CN206764819U - A kind of more motor parallel drive type electric joints and its manipulator - Google Patents
A kind of more motor parallel drive type electric joints and its manipulator Download PDFInfo
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- CN206764819U CN206764819U CN201720531879.1U CN201720531879U CN206764819U CN 206764819 U CN206764819 U CN 206764819U CN 201720531879 U CN201720531879 U CN 201720531879U CN 206764819 U CN206764819 U CN 206764819U
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Abstract
The utility model discloses a kind of more motor parallel drive type electric joints, including motor fixing plate, motor, drive gear, spring bearing, spring bearing fixed block, output bearing, output bearing (setting) plate and output gear；The motor is fixed on the motor fixing plate；The motor fixing plate includes matrix, bearing mounting hole, motor shaft via, motor fixing hole, connecting hole and mounting hole；Multiple motor are used to provide operating power；The drive gear is arranged in the rotary shaft of the motor；The spring bearing is arranged in the bearing mounting hole；The invention also discloses a kind of manipulator.The utility model is by increasing the quantity of meshing gear, reach the purpose of output gear uniform stressed, utilize the flexibility of motor itself, realize that multiple gear trains cooperate, the effect of muck in, the volume and weight of electronic joint reducing gear is substantially reduced, very high torque versus weight ratio can be obtained under in general machining accuracy.
Description
Technical field
It the utility model is related to electronic joint field, more particularly to a kind of more motor parallel drive type electric joints and its machine
Tool hand.
Background technology
Electronic joint is a kind of electric device for robot, manipulator, and its effect is output torque, control machinery
The anglec of rotation, typically it is made up of motor, travelling gear, control circuit etc..The diarthrodial performance of electricity influences on robot, manipulator
Huge, the diarthrodial moment of torsion of electricity, weight ratio are bigger, and robot, the construction weight of manipulator are lighter, high torque weight than electricity
Movable joint is the necessary component of high-performance robot.
Existing electronic joint is typically driven using single motor, passes through planetary reduction gear, harmonic speed reducer, cycloidal-pin wheel
Decelerator etc. reduces motor speed, moment of torsion amplification, while obtains larger output torque and mechanical stiffness.It is but existing electronic
Joint is when realizing high pulling torque output, it is necessary to using gear of larger-diameter motor and large modulus etc., to meet output torque
With the requirement of mechanical strength.Existing method, it is difficult to improve the diarthrodial torque versus weight ratio of electricity, on the one hand, when using major diameter
During motor, in order to meet the requirement of low speed and large torque, it is necessary to using multipolar dynamo, to reduce rotating speed, reduce to a certain extent
The power density of motor.On the other hand, the number of teeth of existing deceleration device output stage actual participation engagement is less, with planetary reduction gear
Exemplified by device, planet carrier output stage only has 3 gears, to ensure gear mechanism intensity, now need bigger transverse tooth thickness, causes to slow down
Mechanism weight is larger.To obtain higher torque versus weight ratio, it is necessary to which increase participates in meshed gears quantity, and this is resulted in slowing down
Device, the requirement on machining accuracy of gear steeply rise, and the cost of decelerator also synchronously rises.
Utility model content
The purpose of this utility model is to provide a kind of more motor parallel drive type electric joints, solves existing electronic joint and turns round
Square weight than it is low the problem of.
In order to solve the above technical problems, the utility model adopts the following technical scheme that：
A kind of more motor parallel drive type electric joints of the utility model, including
Motor fixing plate for fixed motor；The motor fixing plate includes matrix, bearing mounting hole, motor shaft mistake
Hole, motor fixing hole, connecting hole and mounting hole；Described matrix is the disc with side wall；The bearing mounting hole is opened in
Described matrix bottom center；Multiple motor shaft vias are uniformly opened in the bearing mounting hole the week side of boss；The motor is fixed
Hole is opened in around the motor shaft via；The connecting hole is arranged in the side wall of described matrix；The mounting hole is arranged on
In the side wall of described matrix, position is used for the motor fixing plate to be arranged on；
For providing multiple motor of operating power；The motor is bolted in the motor fixing hole, is made
Motor is located on the outside of described matrix, and the rotary shaft of motor enters on the inside of matrix through the motor shaft via；
The drive gear being arranged in the rotary shaft of the motor；
The spring bearing being arranged in the bearing mounting hole；The outer ring of the spring bearing is fastened on bearing mounting hole
Interior, inner ring is arranged with spring bearing fixed block；The spring bearing fixed block is connected with output gear, and the output gear is located at
Inside described matrix, engaged with the drive gear；The opposite side of the output gear is provided with output shaft by exporting bearing
Fixed plate is held, the output bearing (setting) plate is bolted on the connecting hole.
Further, the first control line via, the output bearing are provided with the base side walls of the motor fixing plate
The the second control line via coordinated with the first control line via is provided with fixed plate.
Further, it is provided with output bearing installation position on the output bearing (setting) plate；Outside the output bearing
Circle is stuck in the output bearing installation position, and inner ring is stuck on the boss of the output gear.
Further, the support for the rotary shaft through the motor is offered on the output bearing (setting) plate
Hole.
Further, the first mounting hole is offered on the spring bearing fixed block, is offered on the output gear
The second mounting hole coordinated with first mounting hole, institute is connected through first mounting hole and the second mounting hole by bolt
State spring bearing fixed block and output gear.
Further, the quantity of the motor shaft via is ten, is evenly distributed on the bearing mounting hole the week side of boss.
Further, two motor fixing holes, motor fixing hole are offered around each motor shaft via
Equidistantly distributed is in motor shaft via both sides.
Further, lightening hole is offered on the output gear.
Further, the motor is speed reducing ratio 1：298 N20 decelerators.
A kind of more motor parallel drive-type manipulators, including mechanical gripper, there is provided any one described above is electronic
The pitching joint in joint, there is provided the diarthrodial rotary joint of any one described above electricity, rotary joint output toggle arm and absolutely
Edge bar；The mechanical gripper is connected by the pitching joint with one end of the rotary joint, the rotary joint it is another
One end connects the rotary joint output toggle arm, and the rotary joint output toggle arm is fixed on the insulating bar.
Compared with prior art, advantageous effects of the present utility model are as follows：
The utility model reaches the purpose of output gear uniform stressed, utilizes motor by increasing the quantity of meshing gear
The flexibility of itself, realize that multiple gear trains cooperate, the effect of muck in, substantially reduce electronic joint reducing gear
Volume and weight, very high torque versus weight ratio can be obtained under in general machining accuracy.
Brief description of the drawings
The utility model is described in further detail for explanation below in conjunction with the accompanying drawings.
Fig. 1 is the more motor parallel drive type electric joint explosive views of the utility model；
Fig. 2 is the more motor parallel drive type electric joint axonometric drawings of the utility model；
Fig. 3 is drive gear of the present utility model and output gear cooperation schematic diagram；
Fig. 4 is motor fixing plate structural representation of the present utility model；
Fig. 5 is output bearing fixed plate structure schematic diagram of the present utility model；
Fig. 6 is output gear structural representation of the present utility model；
Fig. 7 is drive gear structural representation of the present utility model；
Fig. 8 is spring bearing fixed-block-architecture (FBA) schematic diagram of the present utility model；
Fig. 9 is the more motor parallel drive type electric joint circuit connection diagrams of the utility model；
Figure 10 is the structural representation of the more motor parallel drive-type manipulators of the utility model；
Description of reference numerals：1st, motor fixing plate；101st, matrix；102nd, bearing mounting hole；103rd, motor shaft via；104、
Motor fixing hole；105th, connecting hole；106th, mounting hole；
2nd, motor；3rd, drive gear；4th, spring bearing；5th, spring bearing fixed block；6th, bearing is exported；7th, bearing is exported
Fixed plate；8th, the first control line via；9th, the second control line via；10th, bearing installation position is exported；11st, supported hole；12nd, first
Mounting hole；13rd, output gear；14th, the second mounting hole；15th, lightening hole；
16th, mechanical gripper；17th, pitching joint；18th, rotary joint；19th, rotary joint output toggle arm；20th, insulating bar.
Embodiment
As shown in figure 1, a kind of one of which specific embodiment in more motor parallel drive type electric joints, including motor are consolidated
Fixed board 1, motor 2, drive gear 3, spring bearing 4, spring bearing fixed block 5, output bearing 6, output bearing (setting) plate 7 and
Output gear 13.
As shown in figures 1-8, motor is arranged on motor fixing plate, and specifically, the motor fixing plate 1 includes matrix
101st, bearing mounting hole 102, motor shaft via 103, motor fixing hole 104, connecting hole 105 and mounting hole 106.Described matrix
101 be the disc with side wall.The bearing mounting hole 102 is opened in the bottom center of described matrix 101, the bearing installation
Spring bearing 4 is installed in hole 102.More specifically, the outer ring of the spring bearing 4 is fastened in bearing mounting hole 102, interior
Circle is arranged with spring bearing fixed block 5.The first mounting hole 12, the output gear are offered on the spring bearing fixed block 5
The second mounting hole 14 coordinated with first mounting hole 12 is offered on 13, the He of the first mounting hole 12 is passed through by bolt
Second mounting hole 14 connects the spring bearing fixed block 5 and output gear 13, output gear is pivotally mounted to bearing
In mounting hole.Ten motor shaft vias 103 are uniformly opened in the week side of boss of bearing mounting hole 102 in this specific embodiment,
Two motor fixing holes 104, the equidistantly distributed of motor fixing hole 104 are offered around each motor shaft via 103
In the both sides of motor shaft via 103.The motor 2 is bolted in the motor fixing hole 104, motor 2 is located at institute
The outside of matrix 101 is stated, the rotary shaft of motor 2 enters the inner side of matrix 101, the motor 2 through the motor shaft via 103
Rotary shaft on drive gear 3 is installed, the output gear 13 also is located inside described matrix 101, nibbled with the drive gear 3
Close.Connecting hole 105 and mounting hole 106 are formed in the side wall of described matrix 101, is formed on the output bearing (setting) plate 7
Bearing installation position 10 is exported, the outer ring of the output bearing 6 is stuck in the output bearing installation position 10, and inner ring is stuck in described defeated
Go out on the boss of gear 13, then output bearing (setting) plate 7 is arranged on connecting hole by interior hexagonal dormant bolt, makes output
The fixation of gear is more stable, and output end will not rock.Mounting hole 106, which is used to the motor fixing plate 1 being arranged on, uses position,
Fixation of the present utility model is completed, then output gear is connecting tumbler, to reach the purpose of work.
More specifically, motor 2 described in this specific embodiment is speed reducing ratio 1：298 N20 decelerators, support
Bearing and output bearing use F6806ZZ deep groove ball bearings, and the interior hexagonal dormant bolt of installation output bearing (setting) plate 7 uses
Hexagonal dormant bolt in length 8mm metric system M3, mechanical structure portion are manufactured by 6061 aluminium alloys, and main process is milling
Cut.
This specific embodiment forms first in addition to above-mentioned technical characteristic in the side wall of matrix 101 of the motor fixing plate 1
Control line via 8, it is described to export the second control line for offering on bearing (setting) plate 7 and coordinating with the first control line via 8
Via 9.As shown in figure 9, electricity is penetrated by the first control line via and the second control line via after the utility model installation
Line, each motor is in parallel.
It is other, the supported hole for the rotary shaft through the motor 2 is offered on the output bearing (setting) plate 7
11, the rotary shaft of motor is rotated more steady, reduction energy dissipation.Lightening hole 15 is offered on the output gear 13, is subtracted
Few loss, increases output torque.
As shown in Figure 10, the utility model provides a kind of more motors using this more motor parallel drive type electric joint simultaneously
Join drive-type manipulator, including mechanical gripper 16, be mounted with as disclosed in above example the diarthrodial pitching joint 17 of electricity,
It is mounted with electricity diarthrodial rotary joint 18, rotary joint output toggle arm 19 and the insulating bar 20 as disclosed in above example；Institute
State mechanical gripper 16 to be connected with one end of the rotary joint 18 by the pitching joint 17, make mechanical gripper 16 can be with
Upper and lower pitching.The other end of the rotary joint 18 connects the rotary joint output toggle arm 19, and the rotary joint output is turned
Arm 19 is fixed on the insulating bar 20, rotates mechanical gripper 16.Here a kind of application mode is only provided, is only made
To illustrate, limited not as specific, the more motor parallel drive type electric joints of the utility model, which can also have, many otherly should
Use mode.
Embodiment described above is only that preferred embodiment of the present utility model is described, not to of the present utility model
Scope is defined, and on the premise of the utility model design spirit is not departed from, those of ordinary skill in the art are new to this practicality
The various modifications and improvement that the technical scheme of type is made, the protection domain of the utility model claims book determination all should be fallen into
It is interior.
Claims (10)
- A kind of 1. more motor parallel drive type electric joints, it is characterised in that：IncludingMotor fixing plate (1) for fixed motor (2)；The motor fixing plate (1) includes matrix (101), bearing is installed Hole (102), motor shaft via (103), motor fixing hole (104), connecting hole (105) and mounting hole (106)；Described matrix (101) it is the disc with side wall；The bearing mounting hole (102) is opened in described matrix (101) bottom center；Multiple institutes State motor shaft via (103) and be uniformly opened in the bearing mounting hole (102) the week side of boss；The motor fixing hole (104) is opened in Around the motor shaft via (103)；The connecting hole (105) is arranged in the side wall of described matrix (101)；The mounting hole (106) it is arranged in the side wall of described matrix (101), position is used for the motor fixing plate (1) to be arranged on；For providing multiple motor (2) of operating power；The motor (2) is bolted to the motor fixing hole (104) on, motor (2) is made to be located on the outside of described matrix (101), the rotary shaft of motor (2) passes through the motor shaft via (103) enter on the inside of matrix (101)；The drive gear (3) being arranged in the rotary shaft of the motor (2)；The spring bearing (4) being arranged in the bearing mounting hole (102)；The outer ring of the spring bearing (4) is fastened on bearing In mounting hole (102), inner ring is arranged with spring bearing fixed block (5)；The spring bearing fixed block (5) is connected with output gear (13), the output gear (13) is located at described matrix (101) inside, is engaged with the drive gear (3)；The output gear (13) opposite side is provided with output bearing (setting) plate (7) by exporting bearing (6), and the output bearing (setting) plate (7) passes through It is bolted on the connecting hole (105).
- 2. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The motor fixing plate (1) it is provided with the first control line via (8) in matrix (101) side wall, is provided with the output bearing (setting) plate (7) and institute State the second control line via (9) of the first control line via (8) cooperation.
- 3. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The output bearing is fixed Output bearing installation position (10) is provided with plate (7)；The outer ring of the output bearing (6) is stuck in the output bearing installation position (10) in, inner ring is stuck on the boss of the output gear (13).
- 4. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The output bearing is fixed The supported hole (11) for the rotary shaft through the motor (2) is offered on plate (7).
- 5. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The spring bearing is fixed The first mounting hole (12) is offered on block (5), offers on the output gear (13) and coordinates with first mounting hole (12) The second mounting hole (14), by bolt through first mounting hole (12) and the second mounting hole (14) connection support shaft Hold fixed block (5) and output gear (13).
- 6. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The motor shaft via (103) quantity is ten, is evenly distributed on the bearing mounting hole (102) the week side of boss.
- 7. more motor parallel drive type electric joints according to claim 6, it is characterised in that：Each motor shaft mistake Two motor fixing holes (104) are offered around hole (103), motor fixing hole (104) equidistantly distributed is in motor shaft mistake Hole (103) both sides.
- 8. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The output gear (13) On offer lightening hole (15).
- 9. more motor parallel drive type electric joints according to claim 1, it is characterised in that：The motor (2) is Speed reducing ratio 1：298 N20 decelerators.
- A kind of 10. more motor parallel drive-type manipulators, it is characterised in that：Including mechanical gripper (16), there is provided such as right It is required that the diarthrodial pitching joint (17) of any one electricity described in 1-9, there is provided any one as described in claim 1-9 Electricity diarthrodial rotary joint (18), rotary joint output toggle arm (19) and insulating bar (20)；The mechanical gripper (16) is logical Cross the pitching joint (17) to be connected with one end of the rotary joint (18), the other end connection institute of the rotary joint (18) Rotary joint output toggle arm (19) is stated, the rotary joint output toggle arm (19) is fixed on the insulating bar (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720531879.1U CN206764819U (en) | 2017-05-15 | 2017-05-15 | A kind of more motor parallel drive type electric joints and its manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720531879.1U CN206764819U (en) | 2017-05-15 | 2017-05-15 | A kind of more motor parallel drive type electric joints and its manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206764819U true CN206764819U (en) | 2017-12-19 |
Family
ID=60639863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720531879.1U Active CN206764819U (en) | 2017-05-15 | 2017-05-15 | A kind of more motor parallel drive type electric joints and its manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206764819U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914921A (en) * | 2017-05-15 | 2017-07-04 | 保定市恒信达电气有限公司 | A kind of many motor parallel drive type electric joints and its manipulator |
| CN108920880A (en) * | 2018-08-14 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of motor and retarder selection method of intelligent drives unit |
-
2017
- 2017-05-15 CN CN201720531879.1U patent/CN206764819U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914921A (en) * | 2017-05-15 | 2017-07-04 | 保定市恒信达电气有限公司 | A kind of many motor parallel drive type electric joints and its manipulator |
| CN106914921B (en) * | 2017-05-15 | 2023-10-17 | 保定市恒信达电气有限公司 | Multi-motor parallel driving type electric joint and manipulator thereof |
| CN108920880A (en) * | 2018-08-14 | 2018-11-30 | 哈工大机器人（合肥）国际创新研究院 | A kind of motor and retarder selection method of intelligent drives unit |
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