CN2744482Y - Robot driven by bi-rotor large torque motor - Google Patents
Robot driven by bi-rotor large torque motor Download PDFInfo
- Publication number
- CN2744482Y CN2744482Y CN 200420096383 CN200420096383U CN2744482Y CN 2744482 Y CN2744482 Y CN 2744482Y CN 200420096383 CN200420096383 CN 200420096383 CN 200420096383 U CN200420096383 U CN 200420096383U CN 2744482 Y CN2744482 Y CN 2744482Y
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Abstract
The utility model provides a robot driven by bi-rotor large torque motors, comprising a robot working head, a base, a plurality of bi-rotor ac electric motors with power-off braking devices, and an encoder. A bi-rotor ac electric motor driving a post rotation is arranged in the base; the inner and outer rotor shaft sleeves of the bi-rotor ac electric motor driving the post rotation are matched and connected with a stand shaft sleeve whose top is connected with the post chassis. The left side on the post chassis is provided with a bi-rotor ac electric motor driving a post swinging; the middle part on the post chassis is provided with a post casing in swinging way. The inner and outer rotor shaft sleeves of the bi-rotor ac electric motor driving the post swinging are matched and connected with the post casing. The lower right part of the post casing is provided with a bi-rotor ac electric motor driving a cross arm swinging; one end of a transversal axis, positioned in the post casing, is in transmission connection with one end of a transmission shaft through notched belt transmission. The utility model is to provide the robot driven by bi-rotor large torque motors with simple structure, small volume, low energy consumption and reliable performance.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind of employing double-rotor machine machine driven people.
Background technology
Existing robots adopts high-speed servo motor to drive each joint through deceleration device mostly, causes its structure comparatively complicated, and has big drive gap.In addition, because part motor and deceleration device need be installed in the associated joint, cause the inertia mass of associated joint to increase thus, thereby increased the power that drives the motor of associated joint.For this reason, the applicant is on January 20th, 2003, applied for the utility model patent of " dual rotor AC synchronous motor " by name to China national Department of Intellectual Property, now authorizes and announces, and its patent No. is 03236312.5.In the utility model patent of " dual rotor AC synchronous motor ", a kind of dual rotor AC synchronous motor is disclosed, comprise casing, be provided with stator and rotor in it, described casing is a tubular, described stator comprises stator support, inner stator coil and external stator coil, the casing right-hand member is equipped with end cap, be positioned at casing on the end cap and be provided with stator support around the casing axis, in the stator support, be provided with inner stator coil and external stator coil around the casing axis respectively on the lateral wall, described rotor comprises internal rotor and the outer rotor that is provided with mouse cage shape coil, and internal rotor is provided with some internal rotor magnetic poles, and internal rotor is fixed on the internal axle sleeve, the right-hand member of internal axle sleeve is installed in rotation on the center of described end cap, the left end of internal axle sleeve is installed in rotation on the center of described casing left end, is provided with outer rotor between described external stator coil and the casing inner wall, and outer rotor is provided with some to external rotor magnetic poles, in outer rotor was installed in and overlaps in the cylindrical shape, cover was installed in rotation on the described casing in the cylindrical shape.This " dual rotor AC synchronous motor " can be used for the driving in each joint of robot.
The utility model content
It is a kind of simple in structure that the purpose of this utility model is to provide, and volume is little, and energy consumption is low, the birotor electric motor with large torque driven machine people of dependable performance.
Birotor electric motor with large torque driven machine people of the present utility model, comprise the robot working head, base, a plurality of dual-rotor ac motor and encoders with power-off brake device, the described dual-rotor ac motor that a driving column rotates is installed in the described base, the inner and outer rotors axle sleeve that drives column rotation dual-rotor ac motor cooperates with vertical shaft sleeve and links to each other, the top of vertical shaft sleeve links to each other with the column chassis, left side on the column chassis is equipped with the described dual-rotor ac motor that drives the column swing, middle part on the column chassis can swingingly be equipped with the column housing, the inner and outer rotors axle sleeve that drives column swing dual-rotor ac motor cooperates with the column housing and links to each other, the described dual-rotor ac motor that drives the transverse arm swing is installed on the right side of column lower housing portion, the internal rotor axle sleeve that drives transverse arm swing dual-rotor ac motor with pierce into described column housing in the transverse axis of bottom cooperate and link to each other, the end that transverse axis is positioned at the column housing links to each other with an end transmission of power transmission shaft by the transmission of flute profile band, power transmission shaft can be installed in the top in the described column housing rotationally, the top of column housing can swingingly be equipped with the transverse arm housing, described power transmission shaft links to each other with the balance staff transmission that can be installed in transverse arm housing outer end rotationally by the transmission of flute profile band, balance staff and described robot working head are fixedly linked, the outer rotor axle sleeve that drives transverse arm swing dual-rotor ac motor with pierce into described column housing in the transverse axis cover of bottom cooperate and link to each other, transverse axis puts the middle part that is positioned at the column housing and is provided with driving-disc, the top left and right symmetrically of driving-disc is respectively equipped with a drive rod, two drive rods are upward through the cavity in the described column housing, cooperate with transverse arm driving-disc left and right symmetrically respectively and link to each other, the transverse arm driving-disc is installed in the inner end of described transverse arm housing, and described driving column rotates dual-rotor ac motor, be respectively equipped with encoder on the transmission device of described driving column swing dual-rotor ac motor and described driving transverse arm swing dual-rotor ac motor.
Birotor electric motor with large torque driven machine people's of the present utility model advantage and good effect are: because it has adopted dual-rotor ac motor, do not re-use deceleration device in design, make its frame for movement greatly simplify, and drive gap reduces, the inertia mass of the associated joint that is thus diminishes, thereby also reduced to drive the power of the motor of associated joint, so birotor electric motor with large torque driven machine people of the present utility model has simple in structure, volume is little, energy consumption is low, the characteristics of dependable performance.
The utility model birotor electric motor with large torque driven machine people's other details and characteristics can just can be cheer and bright by reading the embodiment hereinafter encyclopaedize in conjunction with the accompanying drawings.
Description of drawings
Fig. 1 is the novel birotor electric motor with large torque driven machine people's of this practicality the front view of structural representation;
Fig. 2 is the right side view of Fig. 1;
Fig. 3 is the vertical view of Fig. 1;
Fig. 4 is the main pseudosection of structural representation of birotor electric motor with large torque driven machine people's base;
Fig. 5 is the main pseudosection of structural representation of birotor electric motor with large torque driven machine people's column;
Fig. 6 is that the A of Fig. 5 is to view;
Fig. 7 is the main pseudosection of the structural representation of transverse arm.
The specific embodiment
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, the utility model birotor electric motor with large torque driven machine people, comprise robot working head 12, base 1, the dual-rotor ac motor 2 that a driving column rotates is installed in the base 1, the inner and outer rotors axle sleeve that drives column rotation dual-rotor ac motor 2 cooperates with vertical shaft sleeve 3 and links to each other, the top of vertical shaft sleeve 3 links to each other with column chassis 4, left side on column chassis 4 is equipped with the dual-rotor ac motor 5 that drives the column swing, middle part on column chassis 4 can swingingly be equipped with column housing 6, the inner and outer rotors axle sleeve that drives column swing dual-rotor ac motor 5 cooperates with column housing 6 and links to each other, the dual-rotor ac motor 7 that drives the transverse arm swing is installed on the right side of column housing 6 bottoms, the internal rotor axle sleeve that drives transverse arm swing dual-rotor ac motor 7 cooperates with the transverse axis 8 that pierces into column housing 6 interior bottoms and links to each other, the end that transverse axis 8 is positioned at column housing 6 links to each other with an end transmission of power transmission shaft 9 by flute profile band 18, power transmission shaft 9 can be installed in the top in the column housing 6 rotationally, the top of column housing 6 can swingingly be equipped with transverse arm housing 10, power transmission shaft 9 links to each other with balance staff 11 transmissions that can be installed in transverse arm housing 10 outer ends rotationally by flute profile band 17, balance staff 11 is fixedly linked with robot working head 12, the outer rotor axle sleeve that drives transverse arm swing dual-rotor ac motor 7 cooperates with the transverse axis cover 15 that pierces into column housing 6 interior bottoms and links to each other, the middle part that is positioned at column housing 6 on the transverse axis cover 15 is provided with driving-disc 16, the top left and right symmetrically of driving-disc 16 is respectively equipped with a drive rod 13, two drive rods 13 are upward through the cavity in the column housing 6, cooperate with transverse arm driving-disc 14 left and right symmetricallies respectively and link to each other, transverse arm driving-disc 14 is installed in the inner end of transverse arm housing 10, drives column and rotates dual-rotor ac motor 2, be respectively equipped with encoder and power-off brake device on the transmission device of driving column swing dual-rotor ac motor 5 and driving transverse arm swing dual-rotor ac motor 7.
Birotor electric motor with large torque driven machine people of the present utility model in use, the inner and outer rotors axle sleeve that drives column rotation dual-rotor ac motor 2 drags vertical shaft sleeve 3 and rotates, vertical shaft sleeve 3 drives column chassis 4 and rotates, 4 on column chassis drives driving column swing dual-rotor ac motor 5 and column housing 6 is done rotatablely moving of along continuous straight runs, and the encoder that drives column rotation dual-rotor ac motor 2 can be delivered to the data that collect electrical apparatus control system and handle; The inner and outer rotors axle sleeve that drives column swing dual-rotor ac motor 5 drags column housing 6 and does reciprocal oscillating motion, column housing 6 drives and drives 7 swings of transverse arm swing dual-rotor ac motor, and the encoder that drives column swing dual-rotor ac motor 5 can be delivered to the data that collect electrical apparatus control system and handle; The internal rotor axle sleeve that drives transverse arm swing dual-rotor ac motor 7 drags transverse axis 8 motions, transverse axis 8 drags power transmission shaft 9 by flute profile band 18 and rotates, power transmission shaft 9 drags balance staff 11 motions that are installed in transverse arm housing 10 outer ends by flute profile band 18, and 11 of balance staffs drag 12 motion of the artificial do of machine; And the outer rotor axle sleeve that drives transverse arm swing dual-rotor ac motor 7 can drive 15 motions of transverse axis cover, the driving-disc 16 that transverse axis overlaps 15 middle parts drives 13 motions of two drive rods, two drive rods 13 are upward through the cavity in the column housing 6, drive 14 motions of transverse arm driving-disc, 14 drive transverse arms of transverse arm driving-disc housing 10 is done upper and lower reciprocating motion, and the encoder that drives transverse arm swing dual-rotor ac motor 7 can be delivered to the data that collect electrical apparatus control system and handle.
Birotor electric motor with large torque driven machine people of the present utility model, because it has adopted dual-rotor ac motor, do not re-use deceleration device in design, make its frame for movement greatly simplify, and drive gap reduces, the inertia mass of the associated joint that is thus diminishes, thereby has also reduced to drive the power of the motor of associated joint.So it is simple in structure that birotor electric motor with large torque driven machine people of the present utility model has, volume is little, and energy consumption is low, the characteristics of dependable performance.
Embodiment recited above is described preferred implementation of the present utility model; be not that design of the present utility model and scope are limited; do not breaking away under the utility model design prerequisite; common engineers and technicians make the technical solution of the utility model in this area various modification and improvement; all should fall into protection domain of the present utility model; the technology contents that the utility model is asked for protection all is documented in claims.
Claims (1)
1. birotor electric motor with large torque driven machine people, comprise robot working head (12), base (1), a plurality of dual-rotor ac motor and encoders with power-off brake device, it is characterized in that being equipped with in the described base (1) the described dual-rotor ac motor (2) that a driving column rotates, the inner and outer rotors axle sleeve that drives column rotation dual-rotor ac motor (2) cooperates with vertical shaft sleeve (3) and links to each other, the top of vertical shaft sleeve (3) links to each other with column chassis (4), left side on column chassis (4) is equipped with the described dual-rotor ac motor (5) that drives the column swing, middle part on column chassis (4) can swingingly be equipped with column housing (6), the inner and outer rotors axle sleeve that drives column swing dual-rotor ac motor (5) cooperates with column housing (6) and links to each other, the described dual-rotor ac motor (7) that drives the transverse arm swing is installed on the right side of column housing (6) bottom, the internal rotor axle sleeve that drives transverse arm swing dual-rotor ac motor (7) cooperates with the transverse axis (8) that pierces into the interior bottom of described column housing (6) and links to each other, the end that transverse axis (8) is positioned at column housing (6) links to each other with an end transmission of power transmission shaft (9) by flute profile band (18), power transmission shaft (9) can be installed in the top in the described column housing (6) rotationally, the top of column housing (6) can swingingly be equipped with transverse arm housing (10), described power transmission shaft (9) links to each other with balance staff (11) transmission that can be installed in transverse arm housing (10) outer end rotationally by flute profile band (17), balance staff (11) is fixedly linked with described robot working head (12), the outer rotor axle sleeve that drives transverse arm swing dual-rotor ac motor (7) cooperates with the transverse axis cover (15) that pierces into the interior bottom of described column housing (6) and links to each other, the middle part that is positioned at column housing (6) on the transverse axis cover (15) is provided with driving-disc (16), the top left and right symmetrically of driving-disc (16) is respectively equipped with a drive rod (13), two drive rods (13) are upward through the cavity in the described column housing (6), cooperate with transverse arm driving-disc (14) left and right symmetrically respectively and link to each other, transverse arm driving-disc (14) is installed in the inner end of described transverse arm housing (10), and described driving column rotates dual-rotor ac motor (2), be respectively equipped with encoder on the transmission device of described driving column swing dual-rotor ac motor (5) and described driving transverse arm swing dual-rotor ac motor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420096383 CN2744482Y (en) | 2004-09-29 | 2004-09-29 | Robot driven by bi-rotor large torque motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420096383 CN2744482Y (en) | 2004-09-29 | 2004-09-29 | Robot driven by bi-rotor large torque motor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2744482Y true CN2744482Y (en) | 2005-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420096383 Expired - Fee Related CN2744482Y (en) | 2004-09-29 | 2004-09-29 | Robot driven by bi-rotor large torque motor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2744482Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213839A (en) * | 2013-02-28 | 2013-07-24 | 钟昀晖 | Sorting, clamping and conveying industrial robot applied to forging industry |
| CN105835033A (en) * | 2015-01-29 | 2016-08-10 | 株式会社安川电机 | Robot |
| CN106451977A (en) * | 2016-09-23 | 2017-02-22 | 郑州润华智能设备有限公司 | Double stator direct drive permanent magnet motor and its parallel robot structure |
-
2004
- 2004-09-29 CN CN 200420096383 patent/CN2744482Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103213839A (en) * | 2013-02-28 | 2013-07-24 | 钟昀晖 | Sorting, clamping and conveying industrial robot applied to forging industry |
| CN103213839B (en) * | 2013-02-28 | 2016-01-20 | 钟昀晖 | A kind of forging industry is selected materials clamping transportation industrial robot |
| CN105835033A (en) * | 2015-01-29 | 2016-08-10 | 株式会社安川电机 | Robot |
| CN106451977A (en) * | 2016-09-23 | 2017-02-22 | 郑州润华智能设备有限公司 | Double stator direct drive permanent magnet motor and its parallel robot structure |
| CN106451977B (en) * | 2016-09-23 | 2018-11-13 | 郑州润华智能设备有限公司 | A kind of double-stator direct-drive permanent magnet motor and its parallel robot structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |