CN211333267U - Bionic robot elbow joint output device - Google Patents
Bionic robot elbow joint output device Download PDFInfo
- Publication number
- CN211333267U CN211333267U CN201922448364.7U CN201922448364U CN211333267U CN 211333267 U CN211333267 U CN 211333267U CN 201922448364 U CN201922448364 U CN 201922448364U CN 211333267 U CN211333267 U CN 211333267U
- Authority
- CN
- China
- Prior art keywords
- disk body
- button disk
- output device
- disc
- stator
- 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
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a bionic robot elbow joint output device belongs to robot joint output device technical field, including the rotor spindle, right side button disk body, left side button disk body and marginal fixed mounting stator disc in the joint frame, right side button disk body and the coaxial fixed mounting of left button disk body are on the rotor spindle, stator disc parallel arrangement is between right button disk body and left button disk body, stator disc center sets up the central through-hole that the diameter is greater than the rotor spindle, induction coil is all printed to the both sides face of stator disc, the left surface of right side button disk body sets up a plurality of recess, the right side of left side button disk body sets up a plurality of recess, inlay the installation magnetic sheet in the recess, rotor spindle rotates through the bearing and installs in the joint frame at both ends, install the gasket between the inner ring of right side button disk body and bearing, install the gasket between the inner ring of left side button disk body and bearing, be used for solving the big, the robot elbow joint power take-, Large volume, slow response speed and poor flexibility.
Description
Technical Field
The utility model relates to a bionic robot elbow joint output device belongs to robot joint output device technical field.
Background
Along with the continuous progress of science and technology, the bionic robot field also gains the development of flying, and the action of robot relies on power drive joint rotation to realize, and traditional robot joint adopts traditional motor to drive like the elbow joint, but the bulk of traditional motor is big, and the time of endurance is short, and the action operation is inflexible, and power loss leads to the fact the power greatly lowly, and artificial intelligence is stronger to the technological dependence of robot, all has higher demand to the response speed and the time of endurance of robot.
SUMMERY OF THE UTILITY MODEL
The utility model discloses not enough to prior art exists, a bionic robot elbow joint output device is provided for the technical problem that the robot elbow joint power take off loss among the solution prior art is big, bulky, response speed is slow, the flexibility is poor.
The utility model provides an above-mentioned technical problem's technical scheme as follows: an elbow joint output device of a bionic robot comprises a rotor shaft, a right button disc body, a left button disc body and a stator disc fixedly arranged on a joint frame at the edge, wherein the right button disc body and the left button disc body are coaxially and fixedly arranged on the rotor shaft, the stator disc is arranged between the right button disc body and the left button disc body in parallel, the center of the stator disc is provided with a central through hole with the diameter larger than that of the rotor shaft, induction coils are printed on two side surfaces of the stator disc, a plurality of grooves are arranged on the left side surface of the right button disc body, a plurality of grooves are arranged on the right side surface of the left button disc body, magnetic sheets are embedded in the grooves, the induction coils of the stator disc act on the magnetic sheets to enable the left button disc body and the right button disc body to rotate after being electrified, two ends of the rotor shaft are rotatably arranged on the joint frame through bearings, and, and a gasket is arranged between the left button disc body and the inner ring of the bearing.
The utility model has the advantages that: by adopting the output device, the output device is free of a shell, and the output device is embedded in joints of different robots, so that the operation of axial direct transmission is realized, the size and the weight are reduced, the installation is convenient and rapid, the design thought of the traditional servo motor is abandoned, the appearance integrity is improved in the application of the robot joints, the extra power loss is reduced, and the application efficiency is improved; the flat stator structure is suitable for an axial magnetic circuit structure, has good flatness and mechanical stability, and is beneficial to reducing the whole weight and the rotational inertia of the device; through the birotor structure that adopts right button disk body and left button disk body, adopt the not magnetic array of equidirectional impact to constitute, improved air gap density, reduced the magnetic leakage flux, eliminated stator iron loss and tooth's socket torque, reduced the vibration noise, reduced volume and weight on the whole, improved response speed and flexibility, improved output efficiency.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Further, paper pads are arranged between the two side faces of the stator disc and the joint rack.
The beneficial effect who adopts above-mentioned further scheme is through setting up insulating properties's paper pad, makes to keep insulating between stator dish and the joint frame, prevents to take place the phenomenon of electric leakage, improves the safety in utilization of device.
Further, a coded disc is further installed on the rotor shaft, and an encoder matched with the coded disc is installed on the joint machine frame.
The beneficial effect of adopting above-mentioned further scheme is, through setting up code wheel and encoder, do benefit to the rotational displacement of accurate control rotor shaft.
Furthermore, an O-shaped sealing ring is arranged between the outer ring of the bearing and the joint rack.
The beneficial effects of adopting above-mentioned further scheme are that, through setting up O type sealing washer, be favorable to improving the operating stability of device, reduce the noise that the vibration produced, the effort between buffering bearing and the joint frame improves the life of device.
Furthermore, the left side of the right button disc body is provided with an annular boss, the right side of the left button disc body is provided with an annular boss, and the outer diameter of the annular boss is smaller than the diameter of the central through hole of the stator disc.
Adopt above-mentioned further scheme's beneficial effect to be favorable to providing sufficient space for the stator dish through setting up annular boss, keeps the interval between magnetic sheet and the stator dish, improves the stability of device.
Further, the outer diameter end face of the right button disc body or the left button disc body is provided with a gear or a belt wheel.
The beneficial effect who adopts above-mentioned further scheme is that, through setting up right button disk body or left button disk body for gear or band pulley, realize the straight output of rotor shaft, reduced the power loss that arouses because of shaft coupling or other transmission parts, improved the output efficiency of device.
Drawings
Fig. 1 is a schematic view of the structure of the present invention;
fig. 2 is a schematic cross-sectional view at a-a in fig. 1.
In the figure, 1, a joint frame, 2, a rotor shaft, 3, a bearing, 4, a gasket, 5, a right button disc body, 6, a magnetic sheet, 7, a paper gasket, 8, a stator disc, 9, a left button disc body, 10, a coded disc and 11 are encoders.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
The utility model provides a bionic robot elbow joint output device, includes rotor shaft 2, right button disk body 5, left button disk body 9 and marginal fixed mounting stator disc 8 on joint frame 1, still set up paper pad 7 between stator disc 8's both sides face and the joint frame 1, through setting up paper pad 7 of insulating properties, make and keep insulating between stator disc 8 and the joint frame 1, prevent the phenomenon of electric leakage, improve the safety in utilization of device. The right button disc body 5 and the left button disc body 9 are coaxially and fixedly installed on the rotor shaft 2, the right button disc body 5, the left button disc body 9 and the rotor shaft 2 are installed in an interference fit mode, the stator disc 8 is arranged between the right button disc body 5 and the left button disc body 9 in parallel, namely the left button disc body 9, the stator disc 8 and the right button disc body 5 are sequentially installed in sequence, a central through hole with the diameter larger than that of the rotor shaft 2 is formed in the center of the stator disc 8, induction coils are printed on two side faces of the stator disc 8, a plurality of grooves are formed in the left side face of the right button disc body 5, a plurality of grooves are formed in the right side face of the left button disc body 9, magnetic sheets 6 are embedded in the grooves, the magnetic sheets 6 are installed by adopting permanent magnets, the induction coils of the stator disc 8 act on the magnetic sheets 6 after being electrified to enable the left button disc body 9 and the right button disc body 5 to rotate, the utility model discloses a bearing 3 inner ring is fixed on rotor shaft 2, and 3 outer rings of bearing are fixed on joint frame 1, installation gasket 4 between the inner ring of right side button disk body 5 and bearing 3, installation gasket 4 between the inner ring of left side button disk body 9 and bearing 3, gasket 4 adopts stainless steel, still install O type sealing washer between the outer ring of bearing 3 and the joint frame 1, through setting up O type sealing washer, be favorable to improving the operating stability of device, reduce the noise that the vibration produced, the effort between buffering bearing 3 and the joint frame 1 improves the life of device. Still install code wheel 10 on the rotor shaft 2, the encoder 11 that installation and code wheel 10 cooperation were used on the joint frame 1 through setting up code wheel 10 and encoder 11, does benefit to the rotational displacement of accurate control rotor shaft 2, the left side of right side button disk body 5 sets up annular boss, the right side of left side button disk body 9 sets up annular boss, and the external diameter of annular boss is less than the diameter of the central through-hole of stator dish 8, through setting up annular boss, does benefit to and provides sufficient space for stator dish 8, keeps the interval between magnetic sheet 6 and the stator dish 8, improves the stability of device.
The outer diameter end face of the right button disc body 5 or the left button disc body 9 is provided with a gear or a belt wheel, the right button disc body 5 or the left button disc body 9 is provided with the gear or the belt wheel, power is transmitted to a driven part through gear transmission or belt transmission, the direct output of the rotor shaft 2 is achieved, power loss caused by secondary output of a coupler or other transmission parts is reduced, and the output efficiency of the device is improved.
By adopting the output device, the output device is free of a shell, and the output device is embedded in joints of different robots, so that the operation of axial direct transmission is realized, the size and the weight are reduced, the installation is convenient and rapid, the design thought of the traditional servo motor is abandoned, the appearance integrity is improved in the application of the robot joints, the extra power loss is reduced, and the application efficiency is improved; the flat stator structure is suitable for an axial magnetic circuit structure, has good flatness and mechanical stability, and is beneficial to reducing the whole weight and the rotational inertia of the device; through the double-rotor structure adopting the right button disk body 5 and the left button disk body 9, the magnetic array composition adopting different directions for magnetizing improves the air gap density, reduces the magnetic leakage flux, eliminates the stator iron loss and the tooth space torque, reduces the vibration noise, reduces the volume and the weight on the whole, improves the response speed and the flexibility, and improves the output efficiency.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (6)
1. The utility model provides a bionic robot elbow joint output device which characterized in that: comprises a rotor shaft, a right button disk body, a left button disk body and a stator disk with the edge fixedly arranged on a joint frame, the right button disk body and the left button disk body are coaxially and fixedly arranged on the rotor shaft, the stator disks are arranged between the right button disk body and the left button disk body in parallel, the center of the stator disc is provided with a central through hole with the diameter larger than that of the rotor shaft, both side surfaces of the stator disc are printed with induction coils, the left side surface of the right button disk body is provided with a plurality of grooves, the right side surface of the left button disk body is provided with a plurality of grooves, the magnetic sheets are embedded in the grooves, the induction coils of the stator disc act on the magnetic sheets after being electrified to enable the left button disc body and the right button disc body to rotate, the two ends of the rotor shaft are rotatably installed on the joint rack through bearings, a gasket is installed between the right button disk body and the inner ring of the bearing, and a gasket is installed between the left button disk body and the inner ring of the bearing.
2. The bionic robot elbow joint output device according to claim 1, characterized in that: and paper pads are arranged between the two side surfaces of the stator disc and the joint rack.
3. The bionic robot elbow joint output device according to claim 2, characterized in that: and the rotor shaft is also provided with a coded disc, and the joint frame is provided with an encoder matched with the coded disc.
4. The bionic robot elbow joint output device according to claim 3, characterized in that: and an O-shaped sealing ring is also arranged between the outer ring of the bearing and the joint rack.
5. The bionic robot elbow joint output device according to claim 1, characterized in that: the left side of the right button body is provided with an annular boss, the right side of the left button body is provided with an annular boss, and the outer diameter of the annular boss is smaller than the diameter of the central through hole of the stator disc.
6. The bionic robot elbow joint output device according to any one of claims 1 to 5, characterized in that: the outer diameter end face of the right button body or the left button body is provided with a gear or a belt wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922448364.7U CN211333267U (en) | 2019-12-28 | 2019-12-28 | Bionic robot elbow joint output device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922448364.7U CN211333267U (en) | 2019-12-28 | 2019-12-28 | Bionic robot elbow joint output device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211333267U true CN211333267U (en) | 2020-08-25 |
Family
ID=72095849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922448364.7U Active CN211333267U (en) | 2019-12-28 | 2019-12-28 | Bionic robot elbow joint output device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211333267U (en) |
-
2019
- 2019-12-28 CN CN201922448364.7U patent/CN211333267U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1291539C (en) | Low power consumption brushless DC motor with Halbach magnet structure | |
| CN201854168U (en) | Axial permanent magnet synchronous coupling | |
| CN110336451B (en) | Combined eccentric magnetic force harmonic gear transmission device | |
| WO2021082379A1 (en) | Disc type magnetic gear using magnetism gathering type magnetism adjusting device | |
| CN108512380B (en) | Annular winding double-rotor permanent magnet synchronous motor with electromagnetic linkage device | |
| CN109450204A (en) | A kind of outer Structure of mover straight line rotary actuator of block form bimorph transducer | |
| CN201829334U (en) | Rotating electric steering engine and contactless rotating transformer thereof | |
| CN211333267U (en) | Bionic robot elbow joint output device | |
| CN112671158A (en) | Hybrid magnetic suspension bearing, motor and air conditioner | |
| CN208369436U (en) | A kind of moving-coil type unipolarity permanent magnet rotational alignment motor | |
| CN206389221U (en) | A kind of bimorph transducer single rotor from shock-absorbing motor | |
| CN202282690U (en) | High-torque low-inertia direct drive motor | |
| CN205960929U (en) | Permanent magnetism variable speed transmission device | |
| CN114884235A (en) | Magnetic field modulation motor magnetic circuit structure for robot arm joint | |
| CN209805528U (en) | Combined array type outer rotor shaft radial mixed flux permanent magnet motor | |
| CN208106977U (en) | A kind of high speed electric vehicle traction motor magnetic suspension bearing | |
| CN202524256U (en) | Double-layer permanent magnet gear transmission | |
| TWI466416B (en) | A novel integrated design of an axial-flux brushless dc motor with an axial type magnetic coupling | |
| CN206259839U (en) | A kind of Wheel hub for electric automobile magneto | |
| CN113098229B (en) | Drum type magnetic gathering disc type eddy current transmission device | |
| CN220190606U (en) | Wheel coupling transmission device with permanent magnet floating flexible inertia | |
| CN201639459U (en) | Heteropolarity sintered ferrite inner diameter orientating magnetic steel used by out-runner brushless motor rotor | |
| CN205160340U (en) | Permanent vortex transmission device | |
| CN209016818U (en) | A kind of permanent magnetic coupling p-m rotor magnet array structure | |
| CN210693680U (en) | Permanent-magnet direct-drive reaction kettle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |