CN209676075U - A kind of angular position feedback mechanism for rotary motion - Google Patents
A kind of angular position feedback mechanism for rotary motion Download PDFInfo
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- CN209676075U CN209676075U CN201920623799.8U CN201920623799U CN209676075U CN 209676075 U CN209676075 U CN 209676075U CN 201920623799 U CN201920623799 U CN 201920623799U CN 209676075 U CN209676075 U CN 209676075U
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- shaft bearing
- output shaft
- transmission shaft
- mounting base
- encoder
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Abstract
The utility model discloses a kind of angular position feedback mechanisms for rotary motion, including fixing seat, fixing seat top is equipped with upper cover, output shaft bearing and transmission shaft bearing, fixing seat lower part is equipped with lower casing, decelerating motor and encoder, output shaft is equipped in output shaft bearing, the motor shaft of decelerating motor is connected with exporting axis, the middle part of output shaft is equipped with driving gear, transmission shaft is equipped in transmission shaft bearing, the top of transmission shaft is equipped with driven gear, driven gear and driving gear are sequentially connected, and the lower part of transmission shaft passes through the output axis connection of connecting shaft and encoder.The utility model compact structure, can entirety be directly directly formed with decelerating motor, mechanism utilizes gear transmission mode simultaneously, allow an encoder to the angle that accurate feedback goes out motor reducer end, it efficiently solves in the limited situation of certain installation spaces, the angular position feedback and the accurate control problem of movement of the motor rotary motion of robot or automation equipment, are highly suitable for some specific occasions.
Description
Technical field
The utility model belongs to robot, automation equipment field, and in particular to a kind of angle position for rotary motion
Set feedback mechanism.
Background technique
The angular position feedback mechanism for rotary motion is usually equipped in many robots or automation equipment, with
Facilitate control system that can make accurate control to the movement of robot or automation equipment.It is commonly used in rotation on the market at present
The dynamic angular position feedback mechanism of transhipment has very much, but its principle is substantially and is mounted directly angular transducer, volume in motor side
Code device or other sensors, to realize the angle feed-back of motor.
But these existing angular position feedback mechanisms for being used for rotary motion still can not be practical some specific
Occasion.On the one hand, the above-mentioned existing angular position feedback mechanism structure for rotary motion is larger, will increase entire machine
The length dimension of people or automation equipment dynamical system, therefore just seem especially uncomfortable in the more demanding occasion of some pairs of sizes
With；On the other hand, since the output speed of motor is very high, and if motor is equipped with retarder, then it is above-mentioned existing for revolving
The dynamic angular position feedback mechanism of transhipment cannot feed back the angle at retarder end with high accuracy, thus to robot or automatically
The movement for changing equipment, which just cannot achieve, to be precisely controlled.
Utility model content
To overcome existing deficiency in the prior art, the utility model is intended to provide a kind of angle position for rotary motion
Feedback mechanism is set, to meet the use demand of certain specific occasions, and realizes the accurate feedback of motor angle, consequently facilitating movement
Mechanism is precisely controlled.
In order to solve the above technical problems, realizing above-mentioned technical effect, the utility model is achieved through the following technical solutions:
A kind of angular position feedback mechanism for rotary motion, including a fixing seat, the fixing seat upper surface
Center is provided with output shaft bearing mounting base, and the side of the fixing seat upper surface is provided with transmission shaft bearing mounting base, described
The center of fixing seat lower surface is provided with motor mount, and the side of the fixing seat lower surface is provided with encoder mounting base,
The output shaft bearing mounting base is corresponding up and down with the position of the motor mount and is connected to, the transmission shaft bearing mounting base
It is corresponding and be connected to up and down with the position of the encoder mounting base；
Be provided with an output shaft bearing in the output shaft bearing mounting base, the outer ring of the output shaft bearing with it is described
The inner wall of output shaft bearing mounting base is fixedly connected, and an output shaft, the output are provided with above the output shaft bearing
The lower end of axis is fixedly connected with the inner ring of the output shaft bearing；A deceleration electricity is fixedly installed in the motor mount
Machine passes through the bottom of key and the output shaft after the motor shaft of the decelerating motor penetrates the output shaft bearing mounting base upwards
The middle part fixing sleeve of end connection, the output shaft is equipped with a driving gear；
Be provided with a transmission shaft bearing in the transmission shaft bearing mounting base, the outer ring of the transmission shaft bearing with it is described
The inner wall of transmission shaft bearing mounting base is fixedly connected, and a transmission shaft is provided in the transmission shaft bearing, the transmission shaft
Middle part is fixedly connected with the inner ring of the transmission shaft bearing, and the top fixing sleeve of the transmission shaft is equipped with a driven gear, institute
It states driven gear and the driving gear is sequentially connected, be fixedly installed with an encoder in the encoder mounting base, it is described
After the lower part of transmission shaft penetrates the encoder mounting base, pass through the output axis connection of a connecting shaft and the encoder.
Further, the encoder is magnetic encoder, can be other encoders.
Further, the lower part of the transmission shaft is connect by the connecting shaft with the magnetic bead of the magnetic encoder.
Further, the output shaft bearing is deep groove ball bearing or crossed roller bearing etc..
Further, the transmission shaft bearing is deep groove ball bearing or crossed roller bearing etc..
Preferably, the driving gear is directly engaged with the driven gear.
Preferably, a circle driving chain is connected between the driving gear and the driven gear.
Further, the top of the fixing seat is provided with upper cover, the output shaft bearing, the driving gear, described
Driven gear, the transmission shaft bearing are respectively positioned in the space being encircled by the upper cover and the fixing seat upper surface, described
The upper cover is exposed at the top of output shaft.
Further, the lower part of the fixing seat is provided with lower casing, and the decelerating motor, the encoder are respectively positioned on by institute
It states in the space that lower casing is encircled into the fixing seat lower surface.
The working principle of the utility model is as follows:
Decelerating motor is connected with exporting axis, and the speed of the motor shaft of output shaft and decelerating motor is consistent at this time, passes through
Driving gear and driven gear (reduction ratio is 1 to 1 or other reduction ratio), are transmitted to transmission shaft for the speed of output shaft, are driven
The connection of the magnetic bead of axis and magnetic encoder, magnetic encoder rotate the variation with moving field according to its magnetic bead to read transmission shaft
Speed, and then the speed of output shaft can be accurately obtained.
The utility model has the following beneficial effects:
The angle feed-back mechanism compact structure of the utility model directly can directly form an entirety with decelerating motor,
Therefore the dynamical system size of entire robot or automation equipment will not be brought and is more significantly increased, while this is practical new
The angle feed-back mechanism of type utilizes gear transmission mode, allows an encoder to the angle that accurate feedback goes out motor reducer end,
It efficiently solves in the limited situation of certain installation spaces, the motor rotary motion of robot or automation equipment dynamical system
Angular position feedback and move accurate control problem, be highly suitable for some pairs of more demanding specific occasions of size.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.Specific embodiment of the present utility model is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings:
Fig. 1 is the perspective view of the utility model；
Fig. 2 is the main view of the utility model；
Fig. 3 is the top view of the utility model；
Fig. 4 is the left view of the utility model；
Fig. 5 is the sectional view in Fig. 4 at A-A；
Fig. 6 is the enlarged drawing in Fig. 5 at B.
Specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, the utility model is described in detail.Illustration is used to provide herein
The utility model is further understood, is constituted part of this application, the illustrative embodiments and their description of the utility model
For explaining the utility model, do not constitute improper limits to the present invention.
Referring to shown in Fig. 1-6, a kind of angular position feedback mechanism for rotary motion, including a fixing seat 1, it is described
The center of 1 upper surface of fixing seat is provided with output shaft bearing mounting base, and the side of 1 upper surface of fixing seat is provided with transmission shaft
Bearing mounting base, the center of 1 lower surface of fixing seat are provided with motor mount, and the side of 1 lower surface of fixing seat is set
It is equipped with encoder mounting base, the output shaft bearing mounting base is corresponding up and down with the position of the motor mount and is connected to, institute
It is corresponding up and down and be connected to state transmission shaft bearing mounting base and the position of the encoder mounting base.
An output shaft bearing 4 is provided in the output shaft bearing mounting base, the output shaft bearing 4 is deep-groove ball axis
It holds or crossed roller bearing etc., the outer ring of the output shaft bearing 4 is fixedly connected with the inner wall of the output shaft bearing mounting base,
The top of the output shaft bearing 4 is provided with an output shaft 5, and the lower end of the output shaft 5 is interior with the output shaft bearing 4
Circle is fixedly connected；A decelerating motor 6 is fixedly installed in the motor mount, the motor shaft of the decelerating motor 6 is upward
It after penetrating the output shaft bearing mounting base, is connect by key with the bottom end of the output shaft 5, the middle part of the output shaft 5 is solid
Surely it is arranged with a driving gear 7.
A transmission shaft bearing 8 is provided in the transmission shaft bearing mounting base, the transmission shaft bearing 8 is deep-groove ball axis
It holds or crossed roller bearing etc., the outer ring of the transmission shaft bearing 8 is fixedly connected with the inner wall of the transmission shaft bearing mounting base,
A transmission shaft 9 is provided in the transmission shaft bearing 8, the middle part of the transmission shaft 9 and the inner ring of the transmission shaft bearing 8 are solid
Fixed connection, the top fixing sleeve of the transmission shaft 9 are equipped with a driven gear 10, the driven gear 10 and the driving gear
7 directly engage or driving chain by way of connect, an encoder 11, institute are fixedly installed in the encoder mounting base
State transmission shaft 9 lower part penetrate the encoder mounting base after, pass through the output shaft of a connecting shaft 12 and the encoder 11
Connection；If the encoder 11 uses magnetic encoder, the lower part of the transmission shaft 9 passes through the connecting shaft 12 and the magnetic
Property encoder magnetic bead connection.
The top of the fixing seat 1 is provided with upper cover 2, the output shaft bearing 4, the driving gear 7, the driven tooth
Wheel 10, the transmission shaft bearing 8 are respectively positioned in the space being encircled by the upper cover 2 with 1 upper surface of fixing seat, described defeated
The top of shaft 5 is exposed to the upper cover 2.The lower part of the fixing seat 1 is provided with lower casing 3, the decelerating motor 6, the volume
Code device 11 is respectively positioned in the space being encircled by the lower casing 3 with 1 lower surface of fixing seat.
Decelerating motor 6 is connect with output shaft 5, and output shaft 5 and the speed of the motor shaft of decelerating motor 6 are consistent at this time,
It is 1 to 1 or other reduction ratio by driving gear 7 and 10 reduction ratio of driven gear, the speed of output shaft 5 is transmitted to transmission
Axis 9, transmission shaft 9 are connect with the magnetic bead of encoder 11, and encoder 11 rotates the variation with moving field according to its magnetic bead and passes to read
The speed of moving axis 9, and then the speed of output shaft 5 can be accurately obtained.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of angular position feedback mechanism for rotary motion, it is characterised in that: described solid including a fixing seat (1)
The center of reservation (1) upper surface is provided with output shaft bearing mounting base, and the side of fixing seat (1) upper surface is provided with transmission
Axle bearing mounting base, the center of fixing seat (1) lower surface are provided with motor mount, fixing seat (1) lower surface
Side is provided with encoder mounting base, and the output shaft bearing mounting base is corresponding up and down with the position of the motor mount and connects
Logical, the transmission shaft bearing mounting base is corresponding up and down with the position of the encoder mounting base and is connected to；
An output shaft bearing (4), the outer ring of the output shaft bearing (4) and institute are provided in the output shaft bearing mounting base
The inner wall for stating output shaft bearing mounting base is fixedly connected, and an output shaft (5) is provided with above the output shaft bearing (4),
The lower end of the output shaft (5) is fixedly connected with the inner ring of the output shaft bearing (4)；It is fixedly mounted in the motor mount
After thering is a decelerating motor (6), the motor shaft of the decelerating motor (6) to penetrate the output shaft bearing mounting base upwards, pass through
Key is connect with the bottom end of the output shaft (5), and the middle part fixing sleeve of the output shaft (5) is equipped with a driving gear (7)；
A transmission shaft bearing (8), the outer ring of the transmission shaft bearing (8) and institute are provided in the transmission shaft bearing mounting base
The inner wall for stating transmission shaft bearing mounting base is fixedly connected, and a transmission shaft (9) is provided in the transmission shaft bearing (8), described
The middle part of transmission shaft (9) is fixedly connected with the inner ring of the transmission shaft bearing (8), and the top fixation of the transmission shaft (9) is arranged
There is a driven gear (10), the driven gear (10) and the driving gear (7) are sequentially connected, the encoder mounting base
In be fixedly installed with an encoder (11) and pass through one after the lower part of the transmission shaft (9) penetrates the encoder mounting base
The output axis connection of connecting shaft (12) and the encoder (11).
2. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the encoder
It (11) is magnetic encoder, the magnetic bead that the lower part of the transmission shaft (9) passes through the connecting shaft (12) and the magnetic encoder
Connection.
3. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the output shaft
Bearing (4) is deep groove ball bearing or crossed roller bearing.
4. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the transmission shaft
Bearing (8) is deep groove ball bearing or crossed roller bearing.
5. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the driving tooth
Wheel (7) is directly engaged with the driven gear (10).
6. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the driving tooth
A circle driving chain is connected between wheel (7) and the driven gear (10).
7. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the fixing seat
(1) top is provided with upper cover (2), the output shaft bearing (4), the driving gear (7), the driven gear (10), institute
Transmission shaft bearing (8) is stated to be respectively positioned in the space being encircled by the upper cover (2) and the fixing seat (1) upper surface, it is described defeated
The upper cover (2) are exposed at the top of shaft (5).
8. the angular position feedback mechanism according to claim 1 for rotary motion, it is characterised in that: the fixing seat
(1) lower part is provided with lower casing (3), and the decelerating motor (6), the encoder (11) are respectively positioned on by the lower casing (3) and institute
It states in the space that fixing seat (1) lower surface is encircled into.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920623799.8U CN209676075U (en) | 2019-05-05 | 2019-05-05 | A kind of angular position feedback mechanism for rotary motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920623799.8U CN209676075U (en) | 2019-05-05 | 2019-05-05 | A kind of angular position feedback mechanism for rotary motion |
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| Publication Number | Publication Date |
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| CN209676075U true CN209676075U (en) | 2019-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920623799.8U Active CN209676075U (en) | 2019-05-05 | 2019-05-05 | A kind of angular position feedback mechanism for rotary motion |
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| CN (1) | CN209676075U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112311155A (en) * | 2020-09-30 | 2021-02-02 | 穆特科技（武汉）股份有限公司 | Novel coding motor |
-
2019
- 2019-05-05 CN CN201920623799.8U patent/CN209676075U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112311155A (en) * | 2020-09-30 | 2021-02-02 | 穆特科技（武汉）股份有限公司 | Novel coding motor |
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