CN209170132U - Circular index mechanism motor integration module - Google Patents
Circular index mechanism motor integration module Download PDFInfo
- Publication number
- CN209170132U CN209170132U CN201821552285.XU CN201821552285U CN209170132U CN 209170132 U CN209170132 U CN 209170132U CN 201821552285 U CN201821552285 U CN 201821552285U CN 209170132 U CN209170132 U CN 209170132U
- Authority
- CN
- China
- Prior art keywords
- servo motor
- rear end
- wave speed
- speed reducing
- harmonic wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The utility model discloses a kind of circular index mechanism motor integration modules, including module housing, the harmonic wave speed reducing machine being mounted on module housing, servo motor, absolute value encoder, output flange and Aviation Connector；The harmonic wave speed reducing machine includes firm gear, flexbile gear, wave producer；The servo motor includes servo motor stator and servo motor rotor, and servo motor rotor is mounted on rotor input shaft；The rotor output shaft front and back ends are separately connected harmonic wave speed reducing machine input terminal and absolute value encoder input terminal；The firm gear of the output flange connection harmonic wave speed reducing machine, for being docked with exterior part；The Aviation Connector is for connecting servo motor power line and absolute value encoder signal wire to servo-driver.Motor, encoder, retarder being made of one module are reduced the difficulty of installation, improve the efficiency of installation by the utility model, ensure that the steady progress of production.
Description
Technical field
The utility model relates to a kind of circular index mechanism motor integration modules, are particularly suitable for the applied field of revolution
It closes.
Background technique
Indexing mechanism refers to the mechanism for turning an angle or moving a certain distance that can be realized interval, can be divided into revolution
Indexing mechanism and straight line indexing mechanism.Wherein, circular index mechanism is mainly by revolving platform, retarder, cam protractor, shaft coupling
4 device, motor components assemble, and main function is the rotation for realizing special angle or the movement of specific range.
Existing circular index organization volume is larger, and structure is more heavy, and there are technological deficiencies below:
1, under normal circumstances, torque motor is directly mounted on the revolving platform of circular index mechanism, but torque motor is
It is the motor for controlling direction with torque, using opened loop control, rotary inertia is big, is unfavorable for the accurate positioning of installation
2, torque motor is often flat structure, and slot number is more, and radial dimension is larger, and torque and revolving speed have fluctuation, unfavorable
In the steady progress of production.
3, that there are indexing accuracies is poor for the revolution application indexed using cam protractor, and volume is big, and sub-degree angle
It is fixed, it is non-adjustable.
Summary of the invention
For above-mentioned existing technical problem, the utility model provides a kind of circular index mechanism motor integration mould
Block improves the efficiency of installation to reduce the difficulty of installation, guarantees the steady progress of production.
To achieve the above object, the utility model provides a kind of circular index mechanism motor integration module, including mould
Block shell, the harmonic wave speed reducing machine being mounted on module housing, servo motor, absolute value encoder, output flange and aviation
Connector；The harmonic wave speed reducing machine includes firm gear, flexbile gear, wave producer；The servo motor includes servo motor stator, is watched
Rotor is taken, and servo motor rotor is mounted on rotor input shaft；The rotor output shaft front and back ends point
It Lian Jie not harmonic wave speed reducing machine input terminal and absolute value encoder input terminal；The output flange connects the rigid of harmonic wave speed reducing machine
Wheel, for being docked with exterior part；The Aviation Connector is for connecting servo motor power line and absolute value encoder signal
Line is to servo-driver.
The beneficial effect of above-mentioned technical proposal is: harmonic wave speed reducing machine, which plays, increases output torque and raising module rigidity
Effect；Rotor output shaft gives harmonic wave speed reducing machine input torque for fixing servo motor rotor；Absolute value encoder
For measuring motor rotor position, position signal is provided to controller.The utility model by harmonic speed reducer, servo motor, absolutely
To value encoder being made of one module, so that radial dimension is smaller, and axial dimension is smaller than general homemade indexing mechanism
Much, it is suitable for more rotation occasions, reduces the difficulty of installation, improve the efficiency of installation, ensure that the steady of production
It carries out.
Further, the rotor output shaft, harmonic wave speed reducing machine input shaft and absolute value encoder offer mutually
The centre bore of connection.
The beneficial effect of above-mentioned technical proposal is: rotor output shaft, harmonic wave speed reducing machine input shaft and absolute value are compiled
Code device is all made of hollow design, and interconnected centre bore can be used to line, excessively tracheae etc..
Further, the rotor output shaft, harmonic wave speed reducing machine input shaft, absolute value encoder share integration
Hollow shaft, the integration hollow shaft are equipped with axial centre bore.
The beneficial effect of above-mentioned technical proposal is: in order to improve overall precision, in the base of integrated module hollow design
On plinth, harmonic wave speed reducing machine input shaft and rotor output shaft are using being integrally designed, i.e., the two shares a hollow shaft, and absolutely
Value encoder is mounted on integrated hollow shaft.
Further, the module housing includes servo motor stator shell, is separately connected servo motor stator front and back ends
Mounting plate and rear end spring bearing fixed plate, connect rear end spring bearing fixed plate rear end rear end cap；The servo electricity
Machine stator is mounted in servo motor stator；The rotor output shaft front and back ends are separately mounted to mounting plate and rear end
In spring bearing fixed plate；The absolute value encoder is mounted on rear end spring bearing fixed plate rear end, and is located at rear end cap
Cavity in；The Aviation Connector is mounted on rear end cap, and is located at the outside of rear end cap.
The beneficial effect of above-mentioned technical proposal is: servo motor stator is fitted in servo motor stator shell by press machine
In vivo, servo motor stator shell plays as integrated module reference fixed function, and other all parts are all to watch in this module
It takes and is installed on the basis of motor stator casing；Mounting plate and rear end spring bearing fixed plate each serve as fixed front and back ends branch
Support the effect of bearing outer ring；Rear end cap plays waterproof and dustproof etc. and makees for sealing absolute value encoder and other inner bodies
With.
Further, front and back ends spring bearing is separately installed on the rotor output shaft.
The beneficial effect of above-mentioned technical proposal is: rear end spring bearing and front support bearing play supporting motor rotor and make
With preventing axial direction and circular runout.
Further, the harmonic wave speed reducing machine is installed on a mounting board.
The beneficial effect of above-mentioned technical proposal is: mounting plate plays fixed harmonic wave speed reducing machine and fixed front support bearing
Outer ring effect
Further, the harmonic wave speed reducing machine is mounted on servo motor stator shell.
To sum up, the utility model compares existing revolving platform, and there are following technical advantages:
1, in the application of revolution, design time directly can be effectively reduced using integrated module, use is efficient and convenient；
2, integrated module reduces integrally-built volume, can be widely applied for more industries, especially space
Limited occasion.
Detailed description of the invention
Fig. 1 is the perspective view of the utility model non-hollow integrated module；
Fig. 2 is the main view of the utility model non-hollow integrated module；
Fig. 3 is the cross-sectional view of the utility model non-hollow integrated module；
Fig. 4 is the perspective view of the hollow integrated module of the utility model；
Fig. 5 is the main view of the hollow integrated module of the utility model；
Fig. 6 is the cross-sectional view of the hollow integrated module of the utility model；
In figure: 1, harmonic wave speed reducing machine, 2, wave producer, 3, mounting plate, 4, servo motor stator shell, 5, Aviation Connector,
6, absolute value encoder, 7, rear end spring bearing, 8, rear end cap, 9, rear end spring bearing fixed plate, 10, rotor output
Axis, 11, servo motor rotor, 12, front support bearing, 13, output flange, 14, integrated hollow shaft, 15, servo motor
Stator, 16, absolute value encoder mounting hole, 17, firm gear.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be directly connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For
For those skilled in the art, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
The utility model is by harmonic speed reducer 1, servo motor, absolute value encoder 6, output flange 13, Aviation Connector 5
Being made of one module has used circumnutation in scene to be divided to two kinds actual as shown in figures 1 to 6: it is a kind of require it is hollow
Line is crossed, another kind does not require hollow line excessively, so this integrated module is also classified into two kinds of design schemes, i.e., hollow and non-hollow.
In non-hollow design as shown in Figs. 1-3, the utility model includes module housing, is mounted on humorous on module housing
Wave speed reducer 1, servo motor, absolute value encoder 6, output flange 13 and Aviation Connector 5.In another embodiment, institute
The module housing stated further includes servo motor stator shell 4, is separately connected the mounting plate 2 of 4 front and back ends of servo motor stator shell
With rear end spring bearing fixed plate 9, the rear end cap 8 of 9 rear end of rear end spring bearing fixed plate is connected.
Wherein, the harmonic wave speed reducing machine 1 includes firm gear 17, flexbile gear, wave producer 2, and harmonic wave speed reducing machine 1 is mounted on installation
The front end of plate 2, for increasing output torque and improving module rigidity.
The servo motor includes servo motor stator, servo motor rotor 11, and servo motor stator passes through press machine
It is fitted in servo motor stator shell 4, and servo motor rotor 11 is fitted on rotor input shaft by press machine.Its
In his embodiment, 10 front and back ends of rotor output shaft are also separately installed with front and back ends spring bearing 12,7, and mounting plate 2 is with after
Hold the fixed support front and back ends spring bearing 12,7 respectively of spring bearing fixed plate 9.
10 front end of rotor output shaft connects 1 input terminal of harmonic wave speed reducing machine, for inputting to harmonic wave speed reducing machine
Torque；10 rear end absolute value encoder of rotor output shaft, 6 input terminal, for measuring motor rotor position.
The absolute value encoder 6 is mounted on 9 rear end of rear end spring bearing fixed plate, and is located at the cavity of rear end cap 8
It is interior.
The output flange 13 stated connects the firm gear 17 of harmonic wave speed reducing machine 1, is the output flange of harmonic wave speed reducing machine, is used for
It is docked with exterior part.
The Aviation Connector 5 is mounted on rear end cap 8, and is located at the outside of rear end cap 8, dynamic for connecting servo motor
The line of force and 6 signal wire of absolute value encoder to servo-driver.
Hollow design as Figure 4-Figure 6 is with the maximum difference of non-hollow design: having among integrated module straight-through
Centre bore, i.e. rotor output shaft 10, harmonic wave speed reducing machine input shaft and absolute value encoder 6 offer in interconnected
Heart hole, it is therefore intended that centre can cross power line connection or tracheae etc..In other embodiments, since harmonic wave speed reducing machine is defeated
Enter axis need to be made into it is hollow, rotor output shaft 10 to be also made into it is hollow, absolute value encoder 6 be also required to be made into it is hollow, electricity
Machine rotor output shaft 10, harmonic wave speed reducing machine input shaft, absolute value encoder share integrated hollow shaft 14, the integration hollow shaft
14 are equipped with axial centre bore.
As shown in fig. 6, the utility model includes harmonic wave speed reducing machine 1, servo motor, absolute value encoder 6, output flange
13 and Aviation Connector 5, it further include servo motor stator shell 4, mounting plate 2, rear end spring bearing fixed plate 9, rear end cap 8.
Wherein, servo motor stator 15 is fitted in servo motor stator shell 4,10 front and back ends of rotor output shaft
It is also separately installed with front and back ends spring bearing 12,7, fixed support is forward and backward respectively for mounting plate 2 and rear end spring bearing fixed plate 9
Hold spring bearing 12,7.Harmonic wave speed reducing machine firm gear 17 is bolted on 4 front end of servo motor stator shell, output flange
13 are bolted on 17 front end of harmonic wave speed reducing machine firm gear.Before mounting plate 3 is bolted on servo motor stator shell 4
End, rear end spring bearing fixed plate 9 are bolted on 4 rear end of servo motor stator shell, and rear end cap 8 is existed by bolt lock
9 rear end of rear end spring bearing fixed plate, Aviation Connector 5 are fixed on 8 end face of rear end cap.
Especially, the wave producer 2 of harmonic wave speed reducing machine 1 is fixed on using integrated hollow shaft 14, servo motor rotor 11
On the integration hollow shaft 14, and absolute value encoder 6 uses hollow design, is also fixed by absolute value encoder mounting hole 16
On the integration hollow shaft 14.The integration hollow shaft 14 opens up axial centre bore, and can be used for arranging line and tracheae etc..
In use, the integrated module of two kinds of designs is docked by output flange 13 with exterior part, output flange
There is screw hole that screw can be installed on 13, and servo motor power line and absolute value are coupled by the aviation plug 5 of module rear end
Code device signal line to servo-driver, then the industrial personal computer provided for oneself by client or PLC etc. realizes the control function to module.
To sum up, the utility model has fully considered densification and miniaturized design, servo motor and harmonic wave speed reducing machine,
Absolute value encoder integrates, and the integrated module of a micromation is constituted through module housing and integrated hollow shaft, together
When the module have the characteristics that export high-torque, high precision closed loop.
Certainly the above embodiments are only for explaining the technical ideas and features of the present invention, and its object is to allow be familiar with this
The people of technology can understand the content of the utility model and implement accordingly, and the protection model of the utility model can not be limited with this
It encloses.The equivalent transformation or modification that all Spirit Essences according to the utility model main technical schemes are done, should all cover in this reality
Within novel protection scope.
Claims (7)
1. a kind of circular index mechanism motor integration module, which is characterized in that including module housing, be mounted on module housing
On harmonic wave speed reducing machine, servo motor, absolute value encoder, output flange and Aviation Connector；
The harmonic wave speed reducing machine includes firm gear, flexbile gear, wave producer；
The servo motor includes servo motor stator and servo motor rotor, and servo motor rotor is mounted on rotor
On input shaft；
The rotor output shaft front and back ends are separately connected harmonic wave speed reducing machine input terminal and absolute value encoder input terminal；
The firm gear of the output flange connection harmonic wave speed reducing machine, for being docked with exterior part；
The Aviation Connector is for connecting servo motor power line and absolute value encoder signal wire to servo-driver.
2. a kind of circular index mechanism motor integration module according to claim 1, which is characterized in that the electricity
Machine rotor output shaft, harmonic wave speed reducing machine input shaft and absolute value encoder offer interconnected centre bore.
3. a kind of circular index mechanism motor integration module according to claim 2, which is characterized in that the electricity
Machine rotor output shaft, harmonic wave speed reducing machine input shaft, absolute value encoder share integrated hollow shaft, which is equipped with
Axial centre bore.
4. a kind of circular index mechanism motor integration module according to claim 1 or 2, which is characterized in that described
Module housing include servo motor stator shell, be separately connected servo motor stator front and back ends mounting plate and rear end support
Bearing (setting) plate connects the rear end cap of rear end spring bearing fixed plate rear end；The servo motor stator is mounted on servo electricity
In machine stator；The rotor output shaft front and back ends are separately mounted on mounting plate and rear end spring bearing fixed plate；Institute
The absolute value encoder stated is mounted on rear end spring bearing fixed plate rear end, and is located in the cavity of rear end cap；The aviation
Connector is mounted on rear end cap, and is located at the outside of rear end cap.
5. a kind of circular index mechanism motor integration module according to claim 1 or 2, which is characterized in that described
Rotor output shaft on be separately installed with front and back ends spring bearing.
6. a kind of circular index mechanism motor integration module according to claim 4, which is characterized in that described is humorous
Wave speed reducer is installed on a mounting board.
7. a kind of circular index mechanism motor integration module according to claim 4, which is characterized in that described is humorous
Wave speed reducer is mounted on servo motor stator shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821552285.XU CN209170132U (en) | 2018-09-21 | 2018-09-21 | Circular index mechanism motor integration module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821552285.XU CN209170132U (en) | 2018-09-21 | 2018-09-21 | Circular index mechanism motor integration module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209170132U true CN209170132U (en) | 2019-07-26 |
Family
ID=67331817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821552285.XU Active CN209170132U (en) | 2018-09-21 | 2018-09-21 | Circular index mechanism motor integration module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209170132U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113328568A (en) * | 2021-07-12 | 2021-08-31 | 武汉菲仕运动控制系统有限公司 | Wind power and pitch control integrated servo motor |
-
2018
- 2018-09-21 CN CN201821552285.XU patent/CN209170132U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113328568A (en) * | 2021-07-12 | 2021-08-31 | 武汉菲仕运动控制系统有限公司 | Wind power and pitch control integrated servo motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101908689B1 (en) | Servo Motor and Control Method thereof | |
| CN112109113B (en) | Integrated exoskeleton robot joint assembly | |
| CN109551513A (en) | A kind of Multifunctional height integrated modular joint of robot | |
| CN209170132U (en) | Circular index mechanism motor integration module | |
| CN210431137U (en) | Large-torque motor integrated with speed reducer and encoder | |
| CN211940993U (en) | Modular robot joint integrating driving function and detection function | |
| CN105634191A (en) | Modular parallel type electromechanical actuator | |
| CN115255971A (en) | Machining center head swinging device suitable for difficult-to-machine materials | |
| CN203274768U (en) | Integrated type photoelectric encoder with servo motor | |
| CN206628939U (en) | Flexbile gear output harmonic wave all-in-one | |
| CN110182254A (en) | A kind of AGV carriage walking steering composite joint | |
| CN208409914U (en) | integrated robot joint driving device | |
| CN215186266U (en) | Integrated driving assembly | |
| CN111230922A (en) | Modular robot joint integrating driving function and detection function | |
| CN112211979B (en) | Planet roller trochoid curved surface composite transmission device | |
| CN216543375U (en) | Integrated joint driving unit | |
| CN113894838A (en) | Flat harmonic speed reduction modularization driving joint | |
| CN210889929U (en) | Servo rotary hollow platform | |
| CN210715752U (en) | Input end structure of servo rotary hollow platform | |
| CN109296573B (en) | Plug-in type rotary direct-drive electrohydraulic servo valve with conical gear reducer | |
| CN112882221A (en) | Periscopic periscope optical image eliminating rotation mechanism | |
| CN209408532U (en) | A kind of Multifunctional height integrated modular joint of robot | |
| CN218534608U (en) | Nutation speed reducer, joint module and robot | |
| CN214014072U (en) | Motor with simplified encoder installation structure | |
| CN217115836U (en) | Integrated industrial electric cylinder with brake |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220527 Address after: 510230 room J, 16 / F, No. 308, Binjiang Middle Road, Haizhu District, Guangzhou, Guangdong Patentee after: Zhongzheng Data Technology Co.,Ltd. Address before: 510700 No. 2, Xinrui Road, Guangzhou Economic and Technological Development Zone, Guangdong Province Patentee before: GUANGZHOU START TO SAIL INDUSTRIAL ROBOT Co. |
|
| TR01 | Transfer of patent right |