CN217994542U - Integrated joint - Google Patents
Integrated joint Download PDFInfo
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- CN217994542U CN217994542U CN202222593453.2U CN202222593453U CN217994542U CN 217994542 U CN217994542 U CN 217994542U CN 202222593453 U CN202222593453 U CN 202222593453U CN 217994542 U CN217994542 U CN 217994542U
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- fixed
- output shaft
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Abstract
An integrated joint comprises a shell main body, a shell upper cover, a motor, a transmission gear train, an output shaft, a drive control board, a magnetic encoder board and a magnetic steel seat; the motor is fixed on the shell main body; the motor lead is connected with the drive control panel inside the shell main body through the shell main body threading hole; an input gear of the transmission gear train is in meshing transmission with a gear on a motor shaft; an output gear of the transmission gear train is fixed on the output shaft; the output shaft is positioned on the shell main body through a bearing; the magnetic steel seat is fixed on the end face of the output shaft and presses the output gear, and the magnetic steel is fixed on the magnetic steel seat; the output shaft is a shaft with a flange; the drive control board is arranged inside the shell main body; the magnetic encoder component is fixed on the inner surface of the upper cover of the shell.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to integration joint.
Background
In the prior art, the steering of an automobile or a wheeled mobile robot is generally performed by a recirculating ball main force steering system or a worm and gear steering mechanism or a rack and pinion steering gear, and the steering mechanism or the system generally has the problems of large space required during steering, inconvenience in installation, large mechanism volume, complex structure, high cost, poor controllability and the like. Although the problems of large volume, complex structure and the like of the steering integration joint are reduced to a certain extent in recent years, the requirements of low cost, simple structure, high maneuverability, high integration degree and the like cannot be met, and the popularization of the steering integration joint in robots, automobiles or other fields is restricted.
The application number CN20221058397.1 discloses a control method for a four-wheel independent steering driving device, which mainly adopts a worm gear reducer for steering, the amplified torque is limited, the transmission efficiency of the worm gear is low, and the motor is arranged outside the steering device, so that the integration degree is insufficient.
Application number CN202121470816.2 discloses a four-wheel independent drive type independently steerable damping robot chassis, the steering mainly adopts a synchronous belt to steer, the amplification torque is limited, the belt drive structure size is large, the structure is not compact, and the drive device and the output shaft are not on the same side, so the volume of the steering mechanism is increased.
Therefore, an integrated joint is required to solve the above technical problems.
Disclosure of Invention
An object of the utility model is to provide an integration joint has compact structure, simple to operate, the simple effect of control.
In order to achieve the above object, the utility model discloses an integrated joint adopts following technical scheme: an integrated joint comprises a shell main body, a shell upper cover, a motor, a transmission gear train, an output shaft, a drive control panel, a magnetic encoder assembly, a magnetic steel seat and a framework oil seal; the motor is fixed on the shell main body; the motor lead is connected with the drive control panel in the shell main body through the shell main body threading hole; an input gear of the transmission gear train is in meshing transmission with a gear on a motor shaft; an output gear of the transmission gear train is fixed on the output shaft; the output shaft is positioned on the shell main body through a bearing; the magnetic steel seat is fixed on the end face of the output shaft and presses the output gear, and the magnetic steel is fixed on the magnetic steel seat; the output shaft is a shaft with a flange; the drive control board is arranged inside the shell main body; the magnetic encoder assembly is fixed on the inner surface of the upper cover of the shell.
Preferably, the control wire of the magnetic encoder is connected to the drive control board through a wire passing groove of the upper cover of the shell.
Preferably, the transmission gear train is a 2-stage or 3-stage or 4-stage or 5-stage gear transmission, and the intermediate gear is a duplicate gear.
Preferably, the external cable of the drive control board is connected with the aviation plug fixed on the shell main body through a wire outlet hole on the shell main body, or the external cable of the drive control board passes through a waterproof connector fixed on the shell main body and directly extends out of the integrated joint.
Preferably, the main body is provided with a cavity specially used for mounting the driving control board, and the cavity is relatively isolated from the transmission gear train.
Preferably, the shell main body is provided with a waterproof groove special for water prevention, and the protrusion positioning of the shell upper cover can be realized.
Preferably, the skeleton oil seal is fitted over the output shaft and mounted on the housing main body.
The beneficial effects of the utility model are that realized that the integration degree is high, the flexible operation, the line is simple, and stability is high, low in production cost.
Drawings
The present invention will be further explained with reference to the accompanying drawings.
Fig. 1 is an explosion effect diagram of a first embodiment of the present invention.
Fig. 2 is an axial effect diagram of the first embodiment of the present invention.
Fig. 3 is a sectional view of a first embodiment of the present invention.
Fig. 4 is an axonometric view of the housing body according to the first embodiment of the present invention.
FIG. 5 is a diagram of the second embodiment of the present invention showing the effect of axial measurement
In the drawings 1 to 5, 1 is a shell main body, 2 is a shell upper cover, 3 is a stepping motor, 4 is a transmission gear train, 5 is an output shaft, 6 is a driving control board, 7 is a magnetic encoder assembly, 8 is a magnetic steel seat, 9 is magnetic steel, 10 is a framework oil seal, 11 is a first tapered roller bearing, 12 is a flat key, 13 is a second tapered roller bearing, 14 is an aviation plug, 15 is an external cable, and 16 is a waterproof joint.
Detailed Description
In order to clearly understand the technical contents of the present invention, the following embodiments are specifically described.
Example one
Referring to fig. 1 to 4, fig. 1 to 4 show an integrated joint, which includes a housing main body 1, a housing upper cover 2, a stepping motor 3, a transmission gear train 4, an output shaft 5, a driving control board 6, a magnetic encoder assembly 7, a magnetic steel base 8, magnetic steel 9, a framework oil seal 10, a first tapered roller bearing 11, a flat key 12, a second tapered roller bearing 13, an aviation plug 14, and an external cable 15; the transmission gear train 4 comprises a duplicate gear 41, a duplicate gear 42, an output gear 43, a first gear shaft 44, a second gear shaft 45, a first deep groove ball bearing 46 and a second deep groove ball bearing 47; the magnetic encoder assembly 7 consists of a magnetic encoder plate 71 and a magnetic encoder control wire 72; the stepping motor 3 is fixed on the shell main body 1 by screws, an integrated gear is arranged on an output shaft of the stepping motor 3 and is in meshed transmission with a large gear on the duplicate gear 41, and the stepping motor 3 transmits power to the duplicate gear 41; the lead 31 of the stepping motor is connected with the drive control panel 6 in the shell body 1 through the threading hole 1B of the shell body; the duplicate gear 41 is fixed on a first gear shaft 44, and the first gear shaft 44 is connected with the shell main body 1 through a first deep groove ball bearing 46; the pinion of the duplicate gear 41 is meshed with the gearwheel of the duplicate gear 42, and the duplicate gear 41 transmits power to the duplicate gear 42; the duplicate gear 42 is fixed on a second gear shaft 45, and the second gear shaft 44 is connected with the shell main body 1 through a second deep groove ball bearing 47; the pinion of the duplicate gear 42 is meshed with the transmission gear 43, and the duplicate gear 42 transmits power to the output gear 43; the inner ring of the first tapered roller bearing 11 is sleeved on the transmission gear 43; the outer ring of the tapered roller bearing 11 is connected with the shell main body 1; the inner ring of the second tapered roller bearing 13 is sleeved on the output shaft 5; the outer ring of the second tapered roller bearing 13 is connected with the shell main body 1; the output gear 43 is connected with the output shaft 5 and transmits power to the output shaft 5 through the flat key 12; the output shaft 5 is a shaft with a flange; the drive control board 6 is fixed to the case main body 1 by screws, and the magnetic encoder board 71 is fixed to the inner surface of the case upper cover 1 by screws.
The magnetic encoder plate 71 is fixed on the upper cover 1 of the shell by screws, and a control wire 72 of the magnetic encoder is connected to the drive control board 6 through a wire passing groove on the upper cover 2 of the shell; the magnetic encoder component 7 calculates the position of the output shaft 5 through the magnetic field change of the induction magnetic steel 9; the magnetic steel 9 is fixed on the magnetic steel seat 8 by glue; the magnetic steel seat 8 is fixed on the end face of the output shaft 5 by a screw and presses the output gear 43.
The pair of external cables 15 are soldered to the drive control board 6 and are soldered to the socket 14 fixed to the housing body 1 through the housing body outlet hole 1D.
The shell body 1 is provided with a cavity 1C specially used for installing a driving control board 6, and the cavity 1C is relatively isolated from the transmission gear train 4; the shell main body 1 is provided with a waterproof groove 1A for preventing water, and the waterproof function is achieved.
The framework oil seal 10 is sleeved on the output shaft 5 and is arranged on the shell main body 1, and a dustproof effect is achieved.
When the system works, the driving controller board 6 is communicated with an upper computer through the aviation plug 14, receives an external instruction and feeds back data; when the driving controller board 6 receives the rotation instruction, the stepping motor 3 is controlled to rotate through the stepping motor lead 31, the output shaft integrated gear of the stepping motor 3 drives the large gear on the duplicate gear 41 to rotate, the small gear on the duplicate gear 41 drives the large gear on the duplicate gear 42 to rotate, the small gear on the duplicate gear 42 drives the output gear 43 to rotate, and the output gear 43 drives the output shaft 5 to rotate and drives the magnetic steel 9 to rotate; the magnetic encoder 71 sends the detected rotation information of the magnetic steel 9 to the drive controller board 6 through a control line 72 of the magnetic encoder 71, and the drive controller board 6 realizes the closed-loop control of the output shaft 5 according to the angle information of the magnetic steel 9.
Example two
Referring to fig. 5, the second embodiment is a modification of the first embodiment, and basically the same as the embodiment shown in fig. 1, and the same reference numerals are used for the same components, and compared with the first embodiment, the second embodiment changes the aviation plug 14 into the waterproof connector 16, and the external cable 15 is welded to the driving control board 6, passes through the housing body outlet hole 1D and the waterproof connector 16 fixed on the housing body 1, and directly extends out of the integrated joint, and is connected to an upper computer, and receives an external instruction and feeds back data.
The integrated joint can be used for steering wheels of the robot and can also be used in other occasions needing angle adjustment.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (7)
1. An integrated joint is characterized by comprising a shell main body, a shell upper cover, a motor, a transmission gear train, a bearing, an output shaft, a driving control board, a magnetic encoder component and a magnetic steel seat; the motor is fixed on the shell main body; the motor lead is connected with the drive control panel inside the shell main body through a threading hole on the shell main body; an input gear of the transmission gear train is in meshing transmission with a gear on a motor shaft; an output gear of the transmission gear train is fixed on the output shaft; the output shaft is positioned on the shell main body through a bearing; the magnetic steel seat is fixed on the end face of the output shaft and presses the output gear, and the magnetic steel is fixed on the magnetic steel seat; the output shaft is a shaft with a flange; the drive control board is installed inside the shell main body, and the magnetic encoder assembly is fixed on the inner surface of the upper cover of the shell.
2. The integrated joint of claim 1, wherein the control wire of the magnetic encoder is connected to the drive control board through a wire-passing slot on the upper cover of the housing.
3. An integrated joint according to claim 1, wherein the drive train is a 2-stage or 3-stage or 4-stage or 5-stage gear drive and the intermediate gear is a duplicate gear.
4. The integrated joint of claim 1, wherein the external cable of the driving control board is connected to a socket fixed to the housing body through a wire outlet hole formed in the housing body, or the external cable is directly extended to the outside of the integrated joint through a waterproof connector fixed to the housing body.
5. The integrated joint of claim 1, wherein the housing body has a cavity dedicated to mounting the drive control board, the cavity being relatively isolated from the drive gear train.
6. The integrated joint of claim 1, wherein the shell body has a waterproof groove for waterproofing.
7. An integrated joint as claimed in claim 1, wherein a skeleton oil seal is fitted around the output shaft and mounted on the housing body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222593453.2U CN217994542U (en) | 2022-09-29 | 2022-09-29 | Integrated joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222593453.2U CN217994542U (en) | 2022-09-29 | 2022-09-29 | Integrated joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217994542U true CN217994542U (en) | 2022-12-09 |
Family
ID=84290651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222593453.2U Active CN217994542U (en) | 2022-09-29 | 2022-09-29 | Integrated joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217994542U (en) |
-
2022
- 2022-09-29 CN CN202222593453.2U patent/CN217994542U/en active Active
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