CN207724303U - A kind of steering engine and robot - Google Patents
A kind of steering engine and robot Download PDFInfo
- Publication number
- CN207724303U CN207724303U CN201721809623.9U CN201721809623U CN207724303U CN 207724303 U CN207724303 U CN 207724303U CN 201721809623 U CN201721809623 U CN 201721809623U CN 207724303 U CN207724303 U CN 207724303U
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- gear
- steering engine
- shaft
- installation position
- bearing
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Abstract
The utility model is suitable for motor drive technical field, provide a kind of steering engine and robot, the steering engine includes shell and the motor that is set in shell, control circuit board, reduction gear, steering engine output shaft and sensor, the reduction gear includes more rooted tooth wheel shafts and the multi-stage gear group that is sheathed on respectively on the more gear shafts, the gear shaft installation position for installing the gear shaft is equipped in the shell, the steering engine further includes the first bearing being set in the gear shaft installation position, the end of the gear shaft is installed in the first bearing.The utility model by being arranged the gear shaft installation position for installing gear shaft inside the shell, and first bearing is set in gear shaft installation position, the end of gear shaft is installed in first bearing, effectively reduce the abrasion of steering engine long-term work backgear axle installation position generation, the excessive increase for reducing steering engine diastema, improves steering engine output accuracy and delivery efficiency.
Description
Technical field
The utility model belongs to motor drive technical field, more particularly to a kind of steering engine and robot.
Background technology
Steering engine is the core component for realizing robot motion comprising shell and setting motor in the shell, control
Circuit board, train of reduction gears and sensor processed, control circuit receives external signal control motor and rotates, on motor output shaft
Motor gear is engaged with train of reduction gears, and motor output is exported after train of reduction gears is slowed down by output shaft, and sensor is for surveying
The rotation angle of output shaft is measured so that steering engine output shaft can be rotated to specific position.
The cavity that train of reduction gears is accommodated in usual steering engine is known as reduction box, by taking gear set as an example, reduction box casing inner wall
Upper setting sprocket drive spindle installation position, for disposing individual stage reduction gear.In existing steering engine, the gear shaft of reduction gearing is directly to pacify
On gear shaft installation position, the steering engine backgear axle installation position that works long hours can be worn, and then can lead to gears at different levels
Diastema excessively increases when transmission, reduces steering engine output accuracy and efficiency.
Utility model content
The purpose of this utility model is to provide a kind of steering engines, it is intended to solve steering engine in the prior art because gear shaft is installed
The technical issues of position wears and steering engine output accuracy and efficiency is caused to reduce.
The utility model is realized in this way a kind of steering engine, including shell and be set in the shell motor, control
Circuit board, reduction gear, steering engine output shaft and sensor processed, the motor are electrically connected with the control circuit board, institute
Sensor is stated to be set in the control circuit board, the reduction gear respectively with the output shaft of the motor and the rudder
Machine output shaft is rotatablely connected, and the reduction gear includes more rooted tooth wheel shafts and is sheathed on respectively on the more gear shafts
Multi-stage gear group, the gear shaft installation position for installing the gear shaft is equipped in the shell, the steering engine further includes setting
The end of the first bearing being placed in the gear shaft installation position, the gear shaft is installed in the first bearing.
Further, the first bearing is the sliding bearing made of self-lubricating material, and the end of the gear shaft
Gap is installed in the first bearing.
Further, the first bearing is installed on by interference fit type in the gear shaft installation position.
Further, the first bearing is equipped with the first arc notch, and the gear installation position is equipped with and described the
Matched second arc notch of one arc notch.
Further, the shell includes upper cover, middle shell and bottom case, and the reduction gear is set to the upper cover
It is fastened in the reduction box to be formed with the middle shell, is correspondingly provided with the gear shaft installation in the upper cover and the middle shell respectively
Position.
Further, motor axis hole is additionally provided on the middle shell, the output shaft of the motor is after the motor axis hole
It is engaged with the first gear set of the multi-stage gear group；The reduction gear further includes the output shaft for being sheathed on the motor
On axis tooth, and the output gear that is sheathed on the steering engine output shaft, the head and the tail of the multi-stage gear group respectively with it is described
Axis tooth and output gear engagement.
Further, the bottom case is equipped with for the heat emission hole for steering engine heat dissipation.
Further, the reduction gear includes one-stage gear axis, secondary gear wheel shaft and tertiary gear axis, described more
Grade gear set includes the one-stage gear group being sheathed on the one-stage gear axis, the secondary gear that is sheathed on the secondary gear wheel shaft
Wheel group and the tertiary gear group being sheathed on the tertiary gear axis, the axis tooth, one-stage gear group, secondary gear group, three
Grade gear set and output gear gradually engage.
Further, the one-stage gear group, secondary gear group are made of self-lubricating material, the one-stage gear group, two
Grade gear set coordinates with the one-stage gear axis, secondary gear shaft clearance respectively, the one-stage gear axis, secondary gear wheel shaft interference
It is installed on the gear shaft installation position.
Further, it is additionally provided with output shaft hole and bearing installation position on the upper cover and the middle shell, the steering engine is defeated
It further includes being set in the bearing installation position and being sheathed on the steering engine output that shaft, which passes through the output shaft hole, the steering engine,
Second bearing outside axis.
The another object of the utility model is to provide a kind of robot comprising steering engine as described above.
A kind of steering engine and robot for implementing the utility model, have the advantages that：It by being arranged inside the shell
Gear shaft installation position for installing gear shaft, and first bearing is set in gear shaft installation position, the end installation of gear shaft
In the abrasion in first bearing, effectively reducing the generation of steering engine long-term work backgear axle installation position, steering engine diastema is reduced
Excessively increase, improves steering engine output accuracy and delivery efficiency.
Description of the drawings
In order to illustrate more clearly of the technical scheme in the embodiment of the utility model, will make below to required in embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the utility model,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is the exploded perspective view for the steering engine that the utility model embodiment provides；
Fig. 2 is the dimensional structure diagram for the upper cover that the utility model embodiment provides；
Fig. 3 is the dimensional structure diagram for the middle shell that the utility model embodiment provides；
Fig. 4 is the dimensional structure diagram for the first bearing that the utility model embodiment provides.
Label involved by above-mentioned attached drawing is detailed as follows：
1- shells；11- upper covers；111- first gear axis installation position；The first arc notch of 1111-；112- second gear axis
Installation position；113- third gear shafts installation position；The first output shaft holes of 114-；115- first bearings installation position；Shell in 12-；121-
4th gear shaft installation position；The 5th gear shaft installation positions 122-；The 6th gear shaft installation positions 123-；124- motor axis holes；125-
Second output shaft hole；126- second bearings installation position；13- bottom cases；131- heat emission holes；2- motors；3- control circuit boards；4- slows down
Gear mechanism；41- one-stage gear axis；42- secondary gear wheel shafts；43- tertiary gear axis；44- one-stage gear groups；45- secondary gears
Group；46- tertiary gear groups；47- axis teeth；48- output gears；5- steering engine output shafts；6- first bearings；The second arc notch of 61-；
7- second bearings.
Specific implementation mode
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only explaining this
Utility model is not used to limit the utility model.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It is connected on another component.When a component is referred to as " being connected to " another component, it can directly or indirectly be connected
It is connected on another component.
The orientation or positional relationship of the instructions such as term "upper", "lower", "left", "right" is orientation based on ... shown in the drawings or position
Set relationship, be merely for convenience of describing, do not indicate or imply the indicated device or element must have a particular orientation, with
Specific azimuth configuration and operation, therefore should not be understood as the limitation to this patent.Term " first ", " second " are used merely to facilitate
Purpose is described, relative importance is not understood to indicate or imply or implicitly indicates the quantity of technical characteristic." multiples' "
It is meant that two or more, unless otherwise specifically defined.
As shown in Figure 1, the steering engine that the utility model embodiment provides includes shell 1 and the motor that is set in shell 1
2, control circuit board 3 and reduction gear 4, steering engine output shaft 5 and sensor.Wherein, motor 2 and control circuit board 3 are electrical
Connection, control circuit board 3 receive external signal control motor 2 and rotate.Sensor is set in control circuit board 3, and for surveying
The rotation angle of steering engine output shaft 5 is measured so that steering engine output shaft 5 can be rotated to specific position.Reduction gear 4 respectively with
The output shaft and steering engine output shaft 5 of motor 2 are rotatablely connected, and motor output is defeated by steering engine after the deceleration of reduction gear 4
Shaft 5 exports.Reduction gear 4 includes the more rooted tooth wheel shafts being installed in shell 1 and is sheathed on respectively mostly with gear shaft
On multi-stage gear group, the gear shaft installation position for installing gear shaft is equipped in the shell 1.The rudder of the utility model embodiment
Machine further includes the first bearing 6 being set in gear shaft installation position, and the end of gear shaft is installed in first bearing 6.It can manage
Solution, gear shaft are corresponded with gear set, and specific number can be determines according to actual conditions.
The utility model embodiment is by the way that the gear shaft installation position for installing gear shaft is arranged in the shell 1, and in tooth
First bearing 6 is set in wheel shaft installation position, and the end of gear shaft is installed in first bearing 6, effectively reduces steering engine permanent worker
The abrasion for making the generation of backgear axle installation position, reduces the excessive increase of steering engine diastema, improves steering engine output accuracy and output
Efficiency.
Further, in one embodiment of the utility model, first bearing 6 is to be slided made of self-lubricating material
The tip-clearance of bearing, gear shaft is installed in first bearing 6, to ensure the normal rotation of gear set.In the present embodiment,
One bearing 6 is sintered metal powder bearing, since its special hole mechanism and immersion oil are handled, can function well as lubrication and make
With preventing excessive wear of the gear shaft to shell 1.It is understood that in another embodiment of the utility model, first
Bearing 6 is rolling bearing, and the end interference of gear shaft is installed in first bearing 6, to ensure the normal rotation of gear set.
Preferably, in one embodiment of the utility model, first bearing 6 is installed on gear by interference fit type
In axis installation position, so that first bearing 6 and gear shaft installation position secure fit.
Further, in one embodiment of the utility model, shell 1 includes the upper cover set gradually from top to bottom
11, middle shell 12 and bottom case 13.Wherein, reduction gear 4 is set to upper cover 11 and is fastened in the reduction box formed with middle shell 12, electricity
Machine 2 and control circuit board 3 are installed in the cavity that middle shell 12 is surrounded with bottom case 13.In the present embodiment, in upper cover 11 and middle shell
Gear shaft installation position is correspondingly provided on 12 respectively.
Further, in one embodiment of the utility model, reduction gear 4 includes one-stage gear axis 41, two
Grade gear shaft 42, tertiary gear axis 43, one-stage gear group 44, secondary gear group 45 and tertiary gear group 46.Wherein, one-stage gear
Axis 41, secondary gear wheel shaft 42 and tertiary gear axis 43 are arranged in parallel, and parallel with steering engine output shaft 5.One-stage gear group
44 are sheathed on one-stage gear axis 41, and secondary gear group 45 is sheathed on secondary gear wheel shaft 42, and tertiary gear group 46 is sheathed on three
On grade gear shaft 43.One-stage gear group 44, secondary gear group 45 and tertiary gear group 46 gradually engage.
Further, in one embodiment of the utility model, due to the volumetric constraint of steering engine, in one-stage gear group
44, first bearing 6 can not be placed at secondary gear group 45, at this point, setting one-stage gear group 44, secondary gear group 45 are by self-lubricating
Material is made, with self-lubricating property, it is preferred to use powdered metallurgical material is made.In the present embodiment, one-stage gear group 44,
Secondary gear group 45 respectively with one-stage gear axis 41,42 clearance fit of secondary gear wheel shaft, and one-stage gear axis 41, secondary gear wheel shaft
42 interference are installed in gear shaft installation position, to mitigate gear shaft to the abrasion of bearing installation position and gear set center inner wall
Abrasion.
Further, in one embodiment of the utility model, reduction gear 4 further includes being sheathed on motor 2
Axis tooth 47 on output shaft, and the output gear 48 that is sheathed on steering engine output shaft 5, the head and the tail of multi-stage gear group respectively with axis
Tooth 47 and output gear 48 engage.In the present embodiment, the head and the tail of multi-stage gear group respectively refer to one-stage gear group 44 and three-level tooth
Wheel group 46, i.e. one-stage gear group 44 are engaged with axis tooth 47, and tertiary gear group 46 is engaged with output gear 48 namely axis tooth 47, one
It is gradually engaged between grade gear set 44, secondary gear group 45, tertiary gear group 46 and output gear 48, and then realizes the biography of power
It is dynamic.
Further, in the present embodiment, one-stage gear group 44, secondary gear group 45 and tertiary gear group 46 include big
Gear and pinion gear, wherein gear wheel and pinion gear are fixed together and rotate coaxially.The gear wheel of one-stage gear group 44
Engaged with axis tooth 47, the gear wheel of secondary gear group 45 is engaged with the pinion gear of one-stage gear group 44, secondary gear group 45 it is small
Gear is engaged with the gear wheel of tertiary gear group 46, and the pinion gear of tertiary gear group 46 is engaged with output gear 48.
Further, in conjunction with Fig. 2 and Fig. 3, in the present embodiment, first gear axis installation position is equipped in the inside of upper cover 11
111, second gear axis installation position 112 and third gear shaft installation position 113.Correspondingly, the 4th gear shaft is equipped on middle shell 12
Installation position 121, the 5th gear shaft installation position 122 and the 6th gear shaft installation position 123.Wherein, the both ends of one-stage gear axis 41 point
It is not installed in third gear shaft installation position 113 and the 6th gear shaft installation position 123, the both ends of secondary gear wheel shaft 42 are installed respectively
In in second gear axis installation position 112 and the 5th gear shaft installation position 122, the both ends of tertiary gear axis 43 are respectively arranged in first
In gear shaft installation position 111 and the 4th gear shaft installation position 121.Although it is understood that being merely illustrated in Fig. 1 in the first tooth
First bearing 6 is equipped in wheel shaft installation position 111, but in practical applications, second gear axis installation position 112, third gear shaft peace
Filling can also in position 113, the 4th gear shaft installation position 121, the 5th gear shaft installation position 122 and the 6th gear shaft installation position 123
First bearing 6 is set.
Preferably, in conjunction with Fig. 4, in one embodiment of the utility model, the first arc is offered in first bearing 6
Notch 61 correspondingly offers and 61 matched second arc notch of the first arc notch on first gear axis installation position 111
1111.The setting of first arc notch 61 and the second arc notch 1111 is that first bearing 6 is installed on three-level tooth in order to prevent
The gear teeth after wheel shaft 43 with secondary gear wheel shaft 42 interfere.
Further, in one embodiment of the utility model, motor axis hole 124 is further opened on middle shell 12, electricity
The output shaft of machine 2 engages assembly after motor axis hole 124 with the first gear set of multi-stage gear group.In the present embodiment, first
A gear set refers to that one-stage gear group 44, the i.e. output shaft of motor 2 engage after passing through motor axis hole 124 with one-stage gear group 44
Assembly.
Further, in one embodiment of the utility model, the first output shaft hole 114 is further opened in upper cover 11
With first bearing installation position 115, the second output shaft hole 125 and second bearing installation position 126 are further opened on middle shell 12.Steering engine
The both ends of output shaft 5 are each passed through the first output shaft hole 114 and the second output shaft hole 125.In the present embodiment, steering engine further includes
It is set to the second bearing 7 in first bearing installation position 115 and second bearing installation position 126 and being sheathed on outside steering engine output shaft 5.
Wherein, it is arranged second bearing 7 respectively at the both ends of steering engine output shaft 5, the rotation of steering engine output shaft 5 can be made more stable.
Preferably, it in one embodiment of the utility model, is equipped on the two sides of bottom case 13 for being dissipated for steering engine
The heat emission hole 131 of heat.Wherein, the position of the heat emission hole 131 is corresponding with the position of motor 2.
The utility model embodiment additionally provides a kind of robot comprising steering engine as described above.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (11)
1. a kind of steering engine, which is characterized in that including shell and the motor being set in the shell, control circuit board, deceleration
Gear mechanism, steering engine output shaft and sensor, the motor are electrically connected with the control circuit board, and the sensor is set to
In the control circuit board, the reduction gear connects with the output shaft of the motor and steering engine output shaft rotation respectively
It connecing, the reduction gear includes more rooted tooth wheel shafts and the multi-stage gear group that is sheathed on respectively on the more gear shafts,
The gear shaft installation position for installing the gear shaft is equipped in the shell, the steering engine further includes being set to the gear shaft
The end of first bearing in installation position, the gear shaft is installed in the first bearing.
2. steering engine as described in claim 1, which is characterized in that the first bearing is the sliding axle made of self-lubricating material
It holds, and the tip-clearance of the gear shaft is installed in the first bearing.
3. steering engine as described in claim 1, which is characterized in that the first bearing is installed on described by interference fit type
In gear shaft installation position.
4. steering engine as described in claim 1, which is characterized in that the first bearing is equipped with the first arc notch, the tooth
Installation position is taken turns to be equipped with and matched second arc notch of first arc notch.
5. such as Claims 1-4 any one of them steering engine, which is characterized in that the shell includes upper cover, middle shell and bottom
Shell, the reduction gear is set to the upper cover and the middle shell fastens in the reduction box to be formed, the upper cover and described
The gear shaft installation position is correspondingly provided on middle shell respectively.
6. steering engine as claimed in claim 5, which is characterized in that be additionally provided with motor axis hole on the middle shell, the motor it is defeated
Shaft engages after passing through the motor axis hole with the first gear set of the multi-stage gear group；The reduction gear further includes
The axis tooth being sheathed on the output shaft of the motor, and the output gear that is sheathed on the steering engine output shaft, the multistage
The head and the tail of gear set are engaged with the axis tooth and the output gear respectively.
7. steering engine as claimed in claim 5, which is characterized in that the bottom case is equipped with for the heat dissipation for steering engine heat dissipation
Hole.
8. steering engine as claimed in claim 6, which is characterized in that the reduction gear includes one-stage gear axis, secondary gear
Wheel shaft and tertiary gear axis, the multi-stage gear group include the one-stage gear group being sheathed on the one-stage gear axis, are sheathed on
Secondary gear group on the secondary gear wheel shaft and the tertiary gear group being sheathed on the tertiary gear axis, the axis tooth,
One-stage gear group, secondary gear group, tertiary gear group and output gear gradually engage.
9. steering engine as claimed in claim 8, which is characterized in that the one-stage gear group, secondary gear group are by self-lubricating material
It being made, the one-stage gear group, secondary gear group coordinate with the one-stage gear axis, secondary gear shaft clearance respectively, and described one
Grade gear shaft, secondary gear wheel shaft interference are installed on the gear shaft installation position.
10. such as claim 6 to 9 any one of them steering engine, which is characterized in that be additionally provided in the upper cover and the middle shell defeated
Shaft outlet hole and bearing installation position, the steering engine output shaft pass through the output shaft hole, the steering engine further include be set to it is described
In bearing installation position and the second bearing that is sheathed on outside the steering engine output shaft.
11. a kind of robot, which is characterized in that including steering engine as described in any one of claim 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721809623.9U CN207724303U (en) | 2017-12-21 | 2017-12-21 | A kind of steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721809623.9U CN207724303U (en) | 2017-12-21 | 2017-12-21 | A kind of steering engine and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207724303U true CN207724303U (en) | 2018-08-14 |
Family
ID=63086155
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721809623.9U Active CN207724303U (en) | 2017-12-21 | 2017-12-21 | A kind of steering engine and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207724303U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109578550A (en) * | 2018-11-22 | 2019-04-05 | 深圳市优必选科技有限公司 | A kind of gear assembly and steering engine |
| CN109573070A (en) * | 2018-11-06 | 2019-04-05 | 珠海隆华直升机科技有限公司 | The rotary drive assembly of helicopter and helicopter |
| CN109672298A (en) * | 2018-12-21 | 2019-04-23 | 深圳市优必选科技有限公司 | Steering engine |
| CN109693782A (en) * | 2018-11-06 | 2019-04-30 | 珠海隆华直升机科技有限公司 | The rotary steering engine of helicopter and helicopter |
| CN109699160A (en) * | 2019-01-17 | 2019-04-30 | 深圳市硬核智娱科技有限公司 | A kind of advanced steering engine with coolant liquid |
| WO2023020308A1 (en) * | 2021-08-18 | 2023-02-23 | 乐森机器人(深圳)有限公司 | Servo and robot |
-
2017
- 2017-12-21 CN CN201721809623.9U patent/CN207724303U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573070A (en) * | 2018-11-06 | 2019-04-05 | 珠海隆华直升机科技有限公司 | The rotary drive assembly of helicopter and helicopter |
| CN109693782A (en) * | 2018-11-06 | 2019-04-30 | 珠海隆华直升机科技有限公司 | The rotary steering engine of helicopter and helicopter |
| CN109578550A (en) * | 2018-11-22 | 2019-04-05 | 深圳市优必选科技有限公司 | A kind of gear assembly and steering engine |
| CN109672298A (en) * | 2018-12-21 | 2019-04-23 | 深圳市优必选科技有限公司 | Steering engine |
| CN109699160A (en) * | 2019-01-17 | 2019-04-30 | 深圳市硬核智娱科技有限公司 | A kind of advanced steering engine with coolant liquid |
| WO2023020308A1 (en) * | 2021-08-18 | 2023-02-23 | 乐森机器人(深圳)有限公司 | Servo and robot |
| US11767900B2 (en) | 2021-08-18 | 2023-09-26 | Robosen Robotics (Shenzhen) Co., Ltd. | Servo and robot |
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