CN208153656U - Revolving actuator - Google Patents

Abstract

The utility model discloses a kind of revolving actuators, it is a kind of revolving actuator for turning motor outside by one and being built in deceleration mechanism, wherein the revolving actuator mainly includes the tooth difference outer ring being made of the first outer tooth ring and the second outer tooth ring, which provides revolving actuator group respectively and be connected to external corresponding effect end；One and first outer tooth ring and the second outer tooth ring synchro-meshing effect internal gear, internal gear makes the first outer tooth ring and the second outer tooth ring form speed difference to rotate；One acts on the hollow form cam of internal gear；One it is embedding be mounted on inside cam it is outer turn motor, turning motor-driven cam outside makes internal gear engage actuation with tooth difference outer ring, make internal gear and tooth difference outer ring have with the comparable engaged transmission effect of internal gear axial length, reach the torque of deceleration mechanism maximum output.

Description

Revolving actuator

Technical field

The utility model relates to a kind of actuator, refers in particular to a kind of to turn built in motor embedding group outside in deceleration mechanism In revolving actuator.

Background technique

Traditional revolving actuator is mostly to be connected to deceleration mechanism using motor output power shaft, by deceleration mechanism by motor The revolving speed of speedy carding process is converted to the power output of high torsion, makes revolving actuator that can be suitble to be applied to answering for high load demand With field, such as it is applied in each joint portion of mechanical arm.However, it is known that technical application on, be motor motor drive shaft The power transmission mode concatenated with deceleration mechanism forms motor and deceleration mechanism axial alignment, is so bound to cause rotary-actuated The axial length of device entirety is too long, and the installation space of revolving actuator is caused to need larger size, is unfavorable for mechanical arm entirety The planning and design of mechanism.Therefore, china taiwan invention patent publication number the 201626696th has proposed that one kind is rotary-actuated Device, it is desirable to motor be accommodated by the harmonic gear drive of hollow type, to reach the mesh of reduction revolving actuator axial dimension 's.

But the revealed harmonic wave revolving actuator of the patent, be using harmonic drive structure, outer tooth ring with it is soft Total occlusion facewidth of the gear teeth of wheel, is limited to the structure and its material factors of flexbile gear, thus is unable to reach high torque output, such as Flexbile gear is made by flexible alloy, and application in high-load situations, this, can cause flexbile gear to occur soon mechanical tired.By This as it can be seen that the construction of above-mentioned harmonic wave revolving actuator will cause its load capacity more insufficient, the application range in industry also by Limitation.For this purpose, this creator is adhering to excelsior research and development spirit, propose that a kind of creation of revolving actuator, expectation make to revolve Linear actuator can have splendid performance in torque output under the purpose of reduction axial dimension, make revolving actuator Whole application field is more extensive.

Utility model content

The purpose of this utility model is to provide a kind of revolving actuators, outer using two tooth being mutually axially socketed differences Ring, one is engaged on the internal gear in two tooth difference outer rings, and a hollow cam being arranged in internal gear and one are arranged in hollow convex The outer of wheel turns motor, forms a tooth difference revolving actuator, and then reach revolving actuator axial direction volume-diminished, can generate maximum Torque and promote load capacity purpose.

In order to achieve the above object, the revolving actuator of the utility model, preferred technique scheme be, it includes：One One outer tooth ring and one second outer tooth ring, an inner ring surface of first outer tooth ring have first internal tooth of circle, first outer tooth ring One end is equipped with greater diameter than first internal tooth and the sleeve joint hole concentric with first internal tooth；The inner ring surface of second outer tooth ring With second internal tooth of circle, one end of second outer tooth ring is rotatablely arranged in the sleeve joint hole of first outer tooth ring, this Side by side, first internal tooth is identical as the modulus of second internal tooth and the number of teeth is different for one internal tooth and second internal tooth；One internal gear, should The outer ring surface of internal gear is equipped with a circle external tooth, and the width of the external tooth is equal to the total of first internal tooth and the width of second internal tooth It closes, and the external tooth is engaged on first internal tooth and second internal tooth；One cam, the cam axle center are equipped with one and are connected to the cam both ends Accommodating hole, which has a cam surface, which is resisted against the inner ring surface of the internal gear to turn the internal gear； Turn motor outside one, the outer stator for turning motor and being set to the axle center with an axle center and one, the shell for surrounding the stator with one turns Son, the shell rotor are incorporated in the accommodating hole of the cam to turn the cam, the prominent cam in the both ends in the axle center；Two ends Lid, one of end cap are incorporated in the lateral surface of first outer tooth ring, another end cap is incorporated in the outside of second outer tooth ring Face, and one of them end cap is fixed in the axle center one end.

Preferably, one end of second outer tooth ring is equipped with a bulge loop, and the bulge loop is rotationally in above-mentioned revolving actuator It is set in the sleeve joint hole of first outer tooth ring.

Preferably, in above-mentioned revolving actuator, the inner hole wall of the sleeve joint hole is equipped with first Zhu Gou of circle, the bulge loop it is outer Anchor ring is equipped with second Zhu Gou of circle, and first Zhu Gou is corresponding with the second pearl ditch, and in first Zhu Gou and second Zhu Gou Between be equipped with several rollers.

Preferably, the outer ring surface of the bulge loop is arranged a rolling bearing in above-mentioned revolving actuator, rolling bearing setting In in the sleeve joint hole of first outer tooth ring.

Preferably, the rolling bearing is equipped with screw hole, first outer tooth ring and second external tooth in above-mentioned revolving actuator Ring is equipped with screw respectively, and the screw locking is in the screw hole of the rolling bearing.

Preferably, the cam is an eccentric wheel in above-mentioned revolving actuator.

Preferably, the cam surface of the cam is equipped with a roller slot, which is provided with number in above-mentioned revolving actuator A roller, the roller turn the internal gear against the inner ring surface of the internal gear.

Preferably, the end cap is equipped with a rolling bearing in above-mentioned revolving actuator, which is sheathed on this outer turn The axle center of motor.

The revolving actuator of the utility model has compared to the prior art：Actuator shaft reduces to volume, can generate The effect of maximum moment and enhancement load capacity.

The feature and advantage of the utility model is described in detail in cooperation attached drawing below.

Detailed description of the invention

Fig. 1 is the assembled state stereoscopic schematic diagram of the utility model revolving actuator.

Fig. 2 is the assembled state broken isometric schematic diagram of the utility model revolving actuator.

Fig. 3 is a decomposing state stereoscopic schematic diagram of the utility model revolving actuator.

Fig. 4 is the another decomposing state stereoscopic schematic diagram of the utility model revolving actuator.

Fig. 5 is the assembled state diagrammatic cross-section of the utility model revolving actuator.

Fig. 6 is an exploded perspective schematic diagram of the partial component of the utility model revolving actuator.

Fig. 7 is the another exploded perspective schematic diagram of the partial component of the utility model revolving actuator.

Fig. 8 is the schematic diagram of the utility model revolving actuator another preferred embodiment.

Symbol description in attached drawing：

1 first outer tooth ring；11 first internal tooths；12 sleeve joint holes；13 first Zhu Gou；14 screws；2 second outer tooth rings； 21 second internal tooths；22 bulge loops；23 second Zhu Gou；24 screws；3 internal gears；31 external tooths；4 cams；41 accommodating holes；42 Cam surface；43 roller slots；44 rollers；Turn motor outside 5；51 axle center；52 stators；53 shell rotors；6,7 end cap；61, 71 screws；8 rollers；9 rolling bearings；91,92 screw hole；10 rolling bearings.

Specific embodiment

The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but illustrated embodiment is not as right The restriction of the utility model.

It is a kind of revolving actuator of the utility model, and refering to shown in Fig. 3, Fig. 4 and Fig. 5 refering to fig. 1 and shown in Fig. 2, The preferable specific embodiment of the utility model include one first outer tooth ring 1 and one second outer tooth ring 2, an internal gear 3, a cam 4, Turn motor 5 and two end caps 6,7 outside one, wherein：

First outer tooth ring 1 is torus made of an alloy or plastic-steel, and one inner ring surface has first internal tooth 11 of circle, One end of first outer tooth ring 1 is equipped with greater diameter than first internal tooth 11 and the sleeve joint hole concentric with first internal tooth 11 12；Second outer tooth ring 2 is similarly torus made of an alloy or plastic-steel, and one inner ring surface has second internal tooth 21 of circle, One end of second outer tooth ring 2 is rotatablely arranged in the sleeve joint hole 12 of first outer tooth ring 1, is made first internal tooth 11 and is somebody's turn to do Second internal tooth 21 side by side, and first internal tooth 11 is identical as the modulus of second internal tooth 21 and the number of teeth is different, using therein Second outer tooth ring 2 is used as fixing end, and the first outer tooth ring 1 is used as power output end.

The internal gear 3 is similarly torus made of an alloy or plastic-steel, and diameter is suitable for being arranged in first outer tooth ring 1 Among second outer tooth ring 2, outer ring surface is equipped with a circle external tooth 31, and the width of the external tooth 31 is equal to first internal tooth 11 and is somebody's turn to do The sum total of the width of second internal tooth 21, and the external tooth 31 is engaged on first internal tooth 11 and second internal tooth 21 (such as Fig. 2 and Fig. 5 It is shown).The cam 4 is the component for driving the internal gear 3, and axle center is equipped with an accommodating hole 41 for being connected to 4 both ends of cam, 4 periphery of cam has a cam surface 42, which is rotatably arranged among the internal gear 3 (such as Fig. 5 to Fig. 7 institute Show), so that its cam surface 42 is resisted against the inner ring surface of the internal gear 3, and then the internal gear 3 can be turned.

This is outer turn motor 5 be a kind of axle center as fixing axle motor that shell rotates, mainly there is an axle center 51, one It is set to the stator 52 in the axle center 51, the shell rotor 53 for surrounding the stator 52 with one；When it is installed, which is set The accommodating hole 41 (as shown in Fig. 5, Fig. 6 and Fig. 7) in the cam 4 is set, the shell rotor 53 is made to be incorporated in the accommodating hole of the cam 4 41 inner wall, and the prominent cam 4 in the both ends in its axle center 51；Whereby, when this is outer turns the rotation of motor 5, pass through its shell rotor 53 turn the cam 4, and the cam 4 turns the internal gear 3 again.

Two end caps 6,7 are the disk of corresponding first outer tooth ring 1 and 2 diameter of the second outer tooth ring, one of end Lid 6 is attached to the lateral surface (as illustrated in figs. 2 or 6) of first outer tooth ring 1, another end cap 7 by several 61 axial locks of screw Then it is attached to the lateral surface (as illustrated in figs. 2 or 6) of second outer tooth ring 2 by several 71 axial locks of screw, and this outer turns motor 5 51 one end of axle center be fixed on one of them end cap 7 (as shown in Figure 5), such as first outer tooth ring 1 is used as power output end, And the second outer tooth ring 2 as fixing end when, which is fixed on combines with the second outer tooth ring 2 The end cap 7；Furthermore the end cap 7 can be equipped with a rolling bearing 10, which is sheathed on the outer axle center 51 for turning motor 5, The revolving actuator of the utility model is formed whereby.

First outer tooth ring 1 connects together can relatively rotate each other with second outer tooth ring 2, and then shortens actuator Overall width, to relatively rotate the two can with lower friction masterpiece, one of the utility model preferred embodiment is at this One end of second outer tooth ring 2 is equipped with a bulge loop 22, which is rotatablely arranged at the sleeve joint hole 12 of first outer tooth ring 1, The inner hole wall of the sleeve joint hole 12 is equipped with a first pearl ditch 13 of circle, and the outer ring surface of the bulge loop 22 is equipped with a second pearl ditch 23 of circle, makes this First pearl ditch 13 is corresponding with the second pearl ditch 23, and several rollers 8 are equipped between the first pearl ditch 13 and the second pearl ditch 23, Such as roller or ball, whereby relatively rotate first outer tooth ring 1 and 2 low-frictional force of the second outer tooth ring.

Referring again to shown in Fig. 8, the two of the utility model preferred embodiment, if first outer tooth ring 1 and second external tooth When ring 2 is made of plastic-steel material, the utility model may be selected to be arranged a rolling bearing 9, the rolling in the outer ring surface of the bulge loop 22 Dynamic bearing 9 is set to the sleeve joint hole 12 of first outer tooth ring 1, and the outer ring of the rolling bearing 9 and inner ring are respectively equipped with multiple axis To screw hole 91,92 be equipped with screw 14,24, the screw respectively in first outer tooth ring 1 and second outer tooth ring 2 whereby 14,24 screw hole 91,92 for being attached to the rolling bearing 9 respectively, making first outer tooth ring 1 with this whereby, the second outer tooth ring 2 is low rubs Power is wiped to relatively rotate.

Referring again to shown in Fig. 6 and Fig. 7, which is preferably embodied as an eccentric wheel, upon its rotation, can drive this Internal gear 3 makes the internal gear 3 while being engaged in the first internal tooth 11 and the second internal tooth 21, and then generates deceleration transmission effect；Its In, the cam surface 42 of the cam 4 is also provided with a circle roller slot 43, and the roller slot 43 is provided with several rollers 44, borrows This makes the roller 44 against the inner ring surface of the internal gear 3 to turn the internal gear 3, achievees the effect that reduce frictional force whereby.

The revolving actuator of the utility model is in use, the end cap 6,7 can be used to be bonded respectively to mobile machine arm pass The both ends of section turn the cam 4 by its shell rotor 53, which turns the internal tooth again when this is outer turns the starting of motor 5 Ring 3 makes the external tooth 31 of 3 side of internal gear be engaged on the first internal tooth 11 and the second of second outer tooth ring 2 of first outer tooth ring 1 Internal tooth 21 rotates, due to the first internal tooth 11 and the second internal tooth 21 for modulus is identical and the number of teeth is different, first outer tooth ring 1 and Second outer tooth ring 2 is relatively rotated in high reduction ratio, reaches the function of high reduction ratio output.In particular, the of the utility model One outer tooth ring 1 and the second outer tooth ring 2 are the construction of axial fitting, and axial width can more reduce, and its first internal tooth 11 with The width of the external tooth 31 of second internal tooth 21 and internal gear 3 can be implemented into most wide because of the relationship of its structure, can promote its power output Square.The outer motor 5 that turns of the utility model is implemented in cam 4, can reduce the whole axial width of actuator, make rotary-actuated The application field of device entirety is more extensive.

Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.

Claims (8)

1. a kind of revolving actuator, which is characterized in that include：

One first outer tooth ring and one second outer tooth ring, an inner ring surface of first outer tooth ring have first internal tooth of circle, this first One end of outer tooth ring is equipped with greater diameter than first internal tooth and the sleeve joint hole concentric with first internal tooth；Second outer tooth ring Inner ring surface have one circle the second internal tooth, one end of second outer tooth ring is rotatablely arranged at the sleeve joint hole of first outer tooth ring Interior, side by side, first internal tooth is identical as the modulus of second internal tooth and the number of teeth is different for first internal tooth and second internal tooth；

One internal gear, the outer ring surface of the internal gear are equipped with a circle external tooth, the width of the external tooth be equal to first internal tooth and this second The sum total of the width of internal tooth, and the external tooth is engaged on first internal tooth and second internal tooth；

One cam, the cam axle center are equipped with an accommodating hole for being connected to the cam both ends, which has a cam surface, this is convex Wheel face is resisted against the inner ring surface of the internal gear to turn the internal gear；

Turn motor outside one, the outer stator for turning motor and being set to the axle center with an axle center and one, with one around the outer of the stator Shell rotor, the shell rotor are incorporated in the accommodating hole of the cam to turn the cam, the prominent cam in the both ends in the axle center；

Two end caps, one of end cap are incorporated in the lateral surface of first outer tooth ring, another end cap is incorporated in this outside second The lateral surface of ring gear, and one of them end cap is fixed in the axle center one end.

2. revolving actuator as described in claim 1, which is characterized in that wherein it is convex to be equipped with one for one end of second outer tooth ring Ring, the bulge loop are rotatablely arranged in the sleeve joint hole of first outer tooth ring.

3. revolving actuator as claimed in claim 2, which is characterized in that wherein the inner hole wall of the sleeve joint hole is equipped with a circle first Zhu Gou, the outer ring surface of the bulge loop are equipped with second Zhu Gou of circle, and first Zhu Gou is corresponding with the second pearl ditch, and in first pearl Several rollers are equipped between ditch and the second pearl ditch.

4. revolving actuator as claimed in claim 2, which is characterized in that wherein the outer ring surface of the bulge loop is arranged an axis of rolling It holds, which is set in the sleeve joint hole of first outer tooth ring.

5. revolving actuator as claimed in claim 4, which is characterized in that wherein the rolling bearing is equipped with screw hole, this is outside first Ring gear and second outer tooth ring are equipped with screw respectively, and the screw locking is in the screw hole of the rolling bearing.

6. revolving actuator as described in claim 1, which is characterized in that wherein the cam is an eccentric wheel.

7. revolving actuator as claimed in claim 6, which is characterized in that wherein the cam surface of the cam is equipped with a roller slot, The roller slot is provided with several rollers, which turns the internal gear against the inner ring surface of the internal gear.

8. revolving actuator as described in claim 1, which is characterized in that wherein the end cap is equipped with a rolling bearing, the rolling Bearing holder (housing, cover) is set to the outer axle center for turning motor.