CN108724244A - A kind of joint of robot module - Google Patents
A kind of joint of robot module Download PDFInfo
- Publication number
- CN108724244A CN108724244A CN201810738451.3A CN201810738451A CN108724244A CN 108724244 A CN108724244 A CN 108724244A CN 201810738451 A CN201810738451 A CN 201810738451A CN 108724244 A CN108724244 A CN 108724244A
- Authority
- CN
- China
- Prior art keywords
- ring
- adjustable magnetic
- axis
- socketed
- magnetic holder
- 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.)
- Granted
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 29
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
- H02K7/09—Structural association with bearings with magnetic bearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
- H02K11/33—Drive circuits, e.g. power electronics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2786—Outer rotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/28—Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/0094—Structural association with other electrical or electronic devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K13/00—Structural associations of current collectors with motors or generators, e.g. brush mounting plates or connections to windings; Disposition of current collectors in motors or generators; Arrangements for improving commutation
- H02K13/003—Structural associations of slip-rings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/165—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields radially supporting the rotor around a fixed spindle; radially supporting the rotor directly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2380/00—Electrical apparatus
- F16C2380/26—Dynamo-electric machines or combinations therewith, e.g. electro-motors and generators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Motor Or Generator Frames (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of joint of robot module, preceding adjustable magnetic holder is socketed on the periphery of d-axis front end, on the periphery for the back segment that rear adjustable magnetic holder is socketed in d-axis；Adjustable magnetic holder forward extends out first annular wrapping portion afterwards, and preceding adjustable magnetic holder stretches out the second circular wrappings portion backward；The both ends of adjustable magnetic armature are plugged on respectively on the front end face and the second circular wrappings portion rear end face of first annular wrapping portion；The outside composition hemi-closure space of d-axis, preceding adjustable magnetic holder, rear adjustable magnetic holder, adjustable magnetic armature；Circuit board, stator core are socketed on d-axis in hemi-closure space, stator core is wound with stator coil；Afterwards collector ring is socketed on the d-axis of the rear side of adjustable magnetic holder；D-axis hollow setting is provided with multiple cable-through holes on d-axis, and the conducting wire of circuit board passes through cable-through hole, the inside of d-axis is separately connected collector ring and stator coil, realize inside can with cabling, will not cause it is in disorder, it is safe.
Description
Technical field
The present invention relates to robotic technology fields, and in particular to a kind of joint of robot module.
Background technology
With the increase of employment cost and the development of technology, many factories, service for life field apply a large amount of machine
People.
It is needed into walking line to control robot, existing robot is more in disorder generally by external cabling, there is peace
Full hidden danger.
Invention content
The technical problem to be solved by the present invention is to：It is proposed that a kind of joint of robot module, the setting of shaft inner hollow are internal
Can with cabling, will not cause it is in disorder, it is safe.
A kind of joint of robot module, including it is d-axis, preceding adjustable magnetic holder, rear adjustable magnetic holder, adjustable magnetic armature, circuit board, fixed
Sub- iron core and collector ring；
Preceding adjustable magnetic holder is socketed on the periphery of d-axis front end, on the periphery for the back segment that rear adjustable magnetic holder is socketed in d-axis；
Adjustable magnetic holder forward extends out first annular wrapping portion afterwards, and preceding adjustable magnetic holder stretches out the second circular wrappings portion backward；Adjustable magnetic armature
Both ends are plugged on respectively on the front end face and the second circular wrappings portion rear end face of first annular wrapping portion；D-axis, preceding adjustable magnetic holder,
The outside composition hemi-closure space of adjustable magnetic holder, adjustable magnetic armature afterwards；
Circuit board, stator core are socketed on d-axis in hemi-closure space, stator core is wound with stator coil；
Afterwards collector ring is socketed on the d-axis of the rear side of adjustable magnetic holder；
The hollow setting of d-axis, multiple cable-through holes are provided on d-axis, and the conducting wire of circuit board passes through the interior sky of cable-through hole, d-axis
Part is separately connected collector ring and stator coil.
Preferably, further include drive end bearing bracket, rear end cap and internal rotor iron core；
Internal rotor iron core is provided on the outside of stator core, the both ends of internal rotor iron core are fixed on drive end bearing bracket and rear end cap
On, drive end bearing bracket and rear end cap are rotatably supported on d-axis；
Internal rotor iron core is located at the outside of adjustable magnetic armature；
Drive end bearing bracket, rear end cap and internal rotor iron core are located in hemi-closure space.
