CN110048543A - Without diastema motor mould group - Google Patents
Without diastema motor mould group Download PDFInfo
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- CN110048543A CN110048543A CN201910435340.XA CN201910435340A CN110048543A CN 110048543 A CN110048543 A CN 110048543A CN 201910435340 A CN201910435340 A CN 201910435340A CN 110048543 A CN110048543 A CN 110048543A
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- Prior art keywords
- output shaft
- main output
- power
- driving
- diastema
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- 208000010138 Diastema Diseases 0.000 title claims abstract description 58
- 210000000475 diastema Anatomy 0.000 title claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 2
- 230000009087 cell motility Effects 0.000 claims 1
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009826 distribution Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000000280 densification Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Classifications
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- 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
- 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
- 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
- H02K7/003—Couplings; Details of shafts
-
- 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
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of no diastema motor mould groups, it includes main output shaft and multiple driving units, and each driving unit has secondary output shaft;Main output shaft is equipped with power taking part, and each pair output shaft is equipped with the driving member engaged with power taking part, and each driving unit can be that main output shaft applies driving force by driving member and power taking part;Main output shaft power output is 0, and a part of driving unit is that main output shaft applies forward driving power, and another part driving unit is that main output shaft applies and the equal-sized reverse actuating force of forward driving power;Main output shaft power output is not 0, when the load on main output shaft is not higher than threshold value, a part of driving unit is that main output shaft applies forward driving power, another part driving unit is that output shaft applies the reverse actuating force for being less than forward driving power, when the load on main output shaft is higher than threshold value, driving unit is that main output shaft applies forward driving power, is a kind of inexpensive, executive component without diastema.
Description
Technical field
The present invention relates to executive component field more particularly to a kind of no diastema motor mould groups.
Background technique
Servo executive component is very important a part in robot technology, at present common servo in robot field
Executive component has following several:
1. motor adds harmonic speed reducer to add encoder, such as multiple degrees of freedom cooperation mechanical arm, the arm of large-scale anthropomorphic robot
And leg, mostly all by the way of harmonic reduction;
2. motor adds common retarder, since common retarder is there are diastema, institute generally will not directly use in this way
Joint of robot is done, the driving of wheel is usually used in;
3. steering engine is usually used in model plane ship model small scale robot joint etc. and does not need very high-precision scene.
Wherein, motor adds the mode performance of harmonic speed reducer best, can accomplish no gear clearance, but harmonic reduction
The manufacturing cost of device is high, and price can not have always been high any more;Motor adds the mode of common retarder at low cost, but due to gear clearance
Final output axis is set diastema occur, output accuracy is low;Steering engine price is low, easy to control, also there is the shortcomings that diastema.Three of the above class
The executive component of type accomplishes the equilibrium of Cost And Performance because being difficult, and respective application scenarios are restricted.
Summary of the invention
In order to overcome the shortcomings in the prior art, the present invention provides a kind of no diastema motor mould group, simple with structure,
Advantage low in cost, and can effectively eliminate the diastema of output shaft.
The purpose of the present invention is realized by following technical solution:
Without diastema motor mould group, including main output shaft and multiple driving units, each driving unit has can
Export the secondary output shaft of rotary motion;
The main output shaft is equipped with power taking part, and each secondary output shaft is equipped with the biography engaged with the power taking part
Moving part, each driving unit can be that the main output shaft applies driving force by the driving member and the power taking part;
The main output shaft power output is 0, and a part of driving unit is that the main output shaft applies forward driving power,
Driving unit described in another part is that the main output shaft applies and the equal-sized reverse actuating force of forward driving power;
The main output shaft power output is not 0, when the load on the main output shaft is not higher than threshold value, a part of drive
Moving cell is that the main output shaft applies forward driving power, and driving unit described in another part is that the output shaft applies less than just
To the reverse actuating force of driving force, when the load on the main output shaft is higher than threshold value, the driving unit is the main output
Axis applies forward driving power.
As the further alternative scheme of the no diastema motor mould group, the driving unit is motor.
As the further alternative scheme of the no diastema motor mould group, the main output shaft and the secondary output shaft
It is arranged in parallel, the pair output shaft is uniform or symmetrical along the circumferential direction of the main output shaft.
As the further alternative scheme of the no diastema motor mould group, multiple motor circumference tight distributions.
As the further alternative scheme of the no diastema motor mould group, the quantity of the motor is even number, when
When the motor is existed to the forward driving power and reverse actuating force of main output shaft, the power output of the adjacent motor it is opposite or
The motor at interval provides power output.
As the further alternative scheme of the no diastema motor mould group, the power taking part is phase with the driving member
Intermeshed gear, the tooth footpath of the power taking part are greater than the tooth footpath of the driving member.
As the further alternative scheme of the no diastema motor mould group, the power taking part is and the main output shaft
Coaxially connected ring gear, the driving member are the gear coaxially connected with the secondary output shaft.
As the further alternative scheme of the no diastema motor mould group, the no diastema motor mould group further includes machine
Shell is equipped with rolling bearing between the main output shaft and the casing, and the main output shaft at least one end is from the casing
Expose.
As the further alternative scheme of the no diastema motor mould group, the casing includes cylinder, top lid and bottom
Lid, the cylinder one side are open, and another side is equipped with supporting plate, and supporting plate is equipped with the through-hole for allowing the main output shaft to pass through, described
The cavity for accommodating the driving member and the power taking part, the bottom cover and the support are enclosed between top cover and the supporting plate
The cavity for accommodating the driving unit is enclosed between plate.
As the further alternative scheme of the no diastema motor mould group, the no diastema motor mould group further includes compiling
Code device, the main output shaft is equipped with encoder and/or each secondary output shaft is equipped with the encoder;
And/or the no diastema motor mould group further includes drive circuit board, the drive circuit board is for driving each institute
State driving unit movement.
Of the invention at least has the following beneficial effects: without diastema motor mould group
Multiple driving units can export the driving force of different directions to main output shaft, so that no matter main output shaft is exporting
Diastema, positioning accuracy with higher and driving precision are not present when power or non-power output, and multiple driving units can be right
The diastema of main output shaft forms dynamic and compensates, and not generated abrasion because of long-time use by no diastema motor mould group is influenced.Together
When multiple secondary output shafts drive a main output shaft that can divide equally torque jointly, can under the equal volume of motor mould group
With bigger power.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows the axis geodesic structure schematic diagram without diastema motor mould group of the offer of the embodiment of the present invention 1;
Fig. 2 shows the section first angle schematic diagrames without diastema motor mould group that the embodiment of the present invention 1 provides;
Fig. 3 shows the section second angle schematic diagram without diastema motor mould group of the offer of the embodiment of the present invention 1.
Main element symbol description:
100- motor mould group;110- main output shaft;111- ring flange;120- driving unit;121- pair output shaft;130- takes
Power part;131- terminal pad;140- driving member;150- casing;151- cylinder;151a- supporting plate;152- top cover;153- bottom cover;160-
Encoder;170- drive circuit board.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral;It can be mechanical connect
It connects, is also possible to be electrically connected;It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
Embodiment 1
As shown in Figure 1, present embodiments providing a kind of no diastema motor mould group, hereinafter referred to as motor mould group 100.Motor
Mould group 100 can be applied to aerospace, navigation, bionic mechanical, lathe, instrument, mine metallurgy, communications and transportation, hoisting machinery,
In the equipment such as Petro-Chemical Machinery, textile machine, agricultural machinery, medical instrument and robot, the actuation as the equipment is held
Units.The output shaft of motor mould group 100 can satisfy the high-precision requirement of organisation operations there is no rotation diastema.
Referring to Figure 2 together~3, motor mould group 100 includes main output shaft 110 and multiple driving units 120, each drive
Moving cell 120 has the secondary output shaft 121 that can export rotary motion.Main output shaft 110 is equipped with power taking part 130, each pair
Output shaft 121 is equipped with the driving member 140 engaged with power taking part 130, and each driving unit 120 can pass through driving member 140
It is that main output shaft 110 applies driving force with power taking part 130.Driving member 140 is by the engagement with power taking part 130 by secondary output shaft
In 121 power transmission to power taking part 130, power taking part 130 is connect with main output shaft 110, to drive main output shaft 110 together
Movement, will be in the power transmission to main output shaft 110 of multiple secondary output shafts 121.
When 110 power output of main output shaft is 0, that is, when being maintained at an angle, a part of driving unit 120 is applied for main output shaft
Add forward driving power, another part driving unit 120 is that main output shaft applies and forward driving power is equal-sized is driven in the reverse direction
Power.Main output shaft 110 exports rotary motion, forward driving power and reverse actuating force it is equal in magnitude, contrary so that
Driving unit 120 is 0 to the sum of driving force of main output shaft 110, so that 110 stress balance of main output shaft, keeps its turn
Angle.The driving unit 120 for providing forward driving power eliminates the surplus that rotates backward of main output shaft 110, provides reverse actuating force
Driving unit 120 by main output shaft 110 rotate forward surplus eliminate, and then eliminate main output shaft 110 static diastema, protect
Demonstrate,prove the positioning accuracy of main output shaft 110.
Above-mentioned, it can be all drivings that a part of forward driving unit 120, which is driven in the reverse direction unit 120 plus another part,
Unit 120, or the driving unit 120 of part, when for the driving unit 120 of part, remaining driving unit 120 can
Not work, i.e., any driving force is not applied to main output shaft 110, thus achieved the effect that energy-saving.
It is understood that when 110 power output of main output shaft is 0, for keeping the driving of 110 rotational angle of main output shaft
Without excessive, the load that the size of forward and reverse driving force can be suffered when not turning slightly larger than main output shaft 110 is kept away power
Exempt to cause unnecessary power consumption.
It should be noted that at the beginning of starting when 110 power output of main output shaft, due under 110 static state of main output shaft by
The reversed torsion arrived start winner's output can without diastema.
When 110 power output of main output shaft is not 0, it is divided into two kinds of situations:
1. the load on main output shaft 110 is not higher than threshold value, a part of driving unit 120 is the application of main output shaft 110
Forward driving power, another part driving unit 120 is that main output shaft 110 applies the reverse actuating force for being less than forward driving power, main
When load on output shaft 110 is higher than threshold value, driving unit 120 is that main output shaft 110 applies forward driving power.It loads smaller
When, reverse actuating force is provided by the way that the driving unit 120 of a part is set to main output shaft 110, so that main
Output shaft 110 has certain opposite force output trend, eliminates dynamic diastema of the main output shaft 110 on power output direction.
It is understood that it is a kind of opposite that another part driving unit 120, which is the application reverse actuating force of main output shaft 110,
The driving force of forward driving power, is driven in the reverse direction including active drive and passive matrix.The reverse actuating force of active can for just
The driving force contrary to driving force, passively reverse actuating force can be the not output power of driving unit 120, since master is defeated
The opposite power output of shaft 110 and its, so that the driving unit 120 of power output is not that main output shaft 110 provides relatively
Reverse actuating force.
2. the load on main output shaft 110 is higher than threshold value, driving unit 120 is that main output shaft 110 provides forward driving
Power guarantees that it can drive load thus, it is possible to guarantee that driving unit 120 can provide powerful power for main output shaft 110
Movement.Simultaneously when load is higher than threshold value, the reversed torsion for the load that main output shaft 110 is subject to can be by main output shaft 110
Diastema on power output direction is eliminated.
The setting of load threshold on the main output shaft 110 needs to meet main output shaft 110 being capable of the load in rotation
Torsion gap of the main output shaft 110 on power output direction can be eliminated, can be according to the function of motor mould group 100
Rate, service condition are specifically flexibly set.
Load on main output shaft 110 can be measured in real time by the torque sensor being set on main output shaft 110, from
And the movement of each driving unit 120 is controlled, directly each driving unit 120 can also control adjusting
The size of 110 torque of main output shaft.
Above-mentioned, multiple driving units 120 of motor mould group 100 can export the driving of different directions to main output shaft 110
Power or different driving revolving speeds so that no matter main output shaft 110 in power output or non-power output is not present diastema, have compared with
High positioning accuracy and driving angular displacement precision.
Since the reversed power output between multiple driving units 120 is eliminated the diastema of main output shaft 110, simultaneously
The influence worn is generated because long-time uses since reversed power output is not exposed to diastema motor mould group 100, is a kind of dynamic
The mode that diastema is eliminated can form different size of diastema and effectively eliminate.
In the present embodiment, driving unit 120 is motor, and each motor has independent secondary output shaft 121, thus independently
Driving force is provided for main output shaft 110.Motor mould group 100 is whole by the power of multiple motors by driving member 140 and power taking part 130
It exports altogether and by main output shaft 110.One main output shaft 110 of driving can be equal by torque jointly for multiple pair output shafts 121
Point, under conventional motors equal volume, this motor mould group 100 can have bigger power, or under Same Efficieney, volume
It is smaller.
Main output shaft 110 is arranged in parallel with secondary output shaft 121, and multiple driving units 120 are set along the circumferential direction of main output shaft 110
It sets, so that the transmission between main output shaft 110 and secondary output shaft 121 can be driven in parallel axial direction.Motor is in master
110 excircle of output shaft distribution, so that motor mould group 100 has more compact construction, so that motor mould group 100 has more
The appearance of rule.
Multiple driving units 120 are uniform or symmetrical along the circumferential direction of main output shaft 110, are uniformly distributed or are symmetrically distributed with
Conducive to being uniformly distributed for 120 output torque of driving unit, so that the axially loaded of main output shaft 110 is uniform, guarantee main output shaft
The stability of 110 power outputs.
Driving unit 120, i.e., the quantity of secondary output shaft 121 are multiple, can be two, three, four, five, six
It is even more.Further, the quantity of driving unit 120 be even number, i.e., two, four, six it is even more.
When main output shaft 110 is maintained at an angle, the opposite drive of adjacent 121 output size equal direction of secondary output shaft
Power.When main output shaft 110 is when not higher than unidirectional power output under threshold load, adjacent secondary output shaft 121 exports opposite
Driving force, and the forward driving power on power output direction is greater than reverse actuating force;Or in adjacent output shaft 121 secondary two-by-two
One provides forward driving power for main output shaft 110, another does not work, and when main output shaft 110 rotates, idle pair is defeated
Shaft 121 forms the resistance of positive power output to main output shaft 110.This set enables to forward driving power and is driven in the reverse direction
The distribution of power is more uniform, and can the rotation diastema to main output shaft 110 carry out segmentation elimination, effectively inhibit main output shaft
110 rotate when eliminating diastema, influence positioning accuracy.
Power taking part 130 and driving member 140 are pitch wheel, form gear driving pair therebetween, can be incited somebody to action
The dynamical stability of secondary output shaft 121, it is reliable, be efficiently transfer to main output shaft 110.Simultaneously power taking part 130 and driving member 140 it
Between a power taking part 130 can also be made to engage with multiple driving members 140 using gear-driven mode, multiple secondary output shafts
Transmission gear collective effect afterbody power take-off gear on 121 is not only by 100 compact-sizedization of motor mould group, but also makes final defeated
Torque out be evenly distributed with each transmission gear, the number of teeth of engagement increases simultaneously when stress, alleviates the load of transmission gear
Lotus.
The tooth footpath of power taking part 130 is greater than the tooth footpath of driving member 140, is equivalent between such driving member 140 and power taking part 130
Deceleration mechanism is formd, motor mould group 100, which is equivalent to, is integrated with speed reducer wherein.Driving member 140 not only will with power taking part 130
The power of driving unit 120 is transferred to main output shaft 110, also plays the role of reducing revolving speed to the power, promotes torque.
In the present embodiment, power taking part 130 is the ring gear coaxially connected with main output shaft 110, and driving member 140 is defeated with pair
The coaxially connected gear of shaft 121.Form internal messing between power taking part 130 and driving member 140 so that power taking part 130 with
The transmission mechanism formed between driving member 140 occupies lesser space, is advantageously implemented while with biggish transmission ratio
The design of the structure of large transmission ratio and densification.
In another embodiment, power taking part 130 can also be the gear coaxially connected with main output shaft 110, so that
External toothing is formed between power taking part 130 and driving member 140.
In another embodiment, power taking part 130 also may include multiple power take-off gears, and multiple power take-off gears can coaxially be set
It sets, is engaged from different transmission gears.
In other embodiments, power take-off gear can also be gear pair, thus enhance its slowing effect, similarly, transmission
Gear may be gear pair, increase gear stage.
It is above-mentioned, the diastema of main output shaft 110, the as gap between elimination power taking ring gear and transmission gear are eliminated, it is quiet
Rotating backward by transmission gear under state, so that the tooth of power taking ring gear and transmission gear is tightly engaged into.
In order to guarantee the densification setting of motor mould group 100, circumferential close row of the driving unit 120 along main output shaft 110
The shell of cloth, i.e., adjacent motor is in contact or forms a smaller gap.The inscribed circle cylinder of multiple motors falls in same cylinder
On face, circumcircle cylinder is fallen on same cylindrical surface, so that when motor mould group 100 has more driving units 120, still
There can be lesser volume.
Motor mould group 100 further includes casing 150, rolling bearing is equipped between main output shaft 110 and casing 150, and master is defeated
At least one end of shaft 110 is exposed from casing 150, is achieved in power output.Casing 150 is by driving unit 120, driving member
140 and power taking part 130 be placed in wherein, main output shaft 110 is exposed from casing 150 only, realizes the output of power, so that electric
Machine mould group 100 becomes an entirety.
Further, casing 150 is columnar shell, including cylinder 151, top cover 152 and bottom cover 153.151 one side of cylinder
Opening, another side are equipped with supporting plate 151a, have the through-hole for allowing main output shaft 110 to pass through on supporting plate 151a.On supporting plate 151a
Equipped with rolling bearing, the inner ring of rolling bearing is connected with power taking ring gear, and the lid of top cover 152 closes on the outer ring of rolling bearing and solid
It is scheduled on cylinder 151, so that rolling bearing and power taking part 130 are fixed between supporting plate 151a and top cover 152.Driving unit
The shell of 120 i.e. motors is fixed on the bottom surface of supporting plate 151a, and secondary output shaft 121 is stretched out from the top surface of supporting plate 151a and and driving cog
Wheel connection, transmission gear are engaged on power taking ring gear.Power taking ring gear is set in terminal pad 131, the end of main output shaft 110
Equipped with the ring flange 111 being connected with terminal pad 131, ring flange 111 is embedded in terminal pad 131, and it is defeated that the two forms power
Placing.
Bottom cover 153 is connected on the opening face of cylinder 151, the opening face of cylinder 151 is blocked, in interior
Empty, outer closure casing 150.In the present embodiment, main output shaft 110 is stretched out from bottom cover 153, and is equipped between bottom cover 153
Rolling bearing, the i.e. inner ring of rolling bearing are connected on main output shaft 110, and outer ring is connect with bottom cover 153.
In the present embodiment, the inscribed circle cylinder of motor mould group 100 including 6 driving units, 120,6 driving units 120 with
Small―gap suture is formed between main output shaft 110, which meets the rotation for not influencing main output shaft 110,6 driving units
120 circumcircle cylinder and casing 150, specially the inner wall fitting of cylinder 151 or formation small―gap suture.
Motor mould group 100 further includes encoder 160, and encoder 160 is set on main output shaft 110, for sensing and controlling
The corner of main output shaft 110 forms accurately angle positioning and corner to main output shaft 110 and controls.
Motor mould group 100 further includes drive circuit board 170, and drive circuit board 170 is for driving each driving unit 120 dynamic
Make, it, can be to power direction that each driving unit 120 exports, size by the movement of each driving unit 120 of independent control
Form control, so can main output shaft 110 to motor mould group 100 can be under either statically or dynamically without the work of diastema.
It is formed with certain gap between bottom cover 153 and the bottom of driving unit 120, can be used in accommodating encoder 160
With drive circuit board 170.Encoder 160 is coaxially connected on main output shaft 110, and drive circuit board 170 is connected on bottom cover 153
And there is the through-hole for allowing main output shaft 110 to pass through.
It is above-mentioned, it is realized and is fixed by one big bearing between power taking ring gear and casing 150, also can change power taking internal tooth
Enclose terminal pad 131 between structure, the connection structure of terminal pad 131 is zoomed in, thus between casing 150 can using compared with
Small bearing, which is realized, to be fixed.Rolling bearing can select deep groove ball bearing or crossed roller bearing.It can also be directly by the axis of rolling
The inner ring held is customized to internal tooth, and as ring gear, the structure of top cover 152 changes with the change of the structure of power taking part 130
Become.
Main output shaft 110 can be hollow shaft, with the fixation of power taking ring gear can with power taking ring gear together with rotate, two
End is stretched out from casing 150 is used as output shaft.Certainly, main output shaft 110 or the output shaft being inserted in hollow shaft,
As one, main output shaft 110 is made into unilateral output shaft, can also be not provided with hollow shaft for hollow shaft and casing 150.
Encoder 160 can be magnetic coder, or photoelectric encoder, in addition to can be set in main output shaft 110
On, it can also be arranged on secondary output shaft 121, that is, use from motor with encoder, to the defeated of each secondary output shaft 121
Angular displacement is controlled out.
Drive circuit board 170 can also be placed in external driver in addition to can integrate in motor mould group 100, right
Motor mould group 100 realizes control.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. without diastema motor mould group, which is characterized in that including main output shaft and multiple driving units, each driving unit
With the secondary output shaft that can export rotary motion;
The main output shaft is equipped with power taking part, and each secondary output shaft is equipped with the transmission engaged with the power taking part
Part, each driving unit can be that the main output shaft applies driving force by the driving member and the power taking part;
The main output shaft power output is 0, and a part of driving unit is that the main output shaft applies forward driving power, another
The part driving unit is that the main output shaft applies and the equal-sized reverse actuating force of forward driving power;
The main output shaft power output is not 0, when the load on the main output shaft is not higher than threshold value, a part of driving
Unit is that the main output shaft applies forward driving power, and driving unit described in another part is that the output shaft applies less than forward direction
The reverse actuating force of driving force, when the load on the main output shaft is higher than threshold value, the driving unit is the main output
Axis applies forward driving power.
2. no diastema motor mould group according to claim 1, which is characterized in that the driving unit is motor.
3. no diastema motor mould group according to claim 2, which is characterized in that the main output shaft and the secondary output shaft
It is arranged in parallel, the pair output shaft is uniform or symmetrical along the circumferential direction of the main output shaft.
4. no diastema motor mould group according to claim 3, which is characterized in that multiple motors circumferentially closely divide
Cloth.
5. no diastema motor mould group according to claim 3, which is characterized in that the quantity of the motor is even number, when
When the motor is existed to the forward driving power and reverse actuating force of main output shaft, the power output of the adjacent motor it is opposite or
The motor at interval provides power output.
6. no diastema motor mould group according to claim 1, which is characterized in that the power taking part is phase with the driving member
Intermeshed gear, the tooth footpath of the power taking part are greater than the tooth footpath of the driving member.
7. no diastema motor mould group according to claim 6, which is characterized in that the power taking part be and the main output shaft
Coaxially connected ring gear, the driving member are the gear coaxially connected with the secondary output shaft.
8. no diastema motor mould group according to claim 1, which is characterized in that the no diastema motor mould group further includes machine
Shell is equipped with rolling bearing between the main output shaft and the casing, and the main output shaft at least one end is from the casing
Expose.
9. no diastema motor mould group according to claim 8, which is characterized in that the casing includes cylinder, top lid and bottom
Lid, the cylinder one side are open, and another side is equipped with supporting plate, and supporting plate is equipped with the through-hole for allowing the main output shaft to pass through, described
The cavity for accommodating the driving member and the power taking part, the bottom cover and the support are enclosed between top cover and the supporting plate
The cavity for accommodating the driving unit is enclosed between plate.
10. no diastema motor mould group according to claim 1, which is characterized in that the no diastema motor mould group further includes
Encoder, the main output shaft is equipped with encoder and/or each secondary output shaft is equipped with the encoder;
And/or the no diastema motor mould group further includes drive circuit board, the drive circuit board is for driving each drive
Moving cell movement.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910435340.XA CN110048543A (en) | 2019-05-23 | 2019-05-23 | Without diastema motor mould group |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910435340.XA CN110048543A (en) | 2019-05-23 | 2019-05-23 | Without diastema motor mould group |
Publications (1)
Publication Number | Publication Date |
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CN110048543A true CN110048543A (en) | 2019-07-23 |
Family
ID=67283360
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910435340.XA Pending CN110048543A (en) | 2019-05-23 | 2019-05-23 | Without diastema motor mould group |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110048543A (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104737423A (en) * | 2012-10-12 | 2015-06-24 | 国际计测器株式会社 | Two-output-shaft motor, motor unit, power simulator, torsion testing device, rotational torsion testing device, tire testing device, linear actuator and vibration device |
KR20160112385A (en) * | 2015-03-19 | 2016-09-28 | 하이윈 테크놀로지스 코포레이션 | Motor-incorporating reduction drive |
CN207534804U (en) * | 2017-12-11 | 2018-06-26 | 深圳市优必选科技有限公司 | A kind of steering engine component and robot |
CN208397619U (en) * | 2018-06-21 | 2019-01-18 | 桂林飞宇科技股份有限公司 | A kind of electric machine structure of holder |
CN209676067U (en) * | 2019-05-23 | 2019-11-22 | 樊泽洲 | Without diastema motor mould group |
-
2019
- 2019-05-23 CN CN201910435340.XA patent/CN110048543A/en active Pending
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104737423A (en) * | 2012-10-12 | 2015-06-24 | 国际计测器株式会社 | Two-output-shaft motor, motor unit, power simulator, torsion testing device, rotational torsion testing device, tire testing device, linear actuator and vibration device |
KR20160112385A (en) * | 2015-03-19 | 2016-09-28 | 하이윈 테크놀로지스 코포레이션 | Motor-incorporating reduction drive |
CN207534804U (en) * | 2017-12-11 | 2018-06-26 | 深圳市优必选科技有限公司 | A kind of steering engine component and robot |
CN208397619U (en) * | 2018-06-21 | 2019-01-18 | 桂林飞宇科技股份有限公司 | A kind of electric machine structure of holder |
CN209676067U (en) * | 2019-05-23 | 2019-11-22 | 樊泽洲 | Without diastema motor mould group |
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