CN208417417U - A kind of integration packaging planetary rotation joint structure - Google Patents
A kind of integration packaging planetary rotation joint structure Download PDFInfo
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- CN208417417U CN208417417U CN201821048745.5U CN201821048745U CN208417417U CN 208417417 U CN208417417 U CN 208417417U CN 201821048745 U CN201821048745 U CN 201821048745U CN 208417417 U CN208417417 U CN 208417417U
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- rotor
- ring gear
- fixing axle
- casing
- spur gear
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- 230000010354 integration Effects 0.000 title claims abstract description 15
- 238000004806 packaging method and process Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 210000004907 gland Anatomy 0.000 claims description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 2
- 230000009467 reduction Effects 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 6
- 230000004323 axial length Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000003967 crop rotation Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
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- 230000001737 promoting effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
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- 238000012938 design process Methods 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
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- 230000008569 process Effects 0.000 description 1
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Abstract
A kind of integration packaging planetary rotation joint structure, fixing axle, motor, casing, transmission component, ring gear I, ring gear II, connection frame, brake, encoder and driver including shell and in shell inner cavity, cover board is fixedly installed at shell open at both ends, by the intercombination of two cover boards and shell, realize to component relieved package.Transmission component has multiple groups, and it is distributed along the circumferential even circumferential of fixing axle, every group of transmission component is made of connecting shaft, spur gear I and spur gear II, the both ends of connecting shaft are mounted on the outer wall of casing by bearing, spur gear I and spur gear II are fixedly connected with connecting shaft, ring gear I and ring gear II are covered in the outside of transmission component, and engage connection with spur gear I and spur gear II respectively, and the outer wall of ring gear II is fixedly connected with shell.The utility model is compact-sized, output torque is big, debugging is easy, long service life, reduces cabling difficulty, can greatly promote motor service efficiency.
Description
Technical field
The utility model relates to a kind of rotary joints, are a kind of integration packaging planetary rotation joint structures more specifically.
Background technique
Traditional modular rotary joint is applied to revolute robot, automated guided vehicle, electric wheeled movement mostly
Platform etc., when required driving torque is larger, general use links together motor, deceleration mechanism, power take-off mechanism etc.
Drive part is formed, and SERVO CONTROL is realized by encoder and driver.Such as Publication No. CN107718036, entitled " one
The Chinese utility model patent application and Publication No. of the hollow integral joint of the double feedback compacts high-precisions of kind "
CN104552329, entitled " drive control integral intelligent integrates joint " utility application, being will be electric
Several components such as machine, deceleration mechanism, power take-off mechanism are successively axially disposed, so as to cause the axial length in entire joint
It is longer, it is highly detrimental to the whole design of equipment；In addition, there is also following defects in actual application for this technology: (2)
Entire joint unit is driven comprising multi-stage mechanical, increases the loss of output power；(3) component total number is more, increases
Debugging difficulty in user's use process；(4) it when equipment is in more in rugged environment, needs to protect each component
When, since joint is assembled by multiple components, increase the difficulty of design protection；(5) motor is installed respectively with servo motor
It in different positions, needs to connect more connecting line between the two, on the one hand, connecting line can generate pressure drop, influence motor effect
Rate；On the other hand, more connecting line increases the difficulty of cabling in design process, while affecting overall appearance；(6) traditional
Modularization rotary joint usually configures independent planetary reduction gear, harmonic speed reducer etc., and cost performance is limited.
Utility model content
The technical problems to be solved in the utility model be to provide it is a kind of it is compact-sized, output torque is big, reduction ratio is moderate,
Cost performance is superior, debugging is easy, long service life, reduces cabling difficulty, can greatly promote the integrated envelope of motor service efficiency
Fill planetary rotation joint structure.
