CN222067542U - Flat thin combination bearing rotary actuator - Google Patents
Flat thin combination bearing rotary actuator Download PDFInfo
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- CN222067542U CN222067542U CN202420902815.8U CN202420902815U CN222067542U CN 222067542 U CN222067542 U CN 222067542U CN 202420902815 U CN202420902815 U CN 202420902815U CN 222067542 U CN222067542 U CN 222067542U
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 29
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- 230000005540 biological transmission Effects 0.000 claims description 4
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- 230000004323 axial length Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Abstract
扁薄型组合轴承旋转执行器，涉及驱动设备技术领域。包括减速器，减速器包括两端均为开口的圆柱形壳体,壳体内的中心位置设置有曲轴，齿轮与后盖之间活动设置有齿轮转动管制片，齿轮转动管制片套设在曲轴上、并且之间间隙配合，齿轮转动管制片上设置有第一滑动槽以及第二滑动槽，第一滑动槽和第二滑动槽的布置方向相互垂直，齿轮上设置有与第一滑动槽滑动配合的第一导向块，所述后盖上设置有第二导向块，齿轮转动管制片通过第二滑动槽与第二导向块滑动配合。本实用新型减速器的曲轴与齿轮、输出法兰盘之间依次沿径向布置，缩减了减速器的轴向长度，使本实用新型相对现有驱动产品具有偏薄的结构特点，特别适用于人形机器人旋转关节的驱动使用。
A flat and thin combined bearing rotary actuator relates to the technical field of drive equipment. It includes a reducer, which includes a cylindrical shell with openings at both ends, a crankshaft is arranged at the center of the shell, a gear rotation control plate is movably arranged between the gear and the back cover, the gear rotation control plate is sleeved on the crankshaft, and there is a clearance fit between them, a first sliding groove and a second sliding groove are arranged on the gear rotation control plate, the arrangement directions of the first sliding groove and the second sliding groove are perpendicular to each other, a first guide block is arranged on the gear to slide with the first sliding groove, a second guide block is arranged on the back cover, and the gear rotation control plate slides with the second guide block through the second sliding groove. The crankshaft, gear and output flange of the reducer of the utility model are arranged radially in sequence, which reduces the axial length of the reducer, so that the utility model has a thinner structural feature compared with existing drive products, and is particularly suitable for driving the rotary joints of humanoid robots.
Description
Technical Field
The utility model relates to the technical field of driving equipment, in particular to a flat and thin type combined bearing rotary actuator.
Background
In recent years, people-shaped robots at home and abroad are rapidly developed, industry attention is increasingly focused, and a rotary driver is used as a core component of the people-shaped robot, so that the requirements of compactness and light weight of the design of the people-shaped robot are met.
The speed reducer applied to the humanoid robot in the prior art mainly comprises a harmonic speed reducer, a planetary speed reducer and a cycloid speed reducer, wherein the speed ratio of the harmonic speed reducer is large and is generally more than 50, so that the back driving power is overlarge, and the damage to a flexible gear and a rigid gear of the speed reducer is easily caused when the output end is subjected to external force; the harmonic reducer has large volume and high weight, and is not suitable for the requirement of the light weight of the humanoid robot; the input shaft, the planetary gear set and the output shaft of the planetary reducer are axially arranged, the axial length is long, and the harsh requirements of the humanoid robot on the parameters such as the volume, the length and the like of the reducer are difficult to adapt.
Disclosure of utility model
The utility model aims to provide a humanoid robot rotary actuator which can effectively solve the problems in the background technology.
The technical scheme for achieving the purpose is as follows: the flat and thin combined bearing rotary actuator comprises a speed reducer, wherein the input end of the speed reducer is connected with a driving motor, and the flat and thin combined bearing rotary actuator is characterized in that the speed reducer comprises a cylindrical shell with openings at both ends, one end of the shell, which is close to the driving motor, is connected with a rear cover, a crankshaft which penetrates through the rear cover and is connected with a power output part of the driving motor is arranged at the central position in the shell, the crankshaft comprises concentric sections at both ends and an eccentric section at the middle part, a gear is sleeved on the eccentric section, the eccentric section and the gear are respectively used as an inner ring and an outer ring of a bearing, a second annular groove is formed between the eccentric section and the gear, and a circle of second balls is filled in the second annular groove;
An output flange which is rotatably arranged in the shell is arranged outside the gear, the output flange and the shell are respectively used as the inner ring and the outer ring of the bearing, a third annular groove is arranged between the output flange and the shell, and a circle of third balls are filled in the third annular groove;
An inner gear ring is arranged at one end of the output flange, which is close to the driving motor, the inner gear ring of the output flange is in transmission engagement with the gear with little tooth difference, a front bearing outer ring sleeved on the crankshaft is mounted in a port at the other end of the output flange in a transition fit manner, a concentric section of the output end of the crankshaft and the front bearing outer ring are respectively used as an inner ring and an outer ring of the bearing, a first annular groove is formed between the concentric section and the front bearing outer ring, and a circle of first balls are filled in the first annular groove;
The gear wheel rotation control piece is sleeved on the crankshaft and in clearance fit, the gear wheel rotation control piece is provided with a first sliding groove and a second sliding groove, the arrangement directions of the first sliding groove and the second sliding groove are mutually perpendicular, the gear wheel is provided with a first guide block in sliding fit with the first sliding groove, the rear cover is provided with a second guide block, and the gear wheel rotation control piece is in sliding fit with the second guide block through the second sliding groove.
Further, the first sliding groove and the second sliding groove are both provided with two symmetrically arranged on two sides of the gear rotation control piece, the first sliding groove is arranged on the inner side of the gear rotation control piece and communicated with the central hole, and the second sliding groove is arranged on the outer side wall of the gear rotation control piece and is provided with an opening at the outer end.
Further, rollers are arranged between the two side walls of the first guide block in the sliding direction and the first sliding groove and between the two side walls of the second guide block in the sliding direction and the second sliding groove.
Further, the first ball is installed in the first annular groove through the first retainer, the second ball is installed in the second annular groove through the second retainer, and the third ball is installed in the third annular groove through the third retainer.
Further, an O-shaped ring is arranged between the front bearing outer ring and the output flange plate.
Further, a rear bearing inner ring is in transition fit on the concentric section of the crankshaft input side, the rear cover and the rear bearing inner ring are respectively used as an inner ring and an outer ring of the bearing, a fourth annular groove is formed between the rear cover and the rear bearing inner ring, and a circle of fourth balls are filled in the fourth annular groove.
Further, the driving motor is a single-stator double-rotor axial motor, and the input end of the crankshaft is connected with the rotor of the driving motor.
The utility model has the beneficial effects that: 1) The speed ratio of the speed reducer is 20-50, the speed ratio requirement of the humanoid robot is met, and the output end is not damaged when being acted by external force; 2) The single-stator double-rotor axial motor is adopted as the driving motor, has the advantages of flat structure and large torque, and the crankshafts, the gears and the output flange plates of the speed reducer are sequentially arranged along the radial direction, so that the axial length of the speed reducer is reduced, and compared with the traditional driving product, the driving motor has the thin structural characteristics, and is particularly suitable for driving the rotary joint of the humanoid robot; 3) The speed reducer takes the shell, the crankshaft, the gear and the output flange plate as the inner ring and the outer ring of the bearing, simplifies the product structure, forms a combined bearing structure which omits the inner ring and the outer ring of the bearing, reduces the radial size of the speed reducer, and has more compact structure so as to meet the requirements of the humanoid robot on small volume and light weight of the speed reducer.
Drawings
FIG. 1 is a perspective view of the present utility model;
FIG. 2 is a cross-sectional view of the present utility model;
FIG. 3 is a partial exploded view of the present utility model;
Fig. 4 is a partial cross-sectional view of the present utility model.
Detailed Description
As shown in figures 1-4, the flat and thin type combined bearing rotary actuator is particularly suitable for a rotary joint of a humanoid robot, and comprises a speed reducer 1, wherein the input end of the speed reducer 1 is connected with a driving motor 2, the driving motor 2 adopts a single-stator double-rotor axial motor, and the single-stator double-rotor axial motor has the advantages of flat structure and large torque.
The speed reducer 1 comprises a cylindrical shell 3 with openings at both ends, one end of the shell 3, which is close to the driving motor 2, is connected with a rear cover 4, and a crankshaft 5 penetrating through the rear cover 4 and connected with a rotor of the driving motor 2 is arranged in the center position in the shell 3.
The crankshaft 5 comprises concentric sections 5.1 at two ends and an eccentric section 5.2 at the middle part, wherein the eccentric section 5.2 is sleeved with a gear 6, further, in the embodiment, in order to reduce the radial size of the speed reducer, the eccentric section 5.2 and the gear 6 of the crankshaft 5 are respectively used as the inner ring and the outer ring of a bearing, a second annular groove 7 is arranged between the two rings, a circle of second balls 8 is filled in the second annular groove 7, and the second balls 8 are arranged in the second annular groove 7 through a second retainer 9.
