CN218476715U - Rotary power module - Google Patents
Rotary power module Download PDFInfo
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- CN218476715U CN218476715U CN202221508233.9U CN202221508233U CN218476715U CN 218476715 U CN218476715 U CN 218476715U CN 202221508233 U CN202221508233 U CN 202221508233U CN 218476715 U CN218476715 U CN 218476715U
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 24
- 238000006243 chemical reaction Methods 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 20
- 239000010959 steel Substances 0.000 claims description 20
- 230000009467 reduction Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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Abstract
The utility model discloses a rotary power module, which comprises a motor module, a reducer module, a rotor module, a high-speed magnetic ring module, a low-speed magnetic ring module, a brake module, a driver, a rear cover and an output shaft conversion shaft, wherein the reducer module is fixed on the motor module; the rotor module is fixed at the bottom of the speed reducer module; the brake module is fixed at the bottom of the motor module; the driver is coaxially fixed at the bottom of the motor module; the rear cover is coaxially fixed at the bottom of the motor module; the output shaft conversion shaft is coaxially fixed on the speed reducer module; the high-speed magnetic ring module is fixed at the bottom of the rotor module; the low-speed magnetic ring module is fixed at the bottom of the output shaft conversion shaft. The rotary power module has the advantages of compact structure, small mass and volume and high energy density.
Description
Technical Field
The utility model relates to a robot field, concretely relates to robot joint rotary power module.
Background
The rotary power module is a driving device, and drives external equipment to rotate through the rotation of an output end of the rotary power module. Generally, a large number of rotary power modules are applied to joints of a robot, when the rotary power modules detect the rotation angles of motors or output ends of the rotary power modules, the rotary power modules generally detect the rotation angles through matching of encoders and magnetic parts, in the rotary power modules, the braking problem of the motors needs to be considered, a traditional brake disc enables the size of the rotary power modules to be large, and when the motors are braked, the loss is large through a method of abrasion braking, and the rotary power modules need to be replaced regularly.
Disclosure of Invention
The utility model has the advantages that: the speed reducer, the motor, the driver, the encoder and the brake of the rotary power module are integrated, the brake, the driver and the encoder are partially overlapped with the motor in an axial space, the hollow part of the external rotation motor is fully utilized, the structure is compact, the mass and the volume are small, and the energy density is high; compared with a traditional brake disc, the brake module adopting the rotary power module can not drop foreign matters, is small in size, low in cost and stable in brake effect.
In the patent, two magnetic encoders of a rotary power module are positioned on one side of an input end, information of a rotor and information of an output shaft conversion shaft are respectively measured through a high-speed magnetic ring module and a low-speed magnetic ring module, an additional sensor is not required to be added at the output end of a speed reducer, and the information of the input shaft and the information of the output shaft can be simultaneously and accurately read through a driver; the utility model discloses an applicable reduction gear in arbitrary speed reduction ratio can accurately acquire the positional information of input shaft and output steadily under the condition that does not change the drive plate.
In order to achieve the above object, an embodiment of the present invention provides a rotary power module, which includes a motor module, a reducer module, a rotor module, a high-speed magnetic ring module, a low-speed magnetic ring module, a brake module, a driver, a rear cover, and an output shaft converting shaft;
the speed reducer module is coaxially arranged inside the motor module;
the speed reducer module is fixed on the motor module;
the rotor module is coaxially arranged inside the motor module;
the rotor module is fixed at the bottom of the speed reducer module;
the brake module is fixed at the bottom of the motor module;
the driver is coaxially fixed at the bottom of the motor module;
the rear cover is coaxially fixed at the bottom of the motor module;
the output shaft conversion shaft is coaxially fixed on the speed reducer module;
the high-speed magnetic ring module is fixed at the bottom of the rotor module;
the low-speed magnetic ring module is fixed at the bottom of the output shaft conversion shaft;
additionally, according to the utility model discloses a rotary power module still can have following additional technical characterstic:
in some embodiments of the present invention, the motor module includes a housing and a stator, the stator is coaxially installed inside the housing, and the stator is fixed on the housing.
The utility model discloses an in some embodiments, the reduction gear module includes the planet wheel, the ring gear, outer planet carrier, interior planet carrier, bearing cap, the bearing frame, cross roller bearing, the retaining ring, bearing cap coaxial arrangement is on bearing frame upper portion to fixed connection, cross roller bearing and bearing frame coaxial arrangement, cross roller bearing card is between bearing cap and bearing frame, ring gear coaxial arrangement is in the bearing frame bottom to fixed connection, retaining ring coaxial arrangement is in the ring gear bottom to fixed connection, planet wheel and ring gear intermeshing, outer planet carrier coaxial arrangement is inside cross roller bearing, interior planet carrier coaxial arrangement is in outer planet carrier bottom to fixed connection.
The utility model discloses an in some embodiments, the rotor module includes the rotor, the centre wheel, the magnetic steel piece, the magnetic steel cover, the centre wheel is coaxial to be fixed in rotor mesopore position, inside the coaxial rotor that is fixed in of magnetic steel cover, the magnetic steel piece array is installed and is sheathe in at the magnet steel, the magnetic steel piece is fixed in rotor afterbody draw-in groove.
The utility model discloses an in some embodiments, high-speed level magnetic ring module includes high-speed level driven gear, high-speed level input gear, high-speed level circle magnetic sheet, high-speed level driven gear and high-speed level input gear intermeshing, high-speed level circle magnetic sheet is coaxial to be fixed in high-speed level driven gear bottom.
In some embodiments of the present invention, the low-speed-stage magnetic ring module includes a low-speed-stage driven gear, a low-speed-stage input gear, and a low-speed-stage circular magnetic sheet, the low-speed-stage driven gear is meshed with the low-speed-stage input gear, and the low-speed-stage circular magnetic sheet is coaxially fixed to the bottom of the low-speed-stage driven gear.
The utility model discloses an in some embodiments, the brake module includes the electro-magnet, the bolt, the spring, the coaxial arrangement of bolt is in the spring, spring mounting is fixed in the electro-magnet middle part.
The utility model discloses an in some embodiments, high-speed stage input gear is the same with high-speed stage driven gear diameter, high-speed stage input gear is the same with high-speed stage driven gear tooth number, high-speed stage input gear is coaxial fixed with the rotor.
In some embodiments of the present invention, the low-speed stage input gear has the same diameter as the low-speed stage driven gear, the same number of teeth as the low-speed stage driven gear, and the low-speed stage input gear is coaxially fixed to the output shaft transfer shaft.
The utility model discloses an in some embodiments, during the motor braking, the spring pops out, and the bolt blocks the rotor and realizes the brake function.
Drawings
In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 shows an overall appearance of a servo joint;
FIG. 2 shows a dorsal aspect view of the servo joint;
FIG. 3 shows a cross-sectional view of a servo joint;
FIG. 4 shows an overall exploded view of the servo joint;
in the figure: the motor comprises a 1-motor module, a 2-speed reducer module, a 3-rotor module, a 4-high-speed magnetic ring module, a 5-low-speed magnetic ring module, a 6-brake module, a 7-driver, an 11-shell, a 12-stator, a 21-planet gear, a 22-inner gear ring, a 23-outer planet carrier, a 24-inner planet carrier, a 25-bearing end cover, a 26-bearing seat, a 27-crossed roller bearing, a 28-check ring, a 31-rotor, a 32-center wheel, a 33-magnetic steel sheet, a 34-magnetic steel sleeve, a 41-high-speed driven gear, a 42-low-speed input gear, a 43-circular magnetic sheet, a 51-low-speed driven gear, a 52-low-speed input gear, a 53-circular magnetic sheet, a 61-electromagnet, a 62-bolt and a 63-spring.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
As shown in fig. 1-2, an embodiment of the present invention provides a rotary power module, which includes a motor module 1, a speed reducer module 2, a rotor module 3, a high-speed magnetic ring module 4, a low-speed magnetic ring module 5, a brake module 6, a driver 7, a rear cover 8, and an output shaft transfer shaft 9; the speed reducer module 2 is coaxially arranged inside the motor module 1; the speed reducer module 2 is fixed on the motor module 1; the rotor module 3 is coaxially arranged inside the motor module 1; the rotor module 3 is fixed at the bottom of the speed reducer module 2; the brake module 6 is fixed at the bottom of the motor module 1; the driver 7 is coaxially fixed at the bottom of the motor module 1; the rear cover 8 is coaxially fixed at the bottom of the motor module 1; the output shaft conversion shaft 9 is coaxially fixed on the speed reducer module 2; the high-speed magnetic ring module 4 is fixed at the bottom of the rotor module 3; the low-speed magnetic ring module 5 is fixed at the bottom of the output shaft conversion shaft 9.
The utility model provides a rotary power module output shaft converting shaft 9 and rotor module 3, reduction gear module 2 is connected, high-speed level magnetic ring module 4 and low-speed level magnetic ring module 5 all link to each other, contain two magnetic encoder in the driver 7, motor drive and brake circuit, motor drive circuit is used for the start-up and the stop of control motor, two magnetic encoder are used for detecting the rotation information of high-speed level magnetic ring module 4 and low-speed level magnetic ring module 5, realize the motion angle detection of rotary power module, above-mentioned structure can be accomplished with ordinary magnetic path and encoder, the cost is lower, and make 7 sense segments of drive plate leave the axis position, make and arrange compacter, the whole integrations of circuit are on the driver simultaneously, use simple to operate.
In some embodiments of the present invention, the motor module 1 includes a housing 11 and a stator 12, the stator 12 is coaxially installed inside the housing 11, and the stator 12 is fixed on the housing 11. The stator 12 is accommodated inside the boss of the housing 11, and a certain space is left between the stator and the housing 11 for the motor module 1 to rotate the rotor 31.
In some embodiments of the utility model, reducer module 2 includes planet wheel 21, ring gear 22, outer planet carrier 23, inner planet carrier 24, bearing end cover 25, bearing frame 26, cross roller bearing 27, retaining ring 28, bearing end cover 25 coaxial arrangement is on bearing frame 26 upper portion, and fixed connection, cross roller bearing 27 and bearing frame 26 coaxial arrangement, cross roller bearing 27 card is between bearing end cover 25 and bearing frame 26, ring gear 22 coaxial arrangement is in bearing frame 26 bottom, and fixed connection, retaining ring 28 coaxial arrangement is in ring gear 22 bottom, and fixed connection, planet wheel 21 and ring gear 22 intermeshing, outer planet carrier 23 coaxial arrangement is inside cross roller bearing 27, inner planet carrier 24 coaxial arrangement is in outer planet carrier 23 bottom, and fixed connection. When the motor is started, the central wheel 32 drives the planet wheel 21, the inner planet carrier 24 and the outer planet carrier 25 to integrally rotate through gear engagement, so that the output shaft conversion shaft 9 is driven to rotate, primary speed reduction is realized, the crossed roller bearing 27 realizes the effect of the bearing seat 26, the bearing end cover 25 and the output shaft conversion shaft 9 rotating separately, and the bearing end cover is used for bearing multi-directional loads such as radial load, axial load, moment load and the like.
In some embodiments of the present invention, the rotor module 3 includes a rotor 31, a center wheel 32, a magnetic steel sheet 33, a magnetic steel sleeve 34, the center wheel 32 is coaxially fixed in the center hole position of the rotor 31, the magnetic steel sleeve 34 is coaxially fixed inside the rotor 31, the magnetic steel sheet 33 is installed on the magnetic steel sleeve 34 in an array, and the magnetic steel sheet 33 is fixed in the tail slot of the rotor 31. The rotor 31 is provided with a boss at the central axis of the power module through a bracket and is coaxially installed with the central wheel 43, the flange at the bottom is used for limiting the central wheel 32 to move in the axial direction, the boss at the front end of the rotor 31 is separated from the inner planet carrier 24 through a bearing and rotates, the boss at the rear end is separated from the shell 11 through a bearing and rotates, the driver 7 comprises a motor driving circuit, the motor driving circuit is used for controlling the starting and stopping of the motor, and when the motor is started, the driving plate 7 controls the motor rotor 31 to drive the central wheel 32 and the high-speed input gear 41 to integrally rotate.
In some embodiments of the utility model, high-speed level magnetic ring module 4 includes high-speed level driven gear 41, high-speed level input gear 42, high-speed level circle magnetic sheet 43, high-speed level driven gear 41 and high-speed level input gear 42 intermeshing, high-speed level circle magnetic sheet 43 is coaxial to be fixed in high-speed level driven gear 41 bottom, high-speed level input gear 42 is the same with high-speed level driven gear 41 diameter, high-speed level input gear 42 is the same with high-speed level driven gear 41 tooth number, high-speed level input gear 42 is coaxial fixed with rotor 31.
In some embodiments of the utility model, low-speed level magnetic ring module 5 includes low-speed level driven gear 51, low-speed level input gear 52, low-speed level circle magnetic sheet 53, low-speed level driven gear 51 and low-speed level input gear 52 intermeshing, low-speed level circle magnetic sheet 53 is coaxial to be fixed in low-speed level driven gear 51 bottom, low-speed level input gear 52 is the same with low-speed level driven gear 51 diameter, low-speed level input gear 52 is the same with low-speed level driven gear 51 number of teeth, low-speed level input gear 52 and output shaft converting shaft 9 are coaxial fixed.
The driver 7 controls the high-speed input gear 42 to rotate, under the action of gear engagement, the high-speed input gear 42 drives the high-speed driven gear 41 and the high-speed circular magnetic sheet 43 to integrally start to rotate, and simultaneously, because the second-stage boss of the output shaft conversion shaft 9 is axially matched with the low-speed input gear 52, under the action of rotation of the output shaft conversion shaft 9, the low-speed driven gear 52 and the low-speed circular magnetic sheet 53 are integrally started to rotate. The driver 7 contains a double magnetic encoder which respectively detects the rotation information of the high-speed driven gear 41 and the low-speed driven gear 51, and the double magnetic encoder respectively feeds back the current parameters of the rotating speed, the position, the torque and the like of the input end and the output end of the motor. Simultaneously two gear components set up according to actual arrangement needs, radially set up it for the axial thickness of rotary power module obtains reducing, and makes driver 7 give way the axis, makes the rotary power module compacter.
In some embodiments of the present invention, the brake module 6 includes an electromagnet 61, a bolt 62, a spring 63, and the bolt 62 is coaxially disposed on the spring 63, and the spring 63 is fixed in the middle of the electromagnet 61. Contain brake circuit in the driver 7, motor brake circuit is used for controlling brake module 6 to motor brake, when motor brake, adopts the electromagnetism band-type brake scheme, and electro-magnet 61 cuts off the power supply, and the magnetic force between electro-magnet 61 and the spring 63 weakens, and spring 63 pops out, because brake module fixes in shell side boss department, and bolt 62 blocks pivoted rotor 31 and realizes the brake function, compares in traditional brake disc, utilizes small, with low costs structure to realize stable brake effect.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A rotary power module is characterized by comprising a motor module (1), a speed reducer module (2), a rotor module (3), a high-speed magnetic ring module (4), a low-speed magnetic ring module (5), a brake module (6), a driver (7), a rear cover (8) and an output shaft conversion shaft (9);
the speed reducer module (2) is coaxially arranged on the motor module (1);
the speed reducer module (2) is fixed on the motor module (1);
the rotor module (3) is coaxially arranged in the motor module (1);
the rotor module (3) is fixed at the bottom of the speed reducer module (2);
the brake module (6) is fixed at the bottom of the motor module (1);
the driver (7) is coaxially fixed at the bottom of the motor module (1);
the rear cover (8) is coaxially fixed at the bottom of the motor module (1);
the output shaft conversion shaft (9) is coaxially fixed on the speed reducer module (2);
the high-speed magnetic ring module (4) is fixed at the bottom of the rotor module (3);
the low-speed magnetic ring module (5) is fixed at the bottom of the output shaft conversion shaft (9).
2. A rotary power module according to claim 1, characterized in that the motor module (1) comprises a housing (11), a stator (12);
the stator (12) is coaxially arranged in the shell (11);
the stator (12) is fixed on the shell (11).
3. A rotary power module according to claim 1, characterized in that the reducer module (2) comprises planet wheels (21), an inner ring gear (22), an outer planet carrier (23), an inner planet carrier (24), a bearing end cap (25), a bearing seat (26), a cross roller bearing (27), a retainer ring (28);
the bearing end cover (25) is coaxially arranged at the upper part of the bearing seat (26) and is fixedly connected with the bearing end cover;
the crossed roller bearing (27) and the bearing seat (26) are coaxially arranged;
the crossed roller bearing (27) is clamped between the bearing end cover (25) and the bearing seat (26);
the inner gear ring (22) is coaxially arranged at the bottom of the bearing seat (26) and is fixedly connected with the bearing seat;
the retainer ring (28) is coaxially arranged at the bottom of the inner gear ring (22) and is fixedly connected with the inner gear ring;
the planet gear (21) is meshed with the inner gear ring (22);
the outer planet carrier (23) is coaxially arranged inside the crossed roller bearing (27);
the inner planet carrier (24) is coaxially arranged at the bottom of the outer planet carrier (23) and is fixedly connected with the outer planet carrier.
4. A rotary power module according to claim 1, characterized in that the rotor module (3) comprises a rotor (31), a centre wheel (32), a magnet steel sheet (33), a magnet steel sleeve (34);
the central wheel (32) is coaxially fixed at the position of a middle hole of the rotor (31);
the magnetic steel sleeve (34) is coaxially fixed inside the rotor (31);
the magnetic steel sheet (33) array is arranged on the magnetic steel sleeve (34);
the magnetic steel sheet (33) is fixed in a clamping groove at the tail of the rotor (31).
5. A rotary power module according to claim 1, characterized in that the high-speed stage magnetic ring module (4) comprises a high-speed stage driven gear (41), a high-speed stage input gear (42), a high-speed stage circular magnetic sheet (43);
the high-speed driven gear (41) is meshed with the high-speed input gear (42);
the high-speed round magnetic sheet (43) is coaxially fixed at the bottom of the high-speed driven gear (41).
6. A rotary power module according to claim 1 characterized in that the low speed stage magnetic ring module (5) comprises a low speed stage driven gear (51), a low speed stage input gear (52), a low speed stage circular magnetic sheet (53);
the low-speed stage driven gear (51) and the low-speed stage input gear (52) are meshed with each other;
the low-speed-stage circular magnetic sheet (53) is coaxially fixed at the bottom of the low-speed-stage driven gear (51).
7. A rotary power module according to claim 1, characterized in that the brake module (6) comprises an electromagnet (61), a latch (62), a spring (63);
the bolt (62) is coaxially arranged on the spring (63);
the spring (63) is fixedly arranged in the middle of the electromagnet (61).
8. A rotary power module according to claim 5, wherein:
the high-speed stage input gear (42) and the high-speed stage driven gear (41) have the same diameter;
the high-speed stage input gear (42) and the high-speed stage driven gear (41) have the same tooth number;
the high-speed stage input gear (42) is coaxially fixed with the rotor (31).
9. A rotary power module according to claim 6, wherein:
the low-speed stage input gear (52) and the low-speed stage driven gear (51) have the same diameter;
the low-speed stage input gear (52) and the low-speed stage driven gear (51) have the same tooth number;
the low-speed stage input gear (52) is coaxially fixed with the output shaft conversion shaft (9).
10. A rotary power module according to claim 7, wherein:
when the motor is braked, the spring (63) is popped up, and the bolt (62) clamps the rotor (31) to realize the braking function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221508233.9U CN218476715U (en) | 2022-05-21 | 2022-05-21 | Rotary power module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221508233.9U CN218476715U (en) | 2022-05-21 | 2022-05-21 | Rotary power module |
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| Publication Number | Publication Date |
|---|---|
| CN218476715U true CN218476715U (en) | 2023-02-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221508233.9U Active CN218476715U (en) | 2022-05-21 | 2022-05-21 | Rotary power module |
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| CN (1) | CN218476715U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117381844A (en) * | 2023-12-13 | 2024-01-12 | 中国科学院自动化研究所 | Integrated joint module |
-
2022
- 2022-05-21 CN CN202221508233.9U patent/CN218476715U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117381844A (en) * | 2023-12-13 | 2024-01-12 | 中国科学院自动化研究所 | Integrated joint module |
| CN117381844B (en) * | 2023-12-13 | 2024-03-15 | 中国科学院自动化研究所 | Integrated joint module |
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Effective date of registration: 20240426 Address after: A2-501, No. 32 Qingyan Road, Xinwu District, Wuxi City, Jiangsu Province, 214000 Patentee after: Wuxi Quanzhibo Technology Co.,Ltd. Country or region after: China Address before: 311100 712, floor 7, building h, Haichuang Park, CLP Haikang Group Co., Ltd., No. 198, aicheng street, Wuchang Street, Yuhang District, Hangzhou, Zhejiang Province Patentee before: Hangzhou Ruiwo Robot Technology Co.,Ltd. Country or region before: China |