The technical solution of the utility model is to provide a kind of integration packaging planetary rotation joint having following structure
Structure, fixing axle, motor, casing, transmission component, ring gear I, ring gear II including shell and in shell inner cavity,
Connection frame, brake, encoder and driver；The casing is covered in the outside of motor, and is mounted in fixing axle by bearing,
The motor includes stator and rotor, and stator sleeve is fixedly connected in the middle part of fixing axle, and with fixing axle, and the rotor is mounted on fixed
Sub external, the periphery wall of rotor is fixedly connected with the internal perisporium of casing, and the transmission component has multiple groups, and along the week of fixing axle
It is distributed to even circumferential, every group of transmission component is made of connecting shaft, spur gear I and spur gear II, the axis of the connecting shaft
Parallel with the axis of fixing axle, the both ends of connecting shaft are mounted on the outer wall of casing by bearing, the spur gear I and straight-tooth
Wheel II covers in connecting shaft, and is fixedly connected with connecting shaft, and the ring gear I and ring gear II are covered in the outer of transmission component
Portion, ring gear I engage connection with spur gear I, and ring gear I is fixedly mounted on connection frame, and the connection frame is located at a left side for casing
Side, and being fixedly connected with fixing axle, the inner wall of the ring gear II engage connection with spur gear II, the outer wall of ring gear II and outer
Shell is fixedly connected；The brake is mounted on the left side wall of connection frame, for being braked to motor, the encoder and drive
Dynamic device is respectively positioned on the right side of casing, and driver includes driving plate and driving plate connector, and driving plate is mounted in driving plate connector
Outside, driving plate connector are fixedly mounted in fixing axle, and the encoder includes harbour and code-disc, and code-disc is fixedly mounted on machine
On shell, harbour is fixedly mounted on driving plate connector；The open-mouth of the shell left and right ends is fixedly installed with cover board, institute
It states cover board and passes through bearing and fixed axis connection.
A kind of integration packaging planetary rotation joint structure described in the utility model, wherein the casing is by mutually fastening
Rotor fixing piece and rotor the gland composition to link together, rotor fixing piece are located at the left side of motor, and rotor gland is located at electricity
The right side of machine, the rotor fixing piece are mounted on connection frame by bearing, and rotor gland is mounted in fixing axle by bearing,
Annular convex edge is equipped on the periphery wall of the rotor fixing piece and rotor gland, two annular convex edges are surrounded and put for transmission component
The both ends of the annular storage chamber entered, the connecting shaft are separately mounted in two annular convex edges by bearing.
A kind of integration packaging planetary rotation joint structure described in the utility model, wherein the brake includes electromagnetism
Iron and electromagnet connecting plate and locating part in connection frame inner cavity, the electromagnet are mounted on the left side wall of connection frame
On, the through-hole penetrated for the valve rod of electromagnet is offered on the outer wall of the connection frame, after the bottom of the valve rod passes through through-hole
It is fixedly connected with electromagnet connecting plate, the locating part is fixedly mounted on the left side wall of rotor fixing piece, the periphery of locating part
Wall is equipped with several arc gap for the insertion of electromagnet connecting plate.
After using the above structure, compared with prior art, a kind of integration packaging planetary rotation joint structure of the utility model
It has the advantage that
1, the utility model directly drives spur gear and ring gear using the rotor of motor as the planet carrier of planetary reduction gear
Equal decelerations mechanism, realizes the integral fusion of motor and retarder, to can obtain while greatly promoting transmission efficiency
Biggish reduction ratio is taken, is higher by with 2~3 times of planetary reduction gear structure that sun crop rotation is input, realizes biggish output torque；
In addition, this radial design also simplifies the overall structure of the utility model, axial length is shortened, so that structure is more tight
It gathers；
2, it since driver and motor etc. to be mounted in same shell, has obtained contracting significantly so that it connects line length
Subtract, to improve the service efficiency of motor, externally only needs to draw corresponding power line and communication line, reduce line
The quantity of beam reduces the difficulty of routing of layout；
3, the utility model is designed by reasonable structure, is realized and is formed by motor, by spur gear and ring gear etc.
Retarder, driver, encoder and brake carry out integration packaging, greatly improve the integrated level of rotary joint module；Make
Used time, user only need to can be realized the control to joint unit and the acquisition of information by communicating to connect joint unit, debug
Get up very convenient；
4, it inside the housing by encoder package, can be realized the high-precision SERVO CONTROL of large torque, there is longer make
Use the service life；
5, each component integral type is encapsulated in rotary module intra articular, realizes the protection to each component, more preferably
All kinds of working environments are coped on ground, enhance versatility；
6, it avoids using components such as independent harmonic speed reducers, same skill is obtained by the design of accurate planetary reduction gear structure
Art effect, thus the product that develops skill from the principal space, solve technology and Price Bottleneck.
Detailed description of the invention
Fig. 1 is a kind of schematic cross-sectional view of integration packaging planetary rotation joint structure of the utility model；
Fig. 2 is the main view enlarged structure schematic diagram of locating part in Fig. 1.
Specific embodiment
A kind of integration packaging planetary rotation joint structure of the utility model is made with reference to the accompanying drawings and detailed description
It is further described:
As shown in Figure 1, in this embodiment, a kind of integration packaging planetary rotation joint structure of the utility model,
It is fixing axle 110, motor 120, casing 13, transmission component 6, ring gear I 7 including shell 4 and in 4 inner cavity of shell, interior
Gear ring II 5, connection frame 10, brake 8, encoder 2 and driver 1.The open-mouth of 4 left and right ends of shell is fixedly installed with lid
Plate 9,3, cover board 9,3 are connect by bearing with fixing axle 110, and the intercombination of two cover boards 9,3 and shell 4, realization pair are passed through
The relieved package of component.Fixing axle 110 be hollow structure, can supply lines penetrate, be convenient for wiring.
13 sets of the casing outsides in motor 120, and be mounted in fixing axle 110 by bearing.Motor 120 includes stator
121 and rotor 122,121 sets of stator, at 110 middle part of fixing axle, and are fixedly connected by flat key with fixing axle 110；Rotor 122 is pacified
Outside stator 121, the periphery wall of rotor 122 is fixedly connected with the internal perisporium of casing 13.
The quantity of transmission component 6 is multiple groups, and along the circumferential even circumferential distribution of fixing axle 110, every group of transmission group
Part 6 is made of connecting shaft 62, spur gear I 61 and spur gear II 63.The axis of connecting shaft 62 is equal with the axis of fixing axle 110
Row, the both ends of connecting shaft 62 are mounted on the outer wall of casing 13 by bearing, and spur gear I 61 and spur gear II 63 are covered and connected
On axis 62, and it is fixedly connected by flat key with connecting shaft 62.Ring gear I 7 and ring gear II 5 are covered in the outside of transmission component 6,
Ring gear I 7 engages connection with spur gear I 61, and ring gear I 7 is fixedly mounted on the right side wall of connection frame 10.Connection frame 10 is located at
The left side of casing 13, and be fixedly connected by flat key with fixing axle 110.The inner wall of ring gear II 5 and II 63 company of engagement of spur gear
It connects, the outer wall of ring gear II 5 is fixedly connected with shell 4.
Brake 8 is mounted on the left side wall of connection frame 10, for braking to motor 120.Encoder 2 and driver
1 is respectively positioned on the right side of casing 13, and driver 1 includes driving plate 11 and driving plate connector 12, and driving plate 11 connects mounted in driving plate
The outside of fitting 12, driving plate connector 12 are fixedly mounted in fixing axle 110；Encoder 2 includes harbour 21 and code-disc 22, code
Disk 22 is fixedly mounted on casing 13, and harbour 21 is fixedly mounted on driving plate connector 12.In the present embodiment, encoder 2
It is commercial product with driver 1.
Casing 13 is by being mutually fastened and connected rotor fixing piece 131 together and rotor gland 132 forms, rotor fixing piece
131 are located at the left side of motor 120, and rotor gland 132 is located at the right side of motor 120, and rotor fixing piece 131 is mounted on by bearing
On connection frame 10, rotor gland 132 is mounted in fixing axle 110 by bearing, rotor fixing piece 131 and rotor gland 132
Annular convex edge 133,134 is equipped on periphery wall, two annular convex edges 133,134 surround the annular being put into for transmission component 6 and deposit
Chamber 135 is put, the both ends of connecting shaft 62 are separately mounted in two annular convex edges 133,134 by bearing.It is set by above structure
Meter, other than ease of assembly, can further make overall structure more compact.
Brake 8 includes electromagnet 81 and electromagnet connecting plate 82 and locating part 83 in 10 inner cavity of connection frame,
Electromagnet 81 is mounted on the left side wall of connection frame 10, is offered on the outer wall of connection frame 10 and is penetrated for the valve rod of electromagnet 81
Through-hole, the bottom of valve rod are fixedly connected after passing through through-hole with electromagnet connecting plate 82, and locating part 83 is fixedly mounted on rotor and fixes
On the left side wall of part 131.Referring to fig. 2, the periphery wall of locating part 83 is equipped with several arcs being inserted into for electromagnet connecting plate 82
Gap 831.The reliable braking to motor 120 can be realized by above structure.
The utility model is by by motor 120, the retarder, the brake 8, driver that are made of spur gear and ring gear etc.
1 and encoder 2 carry out hardware enclosure, can be realized the higher low speed servo system of integrated level.The utility model is by motor 120
Planet carrier of the rotor as planetary reduction gear directly drives the decelerations such as spur gear and ring gear mechanism, realizes motor and slows down
The integral fusion of device realizes biggish to can obtain biggish reduction ratio while greatly promoting transmission efficiency
Output torque；In addition, this radial design also simplifies the overall structure of the utility model, axial length is shortened, so that knot
Structure is more compact.
The working principle of the utility model is: motor 120 it is electric after, rotor 122 drive 13 synchronous rotary of casing, due to straight
Gear I 61 and spur gear II 63 are fixedly mounted in connecting shaft 62, and the both ends of connecting shaft 62 pass through bearing and two annulars
Convex edge 133,134 connects, and ring gear I 7 and connection frame 10 are fixedly mounted, therefore, during casing 13 rotates, spur gear
I 61 and II 63 one side rotation of spur gear, it revolves on one side around ring gear I 7, to make spur gear II 63 that ring gear II 5 be driven to revolve
Turn, and finally shell 4 is driven to rotate, reached biggish reduction ratio, being higher by with sun crop rotation is the planetary reduction gear structure 2 inputted
~3 times, and realize biggish output torque.
Embodiment described above is only that preferred embodiments of the present invention are described, not practical to this
Novel range is defined, and under the premise of not departing from the spirit of the design of the utility model, those of ordinary skill in the art are to this
The various changes and improvements that the technical solution of utility model is made should all be fallen into the protection scope of the utility model.
Claims (3)
1. a kind of integration packaging planetary rotation joint structure, it is characterised in that: including shell (4) and be located at shell (4) inner cavity
In fixing axle (110), motor (120), casing (13), transmission component (6), ring gear I (7), ring gear II (5), connection frame
(10), brake (8), encoder (2) and driver (1)；
The casing (13) covers in the outside of motor (120), and is mounted on fixing axle (110) by bearing, the motor
It (120) include stator (121) and rotor (122), stator (121) covers in the middle part of fixing axle (110), and solid with fixing axle (110)
Fixed connection, the rotor (122) are mounted on stator (121) outside, and the periphery wall of rotor (122) and the internal perisporium of casing (13) are solid
Fixed connection, the transmission component (6) has multiple groups, and is distributed along the circumferential even circumferential of fixing axle (110), every group of transmission component
(6) it is made of connecting shaft (62), spur gear I (61) and spur gear II (63), the axis and fixing axle of the connecting shaft (62)
(110) axis is parallel, and the both ends of connecting shaft (62) are mounted on the outer wall of casing (13) by bearing, the spur gear I
(61) cover on connecting shaft (62) with spur gear II (63), and be fixedly connected with connecting shaft (62), the ring gear I (7) and
Ring gear II (5) covers the outside in transmission component (6), and ring gear I (7) engages connection, ring gear I (7) with spur gear I (61)
It is fixedly mounted on connection frame (10), the connection frame (10) is located at the left side of casing (13), and fixes and connect with fixing axle (110)
It connects, the inner wall of the ring gear II (5) engages connection with spur gear II (63), and the outer wall of ring gear II (5) and shell (4) are fixed
Connection；
The brake (8) is mounted on the left side wall of connection frame (10), for being braked to motor (120), the coding
Device (2) and driver (1) are respectively positioned on the right side of casing (13), and driver (1) includes driving plate (11) and driving plate connector
(12), driving plate (11) is mounted in the outside of driving plate connector (12), and driving plate connector (12) is fixedly mounted on fixing axle
(110) on, the encoder (2) includes harbour (21) and code-disc (22), and code-disc (22) is fixedly mounted on casing (13), harbour
(21) it is fixedly mounted on driving plate connector (12)；
The open-mouth of shell (4) left and right ends is fixedly installed with cover board (9,3), the cover board (9,3) by bearing with
Fixing axle (110) connection.
2. a kind of integration packaging planetary rotation joint structure according to claim 1, it is characterised in that: the casing (13)
By being mutually fastened and connected rotor fixing piece (131) together and rotor gland (132) forms, rotor fixing piece (131) is located at
The left side of motor (120), rotor gland (132) are located at the right side of motor (120), and the rotor fixing piece (131) passes through bearing
It is mounted on connection frame (10), rotor gland (132) is mounted on fixing axle (110) by bearing, the rotor fixing piece
(131) and on the periphery wall of rotor gland (132) it is equipped with annular convex edge (133,134), two annular convex edges (133,134) are enclosed
At the annular storage chamber (135) being put into for transmission component (6), the both ends of the connecting shaft (62) are separately mounted to two by bearing
On a annular convex edge (133,134).
3. a kind of integration packaging planetary rotation joint structure according to claim 2, it is characterised in that: the brake
(8) the electromagnet connecting plate (82) and locating part (83) for including electromagnet (81) and being located in connection frame (10) inner cavity, it is described
Electromagnet (81) is mounted on the left side wall of connection frame (10), is offered on the outer wall of the connection frame (10) for electromagnet (81)
The through-hole that penetrates of valve rod, the bottom of the valve rod is fixedly connected after passing through through-hole with electromagnet connecting plate (82), the limit
Part (83) is fixedly mounted on the left side wall of rotor fixing piece (131), and the periphery wall of locating part (83) is equipped with several for electromagnetism
The arc gap (831) of iron connecting plate (82) insertion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821048745.5U CN208417417U (en) | 2018-07-04 | 2018-07-04 | A kind of integration packaging planetary rotation joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821048745.5U CN208417417U (en) | 2018-07-04 | 2018-07-04 | A kind of integration packaging planetary rotation joint structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208417417U true CN208417417U (en) | 2019-01-22 |
Family
ID=65108231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821048745.5U Withdrawn - After Issue CN208417417U (en) | 2018-07-04 | 2018-07-04 | A kind of integration packaging planetary rotation joint structure |
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| Country | Link |
|---|---|
| CN (1) | CN208417417U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108591373A (en) * | 2018-07-04 | 2018-09-28 | 嘉兴高维智控有限公司 | A kind of integration packaging planetary rotation joint structure |
-
2018
- 2018-07-04 CN CN201821048745.5U patent/CN208417417U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108591373A (en) * | 2018-07-04 | 2018-09-28 | 嘉兴高维智控有限公司 | A kind of integration packaging planetary rotation joint structure |
| CN108591373B (en) * | 2018-07-04 | 2024-02-09 | 苏州伸之助科技服务有限公司 | Integrated encapsulation planet rotary joint structure |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211203 Address after: 215000 building 3, No. 10, Jindu Road, Southeast street, Changshu, Suzhou, Jiangsu Patentee after: Suzhou shenzhizhu Technology Service Co.,Ltd. Address before: Room 409, building 10, 988 Xinxing 2nd Road, Pinghu Economic and Technological Development Zone, Jiaxing City, Zhejiang Province, 314200 Patentee before: JIAXING GAOWEI INTELLIGENT CONTROL CO.,LTD. |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190122 Effective date of abandoning: 20240209 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190122 Effective date of abandoning: 20240209 |