CN113824263A - Hollow harmonic joint module - Google Patents
Hollow harmonic joint module Download PDFInfo
- Publication number
- CN113824263A CN113824263A CN202111130181.6A CN202111130181A CN113824263A CN 113824263 A CN113824263 A CN 113824263A CN 202111130181 A CN202111130181 A CN 202111130181A CN 113824263 A CN113824263 A CN 113824263A
- Authority
- CN
- China
- Prior art keywords
- motor
- gear set
- transmission shaft
- encoder
- magnet
- 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
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Classifications
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- 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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- 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
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
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- 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
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/023—Mounting or installation of gears or shafts in the gearboxes, e.g. methods or means for assembly
-
- 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
- H02K11/20—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
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- 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
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Mechanical Engineering (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Retarders (AREA)
Abstract
The invention discloses a hollow harmonic joint module, which relates to the technical field of mechanical modules, and is characterized in that a motor drives a first gear set to rotate, the first gear set is matched with a first coding assembly, the rotating speed of the first gear set is detected through the first coding assembly, so that input rotating speed data of the motor is obtained, meanwhile, an output shaft of the motor is in transmission connection with a speed reducer, the speed reducer drives a transmission shaft to rotate, the transmission shaft drives a second gear set to rotate, and after the motor is decelerated through the speed reducer, the rotating speed of the second gear set is detected through a second coding assembly, so that output rotating speed data of the motor is obtained.
Description
Technical Field
The invention relates to the technical field of mechanical modules, in particular to a hollow harmonic joint module.
Background
Mechanical joint module need read the input rotational speed, the output rotational speed of motor in real time to transmit to the control panel and carry out analysis and processing, joint module among the prior art generally adopts two sets of cavity magnetic ring encoders to read above-mentioned data respectively, and its defect lies in: because the middle part of the hollow magnetic ring encoder is hollow, two groups of hollow magnetic ring encoders can only be respectively arranged at two ends of the equipment, the whole volume is larger, the assembly is more complex, and on the other hand, because the work of the hollow magnetic ring encoder needs to design a more accurate algorithm, the requirement on an electronic hardware part is higher, and the production cost is obviously higher.
Disclosure of Invention
The invention aims to realize small volume, simple assembly and great reduction of production cost.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a hollow harmonic joint module comprises a motor, a first gear set, a first coding assembly, a speed reducer, a transmission shaft, a second gear set and a second coding assembly, wherein the motor drives the first gear set to rotate, the first gear set is matched with the first coding assembly, an output shaft of the motor is in transmission connection with the speed reducer, the speed reducer drives the transmission shaft to rotate, the transmission shaft drives the second gear set to rotate, and the second gear set is matched with the second coding assembly;
the first coding assembly and the second coding assembly are symmetrically arranged and are located at the same end of the transmission shaft.
Further, the first coding assembly comprises a first magnet and a first encoder, the first magnet is driven by the first gear set to rotate, and the first magnet is matched with the first encoder.
Furthermore, the second coding assembly comprises a second magnet and a second encoder, the second gear set drives the second magnet to rotate, and the second magnet is matched with the second encoder.
Further, still include the control panel, motor, first encoder and second encoder all with control panel signal connection.
Further, the speed reducer is a harmonic speed reducer.
Further, the motor is in transmission connection with the speed reducer through the cam.
Furthermore, the transmission shaft penetrates through the speed reducer, the cam and the motor simultaneously, and gaps are formed between the transmission shaft and the cam and between the transmission shaft and the motor.
Further, the central shaft of the transmission shaft, the central shaft of the speed reducer, the central shaft of the cam and the central shaft of the motor are collinear.
Further, the inside of the transmission shaft is hollow.
Further, still include the casing, motor, first gear train, first coding subassembly, transmission shaft, second gear train and second coding subassembly all set up in the casing.
The invention has the beneficial effects that: according to the invention, the motor drives the first gear set to rotate, the first gear set is matched with the first coding assembly, the rotating speed of the first gear set is detected through the first coding assembly, so that the input rotating speed data of the motor is obtained, on the other hand, the output shaft of the motor is in transmission connection with the speed reducer, the speed reducer drives the transmission shaft to rotate, the transmission shaft drives the second gear set to rotate, and after the motor is decelerated through the speed reducer, the rotating speed of the second gear set is detected through the second coding assembly, so that the output rotating speed data of the motor is obtained. On the other hand, the first coding component and the second coding component are designed at the same end, so that the design is novel, the connection between the structures is more ingenious, and the overall volume is reduced.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view of the overall construction of the present invention;
FIG. 3 is a schematic view of the internal structure of the present invention;
FIG. 4 is a schematic view of the structure of the motor, the drive shaft, the first gear set and the second gear set of the present invention;
FIG. 5 is a cross-sectional view of the structure of the motor, the drive shaft, the first gear set and the second gear set of the present invention;
the reference signs are:
a control plate 1, a motor 2, a first transmission gear 21, a first gear set 3,
the first encoder assembly 4, the first magnet 41, the first encoder 42,
a cam 5, a speed reducer 6, a transmission shaft 7, a second transmission gear 71, a second gear set 8,
the second encoder assembly 9, the second magnet 91, the second encoder 92,
a housing 10.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Fig. 1 to 5 show a cavity harmonic joint module, including casing 10, control panel 1, motor 2, first gear train 3, first coding subassembly 4, cam 5, reduction gear 6, transmission shaft 7, second gear train 8 and second coding subassembly 9, in this embodiment, reduction gear 6 is harmonic reduction gear 6, and casing 10 is the cylinder size, and motor 2, first gear train 3, first coding subassembly 4, transmission shaft 7, second gear train 8 and second coding subassembly 9 all set up in casing 10.
Compared with the prior art, the heat-conducting film is fixedly arranged on the inner wall of the shell 10, and is more favorable for conducting heat inside the shell 10 to the shell 10, and the heat is radiated to the outside air through the shell 10.
The first coding component 4 and the second coding component 9 are symmetrically arranged and are positioned at the same end of the transmission shaft 7, in the prior art, two groups of hollow magnetic ring encoders are generally adopted to collect data of input rotating speed and output rotating speed of the driving mechanism respectively, because the middle part of the hollow magnetic ring encoder is hollow, the two groups of hollow magnetic ring encoders can only be arranged at two ends of the equipment respectively, and annular collected data of the hollow magnetic ring encoder needs conversion operation, complex circuit design is needed, so that the whole volume of the equipment is larger, the cost is higher, the first coding component 4 and the second coding component 9 of the invention both adopt hollow off-axis core-to-core encoders, the collected data does not need conversion, the invention is simple and practical, the cost is low, the first coding component 4 and the second coding component 9 are both arranged at the same end of the transmission shaft 7, and the output kinetic energy of the motor 2 is ingeniously transmitted to the second gear set 8 through the transmission shaft 7, therefore, the reading of the output rotating speed data of the motor 2 by the second coding assembly 9 is realized, compared with the prior art, the invention has novel design and more skillful connection between the structures, thereby reducing the whole volume.
Fixed first drive gear 21 that is provided with on motor 2's the output shaft, motor 2 drives first drive gear 21 and rotates, first drive gear 21 drives first gear train 3 and rotates, first gear train 3 mutually supports with first coding subassembly 4, first coding subassembly 4 includes first magnet 41 and first encoder 42, first magnet 41 of first gear train 3 drive rotates, first magnet 41 mutually supports with first encoder 42, first coding subassembly 4 and second coding subassembly 9 are the magnetoelectric formula, first encoder 42 is located first magnet 41's top, when first magnet 41 rotates, detect out first magnet 41's rotational speed value through first encoder 42, thereby obtain motor 2's input rotational speed data.
The motor 2 is in transmission connection with the speed reducer 6 through the cam 5, namely, an output shaft of the motor 2 is in transmission connection with the cam 5, and the cam 5 is in transmission connection with the speed reducer 6; the speed reducer 6 drives the transmission shaft 7 to rotate, the transmission shaft 7 drives the second gear set 8 to rotate, and the second gear set 8 is matched with the second coding assembly 9.
The second encoding component 9 comprises a second magnet 91 and a second encoder 92, the second gear set 8 drives the second magnet 91 to rotate, and the second magnet 91 is matched with the second encoder 92; after motor 2 decelerates through reduction gear 6, reduction gear 6 drives transmission shaft 7 and rotates, be fixed with second drive gear 71 on the transmission shaft 7, transmission shaft 7 drives second gear set 8 through second drive gear 71 and rotates, second gear set 8 drives second magnet 91 and rotates, second encoder 92 is located the top of second magnet 91, when second magnet 91 rotates, detect out the rotational speed value of second magnet 91 through second encoder 92 to reach the output rotational speed data of motor 2.
The first coding assembly 4 and the second coding assembly 9 are symmetrically arranged with the transmission shaft 7 as the center, and the connecting line of the first coding assembly 4 and the second coding assembly 9 is perpendicular to the central axis of the transmission shaft 7, such a design enables the distance between the first coding assembly 4 and the second coding assembly 9 to be far enough, so as to avoid the interference of the first magnet 41 to the second encoder 92 and the interference of the second magnet 91 to the first encoder 42, on the other hand, through the circuit design of the control panel 1, the invention automatically filters the weak interference signal received by the first encoder 42 from the second magnet 91, and automatically filters the weak interference signal received by the second encoder 92 from the first magnet 41, thereby enabling the detected input rotation speed data and output rotation speed data of the motor 2 to be more accurate.
As shown in fig. 2, the transmission shaft 7 is hollow, so that the overall weight is reduced, the transmission shaft 7 simultaneously penetrates through the speed reducer 6, the cam 5 and the motor 2, gaps are respectively arranged between the transmission shaft 7 and the cam 5 and between the transmission shaft 7 and the motor 2, and the transmission shaft 7 does not interfere with the output shaft of the motor 2 when rotating; the central shaft of the transmission shaft 7, the central shaft of the speed reducer 6, the central shaft of the cam 5 and the central shaft of the motor 2 are collinear.
In the prior art, a hollow magnetic ring encoder is generally adopted for reading the data, and the production cost is obviously high due to the fact that a relatively accurate algorithm needs to be designed for the operation of the hollow magnetic ring encoder, the requirement on assembly is high, and the requirement on an electronic hardware part is high; the first coding component 4 and the second coding component 9 adopted by the invention are both magnetoelectric, and the input rotating speed data and the output rotating speed data of the motor 2 can be read by matching with a mechanical structure, so that the assembly of the equipment becomes simpler, and the production cost is greatly reduced.
The working principle of the invention is as follows: the motor 2 drives the first transmission gear 21 to rotate, the first transmission gear 21 drives the first gear set 3 to rotate, the first gear set 3 drives the first magnet 41 to rotate, and when the first magnet 41 rotates, the rotating speed value of the first magnet 41 is detected through the first encoder 42, so that input rotating speed data of the motor 2 are obtained;
the motor 2 drives the cam 5 to rotate, the cam 5 drives the speed reducer 6 to rotate, the speed reducer 6 drives the transmission shaft 7 to rotate, the transmission shaft 7 drives the second gear set 8 to rotate through the second transmission gear 71, the second gear set 8 drives the second magnet 91 to rotate, and when the second magnet 91 rotates, the rotating speed value of the second magnet 91 is detected through the second encoder 92, so that the output rotating speed data of the motor 2 is obtained;
the first encoder 42 transmits the detected input rotation speed data of the motor 2 to the control board 1 for data analysis and processing, and the second encoder 92 transmits the detected output rotation speed data of the motor 2 to the control board 1 for data analysis and processing.
The technical scope of the present invention is not limited to the above embodiments, and any modifications, equivalent variations and modifications made to the above embodiments according to the technical spirit of the present invention still fall within the technical scope of the present invention.
Claims (10)
1. The utility model provides a cavity harmonic joint module which characterized in that: the motor drives the first gear set to rotate, the first gear set is matched with the first coding assembly, an output shaft of the motor is in transmission connection with the speed reducer, the speed reducer drives the transmission shaft to rotate, the transmission shaft drives the second gear set to rotate, and the second gear set is matched with the second coding assembly;
the first coding assembly and the second coding assembly are symmetrically arranged and are located at the same end of the transmission shaft.
2. The hollow harmonic joint module of claim 1, wherein: the first coding assembly comprises a first magnet and a first encoder, the first magnet is driven by the first gear set to rotate, and the first magnet is matched with the first encoder.
3. The hollow harmonic joint module of claim 2, wherein: the second coding assembly comprises a second magnet and a second encoder, the second gear set drives the second magnet to rotate, and the second magnet is matched with the second encoder.
4. The hollow harmonic joint module of claim 3, wherein: still include the control panel, motor, first encoder and second encoder all with control panel signal connection.
5. The hollow harmonic joint module of claim 1, wherein: the speed reducer is a harmonic speed reducer.
6. The hollow harmonic joint module of claim 1, wherein: the motor is in transmission connection with the speed reducer through the cam.
7. The hollow harmonic joint module of claim 6, wherein: the transmission shaft penetrates through the speed reducer, the cam and the motor simultaneously, and gaps are formed between the transmission shaft and the cam and between the transmission shaft and the motor.
8. The hollow harmonic joint module of claim 6, wherein: and the central shaft of the transmission shaft, the central shaft of the speed reducer, the central shaft of the cam and the central shaft of the motor are collinear.
9. The hollow harmonic joint module of claim 1, wherein: the transmission shaft is hollow inside.
10. The hollow harmonic joint module of any of claims 1 to 9, wherein: the motor, the first gear set, the first coding assembly, the transmission shaft, the second gear set and the second coding assembly are all arranged in the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111130181.6A CN113824263A (en) | 2021-09-26 | 2021-09-26 | Hollow harmonic joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111130181.6A CN113824263A (en) | 2021-09-26 | 2021-09-26 | Hollow harmonic joint module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113824263A true CN113824263A (en) | 2021-12-21 |
Family
ID=78921252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111130181.6A Pending CN113824263A (en) | 2021-09-26 | 2021-09-26 | Hollow harmonic joint module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113824263A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117097083A (en) * | 2023-07-14 | 2023-11-21 | 上海智元新创技术有限公司 | Motor and method for detecting absolute position of output shaft |
-
2021
- 2021-09-26 CN CN202111130181.6A patent/CN113824263A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117097083A (en) * | 2023-07-14 | 2023-11-21 | 上海智元新创技术有限公司 | Motor and method for detecting absolute position of output shaft |
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