CN115276311B - Power base station - Google Patents
Power base station Download PDFInfo
- Publication number
- CN115276311B CN115276311B CN202210970132.1A CN202210970132A CN115276311B CN 115276311 B CN115276311 B CN 115276311B CN 202210970132 A CN202210970132 A CN 202210970132A CN 115276311 B CN115276311 B CN 115276311B
- Authority
- CN
- China
- Prior art keywords
- assembly
- lifting
- component
- output
- motor
- 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.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/276—Magnets embedded in the magnetic core, e.g. interior permanent magnets [IPM]
-
- 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
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/06—Rolling motors, i.e. motors having the rotor axis parallel to the stator axis and following a circular path as the rotor rolls around the inside or outside of the stator ; Nutating motors, i.e. having the rotor axis parallel to the stator axis inclined with respect to the stator axis and performing a nutational movement as the rotor rolls on the stator
-
- 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
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Retarders (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a power base station, comprising: the lifting module comprises a power mechanism, a lifting mechanism and a crank connecting rod mechanism which are sequentially connected; the driving wheel module comprises a driving mechanism, a secondary planetary reduction mechanism and a rolling mechanism. The power mechanism drives the crank connecting rod mechanism to move through the lifting mechanism, so that the carrying function is realized, the hollow joint module bearing the axial load drives the whole driving wheel module to move, wherein the driving mechanism in the driving wheel module drives the rolling mechanism to move through the secondary planetary reduction mechanism, the whole straight running or steering movement is realized, the reasonable layout is realized through structural optimization, the required carrying and moving conditions of the power base station can be met, and the whole power base station is small in size, high in stability and convenient to maintain subsequently.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a power base station.
Background
In the mobile transfer robot field, power is the core part, and the power that produces drives the robot to carry and move, to the condition of carrying, traditional transfer power mainly relies on hydraulic pressure basic station and pneumatic cylinder complex structure, adopts the shortcoming of this kind of mode in that need regularly maintain, change oil and the change of sealing washer, whole volume is big moreover. For the case of motion, the solutions of conventional driving wheel sections are generally divided into: horizontal drive wheel, horizontal steering wheel and vertical steering wheel. The axial length of the horizontal driving wheel and the horizontal steering wheel is longer, so that the steering radius is increased, and the vertical steering wheel is longitudinally distributed, so that the vertical steering wheel has large longitudinal volume.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a power base station.
The invention discloses a power base station, which comprises: the lifting module comprises a power mechanism, a lifting mechanism and a crank connecting rod mechanism which are sequentially connected; the driving wheel module comprises a driving mechanism, a secondary planetary reduction mechanism and a rolling mechanism, wherein the driving mechanism is connected with the rolling mechanism through the secondary planetary reduction mechanism; the hollow joint module bearing the axial load is arranged on the crank connecting rod mechanism, and the hollow joint module bearing the axial load is connected with the driving mechanism.
According to an embodiment of the present invention, a power mechanism includes:
a housing;
a drive control assembly located within the housing;
the brake is arranged in the shell and is connected with the driving control assembly;
the motor assembly comprises a motor shaft, a magnetic shoe shaft sleeve, a plurality of rotor magnetic shoes and a plurality of stator coils, wherein the motor shaft is rotatably arranged in the housing, one end of the motor shaft extends out of the housing, the motor shaft is connected with the lifting mechanism, a brake is arranged on the motor shaft, the magnetic shoe shaft sleeve is sleeved on the motor shaft, the magnetic shoe shaft sleeve is provided with a first accommodating groove, one side of the brake, which is far away from the drive control assembly, is positioned in the first accommodating groove, the plurality of rotor magnetic shoes are arranged on the magnetic shoe shaft sleeve in a surrounding manner, the plurality of stator coils are arranged opposite to the plurality of rotor magnetic shoes, and the stator coils are connected with the drive control assembly;
And the encoder assembly is connected with the driving control assembly and the motor shaft.
According to one embodiment of the invention, the lifting mechanism comprises a lifting bearing assembly, and a lifting input assembly, a lifting transmission assembly and a lifting output assembly which are arranged on the lifting bearing assembly, wherein the lifting bearing assembly is connected with the shell, the lifting input assembly is connected with one end of a motor shaft extending out of the shell, and the lifting transmission assembly is respectively connected with the lifting input assembly and the lifting output assembly.
According to one embodiment of the invention, the crank-link mechanism comprises a crank support assembly, a link assembly and a lifting output piece, wherein the lifting bearing assembly, the link assembly and the hollow joint module for bearing axial load are all arranged on the crank support assembly, and the link assembly is rotationally connected with the lifting output assembly and the lifting output piece.
According to one embodiment of the invention, the hollow joint module for bearing axial load comprises a motor assembly, a speed reducing assembly, a rigid piece, an output piece, a first encoder assembly, a second encoder assembly, a control assembly and a brake assembly, wherein the output end of the motor assembly is connected with the speed reducing assembly, the rigid piece is positioned between the motor assembly and the speed reducing assembly, the speed reducing assembly is respectively connected with the rigid piece and the speed reducing assembly through a plurality of connecting pieces, the rigid piece is connected with a crank-link mechanism, the output piece is connected with the output end of the speed reducing assembly, the first encoder assembly is connected with the output end of the motor assembly, the second encoder assembly is connected with the output piece, the control assembly is connected with the motor assembly, the first encoder assembly, the second encoder assembly and the brake assembly, and the brake assembly is sleeved on the output end of the motor assembly.
According to one embodiment of the invention, the motor assembly comprises a motor front cover, a motor tail cover, a stator piece, a rotor piece and a transmission sleeve, wherein the motor front cover is connected with the speed reduction assembly, the motor front cover is connected with the motor tail cover, the motor front cover, the motor tail cover and the rigid piece form a containing groove, the stator piece and the rotor piece are both positioned in the containing groove, the transmission sleeve is connected with the input ends of the rotor piece and the speed reduction assembly, the first encoder assembly is connected with the transmission sleeve, the second encoder assembly and the control assembly are both positioned in the containing groove, and one end of the output piece, far away from the speed reduction assembly, penetrates through the motor front cover and the motor tail cover.
According to one embodiment of the invention, the speed reducing assembly comprises a fixed disc and a speed reducer, wherein the fixed disc is connected with the rigid piece and the motor assembly, the speed reducer is arranged on the fixed disc, and the output piece is connected with the speed reducer.
According to an embodiment of the present invention, a secondary planetary reduction mechanism includes:
the first-stage planetary speed reduction assembly comprises a first-stage sun gear, a plurality of first-stage planetary gears, a first-stage annular gear and a first-stage retainer, wherein the first-stage sun gear is connected with the output end of the driving mechanism, the plurality of first-stage planetary gears are connected with the first-stage sun gear and the first-stage annular gear, and the first-stage retainer is connected with the plurality of first-stage planetary gears;
The second-stage planetary speed reduction assembly comprises a second-stage sun gear, a plurality of second-stage planetary gears, a second-stage annular gear and a second-stage retainer, wherein the second-stage sun gear is connected with the first-stage retainer, the plurality of second-stage planetary gears are connected with the second-stage sun gear and the second-stage annular gear, the second-stage annular gear is connected with the rolling mechanism, and the second-stage retainer is connected with the plurality of second-stage planetary gears.
According to one embodiment of the invention, the rolling mechanism comprises a hub and a rubber coating wheel, wherein the hub is connected with the secondary annular gear, and the rubber coating wheel is wrapped on the outer surface of the hub.
According to an embodiment of the present invention, the driving wheel module further includes an input connection mechanism, which includes a first input support column, a second input support column, and a rotating flange plate, wherein the first input support column is connected with the primary ring gear, the second input support column is disposed on an outer surface of the driving mechanism, the rotating flange plate is connected with the first input support column and the second input support column, and the rotating flange plate is connected with the hollow joint module which bears an axial load.
The invention has the beneficial effects that the power mechanism drives the crank connecting rod mechanism to move through the lifting mechanism, so that the carrying function is realized, the hollow joint module which bears the axial load synchronously drives the whole driving wheel module to move, wherein the driving mechanism in the driving wheel module drives the rolling mechanism to move through the secondary planetary reduction mechanism, the whole straight running or steering movement is realized, and the power base station can meet the required carrying and movement conditions through structural optimization and reasonable layout, and has small whole volume, high stability and convenient subsequent maintenance.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a schematic perspective view of a power base station according to an embodiment;
FIG. 2 is a diagram showing a lifting state of the lifting module according to the embodiment;
FIG. 3 is a diagram showing another lifting state of the lifting module according to the embodiment;
FIG. 4 is a diagram showing a falling state of the lifting module according to the embodiment;
FIG. 5 is a schematic perspective view of a power mechanism and lift mechanism combination in an embodiment;
FIG. 6 is a cross-sectional view of the power mechanism in combination with the lift mechanism in an embodiment;
FIG. 7 is an exploded view of the power mechanism of the embodiment;
FIG. 8 is a schematic perspective view of a power mechanism according to an embodiment;
FIG. 9 is a cross-sectional view of a power mechanism in an embodiment;
FIG. 10 is a schematic perspective view of a magnetic shoe sleeve according to an embodiment;
FIG. 11 is an exploded view of the lifting mechanism in an embodiment;
FIG. 12 is a cross-sectional view of a hollow joint module undergoing axial loading in an embodiment;
FIG. 13 is an exploded view of a hollow joint module subjected to axial loads in an embodiment;
FIG. 14 is a schematic perspective view of a hollow joint module for receiving axial loads in an embodiment;
FIG. 15 is a schematic perspective view of a driving wheel module according to an embodiment;
FIG. 16 is a cross-sectional view of a drive wheel module according to an embodiment;
FIG. 17 is a cross-sectional view of a two-stage planetary reduction mechanism in an embodiment;
fig. 18 is a diagram showing a combination of a secondary cage and a secondary planet in an embodiment.
Reference numerals illustrate:
1000-lifting module; 100-a power mechanism; 1-a housing; 11-a first accommodation chamber; 12-a second accommodation chamber; 13-front end cap; 14-a housing; 15-a rear end cover; 16-tail cap; 2-a drive control assembly; 3-brake; 31-a second accommodation groove; 4-motor assembly; 41-a motor shaft; 42-magnetic shoe shaft sleeve; 421-a first receiving groove; 43-rotor magnetic shoe; 44-stator coils; a 5-encoder assembly; 51-encoding a magnetic member; 52-code reading; 53-coding carrier; 6-front bearing; 7-a rear bearing; 8-an elastic member; 200-lifting mechanism; 201-lifting the carrier assembly; 2011-a carrier housing; 2012-a load bearing end cap; 2013-a third accommodation chamber; 202-lifting the input assembly; 2021-input bearings; 2022-input cam; 2023-input end cap; 203-lifting the transmission assembly; 2031-a drive steel wheel; 2032-a transmission flexible gear; 2033-drive connection flange; 2034-an output flange; 204-lifting the output assembly; 2041-output bearings; 2042-output crank shaft; 300-an oil seal ring; 400-oil seal cap; 500-crank link mechanism; 501-a crank support assembly; 5011-a crank support base; 5012-crank support column; 502-a connecting rod assembly; 5021-a first connecting rod; 5022-a second connecting rod; 5023-third connecting rod; 503-lifting the output member;
2000-hollow joint modules bearing axial loads; 901-a drive assembly; 9011-motor front cover; 9012-a motor tail cover; 9013 stator part; 9014-a rotor piece; 9015-a transmission sleeve; 9016-a containing groove; 902-a deceleration assembly; 9021-a fixed disk; 9022-a decelerator; 903-rigid piece; 9031-a first clearance groove; 904-output piece; 905-a first encoder assembly; 9051-a first encoder bearing; 9052-a first encoder mounting block; 90521-second clearance groove; 9053-a first encoder code wheel; 906-a second encoder assembly; 9061-a second encoder fixing base; 9062-a second encoder code wheel; 907-a control component; 908-connection piece;
3000-a drive wheel module; 600-two-stage planetary reduction mechanism; 601-primary planetary reduction assembly; 6011-first-order sun gear; 6012-primary planet gears; 6013-primary ring gear; 6014-primary cage; 602-a secondary planetary reduction assembly; 6021-secondary sun gear; 6022-secondary planet gears; 6023-secondary ring gear; 6024-secondary cage; 700-rolling mechanism; 701-hub; 7011-grooves; 702-a rubber coating wheel; 800-an input connection mechanism; 801-a first input support column; 802-a second input support column; 803-rotating the flange plate; 8031-connecting through holes; 804-wire passing member; 8041-wiring slots;
4000-power splitter;
5000-signal splitters;
6000-thrust ball bearing;
7000-bearing caps.
Detailed Description
Various embodiments of the invention are disclosed in the following drawings, in which details of the practice are set forth in the following description for the purpose of clarity. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Moreover, for the purpose of simplifying the drawings, some conventional structures and components are shown in the drawings in a simplified schematic manner.
In addition, the descriptions of the "first," "second," and the like, herein are for descriptive purposes only and are not intended to be specifically construed as order or sequence, nor are they intended to limit the invention solely for distinguishing between components or operations described in the same technical term, but are not to be construed as indicating or implying any relative importance or order of such features. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
As shown in fig. 1, fig. 1 is a schematic perspective view of a power base station according to an embodiment. The power base station of this application includes lift module 1000, bears axial load's cavity joint module 2000 and drive wheel module 3000, and lift module 1000 is used for carrying article, and the cavity joint module 2000 that bears axial load connects lift module 1000 and drive wheel module 3000, and bears axial load's cavity joint module 2000 and order about drive wheel module 3000 motion to commutate, and drive wheel module 3000 then rotates the realization motion.
As shown in fig. 2-4, fig. 2 is a lifting state diagram of the lifting module 1000 in the embodiment; FIG. 3 is a diagram showing another lifting state of the lifting module 1000 according to the embodiment; FIG. 4 is a diagram showing a falling state of the lifting module 1000 according to the embodiment; FIG. 5 is a schematic perspective view of the combination of the power mechanism 100 and the lifting mechanism 200 in an embodiment; fig. 6 is a cross-sectional view of the power mechanism 100 in combination with the lifting mechanism 200 in an embodiment. The lifting module 1000 of this application includes power unit 100, lifting mechanism 200 and crank link mechanism 500, and lifting mechanism 200 is connected to power unit 100's output, carries out power take off through lifting mechanism 200, and crank link mechanism 500 is connected to lifting mechanism 200's output, and power unit 100 provides accurate power take off, and power produces big torsion behind lifting mechanism 200, drives crank link mechanism 500 and links through this big torsion for article on the crank link mechanism 500 can be lifted or descend.
As shown in fig. 6-9, fig. 6 is an exploded view of the power mechanism 100 according to the embodiment; FIG. 7 is a schematic perspective view of a power mechanism 100 according to an embodiment; FIG. 8 is a cross-sectional view of the power mechanism 100 in an embodiment; fig. 9 is a schematic perspective view of the magnetic shoe sleeve 42 according to an embodiment. The power mechanism 100 comprises a shell 1, a driving control assembly 2, a brake 3, a motor assembly 4 and an encoder assembly 5, wherein the driving control assembly 2, the brake 3, the motor assembly 4 and the encoder assembly 5 are all positioned in the shell 1, and the output end of the motor assembly 4 extends out of the shell 1 for power output. The driving control assembly 2 is connected with the brake 3, the motor assembly 4 and the encoder assembly 5, the driving control assembly 2 drives the brake 3 to release the fixation of the motor assembly 4, the motor assembly 4 works after being excited by the driving control assembly 2, and the encoder assembly 5 takes motion information of the motor assembly 4 and feeds the motion information back to the driving control assembly 2.
In a specific application, the housing 1 has a first accommodating cavity 11 and a second accommodating cavity 12, the driving control assembly 2 is located in the first accommodating cavity 11, and the brake 3, the motor assembly 4 and the encoder assembly 5 are all located in the second accommodating cavity 12. The housing 1 in this embodiment includes a front end cover 13, a housing 14, a rear end cover 15, and a tail cover 16, where the front end cover 13, the housing 14, the rear end cover 15, and the tail cover 16 are sequentially connected, and the front end cover 13, the housing 14, and the rear end cover 15 are connected to form a second accommodating cavity 12, and the rear end cover 15 and the tail cover 16 are connected to form a first accommodating cavity 11. Further, in order to improve the tightness of the connection, the connection parts of the front end cover 13, the casing 14, the rear end cover 15 and the tail cover 16 are provided with sealing rings, and the sealing rings are conventional O-shaped sealing rings. Furthermore, in order to enhance the heat dissipation effect of the servo motor, the casing 14 and the tail cover 16 are provided with heat dissipation structures, which are heat dissipation comb teeth.
The drive control assembly 2 consists of a PCB circuit board and other electronic components, and is the same as the existing servo motor drive control module, and controls the whole motor.
The motor assembly 4 comprises a motor shaft 41, a magnetic shoe shaft sleeve 42, a plurality of rotor magnetic shoes 43 and a plurality of stator coils 44, the motor shaft 41 is rotationally arranged in the second accommodating cavity 12, the motor shaft 41 penetrates through the front end cover 13 and the machine shell 14 respectively, the magnetic shoe shaft sleeve 42 is sleeved on the motor shaft 41, the rotor magnetic shoes 43 are arranged along the edges of the magnetic shoe shaft sleeve 42, namely, the rotor magnetic shoes 43 are arranged on the outer surface of the magnetic shoe shaft sleeve 42 in a surrounding mode, the stator coils 44 are arranged opposite to the rotor magnetic shoes 43, the stator coils 44 are connected with the drive control assembly 2, and the brake 3 is sleeved on the motor shaft 41. In particular applications, the brake 3 is located between the magnetic shoe sleeve 42 and the drive control assembly 2 along the axis of the motor shaft 41. The first accommodation groove 421 has been seted up to the magnetic shoe axle sleeve 42, and the one side that the stopper 3 is close to the magnetic shoe axle sleeve 42 stretches into in the first accommodation groove 421, and then has shortened the axial interval of magnetic shoe axle sleeve 42, stopper 3 and drive control subassembly 2 three for the length of whole servo motor shortens. Specifically, the magnetic shoe sleeve 42 is made of a magnetic conductive material, so that the magnetic field reaction effect is improved.
Further, the power mechanism 100 further includes a front bearing 6 and a rear bearing 7, the front bearing 6 is disposed on the front end cover 13, the rear bearing 7 is disposed on the rear end cover 15, one end of the motor shaft 41 penetrates through the front bearing 6, the end extends out of the housing 1 to serve as an output end, and the other end of the motor shaft 41 penetrates through the rear bearing 7. Furthermore, an elastic piece 8 is arranged between one side of the front bearing 6 far away from the rear bearing 7 and the wall surface of the front end cover 13, and the motor shaft 41 can be prevented from moving axially when rotating through the arrangement of the elastic piece 8, so that the stability of the motor shaft during working is improved. The elastic member 8 in this embodiment is a wave spring pad. Further, the second accommodating groove 31 is formed in the side, away from the front bearing 6, of the brake 3, and one side of the rear bearing 7 extends into the second accommodating groove 31, so that the axial length of the servo motor is further shortened.
The encoder assembly 5 comprises an encoding magnetic part 51 and an encoding reading part 52, wherein the encoding magnetic part 51 is connected with one end of the motor shaft 41, which is close to the rear bearing 7, the encoding reading part 52 is arranged on the driving control assembly 2, the encoding magnetic part 51 rotates along with the motor shaft 41, the encoding reading part 52 reads the rotating information of the encoding magnetic part, further the rotating angle information of the motor shaft 41 is obtained, and the information is fed back to the driving control assembly 2. Further, the encoder assembly 5 further includes an encoding carrier 53, the encoding carrier 53 is embedded into one end of the motor shaft 41, the encoding magnetic member 51 is disposed on the encoding carrier 53, and by the arrangement of the encoding carrier 53, not only the firmness of the arrangement of the encoding magnetic member 51 can be enhanced, but also a part of the area of the encoding magnetic member 51 can extend into the motor shaft 41, so that the overall axial length is shortened. Specifically, the code carrier 53 is made of a non-magnetic conductive material, so as to prevent magnetism of the motor assembly 4 during operation from being transferred to the code magnetic member 51, and thus information of the code reading member 52 is read by mistake.
When the device works, the drive control assembly 2 enables the brake 3 to be excited, the brake 3 does not act on the motor shaft 41 any more, the fixation of the motor shaft 41 is released, then the drive control assembly 2 enables the stator coil 44 to be excited so as to drive the motor shaft 41 to rotate, the coded magnetic piece 51 rotates together with the motor shaft 41, and the coded reading piece 52 collects corresponding information and feeds the information back to the drive control assembly 2; when the stop operation is required, the drive control unit 2 causes the brake 3 and the stator coil 44 to lose magnetism, and the brake 3 again fixes the motor shaft 41 to stop rotation.
By the opening of the first accommodation groove 421, part of the structure of the brake 3 extends into the first accommodation groove 421, and the overall length is shortened in the axial direction; in addition, drive control subassembly 2, stopper 3, motor element 4 and encoder subassembly 5 all set up inside casing 1, and arrange along the axial is orderly, and the wiring of the back connecting cable of being convenient for, whole casing 1 inner structure distributes compactly, not only makes whole servo motor reduce in length, has still reduced whole volume moreover.
As shown in fig. 6 and 11, fig. 11 is an exploded view of the lifting mechanism 200 according to the embodiment. The lifting mechanism 200 comprises a lifting bearing assembly 201, a lifting input assembly 202, a lifting transmission assembly 203 and a lifting output assembly 204, wherein the lifting bearing assembly 201 is connected with the front end cover 13, the lifting input assembly 202 is connected with the motor shaft 41, the lifting transmission assembly 203 is connected with the lifting output assembly 204 and the lifting input assembly 202, power is transmitted to the lifting output assembly 204 from the lifting input assembly 202, the lifting output assembly 204 is connected with the crank link mechanism 500, and the lifting output assembly 204 drives the crank link mechanism 500 to move.
The lifting bearing assembly 201 comprises a bearing shell 2011 and a bearing end cover 2012, the bearing shell 2011 is connected with the front end cover 13, the bearing end cover 2012 is arranged on one side, far away from the front end cover 13, of the bearing shell 2011, the bearing end cover 2012, the bearing shell 2011 and the front end cover 13 form a third accommodating cavity 2013, the lifting input assembly 202, the lifting transmission assembly 203 and the lifting output assembly 204 are all located in the third accommodating cavity 2013, and one end of the lifting output assembly 204 is located outside the bearing end cover 2012.
The lifting input assembly 202 includes an input bearing 2021, an input cam 2022 and an input end cover 2023, the input bearing 2021 is located on one side of the bearing housing 2011 near the front end cover 13, the input cam 2022 is disposed on the input bearing 2021, the input cam 2022 is connected to the motor shaft 41, the input end cover 2023 is connected to the motor shaft 41, and the input end cover 2023 is abutted to the input cam 2022. In particular applications, the input bearing 2021 is a compliant bearing. The input cam 2022 and the input end cover 2023 are respectively disposed on both sides of the input bearing 2021, and abut against the input cam 2022 to fix the input cam 2022.
The lifting transmission assembly 203 comprises a transmission steel wheel 2031, a transmission flexible wheel 2032, a transmission connection flange 2033 and an output flange 2034, wherein the transmission steel wheel 2031 is arranged on the inner wall of the third accommodating cavity 2013, the transmission flexible wheel 2032 is connected with the transmission steel wheel 2031 and the input bearing 2021 and is positioned between the transmission steel wheel 2031 and the input bearing 2021, the transmission connection flange 2033 is positioned in the transmission flexible wheel 2032, the transmission connection flange 2033 is connected with one side of the transmission flexible wheel 2032 far away from the input bearing 2021, the output flange 2034 is arranged on the same side with the transmission connection flange 2033, the output flange 2034 is positioned on the outer side of the transmission flexible wheel 2032, and the output flange 2034 is connected with the transmission connection flange 2033 and the lifting output assembly 204. Specifically, the transmission steel wheel 2031 and the bearing housing 2011 are integrally arranged, so that the volume is saved, the horizontal installation is convenient, and various assembly flange parts are omitted.
The lift output assembly 204 includes an output bearing 2041 and an output crankshaft 2042, the output bearing 2041 is disposed on a side of the carrier housing 2011 away from the input bearing 2021, the output crankshaft 2042 is disposed on the output bearing 2041, the output crankshaft 2042 is connected to the output flange 2034, the output crankshaft 2042 is further connected to the connecting rod assembly 502, the output crankshaft 2042 is driven to move by the output flange 2034, and the output crankshaft 2042 drives the connecting rod assembly 502 to move. In this embodiment, the number of output bearings 2041 is two to increase the load carrying capacity of the output crankshaft 2042.
Further, an oil seal ring 300 is further disposed on the bearing end cap 2012, and the output crank shaft 2042 and the oil seal ring 300 can perform relative movement; in addition, an oil seal cover 400 is further disposed on the end cap 2012, and the oil seal cover 400 is located in the middle of the end cap 2012. By providing the oil seal ring 300 and the oil seal cover 400, the lubricant inside can be prevented from leaking.
Through the cooperation of power unit 100 and lifting mechanism 200, power unit 100 has reduced the whole length and the volume of power unit 100 through first holding tank and holistic structural layout, and drive control subassembly, motor assembly and the encoder subassembly cooperation in power unit 100 in addition realize the accurate work of motor shaft, and then improve the precision that lifting output assembly 204 exported, compare with traditional structure, have small and the advantage that the precision is high, be convenient for assemble, dismantle and follow-up maintenance.
Referring back to fig. 2-4, the crank-link mechanism 500 includes a crank supporting component 501, a link component 502 and a lifting output component 503, a bearing housing 2011 is disposed on the crank supporting component 501, the link component 502 is rotatably connected with an output crankshaft 2042, and the lifting output component 503 is rotatably connected with the link component 502. The crank support assembly 501 includes a crank support base 5011 and a crank support post 5012, one end of the crank support post 5012 is disposed on the crank support base 5011, the other end is disposed on the bearing housing 2011, and the connecting rod assembly 502 is rotatably connected to the crank support base 5011. In specific application, the number of the crank support columns 5012 is two, and the two crank support columns 5012 are arranged in the bearing housing 2011 at intervals, so that the stability of supporting the power mechanism 100 and the lifting mechanism 200 is improved.
The link assembly 502 includes a first link 5021, a second link 5022 and a third link 5023, one end of the first link 5021 is rotationally connected with the crank support base 5011, the other end of the first link 5021 is rotationally connected with the third link 5023, two ends of the second link 5022 are respectively rotationally connected with the output crank shaft 2042 and the first link 5021, and one end of the third link 5023, far away from the first link 5021, is rotationally connected with the lifting output part 503. Further, the rotational connection of the first link 5021, the second link 5022 and the third link 5023 is realized by the cooperation of the connecting shaft and the shaft sleeve, and in order to prevent the axial movement during the rotation, a shaft clamp is arranged at the connection position.
When the output crankshaft 2042 moves anticlockwise, the second connecting rod 5022 drives the first connecting rod 5021 to move, the first connecting rod 5021 pushes the third connecting rod 5023 upwards, the third connecting rod 5023 drives the lifting output piece 503 to lift together, the first connecting rod 5021 and the third connecting rod 5023 are on the same straight line, at the moment, the highest point of lifting output piece 503 lifts, the output crankshaft 2042 can drive the second connecting rod 5022 to move a small distance in the anticlockwise direction, the output end of the output crankshaft 2042, the connection position of the second connecting rod 5022 and the first connecting rod 5021 are on the same straight line, and the self-locking state is achieved, so that the maximum supporting force is provided for the lifting output piece 503, and the condition that the lifting output piece 503 suddenly drops due to overweight of objects is avoided. Similarly, when lowering is desired, the output crank shaft 2042 drives the second link 5022 to move clockwise, raising and lowering the output member 503 into the lowered state.
Through the cooperation of power unit 100, lifting mechanism 200 and crank link mechanism 500, power unit 100 has reduced the whole length and the volume of power unit 100 through first holding tank 421 and holistic structural layout, drive control assembly 2 in the power unit 100 moreover, motor assembly 4 and encoder subassembly 5 cooperation, realize the accurate work of motor shaft 41, and then improve the precision of lifting output assembly 204 output, lifting output assembly 204 drives lifting output 503 through link assembly 502 and carries out lifting movement, whole lifting module 1000 is small, and response speed is fast moreover, the position is accurate and stability is strong.
As shown in fig. 12-14, fig. 12 is a cross-sectional view of a hollow joint module 2000 that is subject to axial loads in an embodiment; FIG. 13 is an exploded view of a hollow joint module 2000 according to an embodiment, which is subjected to axial loads; fig. 14 is a schematic perspective view of a hollow joint module 2000 that is loaded in an axial direction in an embodiment. The hollow joint module 2000 which bears the axial load comprises a driving component 901, a speed reducing component 902, a rigid component 903, an output component 904, a first encoder component 905, a second encoder component 906, a control component 907 and a braking component (not shown in the figure), wherein the driving component 901 is connected with the speed reducing component 902, the rigid component 903 is arranged between the driving component 901 and the speed reducing component 902, the rigid component 903 is connected with a crank support base 5011 for fixing, the output component 904 is connected with the output end of the speed reducing component 902, the output component 904 is connected with a driving wheel module 3000, the first encoder component 905 is connected with the output end of the driving component 901, the second encoder component 906 is connected with the output component 904, the braking component is connected with the output end of the driving component 901 or the input end of the speed reducing component 902, and the control component 907 is connected with the driving component 901, the first encoder component 905, the second encoder component 906 and the braking component.
The driving assembly 901 comprises a motor front cover 9011, a motor tail cover 9012, a stator piece 9013, a rotor piece 9014 and a transmission sleeve 9015, wherein the motor front cover 9011 penetrates through a crank support base 5011 and is connected with a speed reduction assembly 902, the rigid piece 903, the motor front cover 9011 and the motor tail cover 9012 jointly form a containing groove 9016, the stator piece 9013, the rotor piece 9014 and the transmission sleeve 9015 are located in the containing groove 9016, the stator piece 9013 is arranged on the inner wall surface of the motor front cover 9011, the rotor piece 9014 and the stator piece 9013 are oppositely arranged, the rotor piece 9014 is arranged on the outer surface of the transmission sleeve 9015, and the transmission sleeve 9015 is connected with the input end of the speed reduction assembly 902. Further, in order to shorten the overall length and facilitate installation, a first avoidance groove 9031 is formed in a side of the rigid member 903 away from the reduction gear assembly 902, and the motor front cover 9011 is disposed in the first avoidance groove 9031.
The deceleration assembly 902 comprises a fixed disc 9021 and a decelerator 9022, wherein the fixed disc 9021 is connected with the rigid piece 903 through a connecting piece 908, the fixed disc 9021 is further connected with a motor front cover 9011 through the connecting piece 908, the decelerator 9022 is arranged in the fixed disc 9021, and the output piece 904 is connected with the output end of the decelerator 9022. In a specific application, the output piece 904 penetrates from one end of the speed reducer 9022 to the motor tail cover 9012, and the output piece 904 can rotate relative to the motor tail cover 9012. It should be noted that, the speed reducer 9022 is an existing heavy-load harmonic speed reducer, and the heavy-load harmonic speed reducer is composed of four basic components of a wave generator, a flexible gear, a flexible bearing and a rigid gear, and the working principle is as follows: the flexible gear is elastically deformed by means of flexible bearing assembled on the wave generator and meshed with the rigid gear to transmit motion and power. The rigid gear is coupled to output member 904 for power take off.
Specifically, the outer diameter of the rigid member 903 is greater than the outer diameter of the reduction assembly 902, and the rigid member 903 is a flange. The rigid element 903 and the fixed disk 9021 are connected through twelve connecting elements 908, and twelve threaded through holes are correspondingly formed in the fixed disk 9021 and the rigid element 903, and the connecting elements 908 are in threaded connection with the threaded through holes; meanwhile, the fixed disk 9021 is further connected with the motor front cover 9011 through four connecting pieces 908, and in specific application, because the rigid piece 903 is spaced between the fixed disk 9021 and the motor front cover 9011, the four connecting pieces 908 have longer lengths, so that the fixed disk 9021 and the rigid piece 903 can be conveniently screwed with the motor front cover 9011 after passing through the fixed disk 9021. The output piece 904 in this embodiment is a hollow output shaft, and the cable can be arranged through the hollow part of the output piece, so as to avoid the mess phenomenon of the cable. The outer edge of the rigid member 903 is provided with a plurality of threaded holes for connection with other structural members.
The first encoder assembly 905 includes a first encoder bearing 9051, a first encoder fixing base 9052 and a first encoder code wheel 9053, the first encoder bearing 9051 is disposed on the motor front cover 9011, the first encoder fixing base 9052 is connected with the first encoder bearing 9051, the first encoder fixing base 9052 is connected with the transmission sleeve 9015, the first encoder code wheel 9053 is disposed at one end of the first encoder fixing base 9052 far away from the transmission sleeve 9015, when the transmission sleeve 9015 rotates, the first encoder fixing base 9052 and the first encoder code wheel 9053 are driven to rotate together, and the control assembly 907 obtains rotation information of the transmission sleeve 9015 through the first encoder code wheel 9053.
The second encoder assembly 906 includes a second encoder fixing seat 9061 and a second encoder code wheel 9062, the second encoder fixing seat 9061 is connected to the output piece 904, the second encoder code wheel 9062 is disposed on a side of the second encoder fixing seat 9061, which is close to the control assembly 907, the second encoder code wheel 9062 rotates along with the output piece 904, and the control assembly 907 obtains rotation information of the output piece 904 through the second encoder code wheel 9062. Further, the side of the first encoder fixing base 9052 away from the speed reducer 9022 is provided with a second avoidance groove 90521, and the first encoder fixing base 9052 is located in the second avoidance groove 90521, so that the overall length is reduced. The first encoder code wheel 9053 and the second encoder code wheel 9062 are in the same plane in this embodiment. It should be noted that, the first encoder assembly 905 and the second encoder assembly 906 use single-turn absolute value encoders, and the benefits of using two single-turn absolute value encoders are: the absolute position of a single circle of the output piece 904 can still be known after the module is powered down and powered up again, a photoelectric switch or a limit switch is not needed to return round points when the module is started up every time like a traditional scheme, or a multi-circle absolute value encoder is not needed to be externally connected with an encoder battery like a traditional scheme, and the encoder battery is easy to be powered down and inconvenient to maintain along with time.
The control module 907 is composed of a PCB board and other electronic components, and is identical to the existing servo motor driving control module, and controls the whole module operation.
In specific application, the brake component is an electromagnetic brake piece. The electromagnetic brake piece can refer to the existing electromagnetic brake structure, and the electromagnetic brake piece is electrified together with the electromagnetic brake when the joint module operates, so that the armature is attracted and separated from the brake disc, and the motor normally operates. When the joint module is powered off, no current passes through the coil of the electromagnetic brake, and the armature is jacked up by the compression spring to cling to the brake disc, and generates extremely large friction force with the brake disc instantly, so that the motor is braked in time, and the use safety of the gear motor is ensured.
The control component 907 drives the brake component to loosen the band-type brake at the output end of the driving component 901, the driving component 901 works and inputs power to the speed reducing component 902, the power is output through the output piece 904 after the speed reducing component 902 decelerates, wherein the first encoder component 905 and the second encoder component 906 respectively input the motion information of the driving component 901 and the output piece 904 to the control component 907, a rigid piece 903 is arranged between the driving component 901 and the speed reducing component 902, the speed reducing component 902 is connected with the rigid piece 903 and the driving component 901 through a connecting piece 908, when the axial heavy load is needed, the stress position of the speed reducing component is changed to a plurality of connecting pieces 908, the driving component 901 is prevented from being stressed as a fixed end, and the integral axial stress effect is further improved.
Fig. 15-16 show a perspective view of a driving wheel module 3000 according to the embodiment of fig. 15; fig. 16 is a cross-sectional view of the driving wheel module 3000 in the embodiment. The driving wheel module 3000 includes a driving mechanism, a secondary planetary reduction mechanism 600 and a rolling mechanism 700, the driving mechanism is used as power output, the output end of the driving mechanism is connected with the secondary planetary reduction mechanism 600, the power is transmitted to the rolling mechanism 700 after passing through the secondary planetary reduction mechanism 600, and the rolling mechanism 700 rotates to realize final movement.
Referring back to fig. 7-10, the driving mechanism in this embodiment is identical to the power mechanism 100, and therefore, the structure of the power mechanism 100 will be described in detail below.
The power mechanism 100 comprises a shell 1, a driving control assembly 2, a brake 3, a motor assembly 4 and an encoder assembly 5, wherein the driving control assembly 2, the brake 3, the motor assembly 4 and the encoder assembly 5 are all positioned in the shell 1, and an output end of the motor assembly 4 extends out of the shell 1 to output power, and is connected with the two-stage planetary reduction mechanism 600. The driving control assembly 2 is connected with the brake 3, the motor assembly 4 and the encoder assembly 5, the driving control assembly 2 drives the brake 3 to release the fixation of the motor assembly 4, the motor assembly 4 works after being excited by the driving control assembly 2, and the encoder assembly 5 takes motion information of the motor assembly 4 and feeds the motion information back to the driving control assembly 2.
In a specific application, the housing 1 has a first accommodating cavity 11 and a second accommodating cavity 12, the driving control assembly 2 is located in the first accommodating cavity 11, and the brake 3, the motor assembly 4 and the encoder assembly 5 are all located in the second accommodating cavity 12. The housing 1 in this embodiment includes a front end cover 13, a housing 14, a rear end cover 15, and a tail cover 16, where the front end cover 13, the housing 14, the rear end cover 15, and the tail cover 16 are sequentially connected, and the front end cover 13, the housing 14, and the rear end cover 15 are connected to form a second accommodating cavity 12, and the rear end cover 15 and the tail cover 16 are connected to form a first accommodating cavity 11. Further, in order to improve the tightness of the connection, the connection parts of the front end cover 13, the casing 14, the rear end cover 15 and the tail cover 16 are provided with sealing rings, and the sealing rings are conventional O-shaped sealing rings. Furthermore, in order to enhance the heat dissipation effect of the servo motor, the casing 14 and the tail cover 16 are provided with heat dissipation structures, which are heat dissipation comb teeth.
The drive control assembly 2 consists of a PCB circuit board and other electronic components, and is the same as the existing servo motor drive control module, and controls the whole motor.
The motor assembly 4 comprises a motor shaft 41, a magnetic shoe shaft sleeve 42, a plurality of rotor magnetic shoes 43 and a plurality of stator coils 44, the motor shaft 41 is rotationally arranged in the second accommodating cavity 12, the motor shaft 41 penetrates through the front end cover 13 and the machine shell 14 respectively, the motor shaft 41 is connected with the secondary planetary reduction mechanism 600, the magnetic shoe shaft sleeve 42 is sleeved on the motor shaft 41, the rotor magnetic shoes 43 are arranged along the edges of the magnetic shoe shaft sleeve 42, namely, the rotor magnetic shoes 43 are arranged on the outer surface of the magnetic shoe shaft sleeve 42 in a surrounding mode, the stator coils 44 are opposite to the rotor magnetic shoes 43, the stator coils 44 are connected with the drive control assembly 2, and the brake 3 is sleeved on the motor shaft 41. In particular applications, the brake 3 is located between the magnetic shoe sleeve 42 and the drive control assembly 2 along the axis of the motor shaft 41. The first accommodation groove 421 has been seted up to the magnetic shoe axle sleeve 42, and the one side that the stopper 3 is close to the magnetic shoe axle sleeve 42 stretches into in the first accommodation groove 421, and then has shortened the axial interval of magnetic shoe axle sleeve 42, stopper 3 and drive control subassembly 2 three for the length of whole servo motor shortens. Specifically, the magnetic shoe sleeve 42 is made of a magnetic conductive material, so that the magnetic field reaction effect is improved.
Further, the power mechanism 100 further includes a front bearing 6 and a rear bearing 7, the front bearing 6 is disposed on the front end cover 13, the rear bearing 7 is disposed on the rear end cover 15, one end of the motor shaft 41 penetrates through the front bearing 6, the end extends out of the housing 1 to serve as an output end, and the other end of the motor shaft 41 penetrates through the rear bearing 7. Furthermore, an elastic piece 8 is arranged between one side of the front bearing 6 far away from the rear bearing 7 and the wall surface of the front end cover 13, and the motor shaft 41 can be prevented from moving axially when rotating through the arrangement of the elastic piece 8, so that the stability of the motor shaft during working is improved. The elastic member 8 in this embodiment is a wave spring pad. Further, the second accommodating groove 31 is formed in the side, away from the front bearing 6, of the brake 3, and one side of the rear bearing 7 extends into the second accommodating groove 31, so that the axial length of the servo motor is further shortened.
The encoder assembly 5 comprises an encoding magnetic part 51 and an encoding reading part 52, wherein the encoding magnetic part 51 is connected with one end of the motor shaft 41, which is close to the rear bearing 7, the encoding reading part 52 is arranged on the driving control assembly 2, the encoding magnetic part 51 rotates along with the motor shaft 41, the encoding reading part 52 reads the rotating information of the encoding magnetic part, further the rotating angle information of the motor shaft 41 is obtained, and the information is fed back to the driving control assembly 2. Further, the encoder assembly 5 further includes an encoding carrier 53, the encoding carrier 53 is embedded into one end of the motor shaft 41, the encoding magnetic member 51 is disposed on the encoding carrier 53, and by the arrangement of the encoding carrier 53, not only the firmness of the arrangement of the encoding magnetic member 51 can be enhanced, but also a part of the area of the encoding magnetic member 51 can extend into the motor shaft 41, so that the overall axial length is shortened. Specifically, the code carrier 53 is made of a non-magnetic conductive material, so as to prevent magnetism of the motor assembly 4 during operation from being transferred to the code magnetic member 51, and thus information of the code reading member 52 is read by mistake.
When the device works, the drive control assembly 2 enables the brake 3 to be excited, the brake 3 does not act on the motor shaft 41 any more, the fixation of the motor shaft 41 is released, then the drive control assembly 2 enables the stator coil 44 to be excited so as to drive the motor shaft 41 to rotate, the coded magnetic piece 51 rotates together with the motor shaft 41, and the coded reading piece 52 collects corresponding information and feeds the information back to the drive control assembly 2; when the stop operation is required, the drive control unit 2 causes the brake 3 and the stator coil 44 to lose magnetism, and the brake 3 again fixes the motor shaft 41 to stop rotation.
By the opening of the first accommodation groove 421, part of the structure of the brake 3 extends into the first accommodation groove 421, and the overall length is shortened in the axial direction; in addition, drive control subassembly 2, stopper 3, motor element 4 and encoder subassembly 5 all set up inside casing 1, and arrange along the axial is orderly, and the wiring of the back connecting cable of being convenient for, whole casing 1 inner structure distributes compactly, not only makes whole servo motor reduce in length, has still reduced whole volume moreover.
Referring again to fig. 17-18, fig. 17 is a cross-sectional view of a two-stage planetary reduction mechanism 600 according to an embodiment; fig. 18 is a diagram showing a combination of a secondary cage 6024 and a secondary planet 6022 according to an embodiment. The secondary planetary reduction mechanism 600 comprises a primary planetary reduction assembly 601 and a secondary planetary reduction assembly 602, wherein the primary planetary reduction assembly 601 is connected with the motor shaft 41, and the secondary planetary reduction assembly 602 is connected with the primary planetary reduction assembly 601 and the rolling mechanism 700. The primary planetary assembly comprises a primary sun gear 6011, a plurality of primary planet gears 6012, a primary annular gear 6013 and a primary retainer 6014, wherein the primary sun gear 6011 is connected with a motor shaft 41, the plurality of primary planet gears 6012 are connected with the primary sun gear 6011, the planet gears are also connected with the primary annular gear 6013, and the primary retainer 6014 is connected with the plurality of primary planet gears 6012 and the secondary planetary reduction assembly 602. In a specific application, one end of the motor shaft 41, which is output, is sleeved with a shaft sleeve, the shaft sleeve drives an input shaft to rotate together, and the input shaft is connected with a first-stage sun gear 6011. Meanwhile, the outer surface of the shaft sleeve is also sleeved with a bearing. The primary sun gear 6011, the primary planet gears 6012 and the primary ring gear 6013 are in meshed connection. The secondary planet assembly comprises a secondary sun gear 6021, a plurality of secondary planet gears 6022, a secondary annular gear 6023 and a secondary retainer 6024, wherein the secondary sun gear 6021 is connected with the primary retainer, the plurality of secondary planet gears 6022 are connected with the secondary sun gear 6021, and the secondary annular gear 6023 is connected with the plurality of secondary planet gears 6022 and the rolling mechanism 700. In a specific application, the plurality of secondary planet gears 6022 and the secondary retainer 6024 are fixedly connected, the secondary planet gears 6022 can only rotate, and the opposite secondary ring gear 6023 drives the rolling mechanism 700 to rotate together under the driving of the secondary planet gears 6022. One end of the secondary retainer 6024 is arranged on the front end cover 13, the other end of the secondary retainer 6024 is fixedly connected with the primary annular gear 6013, and the secondary planet gears 6022 are positioned in the middle area of the secondary retainer 6024. Specifically, a motor mounting flange is further arranged between the secondary retainer 6024 and the front end cover 13, and the central circle diameter of an outer ring screw hole of the motor mounting flange is larger than the outer diameter of the flange of the secondary annular gear 6023. In this embodiment, the secondary ring gear 6023 is sleeved on the outer surface of the secondary retainer 6024, and is supported by two support bearings, the inner rings of the two support bearings are connected with the secondary retainer 6024, and the outer rings thereof are connected with the secondary ring gear 6023. Assuming that the motor shaft 41 transmits power to the primary sun gear 6011 in the forward direction, the primary cage 6014 outputs power to the secondary sun gear 6021 in the reverse direction.
Referring back to fig. 15 and 16, the rolling mechanism 700 includes a hub 701 and a rubber coating wheel 702, the hub 701 is connected to the secondary ring gear 6023, and the rubber coating wheel 702 is wrapped on the outer surface of the hub 701. The secondary annular gear 6023 drives the hub 701 to rotate, and the hub 701 drives the rubber coating wheel 702 to rotate together to realize integral movement. In a specific application, the inner side of the hub 701 is provided with a groove 7011, and part or all of the area of the shell 1 is positioned in the groove 7011, so that the overall axial length is reduced, and the hub 701 and the shell 1 are connected through a connecting bearing.
With reference to fig. 15 and 16, the driving wheel module 3000 further includes an input connection mechanism 800, where the input connection mechanism 800 includes a first input support column 801, a second input support column 802, and a rotating flange plate 803, the first input support column 801 and the second support column 6024 are connected on a side of the second support column 6024 away from the motor shaft 41, the second input support column 802 is disposed on an outer surface of the housing 1, the rotating flange plate 803 is respectively connected with the first input support column 801 and the second input support column 802, the rotating flange plate 803 is higher than the encapsulation wheel 702, and an output end of the output piece 904 is connected with the rotating flange plate 803. In specific application, a connecting end cover is further arranged between the first input support column 801 and the second-stage retainer 6024, and one end of the input shaft penetrates through the first-stage sun gear 6011 and then is connected with the connecting end cover through a bearing. The connection through hole 8031 has been seted up to rotatory flange board 803, input coupling mechanism 800 still includes wire passing piece 804, wire passing piece 804 is connected towards one side of casing 1 with rotatory flange board 803, wire passing piece 804 has seted up wiring groove 8041 along its axial, wiring groove 8041 communicates with each other with connection through hole 8031, the pencil of being convenient for gets into wiring groove 8041 after passing connection through hole 8031, be connected with other parts again, through the setting of wire passing piece 804, not only can improve traditional wire arrangement disorder phenomenon, but also can avoid the phenomenon that contacts and causes wearing and tearing to the pencil with the pencil when the rubber coating wheel 702 moves. Specifically, please review fig. 1, a power splitter 4000 and a signal splitter 5000 are disposed on the side of the crank support base 5011, and the wire bundles on the power splitter 4000 and the signal splitter 5000 pass through the hollow portion of the output piece 904, then pass through the connecting hole 8031 and the wire slot 8041, and then are connected with the power mechanism 100. In addition, the power line and the signal line of the lifting module 1000 and the hollow joint module 2000 bearing the axial load are respectively connected with the power line splitter 4000 and the signal line splitter 5000, and finally the power line splitter 4000 and the signal line splitter 5000 are combined into four lines (power+, power-, communication line CANH and communication line CANL), so that the complex wiring problem and the control problem of the traditional scheme can be solved.
Further, a thrust ball bearing 6000 and a bearing cover 7000 are further arranged at the connection position of the output piece 904 and the rotary flange 803, the seat ring of the thrust ball bearing 6000 is connected with the rotary flange 803, the bearing cover 7000 is covered on the outer surface of the thrust ball bearing 6000 to protect the thrust ball bearing 6000, the hollow joint module 2000 bearing axial load can bear loads in any direction to a certain extent by the aid of the crossed roller bearings, and the thrust ball bearing 6000 greatly increases loads in the axial and radial directions of the whole power base station under heavy pressure.
The power mechanism 100 drives the first-stage sun gear 6011 to move, the first-stage sun gear 6011 drives the first-stage planet gear 6012 to move, the first-stage planet gear 6012 drives the second-stage sun gear 6021 to move through the first-stage retainer 6014, the second-stage sun gear 6021 drives the second-stage annular gear 6023 to rotate through the second-stage planet gear 6022, the rolling mechanism 700 is driven by the second-stage annular gear 6023 to rotate to realize integral movement, and through reasonable layout of all components and a structure of linkage of the second-stage planetary reduction mechanism 600, the integral axial length is shortened, the steering radius is reduced, and daily assembly, disassembly and maintenance are facilitated.
The power mechanism 100 drives the crank connecting rod mechanism 500 to move through the lifting mechanism 200 to realize the carrying function, and the hollow joint module 2000 which bears the axial load synchronously drives the whole driving wheel module 3000 to move, wherein the driving mechanism in the driving wheel module 3000 drives the rolling mechanism 700 to move through the secondary planetary reduction mechanism 600 to realize the whole straight running or steering movement, and the power base station can meet the conditions of carrying and moving as required by structural optimization and reasonable layout, and has small whole volume, high stability and convenient subsequent maintenance.
The foregoing description is only illustrative of the invention and is not to be construed as limiting the invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, or the like, which is within the spirit and principles of the present invention, should be included in the scope of the claims of the present invention.
Claims (7)
1. A power base station, comprising: the lifting device comprises a lifting module (1000), a hollow joint module (2000) for bearing axial load and a driving wheel module (3000), wherein the lifting module (1000) comprises a power mechanism (100), a lifting mechanism (200) and a crank connecting rod mechanism (500) which are sequentially connected; the driving wheel module (3000) comprises a driving mechanism, a secondary planetary reduction mechanism (600) and a rolling mechanism (700), wherein the driving mechanism is connected with the rolling mechanism (700) through the secondary planetary reduction mechanism (600); the hollow joint module (2000) bearing the axial load is arranged on the crank connecting rod mechanism (500), and the hollow joint module (2000) bearing the axial load is connected with the driving mechanism;
the power mechanism (100) includes:
a housing (1);
a drive control assembly (2) located within the housing (1);
A brake (3) provided in the housing (1), the brake (3) being connected to the drive control unit (2);
the motor assembly (4) comprises a motor shaft (41), a magnetic shoe shaft sleeve (42), a plurality of rotor magnetic shoes (43) and a plurality of stator coils (44), wherein the motor shaft (41) is rotationally arranged in the shell (1), one end of the motor shaft (41) extends out of the shell (1), the motor shaft (41) is connected with the lifting mechanism (200), the brake (3) is arranged on the motor shaft (41), the magnetic shoe shaft sleeve (42) is sleeved on the motor shaft (41), the magnetic shoe shaft sleeve (42) is provided with a first accommodating groove (421), one side, far away from the drive control assembly (2), of the brake (3) is positioned in the first accommodating groove (421), the rotor magnetic shoes (43) are arranged around the magnetic shoe shaft sleeve (42), the stator coils (44) and the rotor magnetic shoes (43) are oppositely arranged, and the stator coils (44) are connected with the drive control assembly (2);
an encoder assembly (5) that connects the drive control assembly (2) and the motor shaft (41);
the hollow joint module (2000) bearing axial load comprises a driving component (901), a speed reducing component (902), a rigid component (903), an output component (904), a first encoder component (905), a second encoder component (906), a control component (907) and a braking component, wherein the output end of the driving component (901) is connected with the speed reducing component (902), the rigid component (903) is positioned between the driving component (901) and the speed reducing component (902), the speed reducing component (902) is respectively connected with the rigid component (903) and the speed reducing component (902) through a plurality of connecting pieces (8), the rigid component (903) is connected with the crank connecting rod mechanism (500), the output component (904) is connected with the output end of the speed reducing component (902), the first encoder component (905) is connected with the output end of the driving component (901), the second encoder component (906) is connected with the output component (904), and the control component (907) is connected with the driving component (901), the first encoder component (905), the second encoder component (902) and the output end of the braking component (906) are respectively arranged at the output end of the driving component (906);
The secondary planetary reduction mechanism (600) includes:
the primary planetary reduction assembly (601) comprises a primary sun gear (6011), a plurality of primary planet gears (6012), a primary annular gear (6013) and a primary retainer (6014), wherein the primary sun gear (6011) is connected with the output end of the driving mechanism, the plurality of primary planet gears (6012) are connected with the primary sun gear (6011) and the primary annular gear (6013), and the primary retainer (6014) is connected with the plurality of primary planet gears (6012);
the secondary planet speed reduction assembly (602) comprises a secondary sun gear (6021), a plurality of secondary planet gears (6022), a secondary annular gear (6023) and a secondary retainer (6024), wherein the secondary sun gear (6021) is connected with the primary retainer (6014), the secondary planet gears (6022) are connected with the secondary sun gear (6021) and the secondary annular gear (6023), the secondary annular gear (6023) is connected with the rolling mechanism (700), and the secondary retainer (6024) is connected with the secondary planet gears (6022).
2. The power base station according to claim 1, wherein the lifting mechanism (200) comprises a lifting bearing assembly (201) and a lifting input assembly (202), a lifting transmission assembly (203) and a lifting output assembly (204) which are arranged on the lifting bearing assembly (201), the lifting bearing assembly (201) is connected with the shell (1), the lifting input assembly (202) is connected with one end of the motor shaft (41) extending out of the shell (1), and the lifting transmission assembly (203) is respectively connected with the lifting input assembly (202) and the lifting output assembly (204).
3. The power base station according to claim 2, wherein the crank link mechanism (500) comprises a crank support assembly (501), a link assembly (502) and a lifting output member (503), the lifting bearing assembly (201), the link assembly (502) and the hollow joint module (2000) bearing axial load are all arranged on the crank support assembly (501), and the link assembly (502) is rotationally connected with the lifting output assembly (204) and the lifting output member (503).
4. The power base station according to claim 1, wherein the drive assembly (901) comprises a motor front cover (9011), a motor rear cover (9012), a stator piece (9013), a rotor piece (9014) and a transmission sleeve (9015), wherein the motor front cover (9011) is connected with the reduction assembly (902), the motor front cover (9011) is connected with the motor rear cover (9012), the motor front cover (9011), the motor rear cover (9012) and the rigid piece (903) form a containing groove (9016), the stator piece (9013) and the rotor piece (9014) are located in the containing groove (9016), the transmission sleeve (9015) is connected with the input end of the rotor piece (9014) and the reduction assembly (902), the first encoder assembly (905) is connected with the transmission sleeve (9015), the second encoder assembly (906) and the control assembly (903) are located in the containing groove (9016), and the output piece (9013) penetrates through the motor rear cover (902) and the end of the reduction assembly (902).
5. The power base station according to claim 1, characterized in that the reduction assembly (902) comprises a fixed disc (9021) and a reducer (9022), the fixed disc (9021) is connected with the rigid element (903) and the driving assembly (901), the reducer (9022) is arranged on the fixed disc (9021), and the output element (904) is connected with the reducer (9022).
6. The power base station according to claim 1, wherein the rolling mechanism (700) comprises a hub (701) and a rubber coating wheel (702), the hub (701) is connected with the secondary annular gear (6023), and the rubber coating wheel (702) is wrapped on the outer surface of the hub (701).
7. The power base station according to claim 1, wherein the driving wheel module (3000) further comprises an input connection mechanism (800) comprising a first input support column (801), a second input support column (802) and a rotating flange plate (803), the first input support column (801) is connected with the primary ring gear (6013), the second input support column (802) is arranged on the outer surface of the driving mechanism, the rotating flange plate (803) is connected with the first input support column (801) and the second input support column (802) respectively, and the rotating flange plate (803) is connected with the hollow joint module (2000) bearing axial load.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210970132.1A CN115276311B (en) | 2022-08-12 | 2022-08-12 | Power base station |
| PCT/CN2022/131880 WO2024031858A1 (en) | 2022-08-12 | 2022-11-15 | Power base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210970132.1A CN115276311B (en) | 2022-08-12 | 2022-08-12 | Power base station |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115276311A CN115276311A (en) | 2022-11-01 |
| CN115276311B true CN115276311B (en) | 2023-05-30 |
Family
ID=83751318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210970132.1A Active CN115276311B (en) | 2022-08-12 | 2022-08-12 | Power base station |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115276311B (en) |
| WO (1) | WO2024031858A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115276311B (en) * | 2022-08-12 | 2023-05-30 | 广东天太机器人有限公司 | Power base station |
| CN117353510B (en) * | 2023-12-05 | 2024-02-13 | 成都精密电机有限公司 | Servo motor |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107487175B (en) * | 2017-07-25 | 2019-12-31 | 东风汽车公司 | Integrated hub motor driving unit |
| CN108638839B (en) * | 2018-05-14 | 2019-09-27 | 清华大学 | A kind of electronic axle assembly of low-floor |
| CN110739798B (en) * | 2018-07-18 | 2020-11-10 | 六环传动（西安）科技有限公司 | Planetary gear motor capable of realizing full closed-loop control and joint robot |
| US10676279B1 (en) * | 2018-11-20 | 2020-06-09 | Advanced Intelligent Systems Inc. | Systems, methods, and storage units for article transport and storage |
| CN110123536B (en) * | 2019-05-28 | 2021-02-19 | 新乡市中心医院(新乡中原医院管理中心) | Patient carrier for cardiovascular internal medicine |
| CN112374422A (en) * | 2020-12-04 | 2021-02-19 | 东凯叉车(常州)有限公司 | Vehicle-mounted self-loading and unloading forklift with weighing function |
| CN112811354A (en) * | 2021-01-21 | 2021-05-18 | 北京极智嘉科技股份有限公司 | Transfer robot, warehouse logistics system and cage car transfer method |
| CN114084849A (en) * | 2021-11-18 | 2022-02-25 | 宝开(上海)智能物流科技有限公司 | Material box carrying robot |
| CN114102659B (en) * | 2021-12-06 | 2023-07-07 | 之江实验室 | Integrated robot driving joint based on planetary reducer |
| CN114633281B (en) * | 2022-02-28 | 2023-12-29 | 浙江大学 | Anti-roll high-power-density robot joint driving unit |
| CN115276311B (en) * | 2022-08-12 | 2023-05-30 | 广东天太机器人有限公司 | Power base station |
| CN218416090U (en) * | 2022-08-12 | 2023-01-31 | 广东天太机器人有限公司 | Power base station |
-
2022
- 2022-08-12 CN CN202210970132.1A patent/CN115276311B/en active Active
- 2022-11-15 WO PCT/CN2022/131880 patent/WO2024031858A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| CN115276311A (en) | 2022-11-01 |
| WO2024031858A1 (en) | 2024-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115276311B (en) | Power base station | |
| US8316973B2 (en) | Electric driving unit for a vehicle | |
| EP2329983B1 (en) | Wheel drive assembly and a spindle carrier | |
| US10830320B2 (en) | Electric actuator | |
| CN111918816A (en) | Drive system | |
| CN108603576A (en) | Ball-screw apparatus and the electric actuator for having the ball-screw apparatus | |
| CN101493080B (en) | A gear unit for a wind turbine | |
| US20090312134A1 (en) | Gear reducer electric motor assembly with internal brake | |
| CN109923767A (en) | Electric actuator | |
| KR101841009B1 (en) | In-wheel working device | |
| EP2894055B1 (en) | Motor drive unit | |
| CN107116575B (en) | Integrated rotary driving actuator | |
| JP2008044537A (en) | In-wheel motor driving device | |
| JP2017175837A (en) | Electric actuator | |
| CN218416090U (en) | Power base station | |
| CN114102659B (en) | Integrated robot driving joint based on planetary reducer | |
| CN101417607B (en) | Vehicle wheel motor and use thereof | |
| CN109891723A (en) | Electric actuator | |
| CN113602378A (en) | Bionic quadruped robot | |
| CN114245768A (en) | Robot joint and robot | |
| CN108859748B (en) | Rotating wheel system of wheeled robot and installation method | |
| CN113977625A (en) | Electric joint module integrating double speed reducers | |
| CN106864252B (en) | Steering and driving integrated wheel electric driving system and vehicle | |
| CN217804314U (en) | Driving wheel module | |
| CN209389845U (en) | Without magnetic resistance hub motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 528000, No. 43 Longliang Road, Longyan Industrial Zone, Longyan Village, Leliu Street, Shunde District, Foshan City, Guangdong Province Applicant after: GUANGDONG TIANTAI ROBOT Co.,Ltd. Address before: 528300 Daliang 105 National Road Dadun Section (Block 5-1), Foshan City, Guangdong Province, 3 stories, 6 Complex Building (Section 23 of Honggang Road, Guangzhou-Zhuhai Highway, 9) Applicant before: GUANGDONG TIANTAI ROBOT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |