CN212601822U - Mechanical module - Google Patents
Mechanical module Download PDFInfo
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- CN212601822U CN212601822U CN202021006027.9U CN202021006027U CN212601822U CN 212601822 U CN212601822 U CN 212601822U CN 202021006027 U CN202021006027 U CN 202021006027U CN 212601822 U CN212601822 U CN 212601822U
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- speed reducer
- input shaft
- harmonic speed
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Abstract
The utility model provides a mechanical module belongs to mechanical automation technical field. This mechanical module includes flange bracket and frameless motor, frameless motor has the stator, be fixed with the harmonic speed reducer on the flange bracket, be fixed with main installing support on the harmonic speed reducer, the harmonic speed reducer includes the harmonic speed reducer input shaft, be connected with harmonic speed reducer input shaft installing support on the harmonic speed reducer input shaft, be connected with rotor installation axle on the harmonic speed reducer input shaft installing support, rotor and encoder driving disk installation axle are installed to rotor installation epaxial, install the encoder driving disk on the installation axle of encoder driving disk, the cover is established and is fixed with the clamp ring on the stator, be fixed with the encoder quiet dish on the clamp ring, the outer tip of main installing support is fixed with the end cover. The mechanical module can improve the integration level and the accuracy, has a compact structure, is smaller in size and is simple and convenient to install.
Description
Technical Field
The utility model belongs to the technical field of mechanical automation, a mechanical module is related to.
Background
With the progress of automation technology and the development of artificial intelligence, the future development directions of various automatic mechanical devices are usually miniaturization, lightweight, modularization and integration. In the application field of various lightweight mechanical arms, more and more demands are also light weight, miniaturization, integration and modularization, and similarly, in some walking robot fields, more and more demands are also made for more miniaturized equipment, which is more and more demanding for mechanical modules of modularized design.
In the prior art, the automatic mechanical equipment has the problems of complex structure, large volume, inconvenient installation and maintenance and the like.
Disclosure of Invention
The utility model discloses to the above-mentioned problem that prior art exists, provide a mechanical module, the utility model aims to solve the technical problem that: how to integrate the mechanical module.
The purpose of the utility model can be realized by the following technical proposal:
a mechanical module comprises a flange support and a frameless motor, the frameless motor is provided with a stator, a harmonic reducer is fixed on the flange support, a main mounting support is fixed on the harmonic reducer, the harmonic reducer comprises a harmonic reducer input shaft, the harmonic reducer input shaft is connected with a harmonic reducer input shaft mounting support, the stator is embedded in the main mounting support, a rotor mounting shaft is connected on the harmonic reducer input shaft mounting support, a rotor and an encoder driving disk mounting shaft are mounted on the rotor mounting shaft, an encoder driving disk is mounted on the encoder driving disk mounting shaft, a compression ring is sleeved and fixed on the stator, an encoder static disk is fixed on the compression ring, and the frameless motor, the compression ring, the encoder static disk and the encoder driving disk are all located in the main mounting support, and an end cover is fixed at the outer end part of the main mounting bracket.
This mechanical module all installs parts such as frameless motor, harmonic speed reducer machine, the quiet dish of encoder and encoder driving disk on main installing support, makes mechanical module integrate, improves integrated level and accuracy, compact structure, and mechanical module's volume is littleer, and the installation is simple and convenient, and detachability and maintainability are good, and this mechanical module is applicable to various arm joint swings or rotatory position, also can regard as the drive disk assembly use of all kinds of walking robots.
In the above mechanical module, the mounting bracket for the input shaft of the harmonic reducer is cylindrical, the mounting bracket for the input shaft of the harmonic reducer is provided with a groove, the end of the input shaft of the harmonic reducer is inserted into the groove, the outer wall of the groove is in threaded connection with a first screw, and the first screw is in threaded fastening connection with the end of the input shaft of the harmonic reducer.
The mounting bracket of the input shaft of the harmonic speed reducer adopts a groove type structure, can be accurately mounted on the input shaft of the harmonic speed reducer and is mounted together through a first screw on the outer wall of the groove; the mounting sizes of the inner surface and the outer surface of the groove are respectively within 0.05mm from the input end of the harmonic speed reducer, and the mounting concentricity is guaranteed.
As an implementation mode, the side surface of the mounting bracket of the input shaft of the harmonic speed reducer is provided with 3 threaded holes which are distributed at equal intervals and used for connecting a motor rotor mounting shaft; this harmonic speed reducer machine input shaft installing support changes the harmonic speed reducer machine input by radial installation for the axial installation, convenient and fast more.
In the mechanical module, a plurality of second screws are arranged on the end face of the flange support, and the flange support, the harmonic speed reducer and the main mounting support are fixed through the second screws.
The flange support, the harmonic speed reducer and the main mounting support are mounted together through second screws, wherein mounting holes in the main mounting support and the harmonic speed reducer are through holes, and holes in the flange support are threaded holes.
In one embodiment, the number of the second screws is 16, and the screws are equally spaced.
In the above mechanical module, the main mounting bracket is provided with a slot, and the stator is disposed in the slot.
In the structure, the stator of the frameless motor is arranged in the clamping groove of the main mounting bracket, the diameter of the clamping groove is 0.02-0.05mm larger than the outer diameter of the stator of the frameless motor, the concentricity of the installation is ensured, and the motor stator can conveniently and smoothly enter the clamping groove of the main mounting bracket.
In one of the above mechanical modules, the stator is fixed in the slot of the main mounting bracket by the pressing force of the pressing ring.
Besides, the compression ring has the effect of compressing the stator, and the compression ring is also provided with a mounting position for fixing the static disc of the encoder.
In the above mechanical module, the rotor mounting shaft and the rotor are fixed by gluing. The rotor mounting shaft and the rotor are adhered together through glue, the maximum shearing strength can reach 20.7N/mm after 24 hours of curing, and the use requirement is well met.
In one of the above mechanical modules, the end cap is made of a transparent acrylic sheet. The end cover is made of transparent acrylic plates, so that impurities such as dust can be prevented from entering the joint module, and operating conditions inside the mechanical module can be observed clearly by a user.
The installation method of the mechanical module comprises the following steps:
a: embedding the harmonic speed reducer input shaft mounting bracket on the harmonic speed reducer input shaft, and fixing the harmonic speed reducer input shaft and the harmonic speed reducer input shaft by using a radial fixing screw;
b: embedding a stator of the frameless motor into the main mounting bracket, placing a compression ring, adjusting the position of the compression ring, and fixing the compression ring, the stator and the main mounting bracket by using axial fixing screws;
c: sequentially combining a flange bracket, a harmonic speed reducer and an assembled main mounting bracket together, adjusting the positions, wherein a plurality of mounting holes which are distributed at equal intervals are formed in the main mounting bracket and the harmonic speed reducer, each mounting hole of the main mounting bracket is aligned with each mounting hole on the harmonic speed reducer, and then sequentially inserting a screw into the mounting hole where the main mounting bracket is located, so that the screw penetrates through the harmonic speed reducer and is in threaded fastening connection with the flange bracket;
d: slowly pushing the rotor mounting shaft and the rotor which are fixedly adhered into the stator, and then fastening and connecting the rotor mounting shaft and the input shaft mounting bracket of the harmonic speed reducer by using an axial locking screw;
e: fixing the encoder moving disc mounting shaft on the rotor mounting shaft through a screw, and fixing the encoder moving disc on the encoder moving disc mounting shaft through a screw;
f: fixing a static disc of the encoder on the compression ring through a screw;
g: the end caps are secured to the main mounting bracket by screws.
The installation method can improve the integration level and the accuracy, so that the mechanical module has compact structure, smaller volume and simple and convenient installation.
As an embodiment, in step A, the number of radial fixing screws is 3, in step B, the number of axial fixing screws is 6, in step E, the screws for fixing the mounting shaft of the movable encoder disc are countersunk head screws, the screws for fixing the movable encoder disc are mushroom head screws, and in steps F and G, the screws for fixing the static encoder disc and the end cover are mushroom head screws.
In the above-described method for mounting a mechanical module, in step C, after the screws are tightened to a suitable distance, the screws are sequentially rotated by 1/4 turns, and then the screws are repeatedly and sequentially rotated by 1/4 turns until the screws are tightened.
In the method, the screws are gradually and sequentially rotated instead of screwing one screw at a time and then screwing other screws, so that all the parts can be better matched, and the assembly precision is improved. As an example, the number of screws in the method is 16.
In the above method for mounting a mechanical module, in step D, the rotor mounting shaft is provided with a plurality of radial holes, a positioning pin is inserted into each radial hole, and then after each positioning pin is removed, a screw is screwed into the corresponding radial hole and tightened until the rotor mounting shaft and the mounting bracket of the input shaft of the harmonic reducer are fixed to each other.
Because the rotor and the stator both contain a plurality of magnets, the rotor and the stator are easy to be dislocated before being fixed, and the method can well prevent the dislocation, improve the convenience of installation, better match each part and improve the assembly precision.
Compared with the prior art, the utility model has the advantages as follows:
this mechanical module all installs parts such as frameless motor, harmonic speed reducer machine, the quiet dish of encoder and encoder driving disk on main installing support, makes mechanical module integrate, improves integrated level and accuracy, compact structure, and mechanical module's volume is littleer, and the installation is simple and convenient, and detachability and maintainability are good, and this mechanical module is applicable to various arm joint swings or rotatory position, also can regard as the drive disk assembly use of all kinds of walking robots.
Drawings
FIG. 1 is a schematic structural diagram of the present mechanical module;
FIG. 2 is an exploded view of the present mechanical module;
FIG. 3 is a cross-sectional view of the present mechanical module;
FIG. 4 is a schematic structural diagram of an input shaft mounting bracket of the harmonic reducer;
FIG. 5 is a schematic structural view of a clamp ring;
FIG. 6 is a schematic view of the mechanical module mounted on other flanges;
FIG. 7 is a schematic illustration of the present robotic module as applied to a robotic arm;
FIG. 8 is a schematic diagram of the present mechanical module as applied to a crawling robot.
In the figure, 1, a flange bracket; 2. a harmonic speed reducer; 3. a main mounting bracket; 4. an input shaft mounting bracket of the harmonic reducer; 5. a rotor mounting shaft; 6. a stator; 7. a rotor; 8. a mounting shaft of a encoder moving disc; 9. an encoder rotor; 10. a static disc of an encoder; 11. a compression ring; 12. an end cap; 13. a groove; 14. a mechanical arm; 15. and a mechanical module.
Detailed Description
The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.
As shown in fig. 1-5, the mechanical module 15 includes a flange bracket 1 and a frameless motor, the frameless motor has a stator 6, a harmonic reducer 2 is fixed on the flange bracket 1, a main mounting bracket 3 is fixed on the harmonic reducer 2, the harmonic reducer 2 includes an input shaft of the harmonic reducer 2, the input shaft of the harmonic reducer 2 is connected with an input shaft mounting bracket 4 of the harmonic reducer, the stator 6 is embedded in the main mounting bracket 3, the input shaft mounting bracket 4 of the harmonic reducer is connected with a rotor mounting shaft 5, the rotor mounting shaft 5 is provided with a rotor 7 and an encoder moving disk mounting shaft 8, the encoder moving disk mounting shaft 8 is provided with an encoder moving disk 9, the stator 6 is sleeved and fixed with a compression ring 11, the compression ring 11 is fixed with an encoder static disk 10, the frameless motor, the compression ring 11, the encoder static disk 10 and the encoder moving disk 9 are all located in the main mounting bracket 3, an end cap 12 is fixed to the outer end of the main mounting bracket 3.
This mechanical module 15 compact structure, mechanical module 15's volume is littleer, and the installation is simple and convenient, and detachability and maintainability are good, and this mechanical module 15 is applicable to the swing of various arms 14 joints or rotatory position, also can regard as the drive assembly use of all kinds of walking robots.
As shown in fig. 4, in this embodiment, the harmonic reducer input shaft mounting bracket 4 is cylindrical, a groove 13 is formed in the harmonic reducer input shaft mounting bracket 4, the end of the input shaft of the harmonic reducer 2 is inserted into the groove 13, a first screw is screwed to the outer wall of the groove 13, and the first screw is fastened to the end of the input shaft of the harmonic reducer 2.
The harmonic speed reducer input shaft mounting bracket 4 adopts a groove 13 type structure, can be accurately mounted on the input shaft of the harmonic speed reducer 2, and is mounted together through a first screw on the outer wall of the groove 13; the mounting sizes of the inner surface and the outer surface of the groove 13 are respectively within 0.05mm from the input end of the harmonic speed reducer 2, and the mounting concentricity is guaranteed.
As an implementation mode, the side surface of the input shaft mounting bracket 4 of the harmonic speed reducer is provided with 3 threaded holes distributed at equal intervals for connecting a motor rotor mounting shaft 5; this harmonic speed reducer machine input shaft installing support 4 changes the axial installation by radial installation with 2 input ends of harmonic speed reducer machine, and is convenient and fast more.
As an embodiment, a plurality of second screws are arranged on the end face of the flange bracket 1, and the flange bracket 1, the harmonic reducer 2 and the main mounting bracket 3 are fixed by the second screws.
The flange support 1, the harmonic speed reducer 2 and the main mounting support 3 are mounted together through second screws, wherein mounting holes in the main mounting support 3 and the harmonic speed reducer 2 are through holes, and holes in the flange support 1 are threaded holes.
In one embodiment, the number of the second screws is 16, and the screws are equally spaced.
As an embodiment, the main mounting bracket 3 is provided with a slot, and the stator 6 is disposed in the slot.
In the structure, the stator 6 of the frameless motor is arranged in the clamping groove of the main mounting bracket 3, the diameter of the clamping groove is 0.02-0.05mm larger than the outer diameter of the stator 6 of the frameless motor, so that the concentricity of the installation is ensured, and the stator 6 of the motor can conveniently and smoothly enter the clamping groove of the main mounting bracket 3.
The stator 6 can be fixed in the slot of the main mounting bracket 3 by the pressing force of the pressing ring 11. Besides, the clamp ring 11 has a function of clamping the stator 6, and the clamp ring 11 is further provided with a mounting position for fixing the encoder static disc 10.
As an embodiment, the rotor mounting shaft 5 and the rotor 7 are fixed by gluing. The rotor mounting shaft 5 and the rotor 7 are adhered together through glue, the maximum shearing strength can reach 20.7N/mm after 24 hours of curing, and the use requirement is well met.
Preferably, the end cap 12 is made of a transparent acrylic sheet material. The end cover 12 is made of a transparent acrylic plate, so that impurities such as dust can be prevented from entering the joint module, and the operating condition inside the mechanical module 15 can be observed clearly by a user.
As shown in fig. 6, as another embodiment, the flange bracket 1 and the main mounting bracket 3 may be processed as a single component, and the mounting method is different in that: in the step C, a screw is inserted into the mounting hole where the harmonic reducer 2 is located, and finally the screw is locked on the main mounting bracket 3,
as shown in fig. 7, in the embodiment, the mechanical modules 15 are applied to the joint swinging portion or the rotating portion of the mechanical arm 14, and since each mechanical module 15 is designed as a hollow shaft, all the mechanical joints can sequentially pass through each mechanical module 15 and finally be concentrated in the lowermost joint, and the integration level is more excellent.
As shown in fig. 8, in the present embodiment, the mechanical modules 15 are applied to a driving part of the crawling robot, and each mechanical module 15 is of a modular design, so that the mechanical modules can be freely combined into different combinations of 2-wheel, 3-wheel or 4-wheel walking mechanisms.
The installation method of the mechanical module comprises the following steps:
a: embedding the harmonic speed reducer input shaft mounting bracket 4 into the input shaft of the harmonic speed reducer 2, and fixing the harmonic speed reducer input shaft mounting bracket and the input shaft by using radial fixing screws;
b: embedding a stator 6 of the frameless motor into the main mounting bracket 3, placing a compression ring 11, adjusting the position of the compression ring 11, and fixing the compression ring 11, the stator 6 and the main mounting bracket 3 by using axial fixing screws;
c: sequentially combining a flange bracket 1, a harmonic speed reducer 2 and an assembled main mounting bracket 3 together, adjusting the positions, wherein a plurality of mounting holes which are distributed at equal intervals are formed in the main mounting bracket 3 and the harmonic speed reducer 2, each mounting hole of the main mounting bracket 3 is aligned with each mounting hole of the harmonic speed reducer 2, and then sequentially inserting a screw into the mounting hole where the main mounting bracket 3 is located, so that the screw penetrates through the harmonic speed reducer 2 and is then screwed and fastened on the flange bracket 1;
d: slowly pushing the rotor mounting shaft 5 and the rotor 7 which are well adhered and fixed into the stator 6, and then fastening and connecting the rotor mounting shaft 5 and the harmonic reducer input shaft mounting bracket 4 by using axial locking screws in a threaded manner;
e: fixing the encoder moving disc mounting shaft 8 on the rotor mounting shaft 5 through a screw, and fixing the encoder moving disc 9 on the encoder moving disc mounting shaft 8 through a screw;
f: fixing the encoder static disc 10 on the compression ring 11 through screws;
g: the end cap 12 is screwed to the main mounting bracket 3.
The installation method can improve the integration level and the accuracy, so that the mechanical module 15 has a compact structure, a smaller volume and simple and convenient installation.
As an example, in step a, there are 3 radial fixing screws, in step B, there are 6 axial fixing screws, in step E, the screws for fixing the encoder moving disk mounting shaft 8 are countersunk head screws, the screws for fixing the encoder moving disk 9 are mushroom head screws, and in steps F and G, the screws for fixing the encoder static disk 10 and the end cap 12 are mushroom head screws.
As an example, in step C, after the screws are tightened to the proper distance, the screws are sequentially rotated by 1/4 turns, and then the screws are repeatedly and sequentially rotated by 1/4 turns until the screws are tightened.
In the method, the screws are gradually and sequentially rotated instead of screwing one screw at a time and then screwing other screws, so that all the parts can be better matched, and the assembly precision is improved. As an example, the number of screws in the method is 16.
As an embodiment, in step D, a plurality of radial holes are formed in the rotor mounting shaft 5, a positioning pin is inserted into each radial hole, and then after each positioning pin is removed, a screw is screwed into the corresponding radial hole and tightened until the rotor mounting shaft 5 and the harmonic reducer input shaft mounting bracket 4 are fixed to each other.
Because rotor 7 and stator 6 all contain a plurality of magnets, the dislocation easily takes place for the two before fixed, and this method can be fine prevent the dislocation, improves the convenience of installation, also makes each part cooperate better, improves the assembly precision.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (6)
1. A mechanical module is characterized by comprising a flange support (1) and a frameless motor, wherein the frameless motor is provided with a stator (6), a harmonic speed reducer (2) is fixed on the flange support (1), a main mounting support (3) is fixed on the harmonic speed reducer (2), the harmonic speed reducer (2) comprises an input shaft of the harmonic speed reducer (2), the input shaft of the harmonic speed reducer (2) is connected with a harmonic speed reducer input shaft mounting support (4), the stator (6) is embedded in the main mounting support (3), the harmonic speed reducer input shaft mounting support (4) is connected with a rotor mounting shaft (5), the rotor mounting shaft (5) is provided with a rotor (7) and a movable disc encoder mounting shaft (8), and the encoder movable disc mounting shaft (8) is provided with a movable disc encoder (9), the stator (6) is sleeved with and fixed with a compression ring (11), the compression ring (11) is fixed with a static encoder disc (10), the frameless motor, the compression ring (11), the static encoder disc (10) and the dynamic encoder disc (9) are all located in the main mounting bracket (3), and the outer end part of the main mounting bracket (3) is fixed with an end cover (12).
2. The mechanical module according to claim 1, wherein the harmonic reducer input shaft mounting bracket (4) is cylindrical, a groove (13) is formed in the harmonic reducer input shaft mounting bracket (4), the end of the input shaft of the harmonic reducer (2) is inserted into the groove (13), a first screw is connected to the outer wall of the groove (13) in a threaded manner, and the first screw is fastened to the end of the input shaft of the harmonic reducer (2) in a threaded manner.
3. The mechanical module according to claim 1, wherein a plurality of second screws are arranged on the end face of the flange bracket (1), and the flange bracket (1), the harmonic reducer (2) and the main mounting bracket (3) are fixed by the second screws.
4. A mechanical module according to claim 1, characterized in that said main mounting bracket (3) is provided with a slot in which said stator (6) is arranged.
5. A mechanical module according to claim 1, characterized in that the rotor mounting shaft (5) and the rotor (7) are fixed by gluing.
6. A mechanical module according to any of claims 1-5, characterized in that the end caps (12) are made of transparent acrylic sheet material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021006027.9U CN212601822U (en) | 2020-06-04 | 2020-06-04 | Mechanical module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021006027.9U CN212601822U (en) | 2020-06-04 | 2020-06-04 | Mechanical module |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212601822U true CN212601822U (en) | 2021-02-26 |
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ID=74722527
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021006027.9U Active CN212601822U (en) | 2020-06-04 | 2020-06-04 | Mechanical module |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212601822U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
-
2020
- 2020-06-04 CN CN202021006027.9U patent/CN212601822U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745630A (en) * | 2020-06-04 | 2020-10-09 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
| CN111745630B (en) * | 2020-06-04 | 2023-12-15 | 广东省智能制造研究所 | Mechanical module and installation method thereof |
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Address after: 510070 15 building, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: 510070 15 building, 100 martyrs Road, Yuexiu District, Guangzhou, Guangdong. Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |