CN216543375U - Integrated joint driving unit - Google Patents
Integrated joint driving unit Download PDFInfo
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- CN216543375U CN216543375U CN202122728603.1U CN202122728603U CN216543375U CN 216543375 U CN216543375 U CN 216543375U CN 202122728603 U CN202122728603 U CN 202122728603U CN 216543375 U CN216543375 U CN 216543375U
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Abstract
The utility model relates to an integrated joint driving unit.A speed reducer and a motor are designed in an integrated manner, an integrated shaft is simultaneously used as an output shaft of the motor and an input shaft of the speed reducer, and an input unit encoder is arranged at the shaft end of the integrated shaft; the output shaft of the speed reducer is connected with a connecting shaft of the encoder, the connecting shaft of the encoder is coaxially arranged with the integrated shaft, and the shaft end of the connecting shaft of the encoder is provided with an output unit encoder; the shell at the front end of the speed reducer and the shell of the motor are of an integrated structure, and the speed reducer and the motor are arranged in the same shell. Compared with the prior art, the utility model is provided with the input unit encoder and the output unit encoder, and the input and the output are monitored simultaneously. The control precision of the joint driving unit is improved, so that the performance of the joint driving unit is improved; the positions of the input unit encoder and the output unit encoder are reasonably arranged through the encoder connecting shaft, and the structural size of the joint driving unit is reduced.
Description
Technical Field
The utility model relates to the technical field of artificial joint driving units, in particular to an integrated joint driving unit.
Background
With the progress of technology, robots are increasingly applied to the fields of manufacturing, medical treatment, exploration and the like, and the robots are important production and service equipment in industry and non-industry and are also indispensable automation equipment in the advanced manufacturing technology field. The application field of the robot is limited by the mechanical structure of the robot, and the joint structure is an important component of the robot. The existing artificial joint driving unit in the market adopts a harmonic reducer, has small rigidity and low output capacity, the motor, the reducer and the driver are independently designed and then connected into an integral structure, the connection of parts is complex, the volume is large, and the requirements of partial markets cannot be met,
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provide an integrated joint driving unit, wherein an integrated shaft is simultaneously used as an output shaft of a motor and an input shaft of a speed reducer, an input unit encoder and an output unit encoder are arranged, and the input and output are simultaneously monitored, so that the control precision of the joint driving unit is improved, and the performance of the joint driving unit is improved; the positions of the input unit encoder and the output unit encoder are reasonably arranged through the encoder connecting shaft, and the structural size of the joint driving unit is reduced.
The purpose of the utility model can be realized by the following technical scheme:
an integrated joint driving unit is characterized in that a speed reducer and a motor are designed in an integrated mode, an integrated shaft is used as an output shaft of the motor and an input shaft of the speed reducer at the same time, and an input unit encoder is arranged at the shaft end of the integrated shaft; the output shaft of the speed reducer is connected with an encoder connecting shaft, the encoder connecting shaft is coaxially arranged with the integrated shaft, and an output unit encoder is arranged at the shaft end of the encoder connecting shaft; the rear end of the motor is connected with the front end of the speed reducer, a shell at the front end of the speed reducer and a shell of the motor are of an integrated structure, and the speed reducer and the motor are arranged in the same shell.
Preferably, the shell at the front end of the speed reducer and the shell of the motor are integrally formed to obtain an integrated shell, and the shell at the rear end of the speed reducer and the integrated shell are detachably connected in a bolt connection mode and the like.
Preferably, an input unit encoder base is arranged on the integrated shell, and the input unit encoder is installed on the input unit encoder base.
Preferably, an output unit encoder base is arranged on the integrated shell, and the output unit encoder is installed on the output unit encoder base.
Preferably, the integrated shell is provided with a mounting groove, a motor control unit is mounted in the mounting groove, and the motor control unit is used for controlling the motor.
Preferably, the mounting groove is arranged on the motor end cover, the input unit encoder is arranged on the shaft end of the integrated shaft close to the motor end cover, and the output unit encoder is arranged on the shaft end of the encoder connecting shaft close to the motor end cover.
Preferably, the input unit encoder and the output unit encoder are in communication connection with the motor control unit through a line.
Preferably, the output shaft of the speed reducer is connected with the connecting shaft of the encoder through interference.
Compared with the prior art, the utility model has the following beneficial effects:
(1) the output shaft of motor and the input shaft of reduction gear are regarded as simultaneously to integrative axle, and input unit encoder has realized the rotational speed and the phase output monitoring to integrative axle, and output unit encoder passes through encoder connecting axle and reduction gear output shaft, has realized the rotational speed and the phase output monitoring to reduction gear output shaft, and input and output simultaneous monitoring have improved joint drive unit's control accuracy to joint drive unit's performance has been promoted.
(2) Adopt the integrated design, integrative axle is as the output shaft of motor and the input shaft of reduction gear simultaneously, and the axiality is high, and power transmission is more steady.
(3) The shell of the front end of the speed reducer and the shell of the motor are of an integrated structure, the encoder connecting shaft and the integrated shaft are coaxially arranged, the structural size and the quality of the joint driving unit are reduced, the mounting and positioning accuracy of the joint driving unit is improved, and therefore the performance of the joint driving unit is improved.
(4) The mounting groove sets up on the motor end cover, and input unit encoder and output unit encoder are close to the motor end cover, are convenient for carry out the pencil and connect, have reduced the assembly complexity, moreover for the structure of motor and retarder connection department is simpler, thereby seals the inside grease of reduction gear more easily.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
reference numerals: 1. the integrated shaft, 2, input unit encoder, 3, reduction gear output shaft, 4, encoder connecting axle, 5, output unit encoder, 6, reduction gear rear end casing, 7, integrated casing, 8, motor control unit.
Detailed Description
The utility model is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. Parts are exaggerated in the drawing where appropriate for clarity of illustration.
Example 1:
an integrated joint driving unit is characterized in that a speed reducer and a motor are designed in an integrated mode, an integrated shaft 1 serves as an output shaft of the motor and an input shaft of the speed reducer, coaxiality is high, and power transmission is stable.
An input unit encoder 2 is arranged at the shaft end of the integrated shaft 1; the reducer output shaft 3 is connected with an encoder connecting shaft 4, the encoder connecting shaft 4 is coaxially arranged with the integrated shaft 1, and an output unit encoder 5 is arranged at the shaft end of the encoder connecting shaft 4; wherein, the reducer output shaft 3 is connected with the encoder connecting shaft 4 in an interference fit manner.
When the motor works, the integral shaft 1 is matched with a stator assembly of the motor and the like, the integral shaft 1 rotates, and the input unit encoder 2 realizes the output monitoring of the rotating speed and the phase of the integral shaft 1; through the internal transmission of reduction gear, the rotation of integrative axle 1 drives reduction gear output shaft 3 rotatory, and encoder connecting axle 4 is rotatory along with reduction gear output shaft 3, and output unit encoder 5 has realized the rotational speed and the phase output monitoring to reduction gear output shaft. The simultaneous monitoring of input and output improves the control accuracy of the joint drive unit, thereby improving the performance of the joint drive unit.
The front end of reduction gear is connected to the rear end of motor, and reduction gear front end casing and the shell of motor be integral structure, and reduction gear and motor setting obtain integrated casing 7 in this embodiment with the shell integrated into one piece of motor, and reduction gear rear end casing 6 can be dismantled with integrated casing 7 through modes such as bolted connection with integrated casing 7.
An input unit encoder base is arranged on the integrated shell 7, and the input unit encoder 2 is arranged on the input unit encoder base; an output unit encoder base is arranged on the integrated shell 7, and the output unit encoder 5 is installed on the output unit encoder base.
Be provided with the mounting groove on the integrated casing 7, install motor control unit 8 in the mounting groove, motor control unit 8 is used for the control motor, and input unit encoder 2 and output unit encoder 5 pass through circuit and motor control unit 8 communication connection.
In this embodiment, the mounting groove is provided on the motor end cover, the input unit encoder 2 is provided on the shaft end of the integrated shaft 1 near the motor end cover, and the output unit encoder 5 is provided on the shaft end of the encoder connecting shaft 4 near the motor end cover. Input unit encoder 2 and output unit encoder 5 are close to the motor end cover, are convenient for carry out the pencil connection, have reduced the assembly complexity, moreover for the structure of motor and retarder connection department is simpler, thereby seals the inside grease of reduction gear more easily.
The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (7)
1. An integrated joint driving unit is characterized in that an integrated shaft (1) is used as an output shaft of a motor and an input shaft of a speed reducer at the same time, and an input unit encoder (2) is arranged at the shaft end of the integrated shaft (1); the reducer output shaft (3) is connected with an encoder connecting shaft (4), the encoder connecting shaft (4) is coaxially arranged with the integrated shaft (1), and an output unit encoder (5) is arranged at the shaft end of the encoder connecting shaft (4); the rear end of the motor is connected with the front end of the speed reducer, and the shell at the front end of the speed reducer and the shell of the motor are of an integrated structure.
2. An integrated joint drive unit according to claim 1, wherein the reducer front end housing is integrally formed with the housing of the motor to obtain an integrated housing (7), and the reducer rear end housing (6) is detachably connected to the integrated housing (7).
3. Integrated joint drive unit according to claim 2, wherein an input unit encoder base is provided on the integrated housing (7), the input unit encoder (2) being mounted on the input unit encoder base.
4. Integrated joint drive unit according to claim 2, wherein an output unit encoder base is provided on the integrated housing (7), the output unit encoder (5) being mounted on the output unit encoder base.
5. The integrated joint drive unit according to claim 2, wherein the integrated housing (7) is provided with a mounting groove, a motor control unit (8) is mounted in the mounting groove, and the motor control unit (8) is used for controlling a motor.
6. Integrated joint drive unit according to claim 5, wherein the input unit encoder (2) and the output unit encoder (5) are communicatively connected to the motor control unit (8) by means of wires.
7. The integrated joint drive unit according to claim 1, wherein the reducer output shaft (3) is connected to the encoder connecting shaft (4) by interference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122728603.1U CN216543375U (en) | 2021-11-09 | 2021-11-09 | Integrated joint driving unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122728603.1U CN216543375U (en) | 2021-11-09 | 2021-11-09 | Integrated joint driving unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216543375U true CN216543375U (en) | 2022-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122728603.1U Active CN216543375U (en) | 2021-11-09 | 2021-11-09 | Integrated joint driving unit |
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| CN (1) | CN216543375U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115765305A (en) * | 2022-11-18 | 2023-03-07 | 上海羿弓精密科技有限公司 | But closed-loop control's integrated form drive joint |
-
2021
- 2021-11-09 CN CN202122728603.1U patent/CN216543375U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115765305A (en) * | 2022-11-18 | 2023-03-07 | 上海羿弓精密科技有限公司 | But closed-loop control's integrated form drive joint |
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