism (not shown) being connected with the power module, completes power drive.At this
In embodiment, output panel 33 be connected with outside transmission mechanism, and transmission axle 4 is connected with angular transducer 5, angular transducer and outside
The governor circuit (not shown) electrical connection in portion, so as to constitute a part for robot.
Compared with prior art, power module of the present utility model, only sets a transmission between motor and reducing gear
Axle, one end of transmission axle is contained in motor stator, and the other end is contained between reducing gear, so that by the letter of the rotation of motor
Breath is transferred to reducing gear, and the transmission mechanism of outside is transferred to by reducing gear, and such design eliminates single in reducing gear
The output shaft solely set, saves raw material, also further reduces the volume of power module, power module is applied
In the robot of small size, and because motor signal is directly passed to reducing gear by transmission axle, the output of reducing gear is more smart
Standard, so that obtain more accurate with the action executing of this power module, it is quick and smooth.
In the present embodiment, motor 2 includes stator 22, rotor 21 and magnet piece (not shown), and magnet piece is clamped in stator
Between 22 and rotor 21, the center of rotor 21 is the through-hole structure of accommodating transmission axle 4,21 turns of the rotor driven of work of stator 22
Dynamic, the power received is transferred to reducing gear 3 by transmission axle 4.
Referring to Fig. 4, exemplified by reducing gear 3 of the present utility model is from the annexation of cycloid reduction mechanism, in this reality
Apply in example, cycloid reduction mechanism is contained in lower casing 12, cycloid reduction mechanism includes input disc 31, cycloid disc component 32 and output
Disk 33, encloses a closed cavity, and cycloid disc component 32 is housed jointly by lower casing 12 and input disc 31, output panel 33
Wherein, cycloid disc component 32 include the first rolling bearing 321, the second rolling bearing 322, cycloid disc 323, output shaft group 324,
In the present embodiment, cycloid disc 323 is provided with the circular ring structure of a through hole for centre, and is equidistantly set on loop configuration edge
Multiple through holes are equipped with, because output shaft group 324 is by multiple sizes, shape and structure all equal output shafts are combined, each
Output shaft is respectively contained in the through hole in loop configuration, because output shaft group 324 includes rotational pin 3241 and guide 3242,
Guide 3242 is set on rotational pin 3241, and output shaft group 324 is evenly spaced apart in the accommodating cavity that is contained on cycloid disc 323,
Guide 3242 is contacted with accommodating cavity, and the two ends of rotational pin 3241 are separately fixed on interior output panel 332 and interior input disc 312, when
When output shaft group 324 is rotated, single rotational pin 3241 is relatively rotated with guide 3242, and guide 3242 plays protection and rotated at this moment
The effect that pin 3241 and reduction rub with cycloid disc 323.
In the present embodiment, transmission axle 4 be contained on the through hole in the middle of cycloid disc 323, retainer 325 using ball with
Annulus projection 42 on transmission axle 4 is connected, and the abrasion during rotation of output shaft 4 can also be avoided to a certain extent, is allowed to more
Durable, in the present embodiment, retainer 325 is also connected with the first rolling bearing 321 and the second rolling bearing 322 respectively, and is protected
Hold frame 325 and be both provided with avoiding bearing from rotating abrasion with the position that the first rolling bearing 321 and the second rolling bearing 322 are connected
Bearing protective ring 326, the first rolling bearing 321 is clamped between input disc 31 and cycloid disc 323, and the second rolling bearing 322 is pressed from both sides
Hold between output panel 33 and cycloid disc 323, input disc 31 and output panel 33 are also circular ring structure as cycloid disc 31, and
Uniform intervals on the through hole passed through for transmission axle 4, annulus are provided with center and are provided with supply that shaft group 324 passes through logical
Hole, output shaft group 324 is exposed outside by output panel 33, and the position being connected on output panel 33 with transmission axle 4 is a groove
Structure, the groove structure then forms a projection in the outer surface of output panel 33, when transmission axle 4 is rotated, and drives first
The rolling bearing 322 of rolling bearing 321 and second rotates, so that the cycloid disc 323 being attached thereto also is rotated, 323 turns of cycloid disc
It is dynamic, drive output shaft group 324 to move, so as to drive output panel 33 to rotate, and deliver power to transmission mechanism.
In the present embodiment, cycloid disc 323 is provided with multiple, and multiple cycloid discs 323 are sequentially overlapped, and are synchronized with the movement, this
The outer surface of the cycloid disc 323 of embodiment is gear structure, and lower casing 12 is internally provided with the groove 121 being adapted to gear structure,
Roller bolt (not shown) is clamped between the gear structure of groove 121 and cycloid disc 323, when cycloid disc 323 is rotated,
The gear structure of the outer surface of cycloid disc 323 is rotated, and is hit and done eccentric motion in lower casing 12 after roller bolt.
In the present embodiment, the position that lower casing 12 is connected with input disc 31, and the position that lower casing 12 is contacted with output panel 33
Put and be both provided with being used for sealed sealing ring 34, in order to avoid thering is liquid or dust to enter in power module, preferably protect interior
The cycloid disc component 32 in portion, makes service life longer.
In the present embodiment, input disc 31 includes outer input disc 311 and interior input disc 312, and output panel 33 includes outer output
Disk 331 and interior output panel 332, outer input disc 311 are wrapped on interior input disc 312, and outer output panel 331 is wrapped in interior output panel
332 outsides, to be worn and torn when avoiding input disc 31 from being rotated with output panel 33.
Reducing gear of the present utility model is not limited to use cycloid reduction mechanism, can also be planetary gear speed reducing mechanism, only
Need to connect the one end of transmission axle 4 through hole in the stator 22 of motor, the other end is contained in the sun gear of planetary gear speed reducing mechanism,
By driving sun gear to rotate, rotate the planetary gear engaged with sun gear, so as to drive output panel 33 to rotate, by output panel 33
Impart power to the transmission mechanism of external connection.In the present embodiment, worm gear box etc. can also be substituted for other subtracts
Fast mechanism, it is every employing mentality of designing of the present utility model, and structure is designed to that similar structure all includes this practicality
New protection domain.
Advantage of the present utility model is：
1) transmission axle is only set, and its one end is contained in motor stator, the other end holds between motor and reducing gear
Put between reducing gear, so that the information transfer of the rotation of motor is transferred into outside by reducing gear to reducing gear
Transmission mechanism, such design eliminates the output shaft being separately provided in reducing gear, saves raw material, also further reduces
The volume of power module, enables power module to apply in the robot of small size；
2) because motor signal is directly passed to reducing gear by transmission axle, the output of reducing gear is more accurate, so that
Obtain more accurate with the action executing of this power module, it is quick and smooth；
3) highly versatile is designed, reducing gear can also use planetary reduction gear in addition to it can use cycloid reduction mechanism
Mechanism, it is only necessary to which cycloid disc is substituted for sun gear and planetary wheeling assembly, highly versatile.
Disclosed above is only several specific embodiments of the present utility model, but the utility model is not limited to this,
The changes that any person skilled in the art can think of should all fall into protection domain of the present utility model.
Claims (10)
1. a kind of power module of single transport axle, it is characterised in that including shell, motor, reducing gear and transmission axle, the biography
Defeated axle one end is contained in motor stator, and the sensor-magnet that transmission axle top dead center position is set contacts company with angular transducer
Connect, the other end of the transmission axle is contained in the through hole of reducing gear, and the output panel and transmission mechanism for passing through reducing gear
Connection, the motor, reducing gear and transmission axle are all contained in shell, and one end that the transmission axle is connected with reducing gear is set
It is set to above curved eccentric structure, the eccentric structure and is provided with multiple annulus projections, the annulus projection and reductor
Ball contact in structure on retainer, and drive the cycloid disc on reducing gear to rotate, the output shaft group on cycloid disc will be rotated
Information transfer is to output panel.
2. the power module of single transport axle according to claim 1, it is characterised in that the output shaft group includes rotational pin
And guide, the guide is set on the rotational pin, and the output shaft group is evenly spaced apart to be contained in accommodating on cycloid disc
In chamber, the guide is contacted with accommodating cavity, and the two ends of the rotational pin are separately fixed on output panel and input disc, described to rotate
Pin is rotated against with guide.
3. the power module of single transport axle according to claim 2, it is characterised in that the reducing gear includes input
Disk, cycloid disc component and output panel, cycloid disc are arranged on cycloid disc component, and the cycloid disc component also includes first axis of rolling
Hold with the second rolling bearing, the output shaft group sequentially passes through the accommodating cavity on input disc, cycloid disc and output panel respectively, described
Transmission axle is contained in the through-hole structure of cycloid disk center.
4. the power module of single transport axle according to claim 1, it is characterised in that the cycloid disc be provided with it is multiple,
Multiple cycloid discs are sequentially overlapped, and are synchronized with the movement, and the outer surface of the cycloid disc is gear structure, when shell is set in power mould
When in group, the gear structure on cycloid disc and the rolling pin contacts on the groove structure of enclosure, the cycloid disc are being rolled
Rotated under the support of pin.
5. the power module of single transport axle according to claim 3, it is characterised in that first rolling bearing and second
The position that rolling bearing is contacted with cycloid disc is both provided with the bearing protective ring for avoiding bearing from rotating abrasion.
6. the power module of single transport axle according to claim 3, it is characterised in that the shell includes upper casing with
Shell, the upper casing is provided separately with lower casing, and upper casing, which is set in, is provided with the recessed of accommodating angular transducer on motor position, and upper casing
The sensor-magnet being provided with groove, groove on through hole, transmission axle is connected through through hole with angular transducer；The lower casing is ring
Shape cylindrical structure, and a closed cavity is enclosed jointly with input disc and output panel, the cycloid disc component is contained in closed
In cavity.
7. the power module of single transport axle according to claim 6, it is characterised in that what the lower casing was connected with input disc
Position, and the position that lower casing is contacted with output panel are both provided with being used for sealed sealing ring.
8. the power module of single transport axle according to claim 1, it is characterised in that the motor includes stator, rotor
And magnet piece, between the stator and the rotor, the center of the rotor is the through hole of accommodating transmission axle for the magnet piece clamping
Structure, the stator work rotor driven is rotated, and the power received is transferred to reducing gear by transmission axle.
9. the power module of single transport axle according to claim 1, it is characterised in that the reducing gear is planetary reduction gear
Through hole in mechanism, transmission axle one end connection motor stator, the other end is contained in the sun gear of planetary gear speed reducing mechanism.
10. a kind of robot, it is characterised in that the single transport axle being provided with described in the claims 1-9 any one it is dynamic
Power module, and angular transducer electrically connects with robot governor circuit, outside the output panel and robot in the reducing gear
Transmission mechanism is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720161303.0U CN206598289U (en) | 2017-02-22 | 2017-02-22 | The power module and robot of single transport axle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720161303.0U CN206598289U (en) | 2017-02-22 | 2017-02-22 | The power module and robot of single transport axle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206598289U true CN206598289U (en) | 2017-10-31 |
Family
ID=60146542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720161303.0U Withdrawn - After Issue CN206598289U (en) | 2017-02-22 | 2017-02-22 | The power module and robot of single transport axle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206598289U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625647A (en) * | 2017-02-22 | 2017-05-10 | 深圳市奇诺动力科技有限公司 | Power assembly with single transmission shaft |
-
2017
- 2017-02-22 CN CN201720161303.0U patent/CN206598289U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625647A (en) * | 2017-02-22 | 2017-05-10 | 深圳市奇诺动力科技有限公司 | Power assembly with single transmission shaft |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171031 Effective date of abandoning: 20230418 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20171031 Effective date of abandoning: 20230418 |