The gear 6 is provided with an output flange plate 10 rotatably installed in the housing 3, similarly, in order to reduce the radial size of the speed reducer, the output flange plate 10 and the housing 3 are respectively used as the inner ring and the outer ring of the bearing, a third annular groove 11 is formed between the output flange plate and the housing 3, a circle of third balls 12 is filled in the third annular groove 11, the third balls 12 are installed in the third annular groove 11 through a third retainer 22, the output flange plate 10 is in rotary fit with the housing 3, and a sealing ring 13 sealed outside the third balls 12 is arranged between the housing 3 and the output flange plate 10.
The output flange plate 10 is close to one end of the driving motor 2 and is provided with an annular gear, the annular gear of the output flange plate 10 is meshed with the gear 6 in a small tooth difference transmission way, a front bearing outer ring 14 sleeved on the crankshaft 5 is mounted in a port of the other end of the output flange plate 10 in a transition fit way, an O-shaped ring is arranged between the front bearing outer ring 14 and the front bearing outer ring, a concentric section of the output end of the crankshaft 5 and the front bearing outer ring 14 serve as inner rings and outer rings of bearings respectively, a first annular groove 15 is formed between the front bearing outer ring 14 and the front bearing outer ring, a ring of first balls 16 is filled in the first annular groove, the output flange plate 10 and the crankshaft 5 form a running fit, the first balls 16 are mounted in the first annular groove 15 through a first retainer 17, and a bearing dust cover 18 sealed outside the first balls 16 is arranged between the front bearing outer ring 14 and the crankshaft 5.
A rear bearing inner ring 19 is mounted on the concentric section of the input side of the crankshaft 5 in a transition fit manner, the rear bearing inner ring 19 and the rear cover 4 serve as inner and outer rings of the bearing, a fourth annular groove 20 is formed between the rear bearing inner ring 19 and the rear cover 4, and a circle of fourth balls 21 are filled in the fourth annular groove 20, so that the rear bearing inner ring 19 and the rear cover 4 form a running fit.
The gear wheel slide 23 is movably arranged between the gear wheel slide 6 and the rear cover 4, the gear wheel slide 23 is sleeved on the crankshaft 5 and is in clearance fit with the crankshaft, a first slide groove 23.1 and a second slide groove 23.2 are arranged on the gear wheel slide 23, the first slide groove 23.1 is arranged on the inner side of the gear wheel slide 23 and is communicated with the central hole, the second slide groove 23.2 is arranged on the outer side wall of the gear wheel slide 23 and is open at the outer end, the first slide groove 23.1 and the second slide groove 23.2 are respectively provided with two symmetrical arrangement sides of the gear wheel slide 23, the arrangement directions of the first slide groove 23.1 and the second slide groove 23.2 are mutually perpendicular, a first guide block 6.1 in sliding fit with the first slide groove 23.1 is arranged on the gear wheel slide 6, the rear cover 4 is provided with the second guide block 4.1, the gear wheel slide 23 is in sliding fit with the second guide block 4.1 through the second slide groove 23.2, and the two side walls of the first guide block 6.1 and the second guide block 23.1 are respectively arranged between the two side walls of the first slide groove 23.1 and the second guide block 23.2.
The working principle of the utility model is as follows: the rotor of driving motor 2 drives bent axle 5 to rotate, and bent axle 5 drives and forms the few tooth difference deceleration motion of eccentric between gear 6 and the output ring flange 10, realizes the speed reduction of output ring flange 10, and in gear 6 and the transmission process of output ring flange 10 meshing, the first guide block 6.1 of gear 6 is along the first sliding tray 23.1 horizontal slip (the direction of view of fig. 4) of gear wheel turning pipe film-making 23, and gear 6 is simultaneously through the vertical slip of second sliding tray 23.2 on the gear wheel turning pipe film-making 23 along second guide block 4.1, realizes the rotation control of gear 6 through gear wheel turning pipe film-making 23.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420902815.8U CN222067542U (en) | 2024-04-28 | 2024-04-28 | Flat thin combination bearing rotary actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202420902815.8U CN222067542U (en) | 2024-04-28 | 2024-04-28 | Flat thin combination bearing rotary actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN222067542U true CN222067542U (en) | 2024-11-26 |
Family
ID=93557889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202420902815.8U Active CN222067542U (en) | 2024-04-28 | 2024-04-28 | Flat thin combination bearing rotary actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN222067542U (en) |
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2024
- 2024-04-28 CN CN202420902815.8U patent/CN222067542U/en active Active
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