Preferably, further include outer rotor iron core, preceding support arm and rear support arm；
Outer rotor iron core is provided on the outside of adjustable magnetic armature, the both ends of outer rotor iron core are supported on the rear end face of preceding support arm
On the front end face of rear support arm, before preceding support arm is rotatably supported on adjustable magnetic holder, it is close that preceding adjustable magnetic holder is socketed in d-axis
On the periphery of front end, rear support arm is rotatably supported on rear adjustable magnetic holder, and rear adjustable magnetic holder is socketed in the periphery of the back segment of d-axis
On.
Preferably, further include power-off braker；
Power-off braker includes rotating member and brake component, and rotating member is connected on rear end cap, and brake component is connected to rear adjustable magnetic
On holder；Under energized state, rotating member and brake component separate, and under off-position, brake component is bonded and rotating member is prevented to rotate, from
And rear end cap is prevented to rotate, to prevent internal rotor iron core from rotating.
Preferably, further include code-disc, servo-driver, reading head and Bluetooth circuit；
Servo-driver, reading head and Bluetooth circuit are located on circuit board；
The outer sheath jointer disk of the d-axis of the front of drive end bearing bracket, code-disc are rotated together with rear end cap；
Reading head face code-disc is arranged, and reading head is fixed on circuit boards；
Code-disc, servo-driver, reading head and Bluetooth circuit are located in hemi-closure space.
Preferably, further include drive end bearing bracket bearing and bearing of rear end cover；
The inner ring of drive end bearing bracket bearing and bearing of rear end cover is socketed on d-axis respectively；
Drive end bearing bracket is socketed on the outer ring of drive end bearing bracket bearing, and rear end cap is socketed on the outer ring of bearing of rear end cover.
Preferably, further include preceding outrigger bearing and rear outrigger bearing；
Before the inner ring of preceding outrigger bearing is socketed on the excircle of adjustable magnetic holder, outer branch before the outer ring socket of preceding outrigger bearing
Frame；
The inner ring of outrigger bearing is socketed on the excircle of rear adjustable magnetic holder afterwards, outer branch after the outer ring socket of rear outrigger bearing
Frame.
Preferably, d-axis sets gradually first annular step, the second ring-shaped step, third ring-shaped step and from front to back
Four ring-shaped steps；
The height highest of third ring-shaped step；First annular step and the height of fourth annular step are equal；Second annular
The height of step is between third ring-shaped step and the height of first annular step；
The rear end face of preceding adjustable magnetic holder is resisted against on the front end face of first annular step；
The inner ring of circuit board and drive end bearing bracket bearing is socketed in first annular step；
The rear end face of drive end bearing bracket bearing is resisted against on the front end face of the second ring-shaped step；
Stator core is socketed on the second ring-shaped step, and the rear end face of stator core is resisted against the front end of third ring-shaped step
On face；
The front end face of bearing of rear end cover is resisted against on the rear end face of third ring-shaped step, and the inner ring of bearing of rear end cover is socketed in
On fourth annular step；
The front end face of adjustable magnetic holder is resisted against on the rear end face of fourth annular step afterwards.
Preferably, d-axis sets gradually the first cable-through hole, the second cable-through hole, third cable-through hole and the 4th and crosses line from front to back
Hole；
First cable-through hole is located at the rear side of circuit board, and the second cable-through hole is located at the front side of stator core, third cable-through hole position
In the rear side of power-off braker, the 4th cable-through hole is located at the inside of collector ring.
Preferably, collector ring includes slip-ring rotor and slip ring stator, and for being socketed d-axis, slip ring is fixed for the inside of slip ring stator
The outside rotation socket slip-ring rotor of son；
The inner wall of slip-ring rotor is provided with N number of second annular groove, and there are one V-type conductions for the interior setting of each second annular groove
Piece；
The outer wall of slip ring stator is provided with N number of first annular slot, and conducting ring, each V are embedded in each first annular slot
Two ends points of type conductive sheet, which are born against, to be connected on a conducting ring；
An outer lead is drawn in the middle part contact of each V-type conductive sheet to the external of slip-ring rotor, and each conduction is circumferential
The inside of slip ring stator introduces an inner lead；
Inner lead enters the hollow portion of d-axis across the 4th cable-through hole；
N is natural number, and N is more than or equal to 2.
The beneficial effects of the invention are as follows：A kind of joint of robot module, including d-axis, preceding adjustable magnetic holder, rear adjustable magnetic holder,
Adjustable magnetic armature, circuit board, stator core and collector ring；Preceding adjustable magnetic holder is socketed on the periphery of d-axis front end, rear adjustable magnetic holder
It is socketed on the periphery of the back segment of d-axis；Adjustable magnetic holder forward extends out first annular wrapping portion afterwards, and preceding adjustable magnetic holder stretches out backward
Second circular wrappings portion；The both ends of adjustable magnetic armature are plugged on front end face and the second circular wrappings portion of first annular wrapping portion respectively
On rear end face；The outside composition hemi-closure space of d-axis, preceding adjustable magnetic holder, rear adjustable magnetic holder, adjustable magnetic armature；In hemi-closure space
D-axis on be socketed with circuit board, stator core, stator core is wound with stator coil；Afterwards on the d-axis of the rear side of adjustable magnetic holder
It is socketed collector ring；The hollow setting of d-axis, is provided with multiple cable-through holes on d-axis, and the conducting wire of circuit board passes through cable-through hole, d-axis
Inside is separately connected collector ring and stator coil, realize it is internal can with cabling, will not cause it is in disorder, it is safe.
Description of the drawings
The joint of robot module of the present invention is described further below in conjunction with the accompanying drawings.
Fig. 1 is the sectional view of joint of robot module of the present invention.
Fig. 2 is the sectional view of the d-axis of joint of robot module of the present invention.
Fig. 3 is the explosive view of the collector ring of joint of robot module of the present invention.
In figure：
1- d-axis；11- first annular steps；The second ring-shaped steps of 12-；13- third ring-shaped steps；14- fourth annular platforms
Rank；The first cable-through holes of 15-；The second cable-through holes of 16-；17- third cable-through holes；The 4th cable-through holes of 18-；Adjustable magnetic holder before 2-；21-
Second ring wrapping portion；Adjustable magnetic holder after 3-；The first annular wrapping portions of 31-；4- adjustable magnetic armature；5- circuit boards；51- servo-drives
Device；52- reading heads；53- Bluetooth circuits；6- stator cores；61- stator coils；7- collector rings；71- slip-ring rotors；711- second
Annular groove；72- slip ring stators；The first annular slots of 721-；73- conducting rings；74-V type conductive sheets；8- drive end bearing brackets；9- rear end caps；
01- internal rotor iron cores；04- outer rotor iron cores；Support arm before 05-；Outrigger bearing before 051-；Support arm after 06-；Outrigger after 061-
Bearing；07- power-off brakers；071- rotating members；072- brake components；08- code-discs；091- drive end bearing bracket bearings；092- rear end cap axis
It holds.
Specific implementation mode
A kind of joint of robot module of 1~3 couple of present invention is described further below in conjunction with the accompanying drawings.
A kind of joint of robot module, including d-axis 1 further include：Preceding adjustable magnetic holder 2, rear adjustable magnetic holder 3, adjustable magnetic armature
4, circuit board 5, stator core 6 and collector ring 7；
Preceding adjustable magnetic holder 2 is socketed on the periphery of 1 front end of d-axis, and rear adjustable magnetic holder 3 is socketed in the periphery of the back segment of d-axis 1
On；Adjustable magnetic holder 3 forward extends out first annular wrapping portion 31 afterwards, and preceding adjustable magnetic holder 2 stretches out the second circular wrappings portion 21 backward；It adjusts
The both ends of magnetic armature 4 are plugged on respectively on 21 rear end face of front end face and the second circular wrappings portion of first annular wrapping portion 31；Directly
The outside composition hemi-closure space of axis 1, preceding adjustable magnetic holder 2, rear adjustable magnetic holder 3, adjustable magnetic armature 4；
Circuit board 5, stator core 6 are socketed on d-axis 1 in hemi-closure space, stator core 6 is wound with stator coil
61；
Collector ring 7 is socketed on the d-axis 1 of the rear side of adjustable magnetic holder 3 afterwards；
1 hollow setting of d-axis, is provided with multiple cable-through holes on d-axis 1, and the conducting wire of circuit board 5 passes through cable-through hole, d-axis 1
Inside is separately connected collector ring 7 and stator coil 61.
Further include drive end bearing bracket 8, rear end cap 9 and internal rotor iron core 01 in the present embodiment；
The outside of stator core 6 is provided with internal rotor iron core 01, and the both ends of internal rotor iron core 01 are fixed on drive end bearing bracket 8 with after
On end cap 9, drive end bearing bracket 8 and rear end cap 9 are rotatably supported on d-axis 1；
Internal rotor iron core 01 is located at the outside of adjustable magnetic armature 4；
Drive end bearing bracket 8, rear end cap 9 and internal rotor iron core 01 are located in hemi-closure space.
Further include outer rotor iron core 04, preceding support arm 05 and rear support arm 06 in the present embodiment；
The outside of adjustable magnetic armature 4 is provided with outer rotor iron core 04, and the both ends of outer rotor iron core 04 are supported on preceding support arm 05
Rear end face and rear support arm 06 front end face on, before preceding support arm 05 is rotatably supported on adjustable magnetic holder 2, preceding adjustable magnetic holder 2
D-axis 1 is socketed in close on the periphery of front end, rear support arm 06 is rotatably supported on rear adjustable magnetic holder 3, and rear adjustable magnetic holder 3 is socketed
On the periphery of the back segment of d-axis 1.
Further include power-off braker 07 in the present embodiment；
Power-off braker 07 includes rotating member 071 and brake component 072, and rotating member 071 is connected on rear end cap 9, brake component
072 is connected on rear adjustable magnetic holder 3；Under energized state, rotating member 071 and brake component 072 separate, under off-position, brake component
072 is bonded and rotating member 071 is prevented to rotate, to prevent rear end cap 9 from rotating, to prevent internal rotor iron core 01 from rotating.
Further include code-disc 08, servo-driver 51, reading head 52 and Bluetooth circuit 53 in the present embodiment；
Servo-driver 51, reading head 52 and Bluetooth circuit 53 are located on circuit board 5；
The outer sheath jointer disk 08 of the d-axis 1 of the front of drive end bearing bracket 8, code-disc 08 is rotated together with rear end cap 9；
52 face code-disc 08 of reading head is arranged, and reading head 52 is fixed on circuit board 5；
Code-disc 08, servo-driver 51, reading head 52 and Bluetooth circuit 53 are located in hemi-closure space.
Further include drive end bearing bracket bearing 091 and bearing of rear end cover 092 in the present embodiment；
The inner ring of drive end bearing bracket bearing 091 and bearing of rear end cover 092 is socketed on d-axis 1 respectively；
Drive end bearing bracket 8 is socketed on the outer ring of drive end bearing bracket bearing 091, and rear end cap 9 is socketed in the outer ring of bearing of rear end cover 092
On.
Further include preceding outrigger bearing 051 and rear outrigger bearing 061 in the present embodiment；
Before the inner ring of preceding outrigger bearing 051 is socketed on the excircle of adjustable magnetic holder 2, the outer snare of preceding outrigger bearing 051
Support arm 05 before connecing；
The inner ring of outrigger bearing 061 is socketed on the excircle of rear adjustable magnetic holder 3 afterwards, the outer snare of rear outrigger bearing 061
Connect rear support arm 06.
In the present embodiment, d-axis 1 sets gradually first annular step 11, the second ring-shaped step 12, third ring from front to back
Shape step 13 and fourth annular step 14；
The height highest of third ring-shaped step 13；First annular step 11 is equal with the height of fourth annular step 14；The
The height of second ring step 12 is between third ring-shaped step 13 and the height of first annular step 11；
The rear end face of preceding adjustable magnetic holder 2 is resisted against on the front end face of first annular step 11；
The inner ring of circuit board 5 and drive end bearing bracket bearing 091 is socketed in first annular step 11；
The rear end face of drive end bearing bracket bearing 091 is resisted against on the front end face of the second ring-shaped step 12；
Stator core 6 is socketed on the second ring-shaped step 12, and the rear end face of stator core 6 is resisted against third ring-shaped step 13
Front end face on；
The front end face of bearing of rear end cover 092 is resisted against on the rear end face of third ring-shaped step 13, bearing of rear end cover 092 it is interior
Snare is connected on fourth annular step 14；
The front end face of adjustable magnetic holder 3 is resisted against on the rear end face of fourth annular step 14 afterwards.
In the present embodiment, d-axis 1 sets gradually the first cable-through hole 15, the second cable-through hole 16, third cable-through hole from front to back
17 and the 4th cable-through hole 18；
First cable-through hole 15 is located at the rear side of circuit board 5, and the second cable-through hole 16 is located at the front side of stator core 6, third mistake
String holes 17 is located at the rear side of power-off braker 07, and the 4th cable-through hole 18 is located at the inside of collector ring 7.
In the present embodiment, collector ring 7 includes slip-ring rotor 71 and slip ring stator 72, and the inside of slip ring stator 72 is for being socketed
D-axis 1, the outside rotation socket slip-ring rotor 71 of slip ring stator 72；
The inner wall of slip-ring rotor 71 is provided with N number of second annular groove 711, and there are one V for the interior setting of each second annular groove 711
Type conductive sheet 74；
The outer wall of slip ring stator 72 is provided with N number of first annular slot 721, and conduction is embedded in each first annular slot 721
Ring 73, two ends points of each V-type conductive sheet 74, which are born against, to be connected on a conducting ring 73；
An outer lead, each conduction are drawn to the external of slip-ring rotor 71 in the middle part contact of each V-type conductive sheet 74
Ring 73 introduces an inner lead to the inside of slip ring stator 72；
Inner lead passes through the 4th cable-through hole 18 into the hollow portion of d-axis 1；
N is natural number, and N is more than or equal to 2.
The present invention's is not limited to the above embodiment, and the technical solution of above-mentioned each embodiment of the invention can be handed over each other
Fork combination form new technical solution, in addition it is all using equivalent replacement formed technical solution, all fall within the present invention claims guarantor
It protects in range.
Claims (10)
1. a kind of joint of robot module, including d-axis (1), which is characterized in that further include：Preceding adjustable magnetic holder (2), rear adjustable magnetic branch
Frame (3), adjustable magnetic armature (4), circuit board (5), stator core (6) and collector ring (7)；
The preceding adjustable magnetic holder (2) is socketed on the periphery of the d-axis (1) front end, and the rear adjustable magnetic holder (3) is socketed in institute
On the periphery for stating the back segment of d-axis (1)；Adjustable magnetic holder (3) forward extends out first annular wrapping portion (31) after described, is adjusted before described
Magnetic holder (2) stretches out the second circular wrappings portion (21) backward；The both ends of the adjustable magnetic armature (4) are plugged on first ring respectively
On the front end face and second circular wrappings portion (21) rear end face of shape wrapping portion (31)；The d-axis (1), preceding adjustable magnetic holder
(2), rear adjustable magnetic holder (3), adjustable magnetic armature (4) outside constitute hemi-closure space；
Be socketed with circuit board (5), stator core (6) on d-axis (1) in the hemi-closure space, the stator core (6) around
It is formed with stator coil (61)；
After described the collector ring (7) is socketed on the d-axis (1) of the rear side of adjustable magnetic holder (3)；
The d-axis (1) hollow setting is provided with multiple cable-through holes on the d-axis (1), and the conducting wire of the circuit board (5) passes through
The cable-through hole, the d-axis (1) inside be separately connected the collector ring (7) and stator coil (61).
2. joint of robot module as described in claim 1, which is characterized in that further include drive end bearing bracket (8), rear end cap (9) and interior
Rotor core (01)；
Internal rotor iron core (01) is provided on the outside of the stator core (6), the both ends of the internal rotor iron core (01) are fixed on
On drive end bearing bracket (8) and rear end cap (9), the drive end bearing bracket (8) and rear end cap (9) are rotatably supported on the d-axis (1)；
The internal rotor iron core (01) is located at the outside of the adjustable magnetic armature (4)；
The drive end bearing bracket (8), rear end cap (9) and internal rotor iron core (01) are located in the hemi-closure space.
3. joint of robot module as claimed in claim 2, which is characterized in that further include outer rotor iron core (04), preceding support arm
(05) and rear support arm (06)；
Outer rotor iron core (04) is provided on the outside of the adjustable magnetic armature (4), the both ends of the outer rotor iron core (04) are supported on
On the rear end face of preceding support arm (05) and the front end face of rear support arm (06), the preceding support arm (05) is rotatably supported in preceding adjustable magnetic
On holder (2), the preceding adjustable magnetic holder (2) is socketed in the d-axis (1) close on the periphery of front end, the rear support arm (06)
It is rotatably supported on rear adjustable magnetic holder (3), on the periphery for the back segment that the rear adjustable magnetic holder (3) is socketed in the d-axis (1).
4. joint of robot module as claimed in claim 3, which is characterized in that further include power-off braker (07)；
The power-off braker (07) includes rotating member (071) and brake component (072), and the rotating member (071) is connected to described
On rear end cap (9), brake component (072) connection is in the rear on adjustable magnetic holder (3)；Under energized state, rotating member (071) and
Brake component (072) separates, and under off-position, brake component (072) is bonded and rotating member (071) is prevented to rotate, to prevent rear end
(9) rotation is covered, to prevent internal rotor iron core (01) from rotating.
5. joint of robot module as claimed in claim 4, which is characterized in that further include code-disc (08), servo-driver (51),
Reading head (52) and Bluetooth circuit (53)；
The servo-driver (51), reading head (52) and Bluetooth circuit (53) are located on the circuit board (5)；
The outside of the d-axis (1) of the front of the drive end bearing bracket (8) is socketed the code-disc (08), and the code-disc (08) is with described
Rear end cap (9) rotates together；
Code-disc (08) described in reading head (52) face is arranged, and the reading head (52) is fixed on the circuit board (5)；
Code-disc (08), servo-driver (51), reading head (52) and Bluetooth circuit (53) are located in the hemi-closure space.
6. joint of robot module as claimed in claim 5, which is characterized in that further include drive end bearing bracket bearing (091) and rear end cap
Bearing (092)；
The inner ring of the drive end bearing bracket bearing (091) and bearing of rear end cover (092) is socketed in respectively on the d-axis (1)；
The drive end bearing bracket (8) is socketed on the outer ring of the drive end bearing bracket bearing (091), and rear end cap (9) socket is in the rear
On the outer ring of bearing with end cover (092).
7. joint of robot module as claimed in claim 6, which is characterized in that further include preceding outrigger bearing (051) and rear outrigger
Bearing (061)；
The inner ring of the preceding outrigger bearing (051) is socketed on the excircle of the preceding adjustable magnetic holder (2), the preceding outrigger bearing
(051) outer ring is socketed the preceding support arm (05)；
The inner ring of outrigger bearing (061) is socketed on the excircle of adjustable magnetic holder (3) in the rear after described, the rear outrigger bearing
(061) the outer ring socket rear support arm (06).
8. joint of robot module as claimed in claim 7, which is characterized in that the d-axis (1) sets gradually institute from front to back
State first annular step (11), the second ring-shaped step (12), third ring-shaped step (13) and fourth annular step (14)；
The height highest of the third ring-shaped step (13)；The height of the first annular step (11) and fourth annular step (14)
It spends equal；The height of second ring-shaped step (12) is between the third ring-shaped step (13) and the first annular step
(11) between height；
The rear end face of the preceding adjustable magnetic holder (2) is resisted against on the front end face of the first annular step (11)；
The inner ring of the circuit board (5) and drive end bearing bracket bearing (091) is socketed in the first annular step (11)；
The rear end face of the drive end bearing bracket bearing (091) is resisted against on the front end face of second ring-shaped step (12)；
The stator core (6) is socketed on second ring-shaped step (12), and the rear end face of the stator core (6) is resisted against
On the front end face of the third ring-shaped step (13)；
The front end face of the bearing of rear end cover (092) is resisted against on the rear end face of the third ring-shaped step (13), the rear end
The inner ring of lid bearing (092) is socketed on the fourth annular step (14)；
The front end face of adjustable magnetic holder (3) is resisted against on the rear end face of the fourth annular step (14) after described.
9. joint of robot module as claimed in claim 8, which is characterized in that the d-axis (1) sets gradually institute from front to back
State the first cable-through hole (15), the second cable-through hole (16), third cable-through hole (17) and the 4th cable-through hole (18)；
First cable-through hole (15) is located at the rear side of the circuit board (5), and second cable-through hole (16) is located at the stator
The front side of iron core (6), the third cable-through hole (17) are located at the rear side of the power-off braker (07), the 4th cable-through hole
(18) it is located at the inside of the collector ring (7).
10. joint of robot module as claimed in claim 9, which is characterized in that the collector ring (7) includes slip-ring rotor (71)
With slip ring stator (72), the inside of the slip ring stator (72) for being socketed the d-axis (1), the slip ring stator (72) it is outer
Side rotation is socketed the slip-ring rotor (71)；
The inner wall of the slip-ring rotor (71) is provided with N number of second annular groove (711), in each second annular groove (711)
There are one V-type conductive sheets (74) for setting；
The outer wall of the slip ring stator (72) is provided with N number of first annular slot (721), in each first annular slot (721)
Be embedded with conducting ring (73), two ends points of each V-type conductive sheet (74) bear against be connected to one described in lead
On electric ring (73)；
An outer lead is drawn in the middle part contact of each V-type conductive sheet (74) to the external of slip-ring rotor (71), each
The conducting ring (73) introduces an inner lead to the inside of the slip ring stator (72)；
The inner lead passes through the 4th cable-through hole (18) into the hollow portion of the d-axis (1)；
N is natural number, and N is more than or equal to 2.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810478371 | 2018-05-18 | ||
| CN2018104783719 | 2018-05-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108724244A true CN108724244A (en) | 2018-11-02 |
| CN108724244B CN108724244B (en) | 2024-05-31 |
Family
ID=63627723
Family Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810618707.7A Active CN108599471B (en) | 2018-05-18 | 2018-06-15 | Wireless control servo motor |
| CN201810619308.2A Active CN108599454B (en) | 2018-05-18 | 2018-06-15 | Magnetic suspension motor |
| CN201810738451.3A Active CN108724244B (en) | 2018-05-18 | 2018-07-06 | Robot joint module |
| CN201810933324.9A Active CN109038892B (en) | 2018-05-18 | 2018-08-16 | Automatic gear motor and hollow disc type structure of driver |
Family Applications Before (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810618707.7A Active CN108599471B (en) | 2018-05-18 | 2018-06-15 | Wireless control servo motor |
| CN201810619308.2A Active CN108599454B (en) | 2018-05-18 | 2018-06-15 | Magnetic suspension motor |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810933324.9A Active CN109038892B (en) | 2018-05-18 | 2018-08-16 | Automatic gear motor and hollow disc type structure of driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (4) | CN108599471B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554249A (en) * | 2019-09-04 | 2019-12-10 | 中山香山微波科技有限公司 | Far field test system for microwave darkroom |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3518388A1 (en) * | 2018-01-12 | 2019-07-31 | Carrier Corporation | Electric motor drive integration |
| CN108599471B (en) * | 2018-05-18 | 2024-01-23 | 深圳超磁机器人科技有限公司 | Wireless control servo motor |
| CN109448352A (en) * | 2018-12-06 | 2019-03-08 | 珠海格力电器股份有限公司 | Servo motor control device and method based on wireless communication |
| CN113623319B (en) * | 2021-07-08 | 2023-06-30 | 安徽华驰动能科技有限公司 | Magnetic suspension bearing with safety braking protection function |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6277050A (en) * | 1985-09-27 | 1987-04-09 | Tokyo Electric Co Ltd | Hybrid type stepping motor |
| CN201349167Y (en) * | 2008-10-09 | 2009-11-18 | 广东工业大学 | Composite excitation brushless motor for driving electric car |
| CN102647060A (en) * | 2012-04-20 | 2012-08-22 | 上海交通大学 | Magnetic gear-type composite hub motor |
| CN104935111A (en) * | 2015-07-09 | 2015-09-23 | 兰州交通大学 | Mechanical adjustable magnet type rotation motor |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN106655680A (en) * | 2017-02-25 | 2017-05-10 | 兰州交通大学 | Adjustable-magnetic rotation motor |
| CN107070176A (en) * | 2017-05-16 | 2017-08-18 | 深圳市赫瑞科技有限公司 | A kind of magnetic gear |
| CN108429394A (en) * | 2018-05-18 | 2018-08-21 | 深圳超磁机器人科技有限公司 | A kind of hollow big torque servo motor |
| CN108494175A (en) * | 2018-05-18 | 2018-09-04 | 深圳超磁机器人科技有限公司 | A kind of hollow servo motor of bus-type |
| CN108599471A (en) * | 2018-05-18 | 2018-09-28 | 深圳超磁机器人科技有限公司 | A kind of servo motor of wireless control |
| CN208880763U (en) * | 2018-05-18 | 2019-05-21 | 深圳超磁机器人科技有限公司 | A kind of joint of robot mould group |
Family Cites Families (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100910548B1 (en) * | 2007-08-29 | 2009-08-03 | 전자부품연구원 | Brushless dc motor |
| CN101555905A (en) * | 2008-04-08 | 2009-10-14 | 卓向东 | Magnetic suspension bearing and suspended rotating shaft |
| CN101769334B (en) * | 2008-12-31 | 2015-10-21 | 张玉宝 | A kind of single-degree-of-freedom magnetic suspension rotor support system and magnetic bearing and weight losing method |
| CN101783557B (en) * | 2010-02-08 | 2012-03-21 | 北京航空航天大学 | Permanent magnet synchronous motor without stator iron core |
| CN203278577U (en) * | 2013-05-24 | 2013-11-06 | 江西省电力设计院 | Outer-stator wind-driven generator |
| CN104795958B (en) * | 2014-12-18 | 2018-12-21 | 遨博（北京）智能科技有限公司 | A kind of Brushless DC Servo System with hollow shaft motor using mechanical arm |
| CN106849525A (en) * | 2015-12-03 | 2017-06-13 | 天津市银钻电机有限公司 | A kind of controlled in wireless servomotor |
| CN205647188U (en) * | 2016-05-23 | 2016-10-12 | 西安安凡达智能电机有限公司 | Synchronous servo motor of permanent magnetism uses intelligent encoder |
| CN205792054U (en) * | 2016-06-02 | 2016-12-07 | 深圳市汇川技术股份有限公司 | A kind of decelerator with encoder |
| CN106100268A (en) * | 2016-08-23 | 2016-11-09 | 江西韵动新能源研究院有限公司 | A kind of inner-outer birotor magneto |
| JP2018057080A (en) * | 2016-09-26 | 2018-04-05 | 日本電産サンキョー株式会社 | Motor with brake |
| CN206908504U (en) * | 2017-05-16 | 2018-01-19 | 深圳市赫瑞科技有限公司 | A kind of magnetic gear |
| CN107425648B (en) * | 2017-08-25 | 2023-11-21 | 谢竞宁 | Horizontal outer rotor magnetic suspension flywheel energy storage device |
-
2018
- 2018-06-15 CN CN201810618707.7A patent/CN108599471B/en active Active
- 2018-06-15 CN CN201810619308.2A patent/CN108599454B/en active Active
- 2018-07-06 CN CN201810738451.3A patent/CN108724244B/en active Active
- 2018-08-16 CN CN201810933324.9A patent/CN109038892B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6277050A (en) * | 1985-09-27 | 1987-04-09 | Tokyo Electric Co Ltd | Hybrid type stepping motor |
| CN201349167Y (en) * | 2008-10-09 | 2009-11-18 | 广东工业大学 | Composite excitation brushless motor for driving electric car |
| CN102647060A (en) * | 2012-04-20 | 2012-08-22 | 上海交通大学 | Magnetic gear-type composite hub motor |
| CN105313132A (en) * | 2014-07-29 | 2016-02-10 | 北京自动化控制设备研究所 | High-integrality robot joint |
| CN104935111A (en) * | 2015-07-09 | 2015-09-23 | 兰州交通大学 | Mechanical adjustable magnet type rotation motor |
| CN106655680A (en) * | 2017-02-25 | 2017-05-10 | 兰州交通大学 | Adjustable-magnetic rotation motor |
| CN107070176A (en) * | 2017-05-16 | 2017-08-18 | 深圳市赫瑞科技有限公司 | A kind of magnetic gear |
| CN108429394A (en) * | 2018-05-18 | 2018-08-21 | 深圳超磁机器人科技有限公司 | A kind of hollow big torque servo motor |
| CN108494175A (en) * | 2018-05-18 | 2018-09-04 | 深圳超磁机器人科技有限公司 | A kind of hollow servo motor of bus-type |
| CN108599471A (en) * | 2018-05-18 | 2018-09-28 | 深圳超磁机器人科技有限公司 | A kind of servo motor of wireless control |
| CN108599454A (en) * | 2018-05-18 | 2018-09-28 | 深圳超磁机器人科技有限公司 | a kind of magnetic suspension motor |
| CN208880763U (en) * | 2018-05-18 | 2019-05-21 | 深圳超磁机器人科技有限公司 | A kind of joint of robot mould group |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554249A (en) * | 2019-09-04 | 2019-12-10 | 中山香山微波科技有限公司 | Far field test system for microwave darkroom |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108599454B (en) | 2023-10-03 |
| CN108599454A (en) | 2018-09-28 |
| CN108599471A (en) | 2018-09-28 |
| CN108724244B (en) | 2024-05-31 |
| CN108599471B (en) | 2024-01-23 |
| CN109038892B (en) | 2024-04-09 |
| CN109038892A (en) | 2018-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108724244A (en) | A kind of joint of robot module | |
| WO2010039786A3 (en) | Electric machine | |
| CN208880763U (en) | A kind of joint of robot mould group | |
| EP2173020A3 (en) | Winding cores with stratification motion | |
| CN106067714B (en) | Device for mounting a magnet to an electric machine | |
| CN102377306A (en) | Rotating electric machine, wind power generation system and method of manufacturing rotating electric machine | |
| CN208035939U (en) | A kind of steering electric hub device | |
| CN109254247A (en) | A kind of new energy rotor mechanism for testing under high-speed condition | |
| CN112165227A (en) | Surface-mounted permanent magnet synchronous motor assembly tool and use method thereof | |
| CN205141956U (en) | Permanent magnetism direct current motor for medical equipment | |
| CN106663988A (en) | Electric motor and ventilation fan | |
| CN106100221A (en) | A kind of horizontal stage electric machine and The Cloud Terrace | |
| CN103795192B (en) | Motor | |
| CN105896776A (en) | Motor rotor manufacture method and motor rotor structure | |
| CN108494175A (en) | A kind of hollow servo motor of bus-type | |
| CN205986463U (en) | Ptz motor and yun tai | |
| WO2023246014A1 (en) | Motor outer rotor structure, rotary power unit, and quadruped robot | |
| JP2009153361A (en) | Coil module for motor | |
| CN206211805U (en) | Direct current generator | |
| CN113794345A (en) | Brushless torque motor and preparation process thereof | |
| CN208112448U (en) | A kind of hollow servo motor of bus-type | |
| CN107196427A (en) | A kind of brushless turbine | |
| KR100973284B1 (en) | Rotor for brushless motor and method of manufacturing the rotor | |
| CN103825398B (en) | The split type motor of a kind of mechanical arm | |
| CN201781382U (en) | Connection structure for armature winding and commutator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |