CN208529152U - Robot and its steering engine, overcurrent protection structure - Google Patents
Robot and its steering engine, overcurrent protection structure Download PDFInfo
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- CN208529152U CN208529152U CN201821115638.XU CN201821115638U CN208529152U CN 208529152 U CN208529152 U CN 208529152U CN 201821115638 U CN201821115638 U CN 201821115638U CN 208529152 U CN208529152 U CN 208529152U
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Abstract
A kind of robot and its steering engine, steering engine overcurrent protection structure, steering engine overcurrent protection structure includes first gear, the coaxially connected second gear with first gear, and the clutch structure between first gear and second gear, clutch structure includes the elastic slice being sheathed in first gear and the accommodating chamber for being used to accommodate elastic slice in second gear, center symmetric setting at least one set first protrusion of the elastic slice outer edge with respect to accommodating chamber, it accommodates cavity wall and is symmetrically arranged at least one set of recess being caught at least one set of first male cooperation, the side of each recess is equipped with the second protrusion towards accommodating chamber center position protrusion.In the utility model; when second gear, which encounters external drag, to stop operating; torque between two gears is continuously increased; the elastic slice deformation of first gear in accommodating chamber in sliding; the first protrusion on elastic slice is detached from recess, and elastic slice stops operating, and first gear occurs slipping phenomenon and continues to dally; the power transmission between two gears is cut off, overload protection is formed.
Description
Technical field
The utility model relates to robotic technology fields, especially provide a kind of robot and its steering engine, overcurrent protection structure.
Background technique
It, will be electric typically by multiple stage gear reduction in the miniature Servo-controller transmission system of intelligence machine person joint
The high revolving speed low torque of machine, is changed into slow-speed of revolution high torque (HT), to achieve the purpose that drive joint of robot.Servo-controller is at some
The torque born on joint be have it is a certain range of, when loading moment is more than defined value or loads and allows steering engine stall completely, rudder
Machine is just required to self-protection, causes motor to burn out or the damage of structural member to avoid steering engine overload stall.
Existing steering engine is more than that preset value carrys out power-off protection steering engine generally by the electric current of detection motor.But when joint is watched
Take steering engine encounter in use moment impact overload when, steering engine cannot then be protected by above-mentioned protection mechanism well, because
It is steering engine from detecting that electric current rising makes a response need the regular hour again, and the moment impact time is extremely short, and steering engines is waited to do
It responds out, steering engine structural member is damaged because of temporary impact already.So there is an urgent need to be improved from structure, it is this to eliminate
It is damaged caused by temporary impact.
Utility model content
The purpose of this utility model is to provide a kind of steering engine overcurrent protection structures, it is intended to solve steering engine in the prior art and exist
Encounter the technical issues of moment impact is damaged.
A kind of in order to achieve the above purposes, the technical solution adopted by the utility model is: steering engine overcurrent protection structure, including
One gear and the second gear coaxially connected with the first gear further include being set to the first gear and second tooth
Clutch structure between wheel, the clutch structure include the elastic slice being sheathed in the first gear and be set to second tooth
The accommodating chamber for being used to accommodate the elastic slice on wheel, the center symmetric setting of the relatively described accommodating chamber of elastic slice outer edge is at least
One group of first protrusion, the receiving cavity wall are symmetrically arranged at least one set being caught at least one set of first male cooperation
Recess, the side of each recess are equipped with the second protrusion towards the accommodating chamber center position protrusion.
Further, the quantity of every group first protrusion is two, and the quantity of every group of recess is two, every group two described the
One protrusion and every group two recess are with the center symmetric setting of the accommodating chamber, every group of symmetrically arranged two first protrusion
The distance between be greater than be located at every group it is symmetrically arranged two recess in the same side the distance between two second protrusions.
Further, the inner wall of each recess is to the separate accommodating chamber center position protrusion with the relatively described accommodating chamber
Be centrally formed recess, each second protrusion is towards the accommodating chamber center position protrusion to skid off institute in first protrusion
Support first protrusion when stating recess, the outside wall surface of first protrusion, the inner wall of the recess and described second convex
The outside wall surface risen is arc surface.
Further, the two sides of each first protrusion are symmetrically arranged with the transition bench towards the accommodating chamber central protuberance
Face.
Further, the recess is corresponding with the quantity of second protrusion, each recess and every one second raised edge
Cavity wall is accommodated alternately to be uniformly arranged.
Further, the elastic slice center is equipped with the centre bore being coupled with the first gear, in the centre bore
Two sides are also symmetrically arranged with two hollow slots, and two hollow slots are located at each first protrusion inside and around first tooth
Wheel, and each hollow slots are in the bending of convex, outer convex direction is consistent with first protrusion direction.
Further, the first gear includes interconnecting piece and the toothed region positioned at described interconnecting piece one end, and described
Two gears are equipped with the mounting hole being connected to the accommodating chamber, and the interconnecting piece passes through the accommodating chamber and is fixed on the mounting hole
Interior, the centre bore of the elastic slice, which is arranged, to be fixed on the interconnecting piece.
Further, the mounting hole is in step-like, and the interconnecting piece is fixed by being set to the axle sleeve at the mounting hole.
The utility model additionally provides a kind of steering engine, including shell and the stage-geared machine being disposed in the housing
Structure has above-mentioned steering engine overcurrent protection structure in the stage-geared structure.
The utility model additionally provides a kind of robot, including steering engine, and the steering engine is above-mentioned steering engine.
The utility model has the beneficial effects that
In overcurrent protection structure provided by the utility model, the elastic slice in first gear is arranged in the accommodating chamber of second gear
It is interior, when the torque transmitted between first gear and second gear within a preset range when, first gear coaxially turns with second gear
Dynamic, when wherein second gear encounters external drag and stops operating, the torque between first gear and second gear is continuously increased,
Deformation occurs for the elastic slice of first gear in sliding in accommodating chamber, and the first protrusion on elastic slice is detached from recess, and elastic slice stops operating, the
One gear occur slipping phenomenon continue to dally, thus cutting two gears between power transmission, avoid two gears and with two gears
The other parts being connected by power are damaged under torque and external resistance effect, form reliable overload protection；Above-mentioned overload is protected
When protection structure is applied to robot, overload when rotation-clogging protection and steering engine when suitable for motor forward driving are driven in the reverse direction is protected
Shield, especially when the outside upper loading moment of joint of robot increases suddenly or robot falls down the impact that moment generates and all be easy to cause
The damage of steering engine structure, and above-mentioned overload protecting mechanism can effectively avoid damage caused by temporary impact.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the schematic diagram of steering engine overcurrent protection structure provided by the embodiment of the utility model；
Fig. 2 is the front view of steering engine overcurrent protection structure provided by the embodiment of the utility model；
Fig. 3 is the front view of elastic slice in steering engine overcurrent protection structure provided by the embodiment of the utility model；
Fig. 4 is the schematic perspective view of elastic slice in steering engine overcurrent protection structure provided by the embodiment of the utility model；
Fig. 5 is structure when elastic slice and accommodating chamber are detached from steering engine overcurrent protection structure provided by the embodiment of the utility model
Schematic diagram；
Fig. 6 is A-A cross-sectional view in Fig. 2；
Fig. 7 is the decomposition diagram of steering engine overcurrent protection structure provided by the embodiment of the utility model；
Fig. 8 is steering engine structural schematic diagram provided by the embodiment of the utility model；
Fig. 9 is steering engine decomposition diagram provided by the embodiment of the utility model；
Wherein, each appended drawing reference in figure:
10- first gear；11- interconnecting piece；12- toothed region；20- second gear；21- accommodating chamber；22- recess；23- second
Protrusion；25- mounting hole；30- elastic slice；The first protrusion of 31-；32- transition table top；33- centre bore；34- hollow slots；40- axle sleeve；
50- steering engine；51- shell；52- multilevel gear drive mechanism.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached
Orientation or positional relationship shown in figure, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of utility model.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention,
More than, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
Please refer to Fig. 1 to Fig. 7, steering engine overcurrent protection structure provided by the embodiment of the utility model, including first gear 10,
The second gear 20 coaxially connected with first gear 10 further includes set on the clutch knot between first gear 10 and second gear 20
Structure.Specifically, clutch structure includes the elastic slice 30 being sheathed in first gear 10 and is used to hold in second gear 20
Receive the accommodating chamber 21 of elastic slice 30,30 outer edge of elastic slice with respect at least one set of first protrusion 31 of the center symmetric setting of accommodating chamber 21,
21 inner wall of accommodating chamber is symmetrically arranged at least one set of recess 22 being caught in for 31 cooperation of the first protrusion of at least one set.
In the utility model embodiment, the elastic slice 30 in first gear 10 is fixed in first gear 10, and is contained in
In the accommodating chamber 21 of two gears 20, when the torque transmitted between first gear 10 and second gear 20 within a preset range when,
One gear 10 is rotated coaxially together with elastic slice 30 and second gear 20, to export driving force corresponding with motor control signal.When
The torque transmitted between first gear 10 and second gear 20 is negative by the external world because motor immediate current impacts excessive, steering engine output shaft
The case where carrying any one moment impact such as power is excessive or robot moment falls and when exceeding predetermined torque range, elastic slice 30 connects
With interaction force is generated between first gear 10 and second gear 20, the first protrusion 31 of elastic slice 30 is compressed radially,
And deformation is slided in accommodating chamber 21, together with first gear 10, opposite second gear 20 dallies elastic slice 30 together, to cut
Power transmission between disconnected two gears, avoids two gears and the other parts connecting with two gear powers in torque and heavy load power
It is damaged under effect, forms reliable overload protection.
Further, referring to Fig. 2 to Fig. 5, whole elastic slice 30 is in disc-shaped, and center is equipped with centre bore 33 and is used for and first
Gear 10 is coupled, and the quantity of every group of first protrusion 31 is two, and two first protrusions 31 are symmetrically set centered on centre bore 33
It sets.The quantity of every group of recess 22 is corresponding with the quantity of every group of first protrusion 31, is also two.Two recess 22 in every group of recess 22
With the center symmetric setting of accommodating chamber, the side of each recess 22 is equipped with one second protrusion 23, and each second protrusion 23 is located at every
The same side of 22 circumferencial directions of a recess.Accommodating chamber 21 is circular configuration, to be clockwise to refer to, in the present embodiment, and Mei Ge
Two protrusions 23 are respectively positioned on the right side of corresponding recess 22.
Further, referring to Fig. 2, Fig. 5, the inner wall of each recess 22 is to separate 21 center position protrusion of accommodating chamber with opposite appearance
Receive the recess that is centrally formed of chamber 21, each second protrusion 23 is recessed to skid off in the first protrusion 31 towards 21 center position protrusion of accommodating chamber
The first protrusion 31 is supported when falling into 22, the outside wall surface of the first protrusion 31, be recessed 22 inner wall and the outside wall surface of the second protrusion 23
It is arc surface, is rotated in accommodating chamber 21 when 30 deformation of elastic slice in this way, facilitating.When elastic slice 30 is placed in accommodating chamber 21, elastic slice 30
Upper symmetrically arranged two first protrusion 31 is corresponding with two recess 22 symmetrically arranged in one group of recess 22 in accommodating chamber 21 respectively
Assembly.When the torque between first gear 10 and second gear 20 increases above preset range, deformation occurs for elastic slice 30 in appearance
Receive sliding in chamber 21, relatively rotated between first gear 10 and second gear 20, the position of the first protrusion 31 on elastic slice 30 by
Recess 22 turns to the second protrusion 23, the first protrusion 31 by the second protrusion 23 extruding and deform and continue to rotate, lead to elastic slice
30 dally together with first gear 10, thus the power transmission between two gears of cutting.
As shown in figure 3, setting the distance between every group of symmetrically arranged two first protrusion 31 as L1, as shown in figure 5, setting every group
The distance between symmetrically arranged two second protrusion 23 of the same side is L2 in symmetrically arranged two recess 22, under natural conditions,
L1 > L2.When the torque transmitted between first gear 10 and second gear 20 is greater than preset range, first gear 10 and elastic slice
The effect of mutual power is generated between the fastener and second gear 20 of 30 compositions, two first protrusions 31 of elastic slice 30 are in the radial side L2
It is compressed upwards, slipping phenomenon, elastic slice 30 occur for the opposite sliding between two recess 22 respectively of two first protrusions 31 of elastic slice 30
It dallies together with first gear 10, that is, forms overload protection, to avoid torque excessive and lead to first gear 10, the second tooth
It takes turns 20 and connect other elements with the two and be damaged.
Further, referring to Fig. 3, Fig. 4, the two sides of each first protrusion 31 are symmetrically arranged with the mistake towards centre bore direction protrusion
Cross table top 32.Transition table top 32 is set in the first raised 31 two sides, is on the one hand conducive to elastic slice 30 and is deformed in radial force；It is another
Aspect, under certain decrement, the elastic force of elastic slice 30 be can control in lesser range, conducive to the consistency of slipping torque.
In the present embodiment, the first protrusion 31 is one group, as two, is symmetrical arranged, and be recessed 22 and second protrusion 23
Quantity is corresponding, and preferably six groups, i.e. the quantity of recess 22 and the second protrusion 23 respectively has 12.Each recess 22 and every 1 the
Two protrusions 23 are alternately uniformly arranged along 21 inner wall of accommodating chamber.In this way, elastic slice 30 can arbitrarily be fixed on arranged symmetrically in assembly
Two recess 22 between, without carry out special angle contraposition, make assembly it is more simple and fast.Certainly, recess 22 and second is convex
The quantity for playing 23 can may be two groups, three groups, four groups, five groups or seven groups etc., be set according to actual needs.
Referring to Fig. 3, two hollow slots 34 are symmetrically arranged on elastic slice 30 and positioned at 33 two sides of centre bore, two hollow slots 34 distinguish position
In it is each first protrusion 31 inside and surround first gear 10, and each hollow slots 34 be in convex bending, outer convex direction with
Raised 31 directions of the first of outside are consistent.Two hollow slots 34 of above-mentioned shape are set, so that 30 mass of elastic slice is lightened on the whole, elastic force
More preferably, and it is more easily-deformable radially.
Referring to Fig. 7, in the present embodiment, first gear 10 includes interconnecting piece 11 and the toothed region positioned at 11 one end of interconnecting piece
12, setting gear with external impetus for connect in toothed region 12, and second gear 20 is equipped with the installation being connected to accommodating chamber 21
Hole 25, interconnecting piece 11 pass through accommodating chamber 21 and are fixed in mounting hole 25, and the centre bore 33 of elastic slice 30, which is arranged, is fixed on interconnecting piece 11
On.
Specifically, 33 section of centre bore of elastic slice 30 is in key-way shape, 11 cross sectional shape of interconnecting piece and 25 section shape of mounting hole
Shape matching.Using this structure, being fixedly connected between elastic slice 30 and interconnecting piece 11 is realized, avoid that opposite turn occurs therebetween
It is dynamic.
Referring to Fig. 6, Fig. 7, in the present embodiment, the interconnecting piece 11 of first gear 10, which passes through after elastic slice 30 protrudes into mounting hole 25, to be led to
It crosses the axle sleeve 40 positioned at 11 periphery of interconnecting piece and realizes axial restraint.Mounting hole 25 in step-like, axle sleeve 40 and 25 shape of mounting hole,
Size matches, and axle sleeve 40 is installed in mounting hole 25, and the interconnecting piece 11 of first gear 10 protrudes into axle sleeve 40.It is assembling
When, first first gear 10 and second gear 20 are assembled in place, then by special fixture that axle sleeve 40 is axial solid along mounting hole 25
It is fixed, realize the fixation of axle sleeve 40 and mounting hole 25 and interconnecting piece 11.
Referring to Fig. 8, Fig. 9, the utility model embodiment additionally provides a kind of steering engine 50 comprising shell 51 and is set to shell
Multilevel gear drive mechanism 52 in body 51 has above-mentioned steering engine overcurrent protection structure in stage-geared structure 52.
The utility model embodiment additionally provides a kind of robot (not shown), including with above-mentioned overcurrent protection structure
Steering engine 50.Above-mentioned overcurrent protection structure, overload when rotation-clogging protection and steering engine when suitable for motor forward driving are driven in the reverse direction
Protection, especially when the outside upper loading moment of joint of robot increases suddenly or robot falls down the impact that moment generates and is all easy to make
At the damage of steering engine structure, and above-mentioned overload protecting mechanism can effectively avoid damage caused by temporary impact.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of steering engine overcurrent protection structure, including first gear and the second gear coaxially connected with the first gear,
It is characterized by also including the clutch structure being set between the first gear and the second gear, the clutch structure packets
The elastic slice being sheathed in the first gear and the accommodating chamber for being used to accommodate the elastic slice in the second gear are included,
The first protrusion of center symmetric setting at least one set of the relatively described accommodating chamber of elastic slice outer edge, the receiving cavity wall are symmetrical
Equipped at least one set of recess being caught at least one set of first male cooperation, the side of each recess is equipped with described in
Second protrusion of accommodating chamber center position protrusion.
2. steering engine overcurrent protection structure according to claim 1, it is characterised in that: the quantity of every group first protrusion is two
A, the quantity of every group of recess is two, and every group two first protrusions and every group two recess are with the accommodating chamber
Center symmetric setting, the distance between every group of symmetrically arranged two first protrusion be greater than be located at every group it is symmetrically arranged two recess
The distance between described second protrusion of the two of middle the same side.
3. steering engine overcurrent protection structure according to claim 2, it is characterised in that: the inner wall of each recess is to far from institute
It is raised towards the receiving with the recess that is centrally formed of the relatively described accommodating chamber, each described second to state accommodating chamber center position protrusion
Chamber center position protrusion is raised to support described first when first protrusion skids off the recess, outside first protrusion
The outside wall surface of wall surface, the inner wall of the recess and second protrusion is arc surface.
4. steering engine overcurrent protection structure according to claim 1, it is characterised in that: the two sides pair of each first protrusion
Claim to be equipped with the transition table top towards the accommodating chamber central protuberance.
5. steering engine overcurrent protection structure according to any one of claim 1 to 4, it is characterised in that: the recess and institute
The quantity for stating the second protrusion is corresponding, and each recess and every one second protrusion are alternately uniformly arranged along receiving cavity wall.
6. steering engine overcurrent protection structure according to claim 1, it is characterised in that: the elastic slice center is equipped with and described the
The centre bore that one gear is coupled also is symmetrically arranged with two hollow slots in the centre bore two sides, and two hollow slots distinguish position
In each first protrusion inside and the first gear is surrounded, and each hollow slots are in the bending of convex, evagination
Direction is consistent with first protrusion direction.
7. steering engine overcurrent protection structure according to claim 6, it is characterised in that: the first gear include interconnecting piece with
And the toothed region positioned at described interconnecting piece one end, the second gear is equipped with the mounting hole being connected to the accommodating chamber, described
Interconnecting piece passes through the accommodating chamber and is fixed in the mounting hole, and the centre bore of the elastic slice, which is arranged, is fixed on the interconnecting piece
On.
8. steering engine overcurrent protection structure according to claim 7, it is characterised in that: the mounting hole is described in step-like
Interconnecting piece is fixed by being set to the axle sleeve at the mounting hole.
9. steering engine, including shell and the multilevel gear drive mechanism being disposed in the housing, it is characterised in that: the multistage tooth
Take turns the steering engine overcurrent protection structure having in drive mechanism such as any one of claims 1 to 8.
10. robot, including steering engine, it is characterised in that: the steering engine is steering engine as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821115638.XU CN208529152U (en) | 2018-07-12 | 2018-07-12 | Robot and its steering engine, overcurrent protection structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821115638.XU CN208529152U (en) | 2018-07-12 | 2018-07-12 | Robot and its steering engine, overcurrent protection structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208529152U true CN208529152U (en) | 2019-02-22 |
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ID=65388077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821115638.XU Active CN208529152U (en) | 2018-07-12 | 2018-07-12 | Robot and its steering engine, overcurrent protection structure |
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| Country | Link |
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| CN (1) | CN208529152U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015751A (en) * | 2018-07-12 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and its steering engine, overcurrent protection structure |
-
2018
- 2018-07-12 CN CN201821115638.XU patent/CN208529152U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015751A (en) * | 2018-07-12 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and its steering engine, overcurrent protection structure |
| CN109015751B (en) * | 2018-07-12 | 2023-12-29 | 深圳市优必选科技有限公司 | Robot and steering engine and overload protection structure thereof |
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