TWM615880U - Drive system and motor actuator - Google Patents
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Abstract
本新型公開一種驅動系統及馬達致動器。驅動系統具有一馬達致動器及一驅動臂。馬達致動器具有一殼體、一馬達機構、一諧波減速機構、一連接機構、一引線軸及一制動機構。馬達機構及諧波減速機構分別設置於殼體的一第一腔室。諧波減速機構連接馬達機構的一轉軸。連接機構連接諧波減速機構。引線軸設置於轉軸的一軸配置空間,引線軸連接諧波減速機構以同步轉動。引線軸具有用以配置一電線的一線配置空間。制動機構設置於殼體的一第二腔室。驅動臂連接連接機構。據此,驅動系統能大幅提升使用壽命。 The model discloses a driving system and a motor actuator. The driving system has a motor actuator and a driving arm. The motor actuator has a housing, a motor mechanism, a harmonic deceleration mechanism, a connecting mechanism, a lead shaft and a braking mechanism. The motor mechanism and the harmonic deceleration mechanism are respectively arranged in a first chamber of the housing. The harmonic reduction mechanism is connected to a rotating shaft of the motor mechanism. The connecting mechanism is connected to the harmonic deceleration mechanism. The lead shaft is arranged in the one-axis configuration space of the rotating shaft, and the lead shaft is connected to the harmonic deceleration mechanism to rotate synchronously. The lead shaft has a wire arrangement space for arranging an electric wire. The braking mechanism is arranged in a second chamber of the housing. The driving arm is connected to the connecting mechanism. Accordingly, the driving system can greatly increase the service life.
Description
本創作涉及一種驅動系統及致動器,特別是涉及一種延長使用壽命的驅動系統及馬達致動器。 This creation relates to a driving system and an actuator, in particular to a driving system and a motor actuator with a prolonged service life.
現有驅動系統包含有一機器手臂及一馬達致動器。其中,馬達致動器包含一殼體、設置於所述殼體內的一諧波減速器、一馬達、一感測器以及一驅動器。馬達的一轉軸連接諧波減速器,感測器通過一導線電性連接驅動器,感測器能感測轉軸的轉速及位置,並通過命令驅動器及馬達以進一步地控制機器手臂運作。 The existing drive system includes a robotic arm and a motor actuator. Wherein, the motor actuator includes a housing, a harmonic reducer arranged in the housing, a motor, a sensor, and a driver. A shaft of the motor is connected to a harmonic reducer, and the sensor is electrically connected to the driver through a wire. The sensor can sense the rotation speed and position of the shaft, and further control the operation of the robot arm by commanding the driver and the motor.
然而,現有驅動系統為了確保其馬達於運作過程中的順暢度及避免摩擦損失,會於其諧波減速器內加入潤滑油脂以降低其內部構件之間的非預期摩擦,但實務上諧波減速器內的潤滑油脂經常滲入馬達內部,而導致現有驅動系統的使用壽命大幅下降。 However, in order to ensure the smoothness of the motor during the operation of the existing drive system and avoid friction loss, lubricating grease is added to the harmonic reducer to reduce the unintended friction between its internal components. However, in practice, harmonic deceleration The lubricating grease in the motor often penetrates into the motor, resulting in a significant reduction in the service life of the existing drive system.
於是,本創作人認為上述缺陷可改善,乃特潛心研究並配合科學原理的運用,終於提出一種設計合理且有效改善上述缺陷的本創作。 Therefore, the author believes that the above-mentioned shortcomings can be improved, and with great concentration of research and the application of scientific principles, finally proposed a reasonable design and effective improvement of the above-mentioned shortcomings of this creation.
本創作所要解決的技術問題在於,針對現有技術的不足提供一種驅動系統及馬達致動器,能有效地改善現有驅動系統所可能產生的缺陷。 The technical problem to be solved by this creation is to provide a drive system and a motor actuator in response to the shortcomings of the prior art, which can effectively improve the defects that may occur in the prior drive system.
為了解決上述的技術問題,本創作所採用的其中一技術方案是 提供一種驅動系統,包括:一馬達致動器,包含:一殼體,具有位於相反兩側的一第一腔室及一第二腔室;一馬達機構,設置於所述第一腔室,所述馬達機構包含一定子、一轉子、及一轉軸,所述轉軸的其中一端延伸至所述第二腔室內並定義為一馬達輸入端,所述轉軸的另一端定義為一馬達輸出端,所述轉軸具有一軸配置空間;一諧波減速機構,設置於所述第一腔室,所述諧波減速機構包含一齒輪組件及一波產生單元,所述波產生單元連接所述馬達輸出端,所述波產生單元能與所述轉軸同步轉動,所述波產生單元配合所述齒輪組件使彼此產生轉速差;一連接機構,連接所述齒輪組件,所述連接機構能與所述齒輪組件同步轉動;一引線軸,設置於所述軸配置空間,所述引線軸連接所述齒輪組件以同步轉動,所述引線軸具有一線配置空間,所述線配置空間連通所述第二腔室及所述殼體的外部,並能用以配置一電線;及一制動機構,設置於所述第二腔室並對應所述馬達輸入端的位置,所述制動機構能通過所述馬達輸入端選擇性減少所述轉軸的轉動速度;以及一驅動臂,連接所述連接機構。 In order to solve the above technical problems, one of the technical solutions adopted in this creation is A drive system is provided, including: a motor actuator, including: a housing with a first chamber and a second chamber on opposite sides; a motor mechanism disposed in the first chamber, The motor mechanism includes a stator, a rotor, and a rotating shaft. One end of the rotating shaft extends into the second chamber and is defined as a motor input end, and the other end of the rotating shaft is defined as a motor output end, The rotating shaft has a shaft configuration space; a harmonic deceleration mechanism is arranged in the first chamber, the harmonic deceleration mechanism includes a gear assembly and a wave generating unit, and the wave generating unit is connected to the motor output end , The wave generating unit can rotate synchronously with the rotating shaft, and the wave generating unit cooperates with the gear assembly to generate a rotational speed difference with each other; a connecting mechanism is connected to the gear assembly, and the connecting mechanism can be connected to the gear assembly Synchronous rotation; a lead shaft arranged in the shaft configuration space, the lead shaft is connected to the gear assembly to rotate synchronously, the lead shaft has a wire configuration space, the wire configuration space communicates with the second chamber and The exterior of the housing can be used to configure a wire; and a braking mechanism, which is provided in the second chamber and corresponds to the position of the motor input end, and the braking mechanism can be selectively used through the motor input end Reducing the rotation speed of the rotating shaft; and a driving arm connected to the connecting mechanism.
本創作所採用的另一技術方案是提供一種馬達致動器,包括:一殼體,具有位於相反兩側的一第一腔室及一第二腔室;一馬達機構,設置於所述第一腔室,所述馬達機構包含一定子、一轉子、及一轉軸,所述轉軸的其中一端延伸至所述第二腔室內並定義為一馬達輸入端,所述轉軸的另一端定義為一馬達輸出端,所述轉軸具有一軸配置空間;一諧波減速機構,設置於所述第一腔室,所述諧波減速機構包含一齒輪組件及一波產生單元,所述波產生單元連接所述馬達輸出端,所述波產生單元能與所述轉軸同步轉動,所述波產生單元配合所述齒輪組件使彼此產生轉速差;一連接機構,連接所述齒輪組件,所述連接機構能與所述齒輪組件同步轉動;一引線軸,設置於所述軸配置空間,所述引線軸連接所述齒輪組件以同步轉動,所述引線 軸具有一線配置空間,所述線配置空間連通所述第二腔室及所述殼體的外部,並能用以配置一電線;以及一制動機構,設置於所述第二腔室並對應所述馬達輸入端的位置,所述制動機構能通過所述馬達輸入端選擇性減少所述轉軸的轉動速度。 Another technical solution adopted in this creation is to provide a motor actuator, including: a housing with a first chamber and a second chamber on opposite sides; a motor mechanism arranged in the first chamber A chamber, the motor mechanism includes a stator, a rotor, and a rotating shaft. One end of the rotating shaft extends into the second chamber and is defined as a motor input end, and the other end of the rotating shaft is defined as a At the output end of the motor, the shaft has a shaft configuration space; a harmonic deceleration mechanism is arranged in the first chamber, the harmonic deceleration mechanism includes a gear assembly and a wave generating unit, the wave generating unit is connected to the At the output end of the motor, the wave generating unit can rotate synchronously with the rotating shaft, the wave generating unit cooperates with the gear assembly to generate a rotational speed difference with each other; a connecting mechanism is connected to the gear assembly, and the connecting mechanism can be connected to the gear assembly. The gear assembly rotates synchronously; a lead shaft is arranged in the shaft configuration space, the lead shaft is connected to the gear assembly to rotate synchronously, the lead The shaft has a wire arrangement space, the wire arrangement space communicates with the second chamber and the outside of the housing, and can be used to arrange a wire; and a brake mechanism, which is arranged in the second chamber and corresponds to the According to the position of the input end of the motor, the braking mechanism can selectively reduce the rotation speed of the rotating shaft through the input end of the motor.
本創作的其中一有益效果在於,本創作所提供的驅動系統及馬達致動器,其能通過“所述引線軸的所述軸配置空間能供所述電線設置”及“所述引線軸的轉動速度相對於所述轉軸的轉動速度低”的技術方案,能有效避免所述電線受到所述轉軸的內緣摩擦而損壞,從而大幅提升所述電線的壽命。 One of the beneficial effects of this creation is that the drive system and motor actuator provided by this creation can provide the wire arrangement through "the shaft configuration space of the lead shaft" and "the drive system of the lead shaft" The technical solution that the rotation speed is low relative to the rotation speed of the rotating shaft" can effectively prevent the electric wire from being damaged by the friction of the inner edge of the rotating shaft, thereby greatly improving the service life of the electric wire.
為使能更進一步瞭解本創作的特徵及技術內容,請參閱以下有關本創作的詳細說明與圖式,然而所提供的圖式僅用於提供參考與說明,並非用來對本創作加以限制。 In order to further understand the features and technical content of this creation, please refer to the following detailed descriptions and drawings about this creation. However, the drawings provided are only for reference and explanation, and are not used to limit this creation.
1000:驅動系統 1000: drive system
100、100’:馬達致動器 100, 100’: Motor actuator
1:殼體 1: shell
11:第一腔室 11: The first chamber
12:第二腔室 12: The second chamber
121:第一子空間 121: The first subspace
122:第二子空間 122: second subspace
13、13’:主殼 13, 13’: main shell
131:橫段 131: Cross Section
1311:側緣 1311: side edge
132:縱段 132: Longitudinal Section
14、14’:端蓋 14, 14’: end cap
141:側緣 141: Side Edge
15:固定件 15: fixed parts
2:馬達機構 2: Motor mechanism
21:定子 21: Stator
22:轉子 22: Rotor
221:鐵芯 221: iron core
222:磁件 222: Magnet
23:轉軸 23: shaft
231:第一粗徑段 231: First Coarse Diameter Section
232:第一細徑段 232: The first narrow section
23A:馬達輸出端 23A: Motor output
23B:馬達輸入端 23B: Motor input
SP:軸配置空間 SP: Shaft configuration space
3:諧波減速機構 3: Harmonic deceleration mechanism
31:齒輪組件 31: Gear assembly
311:剛輪 311: Just round
312:柔輪 312: Flexible wheel
32:波產生單元 32: wave generating unit
33:後端蓋 33: Rear cover
331:第一段 331: first paragraph
332:第二段 332: second paragraph
34:第一潤滑材料 34: The first lubricating material
4:連接機構 4: Connection mechanism
5A:第一油封件 5A: The first oil seal
5B:第二油封件 5B: The second oil seal
6:制動機構 6: Braking mechanism
7:引線軸 7: Lead shaft
71:第二粗徑段 71: The second thick diameter section
72:第二細徑段 72: The second narrower section
LP:線配置空間 LP: Line configuration space
8A:第一感測模組 8A: The first sensing module
8B:第二感測模組 8B: The second sensing module
9:驅動器 9: Drive
200:驅動臂 200: drive arm
300:電線 300: Wire
LD:長度方向 LD: length direction
SD:軸向方向 SD: axial direction
HD:徑向方向 HD: radial direction
LW:阻隔牆 LW: barrier wall
L2:第二潤滑材料 L2: Second lubricating material
P1:開啟位置 P1: open position
P2:關閉位置 P2: Closed position
LN1、LN2:長度 LN1, LN2: length
R1:最大外徑 R1: Maximum outer diameter
R2:最小內徑 R2: Minimum inner diameter
LN3:最短距離 LN3: shortest distance
圖1為本創作第一實施例的驅動系統的立體示意圖。 Fig. 1 is a three-dimensional schematic diagram of the driving system of the first embodiment of the creation.
圖2為本創作第一實施例的馬達致動器的立體示意圖。 Fig. 2 is a three-dimensional schematic diagram of the motor actuator of the first embodiment of the creation.
圖3為本創作第一實施例的馬達機構、諧波減速機構、連接機構、及引線軸的部份分解示意圖。 Fig. 3 is a partial exploded schematic diagram of the motor mechanism, the harmonic deceleration mechanism, the connecting mechanism, and the lead shaft of the first embodiment of the creation.
圖4為圖2的IV-IV剖線的剖面示意圖。 Fig. 4 is a schematic cross-sectional view taken along the line IV-IV in Fig. 2.
圖5為本創作第一實施例的兩個馬達致動器組接時的立體示意圖。 Fig. 5 is a three-dimensional schematic diagram of the assembly of two motor actuators according to the first embodiment of the creation.
圖6為本創作第一實施例的馬達致動器的剖面示意圖。 Fig. 6 is a schematic cross-sectional view of the motor actuator of the first embodiment of the creation.
圖7為本創作第二實施例的馬達致動器的剖面示意圖(一)。 Fig. 7 is a schematic cross-sectional view (1) of the motor actuator of the second embodiment of the creation.
圖8為本創作第二實施例的馬達致動器的剖面示意圖(二)。 Fig. 8 is a schematic cross-sectional view (2) of the motor actuator of the second embodiment of the creation.
圖9為本創作第三實施例的馬達機構、諧波減速機構、連接機構、及引線軸的部份分解示意圖。 FIG. 9 is a partial exploded schematic diagram of the motor mechanism, the harmonic reduction mechanism, the connecting mechanism, and the lead shaft of the third embodiment of the creation.
圖10為本創作第三實施例的馬達致動器的剖面示意圖(一)。 Fig. 10 is a schematic cross-sectional view (1) of the motor actuator of the third embodiment of the creation.
圖11為本創作第三實施例的馬達致動器的剖面示意圖(二)。 Fig. 11 is a schematic cross-sectional view (2) of the motor actuator of the third embodiment of the creation.
圖12為本創作第四實施例的殼體的立體示意圖。 Fig. 12 is a three-dimensional schematic diagram of the casing of the fourth embodiment of the creation.
圖13為本創作第四實施例的主殼及端蓋的立體示意圖。 Fig. 13 is a three-dimensional schematic diagram of the main case and the end cover of the fourth embodiment of the creation.
圖14為本創作第四實施例的主殼的側視示意圖。 Fig. 14 is a schematic side view of the main housing of the fourth embodiment of the creation.
圖15為本創作第四實施例的馬達致動器的剖面示意圖。 15 is a schematic cross-sectional view of the motor actuator of the fourth embodiment of the creation.
以下是通過特定的具體實施例來說明本創作所公開有關“驅動系統及馬達致動器”的實施方式,本領域技術人員可由本說明書所公開的內容瞭解本創作的優點與效果。本創作可通過其他不同的具體實施例加以施行或應用,本說明書中的各項細節也可基於不同觀點與應用,在不背離本創作的構思下進行各種修改與變更。另外,本創作的附圖僅為簡單示意說明,並非依實際尺寸的描繪,事先聲明。此外,以下如有指出請參閱特定圖式或是如特定圖式所示,其僅是用以強調於後續說明中,所述及的相關內容大部份出現於該特定圖式中,但不限制該後續說明中僅可參考所述特定圖式。以下的實施方式將進一步詳細說明本創作的相關技術內容,但所公開的內容並非用以限制本創作的保護範圍。另外,本文中所使用的術語“或”,應視實際情況可能包括相關聯的列出項目中的任一個或者多個的組合。 The following is a specific specific embodiment to illustrate the implementation of the "drive system and motor actuator" disclosed in this creation, and those skilled in the art can understand the advantages and effects of this creation from the content disclosed in this specification. This creation can be implemented or applied through other different specific embodiments, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the concept of this creation. In addition, the drawings of this creation are merely schematic illustrations, and are not depicted in actual size, and are stated in advance. In addition, if it is pointed out below, please refer to a specific drawing or as shown in a specific drawing, it is only used to emphasize in the subsequent description, and most of the related content appears in the specific drawing, but not It is restricted that only the specific drawings can be referred to in this subsequent description. The following implementations will further describe the related technical content of this creation in detail, but the disclosed content is not intended to limit the scope of protection of this creation. In addition, the term "or" used in this document may include any one or a combination of more of the associated listed items depending on the actual situation.
[第一實施例] [First Embodiment]
參閱圖1至圖6所示,本創作第一實施例提供一種驅動系統1000,驅動系統1000包含有一馬達致動器100及一驅動臂200,馬達致動器100
能驅動前述驅動臂200移動或轉動。需先說明的是,上述馬達致動器100及驅動臂200於本實施例中雖共同被定義為驅動系統1000。但本創作不受限於此。舉例來說,馬達致動器100也可以是單獨地被運用(如:販賣)或搭配其他構件使用。以下將分別介紹驅動系統1000的各個元件構造,並適時說明驅動系統1000的各個元件彼此之間的連接關係。
1 to 6, the first embodiment of the present creation provides a
配合圖2至圖4所示,馬達致動器100包含有一殼體1、一馬達機構2、一諧波減速機構3、一連接機構4、至少一個油封件、一制動機構6、一引線軸7、一第一感測模組8A、一第二感測模組8B以及一驅動器9。
As shown in FIGS. 2 to 4, the
首先參閱圖2及圖4所示,殼體1於本實例中大致呈圓柱狀,但本創作不受限於本實施例所載。殼體1具有沿著其長度延伸的一長度方向LD,殼體1為中空結構且區隔有一第一腔室11及一第二腔室12,第一腔室11及第二腔室12沿著長度方向LD分別配置於殼體1的相反兩側。
First, referring to FIGS. 2 and 4, the
進一步地說,如圖1、圖4及圖5所示,第二腔室12具有一第一子空間121及一第二子空間122,第一子空間121與第一腔室11沿著長度方向LD配置並彼此連通。第二子空間122配置於第一子空間121及第一腔室11共同的一側,且第二子空間122連通第一子空間121及殼體1的外部,從而讓第二子空間122能用以供另一個馬達致動器100’連接(如圖5所示)。也就是說,上述第一腔室11、第一子空間121及第二子空間122之間的位置關係大致為圖2及圖4中所示的“L”字狀配置,但本創作不受限於本實施例所載。
Furthermore, as shown in FIGS. 1, 4, and 5, the
舉例來說,本創作於其他未繪示的實施例中,第二腔室12也可以是不具有第二子空間122,且第一子空間121僅沿著長度方向LD連通第一腔室11而不直接與殼體1的外部相通。也就是說,第一腔室11及第二腔室12的第一子腔室121之間的位置關係大致為“I”字狀配置。
For example, in other unillustrated embodiments, the
接著配合圖3及圖4所示,馬達機構2設置於第一腔室11內。馬達
機構2包含有一定子21、一轉子22及一轉軸23。以下將介紹馬達機構2的各細部構件及連接關係。
Next, as shown in FIGS. 3 and 4, the
轉子22設置於第一腔室11內並且圍繞部分的轉軸23。轉子22於本實施例中具有一鐵芯221,鐵芯221套設於轉軸23上,使轉子22能通過鐵芯221配合定子21帶動轉軸23旋轉(轉動)。需說明的是,轉子22配合定子21帶動轉軸23轉動的細部方式為所屬技術領域者所悉知的技術,且非本案的重點,故於此不再詳述。
The
接著同時配合圖3及圖4所示,轉軸23沿著長度方向LD配置於殼體1內,且轉軸23沿其長度延伸的一軸向方向SD與長度方向LD相同。詳細地說,轉軸23於本實施例中的長度LN1大於第一腔室11沿著軸向方向SD(或長度方向LD)的長度,且轉子22沿軸向方向SD的長度LN2除以轉軸23沿軸向方向SD的長度LN1的值較佳為介於0.13至0.24之間。也就是說,轉軸23的其中一端會延伸至第二腔室12內,而另一端則會位於第一腔室11內,但本創作不受限於本實施例所載。
Then, as shown in FIGS. 3 and 4 at the same time, the rotating
此外,為了明確說明轉軸23的細部特徵及與其他構件的連接關係,因此將轉軸23在第二腔室12的一端進一步地定義為一馬達輸入端23B,而轉軸23在第一腔室11的一端則定義為一馬達輸出端23A。
In addition, in order to clarify the detailed features of the
繼續配合圖3及圖4所示,轉軸23於本實施例中具有為中空結構的一第一粗徑段231及一第一細徑段232,第一粗徑段231的內部空間與第一細徑段232的內部空間彼此相通,從而共同形成連通第一腔室11及第二腔室12的一軸配置空間SP。其中,第一粗徑段231是位於第一腔室11內,第一細徑段232則位於第二腔室12內,且第一粗徑段231的內徑大於第一細徑段232的內徑。也就是說,馬達輸入端23B是位於第一細徑段232上,馬達輸出端23A則是位於第一粗徑段231上。
As shown in FIGS. 3 and 4, the rotating
如圖4所示,諧波減速機構3設置於第一腔室11內。諧波減速機構3包含一齒輪組件31、一波產生單元32、一後端蓋33、及一第一潤滑材料34。以下將介紹諧波減速機構3的各細部構件。
As shown in FIG. 4, the harmonic
齒輪組件31具有一剛輪311及設置於剛輪311內的一柔輪312。剛輪311為金屬材質所製成,剛輪311的內緣設置有柔輪312。柔輪312為撓性金屬材質所製成,柔輪312的內徑小於波產生單元32的外徑,波產生單元32通過柔輪312的撓性特質而被柔輪312的內緣包圍,且當波產生單元32被柔輪312所包圍時,柔輪312大致呈橢圓狀。
The
波產生單元32連接馬達輸出端23A,馬達輸出端23A能帶動波產生單元32轉動,使柔輪312通過其外緣齒部沿著剛輪311的內緣齒部嚙合並同時配合柔輪312的橢圓形狀,從而實現轉速差的功效。另外,第一潤滑材料34設置於齒輪組件31與波產生單元32之間,從而讓齒輪組件31與波產生單元32之間的機械配合關係更順暢。
The
後端蓋33配置於齒輪組件31與馬達機構2之間。詳細地說,後端蓋33具有平行軸向方向SD的一第一段331及垂直第一段331的一第二段332,也就是後端蓋33於本實施例中大致呈“L”字狀,但本創作不受限於本實施例所載。
The
接續配合圖3及圖4所示,引線軸7設置於軸配置空間SP內並連接齒輪組件31的剛輪311,使引線軸7能與剛輪311同步轉動。引線軸7具有一線配置空間LP,線配置空間LP連通第二腔室12及殼體1的外部,線配置空間LP能用以配置一電線300。
As shown in FIGS. 3 and 4, the
詳細地說,引線軸7於本實施例中具有對應第一粗徑段231位置的一第二粗徑段71及對應第一細徑段232位置的一第二細徑段72,第二粗徑段71的內徑大於第二細徑段72的內徑,且第二粗徑段71的內部空間與第二細徑
段72的內部空間彼此相通,從而共同形成線配置空間LP,但本創作不受限於本實施例所載。舉例來說,引線軸7的第二粗徑段71及第二細徑段72也可以如圖6的方式進行設計及調整。
In detail, the
另外,引線軸7能更具有一第二潤滑材料L2,第二潤滑材料L2配置於線配置空間LP內,使電線300的表面被第二潤滑材料L2所包覆,從而減少電線300摩擦引線軸7的內緣,從而大幅提升電線300的壽命。
In addition, the
至少一個油封件於本實施例數量為兩個,為了方便說明,兩個油封件分別定義為一第一油封件5A及一第二油封件5B。其中,第一油封件5A設置於諧波減速機構3與轉軸23之間,第二油封件5B設置於轉軸23與引線軸7之間。以下將各別介紹第一油封件5A及第二油封件5B的細部設置位置及能達成的功效。
The number of at least one oil seal in this embodiment is two. For the convenience of description, the two oil seals are respectively defined as a
第一油封件5A設置於後端蓋33的第一段331與轉軸23之間,使後端蓋33及第一油封件5A能共同形成一阻隔牆LW,阻隔牆LW能使齒輪組件31及波產生單元32完全區隔馬達機構2,從而避免於諧波減速機構3內的第一潤滑材料34滲漏或外部的粉塵進入諧波減速機3內。
The
第二油封件5B設置於第一粗徑段231與第二粗徑段71之間,使諧波減速機3內的第一潤滑材料34不由第一粗徑段231與第二粗徑段71之間通過,從而避免第一潤滑材料34滲入至第一腔室11或第二腔室12中而影響其他構件。
The
連接機構4連接齒輪組件31。連接機構4於本實施例中為法蘭(Flange)且配置於殼體1對應第一腔室11的一側,連接機構4連接齒輪組件31的剛輪311,使連接機構4受剛輪311帶動時的轉速能相對馬達機構2的轉軸23的轉速低,進而帶動被連接於連接機構4的驅動臂200進行轉動或移動。其中,當馬達機構2的轉軸23於高速轉動時,引線軸7能通過連接機構4而相對轉軸23
進行低速轉動,從而使配置於線配置空間LP的電線300能有效避免受到轉軸23的內緣摩擦而損壞。
The connecting
制動機構6設置於第二腔室12並對應馬達輸入端23B的位置,制動機構6能通過馬達輸入端23B選擇性減少轉軸23的轉動速度,從而進一步地減少連接機構4的轉動速度。
The
第一感測模組8A、第二感測模組8B、及驅動器9設置於第二腔室12內,第一感測模組8A能感測轉軸23的轉速及位置,第二感測模組8B能感測連接機構4的轉速及位置,驅動器9電性耦接第一感測模組8A、第二感測模組8B、馬達機構2及制動機構6,驅動器9能根據第一感測模組8A及第二感測模組8B所測得的數據控制馬達機構2及制動機構6。
The
[第二實施例] [Second Embodiment]
參閱圖7及圖8所示,其為本創作的另一實施例,本實施例類似於第一實施例的驅動系統1000,兩個實施例的相同處則不再加以贅述,而本實施例相較於上述驅動系統1000的第一實施例的差異主要在於:
殼體1於本實施例中是由一主殼13及一端蓋14所組成,端蓋14設置於主殼13的一端,使端蓋14與主殼13的內緣共同形成第一腔室11及第二腔室12,端蓋14能於一開啟位置P1及一關閉位置P2之間移動。
Refer to Figures 7 and 8, which are another embodiment of the creation. This embodiment is similar to the
具體來說,主殼13與端蓋14於本實施例中連接方式採用樞接,端蓋14能相對主殼13樞轉,使端蓋14於開啟位置P1(如圖7所示)及關閉位置P2(如圖8所示)之間移動。當端蓋14於開啟位置P1時,使位於第二腔室12的第一感測模組8A、第二感測模組8B、制動機構6、及驅動器9裸露,從而能方便使用者維修於第二腔室12內的構件。當端蓋14於關閉位置P2時,使第一感測模組8A、第二感測模組8B、制動機構6、及驅動器9被遮擋,從而避免於第二腔室12內的構件裸露而發生損傷的情形。
Specifically, the
當然,主殼13與端蓋14之間的連接關係不受限於樞接方式。舉例來說,端蓋14也可以是通過鎖固件固定於主殼13上,當使用者欲維修時,僅需移除鎖固件就可以將使端蓋14拆離主殼13進行維修。
Of course, the connection relationship between the
[第三實施例] [Third Embodiment]
參閱圖9及圖10所示,其為本創作的另一實施例,本實施例類似於第一實施例的驅動系統1000,兩個實施例的相同處則不再加以贅述,而本實施例相較於上述驅動系統1000的第一實施例的差異主要在於:轉子22於本實施例中不具有鐵芯221,且連接機構4與引線軸7於本實施例中為一體連接。
Refer to FIG. 9 and FIG. 10, which are another embodiment of the creation. This embodiment is similar to the
具體來說,轉子22於本實施例中具有多個磁件222,多個磁件222環狀設置於轉軸23上,轉子22通過多個磁件222配合定子21從而帶動轉軸23旋轉。據此,本創作所提供的驅動系統1000能通過“多個磁件222配置於轉軸23上”及“連接機構4與引線軸7為一體連接”的設計能減少轉軸23、波產生單元32及轉子22於裝配時的公差,並且大幅降低轉子22與轉軸23於套合積壓時所造成變形情況,進而增加人工或自動化組裝轉子22與轉軸23的組裝效率。
Specifically, the
另外需說明的是,引線軸7的第二粗徑段71及第二細徑段72於本實施例中大致與第一實施例的引線軸7相同。因此,引線軸7也可以是類似於第一實施例所載的方式,使引線軸7如圖11的方式進行設計及調整。
In addition, it should be noted that the second
[第四實施例] [Fourth Embodiment]
參閱圖12至圖15所示,其為本創作的另一實施例,本實施例類似於第一實施例的驅動系統1000,兩個實施例的相同處則不再加以贅述,而本實施例相較於上述驅動系統1000的第一實施例的差異主要在於:
於本實施例中,所述殼體1是由為直通式的一主殼13’、設置於主殼13’的一端蓋14’與一固定件15所組成。其中,所述主殼13’大致為T字狀的圓筒狀結構並且具有一橫段131及垂直所述橫段131的一縱段132,所述橫段
131具有一最大外徑R1及一最小內徑R2,並且前述最小內徑R2不小於最大外徑R1的75%,使主殼13’的橫段131內部大致為直通態樣。
Refer to Figures 12 to 15, which are another embodiment of the creation. This embodiment is similar to the
一般來說,如圖13及圖14所示,前述直通態樣是指主殼13’沿著軸向方向SD正投影於一假想平面(或端蓋14’)時,最小內徑R2圈圍的面積佔最大外徑R1圈圍的面積的55%以上。可以理解的是,採用直通式(或直通態樣)的主殼13’於製成過程中,使用者可以不受主殼13’內的區隔結構(例如:鎖固壁)的阻擋,而直接地將各個元件(例如:馬達機構2)安裝於主殼13’內,從而能大幅提升安裝時的便利性。 Generally speaking, as shown in Figs. 13 and 14, the aforementioned straight-through mode means that when the main shell 13' is orthographically projected on an imaginary plane (or end cap 14') along the axial direction SD, the smallest inner diameter R2 encircles The area occupies more than 55% of the area enclosed by the largest outer diameter R1. It is understandable that in the manufacturing process of the main shell 13' of the straight-through type (or straight-through mode), the user can not be blocked by the partition structure (for example, the locking wall) in the main shell 13', and Each component (for example, the motor mechanism 2) is directly installed in the main housing 13', so that the convenience of installation can be greatly improved.
再者,所述端蓋14’設置於橫段131於軸向方向SD上的一端、並且與主殼13’共同形成一容置空間。所述固定件15則設置於主殼13’的橫段131內而位於容置空間中,使容置空間被區隔為第一腔室11及第二腔室12,意即本實施例的固定件15取代主殼內的區隔結構。據此,使用者可以先將所述馬達致動器100的其他元件配置於主殼13’內,而後安裝固定件15以固定主殼13’內的其他元件,從而節省組裝時的工時及成本。當然,使用者也可以視情況選擇先安裝所述固定件15而後安裝所述馬達致動器100的其他元件。
Furthermore, the end cap 14' is disposed at one end of the
值得注意的是,於優選情況下,所述固定件15沿所述軸向方向SD至所述縱段132中心的最短距離LN3較佳為轉軸23沿軸向方向SD的長度LN1的15%至25%之間(如圖15所示)。
It is worth noting that, in a preferred case, the shortest distance LN3 from the fixing
另外,為了提升殼體1於製成時的加工速度,因此所述殼體1於本實施例中更進一步地調整設計,使殼體1能更節省其所需的加工時間。具體來說,如圖13所示,所述橫段131面向端蓋14’的一側緣1311及端蓋14’面向橫段131的一側緣141於本實施例中大致沿著垂直軸向方向SD的一徑向方向HD配置。據此,所述主殼13’與端蓋14’於加工(例如:裁切)時,不需要額外確認主殼13’與端蓋14’的側緣1311、141是否彼此有精準對位(例如:角度配合)。
In addition, in order to increase the processing speed of the
以上所公開的內容僅為本創作的優選可行實施例,並非因此侷限本創作的申請專利範圍,所以凡是運用本創作說明書及圖式內容所做的等效技術變化,均包含於本創作的申請專利範圍內。 The content disclosed above is only a preferred and feasible embodiment of this creation, and does not limit the scope of patent application for this creation. Therefore, all equivalent technical changes made using this creation specification and schematic content are included in the application for this creation. Within the scope of the patent.
100:馬達致動器 100: Motor actuator
1:殼體 1: shell
11:第一腔室 11: The first chamber
12:第二腔室 12: The second chamber
121:第一子空間 121: The first subspace
122:第二子空間 122: second subspace
2:馬達機構 2: Motor mechanism
21:定子 21: Stator
22:轉子 22: Rotor
23:轉軸 23: shaft
231:第一粗徑段 231: First Coarse Diameter Section
232:第一細徑段 232: The first narrow section
23A:馬達輸出端 23A: Motor output
23B:馬達輸入端 23B: Motor input
SP:軸配置空間 SP: Shaft configuration space
3:諧波減速機構 3: Harmonic deceleration mechanism
31:齒輪組件 31: Gear assembly
311:剛輪 311: Just round
312:柔輪 312: Flexible wheel
32:波產生單元 32: wave generating unit
33:後端蓋 33: Rear cover
331:第一段 331: first paragraph
332:第二段 332: second paragraph
34:第一潤滑材料 34: The first lubricating material
4:連接機構 4: Connection mechanism
5A:第一油封件 5A: The first oil seal
5B:第二油封件 5B: The second oil seal
6:制動機構 6: Braking mechanism
7:引線軸 7: Lead shaft
71:第二粗徑段 71: The second thick diameter section
72:第二細徑段 72: The second narrower section
LP:線配置空間 LP: Line configuration space
8A:第一感測模組 8A: The first sensing module
8B:第二感測模組 8B: The second sensing module
9:驅動器 9: Drive
300:電線 300: Wire
LD:長度方向 LD: length direction
SD:軸向方向 SD: axial direction
LW:阻隔牆 LW: barrier wall
L2:第二潤滑材料 L2: Second lubricating material
Claims (20)
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US202063067412P | 2020-08-19 | 2020-08-19 | |
US63/067,412 | 2020-08-19 |
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TW110109198A TWI804824B (en) | 2020-08-19 | 2021-03-15 | Drive system and motor actuator |
TW110109158A TWI808392B (en) | 2020-08-19 | 2021-03-15 | Drive system and motor actuator |
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CN106329818B (en) * | 2015-07-06 | 2019-01-01 | 陈俊平 | The decelerating motor of rotary shaft hollow |
CN106487158B (en) * | 2016-11-18 | 2018-11-02 | 四川福德机器人股份有限公司 | A kind of flat integrated harmonic speed reducer device of built-in motor |
CN106961181A (en) * | 2017-05-15 | 2017-07-18 | 中国电子科技集团公司第二十研究所 | A kind of hollow motor integrating of hollow carnival hat type firm gear output harmonic wave decelerator |
CN109895122B (en) * | 2017-12-07 | 2023-12-26 | 中国科学院沈阳自动化研究所 | Cooperative robot joint with force sensing function |
CN108214544B (en) * | 2018-02-28 | 2021-04-13 | 北京精密机电控制设备研究所 | Integrated form robot joint device |
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2021
- 2021-03-15 TW TW110202753U patent/TWM615879U/en unknown
- 2021-03-15 TW TW110109198A patent/TWI804824B/en active
- 2021-03-15 TW TW110109158A patent/TWI808392B/en active
- 2021-03-15 TW TW110202755U patent/TWM615880U/en unknown
- 2021-05-19 CN CN202121080312.XU patent/CN215009781U/en active Active
- 2021-05-19 CN CN202121080329.5U patent/CN215267807U/en active Active
Also Published As
Publication number | Publication date |
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TW202208129A (en) | 2022-03-01 |
TW202209784A (en) | 2022-03-01 |
TWI808392B (en) | 2023-07-11 |
CN215267807U (en) | 2021-12-21 |
TWM615879U (en) | 2021-08-21 |
TWI804824B (en) | 2023-06-11 |
CN215009781U (en) | 2021-12-03 |
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