CN110048543A - Without diastema motor mould group - Google Patents

Without diastema motor mould group Download PDF

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Publication number
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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CN
China
Prior art keywords
output shaft
main output
power
driving
diastema
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.)
Pending
Application number
CN201910435340.XA
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Chinese (zh)
Inventor
樊泽洲
何洋
赵哲峰
白杰
倪文君
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Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201910435340.XA priority Critical patent/CN110048543A/en
Publication of CN110048543A publication Critical patent/CN110048543A/en
Pending legal-status Critical Current

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Classifications

    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21Devices for sensing speed or position, or actuated thereby
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K11/00Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/30Structural association with control circuits or drive circuits
    • H02K11/33Drive circuits, e.g. power electronics
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/003Couplings; Details of shafts
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02KDYNAMO-ELECTRIC MACHINES
    • H02K7/00Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10Structural 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

Without diastema motor mould group
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.
CN201910435340.XA 2019-05-23 2019-05-23 Without diastema motor mould group Pending CN110048543A (en)

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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

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Citations (5)

* Cited by examiner, † Cited by third party
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

Patent Citations (5)

* Cited by examiner, † Cited by third party
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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