CN209850928U - Electromechanical integrated high-precision steering engine and robot - Google Patents
Electromechanical integrated high-precision steering engine and robot Download PDFInfo
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- CN209850928U CN209850928U CN201920625474.3U CN201920625474U CN209850928U CN 209850928 U CN209850928 U CN 209850928U CN 201920625474 U CN201920625474 U CN 201920625474U CN 209850928 U CN209850928 U CN 209850928U
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Abstract
The utility model discloses a high accuracy steering wheel and robot of mechatronic, wherein, this high accuracy steering wheel of mechatronic includes: the motor mechanism is arranged in the shell, and the speed reducing mechanism is positioned in the motor mechanism; the motor mechanism comprises a motor rotor and a motor stator which is positioned in the motor rotor and is concentric with the motor rotor, and one side of the motor rotor is connected with a rotor output shaft; the speed reducing mechanism comprises a planet carrier and a planet wheel component positioned in the planet carrier, wherein one side of the planet carrier is connected with an output spline shaft, a rotor output shaft is rotationally connected with the planet wheel component, and the planet carrier is driven by the planet wheel component to rotate through the output spline shaft. The technical scheme of the utility model the size of steering wheel can be dwindled, the area that occupies of reduction steering wheel is favorable to realizing the miniaturized design requirement of product.
Description
Technical Field
The utility model relates to a steering wheel technical field especially relates to a high accuracy steering wheel and robot of mechatronic.
Background
With the continuous development of the machinery manufacturing industry, the steering engine is more and more widely applied. At present, industrial steering engines in the market comprise motors and speed reducers, and independent motors and speed reducers are connected in series to form the steering engines. Above-mentioned structure, the whole size of steering wheel after will increasing the combination certainly. Along with the miniaturized design demand of equipment in the machinery industry, a small-sized motor or a planetary reducer is selected, the whole size of the steering engine can be reduced, but the series split connection structure still occupies a large equipment installation space, the precision of the whole machine cannot be guaranteed, and the installation and the transportation are inconvenient, so that the processing period is prolonged, and the production efficiency of the equipment is reduced.
SUMMERY OF THE UTILITY MODEL
In order to solve at least one technical problem, the main object of the present invention is to provide an electromechanical integrated high-precision steering engine and robot.
In order to achieve the above object, the utility model discloses a technical scheme do: the utility model provides a high accuracy steering wheel of mechatronic, includes: the motor mechanism is arranged in the shell, and the speed reducing mechanism is positioned in the motor mechanism;
the motor mechanism comprises a motor rotor and a motor stator which is positioned in the motor rotor and is concentric with the motor rotor, and one side of the motor rotor is connected with a rotor output shaft;
the speed reducing mechanism comprises a planet carrier and a planet wheel component positioned in the planet carrier, wherein one side of the planet carrier is connected with an output spline shaft, a rotor output shaft is rotationally connected with the planet wheel component, and the planet carrier is driven by the planet wheel component to rotate through the output spline shaft.
The planetary wheel assembly comprises an inner gear ring, a sun wheel and three planetary wheels, the three planetary wheels are respectively meshed with teeth of the inner gear ring, the sun wheel and the inner gear ring are concentrically arranged, the sun wheel is respectively meshed with the three planetary wheels, and the three planetary wheels are uniformly distributed between the sun wheel and the inner gear ring; and the central key hole of the sun gear is rotationally connected with the output shaft of the rotor.
The planetary wheel assembly further comprises a sun wheel bearing, and the rotor output shaft is rotationally connected with a central key hole of the sun wheel through the sun wheel bearing.
The planet carrier comprises a first planet carrier and a second planet carrier matched with the first planet carrier, the planet wheel assembly is positioned between the first planet carrier and the second planet carrier, and the output spline shaft is positioned at the central position of one side, far away from the first planet carrier, of the second planet carrier.
The output spline shaft and the second planet carrier are integrally formed.
Wherein, the device also comprises an absolute value magnetic ring and a reading head arranged in the shell,
the absolute value magnetic ring is arranged at the rear end of the rotor output shaft, and the reading head is close to the absolute value magnetic ring and is in magnetic induction connection with the absolute value magnetic ring.
The cover plate is provided with an opening at the rear end of the shell, the cover plate is sealed at the opening of the shell, and the reading head is arranged on the inner wall of the cover plate.
The planetary gear set further comprises a planetary gear bearing, and the planetary gear bearing is arranged on the end side of the second planetary gear set.
The rotor comprises a rotor output shaft, a cover plate and a rotor output shaft, wherein the rotor output shaft is provided with a shaft section in an extending mode towards the cover plate, the rotor output shaft is sleeved on the shaft section, and the rotor output shaft is sleeved on the rotor output shaft.
In order to achieve the above object, the utility model discloses a another technical scheme does: the robot comprises the electromechanical integrated high-precision steering engine.
The technical scheme of the utility model mainly includes the casing, sets up motor mechanism and reduction gears in the casing, and reduction gears sets up inside motor mechanism, compares in the steering wheel that motor and speed reducer concatenate the combination, and this scheme can reduce the whole quick-witted size of steering wheel greatly, reduces the assembly space of steering wheel, is favorable to the assembly of product; a rotor output shaft in the motor mechanism is rotationally connected with a planet wheel assembly in the speed reducing mechanism, and the planet carrier and an output spline shaft are driven to rotate through the planet wheel assembly, so that the integral structure is compact, and the working performance is stable.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of a mechatronic high-precision steering engine according to an embodiment of the present invention;
FIG. 2 is an exploded view of FIG. 1;
FIG. 3 is an exploded view of FIG. 1 from another perspective;
FIG. 4 is a top view of FIG. 1;
FIG. 5 is a cross-sectional view taken at A-A of FIG. 4;
fig. 6 is a schematic perspective view of another embodiment of the electromechanical integrated high-precision steering engine of the present invention;
fig. 7 is an exploded view of fig. 6.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that the description of the invention referring to "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implying any number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 5, fig. 1 is a schematic perspective view of a mechatronic high-precision steering engine according to an embodiment of the present invention; FIG. 2 is an exploded view of FIG. 1; FIG. 3 is an exploded view of FIG. 1 from another perspective; FIG. 4 is a top view of FIG. 1; fig. 5 is a cross-sectional view of fig. 4. In an embodiment of the present invention, the electromechanical integrated high-precision steering engine includes: a housing 10, a motor mechanism provided in the housing 10, and a reduction mechanism provided in the motor mechanism;
the motor mechanism comprises a motor rotor 21 and a motor stator 22 which is positioned in the motor rotor 21 and is concentrically arranged with the motor rotor 21, and one side of the motor rotor 21 is connected with a rotor output shaft 23;
the reduction gears include planet carrier (31,32) to and be located the planet wheel subassembly of planet carrier (31,32), one side of planet carrier (31,32) is connected with output spline shaft 36, rotor output shaft 23 rotates with the planet wheel subassembly to it is rotatory to drive planet carrier (31,32) and output spline shaft 36 through the planet wheel subassembly.
In this embodiment, the steering engine is cylindrical as a whole. Of course, the steering engine can be designed into other shapes according to actual requirements. The steering engine mainly comprises a shell 10, and a motor mechanism and a speed reducing mechanism which are positioned in the shell 10. In particular, the speed reducing mechanism is arranged in the motor mechanism to reduce the matching volume of the two. The motor mechanism mainly includes a motor rotor 21 and a motor stator 22, and the motor rotor 21 and the motor stator 22 are both concentrically arranged. The motor rotor 21 forms an accommodating space, the inner side of the electronic rotor is connected with a rotor output shaft 23, and the motor stator 22 is positioned in the motor rotor 21. The speed reducing mechanism mainly comprises planet carriers (31,32) and a planet wheel assembly, wherein one side of each planet carrier (31,32) is connected with an output spline shaft 36, and a rotor output shaft 23 is rotatably connected with the planet wheel assembly so as to drive the planet carriers (31,32) and the output spline shaft 36 to rotate.
The technical scheme of the utility model mainly includes the casing 10, sets up motor mechanism and the reduction gears in the casing 10, and the reduction gears sets up inside motor mechanism, compares in the steering wheel that motor and speed reducer concatenate the combination, and this scheme can reduce the whole quick-witted size of steering wheel greatly, reduces the assembly space of steering wheel, is favorable to the assembly of product; the rotor output shaft 23 in the motor mechanism is rotationally connected with the planetary gear assembly in the speed reducing mechanism, and the planetary gear assembly drives the planetary carriers (31,32) and the output spline shaft 36 to rotate, so that the whole structure is compact, and the working performance is stable.
In a specific embodiment, the planetary gear assembly includes an inner gear ring 35, a sun gear 33 and three planetary gears 34, the three planetary gears 34 are respectively engaged with teeth of the inner gear ring 35, the sun gear 33 is concentrically arranged with the inner gear ring 35, the sun gear 33 is respectively engaged with the three planetary gears 34, and the three planetary gears 34 are uniformly distributed between the sun gear 33 and the inner gear ring 35; the central key hole of the sun gear 33 is rotationally connected to the rotor output shaft 23.
In this embodiment, the planetary gear 34 assembly specifically includes a sun gear 33, an inner gear ring 35, and three planetary gears 34, where the sun gear 33 and the inner gear ring 35 are concentrically arranged, the three planetary gears 34 are uniformly distributed between the sun gear 33 and the inner gear ring 35, and each of the three planetary gears 34 is engaged with the sun gear 33 and the inner gear ring 35. The three planet wheels 34 are located at the three vertices of an equilateral triangle.
During specific work, the rotor output shaft 23 rotates to drive the sun gear 33 to rotate, the planet gears 34 are rotatably arranged on the planet carriers (31,32), the sun gear 33 and the planet gears 34 are in meshing transmission through teeth, and meanwhile, the planet gears 34 are meshed with the inner gear ring 35 in the shell 10, so that output spline shafts 36 connected to the planet carriers (31,32) and the planet carriers (31,32) are driven to rotate.
In addition, the ring gear 35 in this embodiment may be integrally formed with the housing 10, and both of them form an integral structure.
Further, the planetary wheel 34 assembly further comprises a sun wheel bearing 38, and the rotor output shaft 23 is rotatably connected with the central key hole of the sun wheel 33 through the sun wheel bearing 38.
In this embodiment, the rotor output shaft 23 and the sun gear 33 are an integral shaft mechanism, and the two are movably connected through the sun gear bearing 38, so that the stability of the rotational connection can be ensured, and the performance of the whole machine can be improved.
In the above embodiment, the planet carrier may be an integral structure or a split structure.
Specifically, the planetary carriers (31,32) include a first planetary carrier 31, and a second planetary carrier 32 engaged with the first planetary carrier 31, the planetary gear 34 assembly is located between the first planetary carrier 31 and the second planetary carrier 32, and the output spline shaft 36 is located at the center of the second planetary carrier 32 on the side away from the first planetary carrier 31.
In this embodiment, the first planet carrier 31 and the second planet carrier 32 may be fixedly connected by screws. Since the planet wheels 34 are rotatably mounted on the second planet carrier 32 by fixed shafts. When the planet wheel 34 rotates, the fixed first planet carrier 31 and the fixed second planet carrier 32 are driven to rotate.
Further, the output spline shaft 36 is integrally formed with the second carrier 32. Through foretell integrated into one piece structural design, be favorable to simplifying connection structure, be convenient for rapid Assembly.
In a specific embodiment, the magnetic circuit further comprises an absolute value magnetic ring 40, and a reading head 50 disposed in the housing 10;
the absolute value magnetic ring 40 is installed at the rear end of the rotor output shaft 23, and the reading head 50 is arranged close to the absolute value magnetic ring 40 and is in magnetic induction connection with the absolute value magnetic ring 40.
In this embodiment, the absolute value magnetic ring 40 can rotate along with the rotation of the rotor output shaft 23, and the rotation data of the absolute value magnetic ring 40 can be read by the reading head 50, so as to obtain the accurate rotation speed of the motor rotor 21, which is beneficial to improving the control precision of the steering engine complete machine.
Specifically, the cover plate 11 is provided with an opening at the rear end of the housing 10, the cover plate 11 is sealed at the opening of the housing 10, and the reading head 50 is disposed on the inner wall of the cover plate 11.
In this embodiment, the rear end of the housing 10 is formed with an opening to facilitate assembly of the internal components. The cover plate 11 may close the opening of the case 10. Specifically, the cover plate 11 may be fixed to the case 10 by screwing.
Further, a planetary wheel bearing 37 is included, and the planetary wheel bearing 37 is provided on the end side of the second carrier 32. The stability of the rotation of the second carrier 32 and the first carrier 31 is improved by the planetary wheel bearing 37.
Referring to fig. 6 and 7, fig. 6 is a schematic perspective view of another embodiment of the electromechanical integrated high-precision steering engine of the present invention; fig. 7 is an exploded view of fig. 6. In a specific embodiment, the brake device further includes a brake member 60 and a driver 70, the rotor output shaft 23 has a shaft section extending toward the cover plate 11, the brake member 60 is sleeved on the shaft section, and the driver 70 is sleeved on the brake member 60. In this embodiment, the planet carrier 30 is an integrally formed structure. The rotor output shaft 23 has a shaft section extending toward the cover plate 11, the brake member 60 is fixed on the shaft section in a sleeved manner, and the driver 70 is sleeved on the brake member 60. The brake 60 can brake the rotor output shaft 23. The actuator 70 ensures that the actuating brake 60 and other components operate to ensure proper operation of the overall apparatus.
In the embodiment of the utility model, this robot, including foretell mechatronic's high accuracy steering wheel. For the specific structure of the electromechanical integrated high-precision steering engine, please refer to the above-mentioned embodiments, which are not described herein again. Because the robot of this scheme has used mechatronic's high accuracy steering wheel, the event has all advantages and the effect of mechatronic's high accuracy steering wheel.
The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.
Claims (10)
1. The utility model provides a high accuracy steering wheel of mechatronic, its characterized in that, high accuracy steering wheel of mechatronic includes: the motor mechanism is arranged in the shell, and the speed reducing mechanism is positioned in the motor mechanism;
the motor mechanism comprises a motor rotor and a motor stator which is positioned in the motor rotor and is concentric with the motor rotor, and one side of the motor rotor is connected with a rotor output shaft;
the speed reducing mechanism comprises a planet carrier and a planet wheel component positioned in the planet carrier, wherein one side of the planet carrier is connected with an output spline shaft, a rotor output shaft is rotationally connected with the planet wheel component, and the planet carrier is driven by the planet wheel component to rotate through the output spline shaft.
2. The mechatronic high-precision steering engine according to claim 1, wherein the planetary wheel assembly comprises an inner ring gear, a sun gear and three planet wheels, the three planet wheels are respectively engaged with teeth of the inner ring gear, the sun gear and the inner ring gear are concentrically arranged, the sun gear is respectively engaged with the three planet wheels, and the three planet wheels are uniformly distributed between the sun gear and the inner ring gear; and the central key hole of the sun gear is rotationally connected with the output shaft of the rotor.
3. The mechatronic high-precision steering engine of claim 2, wherein the planetary gear assembly further comprises a sun gear bearing, and the rotor output shaft is rotatably connected with the central key hole of the sun gear through the sun gear bearing.
4. The mechatronic high-precision steering engine according to claim 3, wherein the planetary carrier comprises a first planetary carrier and a second planetary carrier engaged with the first planetary carrier, the planetary wheel assembly is located between the first planetary carrier and the second planetary carrier, and the output spline shaft is located at the center of the second planetary carrier on the side away from the first planetary carrier.
5. The mechatronic high-precision steering engine according to claim 4, wherein the output spline shaft is formed integrally with the second carrier.
6. The mechatronic high-precision steering engine of claim 5, further comprising an absolute value magnetic ring and a reading head disposed in the housing,
the absolute value magnetic ring is arranged at the rear end of the rotor output shaft, and the reading head is close to the absolute value magnetic ring and is in magnetic induction connection with the absolute value magnetic ring.
7. The mechatronic high-precision steering engine according to claim 6, further comprising a cover plate, wherein an opening is formed at the rear end of the housing, the cover plate is sealed at the opening of the housing, and the reading head is disposed on the inner wall of the cover plate.
8. The mechatronic high-precision steering engine of claim 7, further comprising a planet wheel bearing disposed on an end side of the second planet carrier.
9. The mechatronic high-precision steering engine according to claim 8, further comprising a brake member and a driver, wherein the rotor output shaft extends in the direction of the cover plate to form a shaft section, the brake member is sleeved on the shaft section, and the driver is sleeved on the brake member.
10. A robot comprising an electromechanical integrated high precision steering engine according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920625474.3U CN209850928U (en) | 2019-04-30 | 2019-04-30 | Electromechanical integrated high-precision steering engine and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920625474.3U CN209850928U (en) | 2019-04-30 | 2019-04-30 | Electromechanical integrated high-precision steering engine and robot |
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| Publication Number | Publication Date |
|---|---|
| CN209850928U true CN209850928U (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920625474.3U Active CN209850928U (en) | 2019-04-30 | 2019-04-30 | Electromechanical integrated high-precision steering engine and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895081A (en) * | 2019-04-30 | 2019-06-18 | 深圳市爱因派科技有限公司 | The high-precision steering engine and robot of electromechanical integration |
| CN111113398A (en) * | 2019-12-30 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Steering wheel and robot |
-
2019
- 2019-04-30 CN CN201920625474.3U patent/CN209850928U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895081A (en) * | 2019-04-30 | 2019-06-18 | 深圳市爱因派科技有限公司 | The high-precision steering engine and robot of electromechanical integration |
| CN111113398A (en) * | 2019-12-30 | 2020-05-08 | 深圳市优必选科技股份有限公司 | Steering wheel and robot |
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