WO2018099279A1 - Coupling, motor assembly having same, and robot - Google Patents

Coupling, motor assembly having same, and robot Download PDF

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Publication number
WO2018099279A1
WO2018099279A1 PCT/CN2017/111700 CN2017111700W WO2018099279A1 WO 2018099279 A1 WO2018099279 A1 WO 2018099279A1 CN 2017111700 W CN2017111700 W CN 2017111700W WO 2018099279 A1 WO2018099279 A1 WO 2018099279A1
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WO
WIPO (PCT)
Prior art keywords
coupling
limiting portion
cylinder
output shaft
wall
Prior art date
Application number
PCT/CN2017/111700
Other languages
French (fr)
Chinese (zh)
Inventor
张国鹏
蒲立
王野
Original Assignee
鼎力联合(北京)科技有限公司
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Application filed by 鼎力联合(北京)科技有限公司 filed Critical 鼎力联合(北京)科技有限公司
Publication of WO2018099279A1 publication Critical patent/WO2018099279A1/en

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/64—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts
    • F16D3/68—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts the elements being made of rubber or similar material
    • D—TEXTILES; PAPER
    • D05—SEWING; EMBROIDERING; TUFTING
    • D05B—SEWING
    • D05B69/00—Driving-gear; Control devices
    • D05B69/10—Electrical or electromagnetic drives
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • 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

Definitions

  • the present invention relates to the field of coupling technology, and in particular to a coupling, a motor assembly therewith, and a robot.
  • the invention provides a coupling and a motor assembly and a robot therewith to solve the problem of complicated coupling structure and installation in the prior art.
  • a coupling includes: a cylinder; a first limiting portion disposed on an inner wall of the cylinder; and a second limiting portion disposed on an outer wall of the cylinder
  • the first limiting portion is configured to cooperate with the motor shaft
  • the second limiting portion is configured to cooperate with the output shaft
  • the first limiting portion is configured to cooperate with the output shaft, and the second limit The position is used to match the limit of the motor shaft.
  • the first limiting portion includes a rib, and the rib is disposed on the inner wall of the cylindrical body in the axial direction of the cylindrical body.
  • the second limiting portion includes a protrusion, and the protruding block is disposed on the outer wall of the cylindrical body in the axial direction of the cylindrical body.
  • the cylinder is provided with a stopping portion for limiting the axial displacement of the motor shaft along the cylinder or the axial displacement of the output shaft along the cylinder.
  • the stop is located at the end of the barrel.
  • the stopping portion is a ring body, and the stopping portion is disposed in the cylinder body, and the inner diameter of the ring body is smaller than the inner diameter of the cylinder body.
  • the first limiting portion includes a plurality of ribs, and the plurality of ribs are symmetrically disposed on the inner wall of the cylindrical body at the center of the axis of the cylindrical body.
  • the second limiting portion includes a plurality of protrusions, and the plurality of protrusions are symmetrically disposed on the outer wall of the cylindrical body at the center of the axis of the cylinder.
  • the coupling further includes an elastic member, and the elastic member is sleeved on the first limiting portion and/or the second limiting portion.
  • a motor assembly includes: a coupling, the coupling is a coupling provided above; the motor has a motor shaft, and the motor shaft is provided with a first mating portion The output shaft is provided with a second mating portion; wherein the coupling is engaged with the first mating portion through the first limiting portion, and the coupling is coupled to the second mating portion by the second limiting portion to realize the motor
  • the shaft is coupled to the output shaft; or the coupling is engaged with the second engaging portion through the first limiting portion, and the coupling is engaged with the first engaging portion through the second limiting portion to realize the connection between the motor shaft and the output shaft.
  • a robot including a motor assembly, the motor assembly being the motor assembly described above.
  • the robot includes a head and a body, and the head and the body are connected by the motor assembly.
  • a first limiting portion is disposed on an inner wall of the cylindrical body, and a second limiting portion is disposed on an outer wall of the cylindrical body, which can be connected when the motor shaft and the output shaft are connected through the coupling
  • the synchronous rotation of the motor shaft and the output shaft can be realized, and the structure is simple and the installation is convenient, and the motor shaft and the output shaft are connected in a narrow environment.
  • Figure 1 shows an exploded view of a coupling provided by the present invention
  • Figure 2 shows a side view of the coupling of Figure 1;
  • Figure 3 shows a further side view of the coupling of Figure 1;
  • FIG. 4 is a schematic structural view of a motor assembly provided by the present invention.
  • Figure 5 shows a cross-sectional view of the motor assembly provided in Figure 4.
  • Figure 6 shows an exploded view of the motor assembly provided in Figure 4.
  • orientations such as “front, back, up, down, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplification of the description, which are not intended to indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the invention; the orientations “inside and outside” refer to the inside and outside of the contour of the components themselves.
  • spatially relative terms such as “above”, “above”, “on top”, “above”, etc., may be used herein to describe as in the drawings.
  • the exemplary term “above” can include both “over” and "under”.
  • the device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is interpreted accordingly.
  • an embodiment of the present invention provides a coupling, which includes a cylinder 10 , a first limiting portion 20 , and a second limiting portion 30 .
  • the first limiting portion 20 is disposed at On the inner wall of the cylinder 10
  • the second limiting portion 30 is disposed on the outer wall of the cylinder 10.
  • the first limiting portion 20 can be matched with the motor shaft to limit the position of the second limiting portion 30 and the output shaft; or the first limiting portion 20 can be matched with the output shaft.
  • the second limiting portion 30 cooperates with the motor shaft to limit the position. It can be selected according to the actual situation. If the motor shaft size is small and the output shaft size is large, the first limiting portion 20 can be matched with the motor shaft, and the second limiting portion 30 can be matched with the output shaft. If the motor shaft has a large size and the output shaft has a small size, the first limiting portion 20 can be engaged with the output shaft, and the second limiting portion 30 can be engaged with the motor shaft.
  • the first limiting portion 20 is disposed on the inner wall of the cylinder 10, and the second limiting portion 30 is disposed on the outer wall of the cylindrical body 10, and the first limiting portion 20 is matched with the motor shaft.
  • the limit position can be synchronously rotated by the second limit portion 30 and the output shaft to realize synchronous rotation of the motor shaft and the output shaft.
  • the coupling can be matched with the motor shaft and the output shaft by its own structure to achieve the connection effect, thereby eliminating other fasteners such as screws, simplifying the structure of the device and facilitating installation by a worker. Moreover, it is easy to install in a narrow environment to meet the space requirements.
  • the first limiting portion 20 has a plurality of structures, and may be a limiting groove.
  • the limiting groove is disposed on the inner wall of the cylinder 10, and then matched with the corresponding convex rib on the motor shaft to limit the motor.
  • the first limiting portion 20 can also be provided with a stop block, and the stop block is disposed on the inner wall of the cylinder 10, and then matched with the corresponding groove on the motor shaft to limit the relative relationship between the motor shaft and the cylinder 10. Turn.
  • the first limiting portion 20 may be provided in other configurations as long as the relative rotation of the motor shaft and the cylinder 10 can be restricted.
  • the first limiting portion 20 includes ribs, and the ribs are disposed on the inner wall of the cylindrical body 10 in the axial direction of the cylindrical body 10.
  • the ribs cooperate with corresponding structures on the motor shaft to achieve the limit of the cylinder 10 and the motor shaft.
  • the ribs are disposed on the inner wall of the cylinder 10 along the axial direction of the cylinder 10, so that the ribs on the cylinder 10 can be matched with the corresponding structures on the motor shaft by means of plugging, It is easy to install.
  • the ribs can also be disposed on the inner wall of the cylinder 10 by other arrangements, for example, can be installed on the inner wall of the cylinder 10 in a spiral manner, and can be screwed and mounted when being mounted with the motor shaft.
  • the axes are connected.
  • a rib may be disposed on the inner wall of the cylinder 10, or may be along the inner wall of the cylinder 10. Set multiple ribs and set them according to your specific needs.
  • four ribs are provided on the cylindrical body 10, and four ribs are disposed on the inner wall of the cylindrical body 10 at intervals.
  • the four ribs may be symmetrically disposed on the inner wall of the cylinder 10 along the center of the cylinder 10.
  • the second limiting portion 30 has a plurality of structures, and may be a limiting groove.
  • the limiting groove is disposed on the outer wall of the cylinder 10, and then matched with the corresponding convex rib on the output shaft to limit the output.
  • the second limiting portion 30 can also be provided with a stop block, and the stop block is disposed on the outer wall of the cylinder 10, and then cooperates with the corresponding groove on the output shaft to limit the relative relationship between the output shaft and the cylinder 10. Turn.
  • the second limiting portion 30 can also be provided in other configurations as long as the relative rotation of the output shaft and the barrel 10 can be restricted.
  • the second limiting portion 30 includes a projection which is disposed on the outer wall of the cylindrical body 10 in the axial direction of the cylindrical body 10.
  • the positioning of the barrel 10 and the output shaft is achieved by the engagement of the projections with corresponding structures on the output shaft.
  • the bumps are disposed on the outer wall of the cylinder 10 along the axial direction of the cylinder 10, so that the bumps on the cylinder 10 can be matched with the corresponding structures on the output shaft by means of plugging, It is easy to install.
  • the bumps can also be disposed on the outer wall of the cylinder 10 by other arrangements, for example, can be installed on the outer wall of the cylinder 10 in a spiral manner, and can be screwed and output when being mounted with the output shaft.
  • the axes are connected.
  • a bump may be disposed on the outer wall of the cylinder 10, or a plurality of bumps may be disposed along the outer wall of the cylinder 10, which may be disposed according to actual needs.
  • four projections are provided on the outer wall of the cylinder 10, and four projections are disposed on the outer wall of the cylinder 10 at intervals.
  • the four projections may be symmetrically disposed on the outer wall of the cylinder 10 along the center of the cylinder 10.
  • the ribs and the bumps may be arranged one by one or may be staggered. In this embodiment, one bump corresponds to between two adjacent ribs.
  • a stopper portion 11 is provided on the cylinder 10, and the motor shaft or the output shaft is restrained from being axially displaced along the cylinder 10 by the stopper portion 11 when the motor shaft or the output shaft is engaged with the cylinder 10. Or the output shaft is displaced along the axial direction of the cylinder 10.
  • the stop portion 11 may be disposed inside the cylindrical body 10, or may be disposed outside the cylindrical body 10, or may be disposed on both the inner wall of the cylindrical body 10 and the outer wall of the cylindrical body 10.
  • the axial displacement of the output shaft along the cylindrical body 10 can be restricted by the stopper portion 11 provided on the outer wall of the cylindrical body 10, and the motor shaft is restrained along the cylindrical body 10 by the stopper portion 11 provided on the inner wall of the cylindrical body 10. Axial displacement.
  • the stopper portion 11 may be disposed at a central portion of the cylindrical body 10 or at an end portion of the cylindrical body 10.
  • the stopper portion 11 is provided at the end of the cylindrical body 10. Since the motor shaft is coupled from one end of the coupling during the use of the coupling, the output shaft is coupled from the other end of the coupling, so that the motor shaft is simultaneously restricted by the stopper 11 And the output shaft is displaced along the axial direction of the cylinder 10, and is respectively disposed on the inner wall and the outer wall of the cylinder 10, and in order to maximize the limit area, the stoppers 11 are respectively disposed at the two ends of the cylinder 10. .
  • the stop portion 11 may be a bump structure disposed along the inner wall or the outer wall of the cylinder 10, or a plurality of bumps may be disposed, and the plurality of bumps are disposed on the cylinder 10 at intervals.
  • the stopper portion 11 is provided as a ring body, and the inner diameter of the ring body is smaller than the inner diameter of the cylinder body. This can limit the axial displacement of the motor shaft or the output shaft that cooperates with the first limit portion 20 in the barrel 10.
  • the motor shaft is engaged with the first limiting portion 20 in the cylinder 10, and the displacement of the motor shaft in the cylinder 10 can be restricted by providing the stopping portion 11.
  • the coupling further includes an elastic member 40, and the elastic member 40 is sleeved on the first limiting portion 20 and/or the second limiting portion 30.
  • the first limiting portion 20 and the second limiting portion 30 can be protected by providing the elastic member 40 to prevent the first limiting portion 20 and the second limiting portion 30 from being damaged due to collision and friction during the installation process, thereby avoiding The connection is invalid.
  • the elastic member 40 can be disposed as an elastic sleeve, and the shape of the elastic sleeve can be matched with the structures of the first limiting portion 20 and the second limiting portion 30.
  • the first limiting portion 20 is disposed on the inner wall of the cylinder 10, and the second limiting portion 30 is disposed on the outer wall of the cylindrical body 10, so that the motor shaft can be inserted and connected It is connected to the output shaft and requires no other fasteners to connect. It simplifies the structure of the unit and can be installed even in a small space for the convenience of the staff.
  • a motor assembly includes a coupling 100, a motor, and an output shaft 300.
  • the coupling 100 is the coupling 100 provided in the above embodiment.
  • the motor has a motor shaft 200.
  • the motor shaft 200 is provided with a first mating portion
  • the output shaft 300 is provided with a second mating portion.
  • the coupling 100 can cooperate with the first engaging portion through the first limiting portion, and the coupling 100 can cooperate with the second engaging portion through the second limiting portion to realize the connection of the motor shaft 200 and the output shaft 300.
  • the coupling 100 can be engaged with the second engaging portion through the first limiting portion, and the coupling 100 is coupled to the first through the second limiting portion.
  • the part cooperates to achieve the connection of the motor shaft 200 and the output shaft 300.
  • the mounting can be performed according to the actual situation, as long as the relative rotation between the motor shaft 200 and the coupling 100 and between the output shaft 300 and the coupling 100 can be restricted, so that the motor shaft 200 can drive the output shaft 300 to rotate.
  • the motor shaft and the output shaft can be solid shafts or hollow shafts, which can be designed according to actual conditions.
  • the main application is in a structure in which the motor shaft and the output shaft are both hollow shafts, and the coupling 100 adopts a cylindrical structure such that when it is connected with the motor shaft 200 and the output shaft 300, the line can be
  • the motor shaft 200, the output shaft 300, and the inside of the coupling 100 are arranged to facilitate the routing, and the circuit is not affected during the rotation of the motor shaft 200, and the problem of line winding is not formed.
  • the lines between the components can be arranged using the hollow structure of the coupling 100, the motor shaft 200, and the output shaft 300, which can greatly save the wiring space.
  • the structure of the motor shaft 200 and the output shaft 300 of the present embodiment connected by the coupling 100 may be adopted between the body and the head of the robot.
  • the motor shaft 200, the output shaft 300, and the coupling 100 can adopt a hollow structure, so that the wire can be routed in the hollow structure, and the head of the robot is rotated when the motor shaft 200 drives the output shaft 300 through the coupling 100. It can rotate relative to the body, and does not affect the circuit that is pierced in the hollow structure during the rotation process, and does not cause the problem of wire entanglement.
  • the specific structure of the first mating portion of the motor shaft 200 and the second mating portion of the output shaft 300 can be determined according to the structure of the first limiting portion and the second limiting portion on the coupling 100.
  • the first engaging portion on the motor shaft 200 is engaged with the first limiting portion on the coupling 100, and accordingly, the first engaging portion on the motor shaft 200 is correspondingly set as a limiting recess.
  • the slot cooperates with the limiting groove on the motor shaft 200 through the rib on the coupling 100 to limit the relative rotation of the motor shaft 200 and the coupling 100.
  • the second engaging portion on the output shaft 300 is engaged with the second limiting portion on the coupling 100.
  • the second engaging portion on the output shaft 300 is correspondingly configured as an open structure, and the output shaft 300 is coupled.
  • the projections on the coupling 100 are engaged with the openings on the output shaft 300 to limit the relative rotation of the output shaft 300 and the coupling 100.
  • a robot in still another embodiment, includes a motor assembly that is the motor assembly described above.
  • the robot includes a head and a body, and the head and the body are connected by the motor assembly described above.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Textile Engineering (AREA)
  • Power Engineering (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)

Abstract

A coupling (100), a motor assembly having the same, and a robot are provided. The coupling (100) comprises: a cylindrical body (10); a first position-limiting portion (20), disposed on an inner wall of the cylindrical body (10); and a second position-limiting portion (30), disposed on an outer wall of the cylindrical body (10). The first position-limiting portion (20) is configured to engage with and perform position-limiting on a motor shaft (200), and the second position-limiting portion (30) is configured to engage with and perform position-limiting on an output shaft (300). Alternatively, the first position-limiting portion (20) is configured to engage with and perform position-limiting on an output shaft (300), and the second position-limiting portion (30) is configured to engage with and perform position-limiting on a motor shaft (200). The coupling of the present invention can solve the prior-art problem of complex installation of a coupling structure.

Description

联轴器及具有其的电机组件、机器人Coupling and motor assembly therewith, robot
本申请要求于2016年12月02日提交中国专利局、申请号为201621316486.0、发明名称为“联轴器及具有其的电机组件”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。The present application claims priority to Chinese Patent Application No. 201621316486.0, entitled "Couplings and Motor Components Therewith" on December 2, 2016, the entire contents of which are incorporated herein by reference. In the application.
技术领域Technical field
本实用新型发明涉及联轴器技术领域，具体而言，涉及一种联轴器及具有其的电机组件、机器人。The present invention relates to the field of coupling technology, and in particular to a coupling, a motor assembly therewith, and a robot.
背景技术Background technique
目前，在将电机轴与输出轴连接在一起时，是通过联轴器进行固定。现有技术中的联轴器在连接时，是通过螺钉、螺栓等紧固件固定，从而实现电机轴与输出轴的同步转动。At present, when the motor shaft and the output shaft are connected together, they are fixed by a coupling. When the coupling in the prior art is connected, it is fixed by screws, bolts and the like to realize synchronous rotation of the motor shaft and the output shaft.
现有的联轴器，需要通过紧固件才能实现电机轴与输出轴的同步转动，其结构、安装较为复杂，无法在狭小环境下进行操作。In the existing coupling, the synchronous rotation of the motor shaft and the output shaft is required by the fastener, and the structure and installation thereof are complicated, and the operation cannot be performed in a narrow environment.
发明内容Summary of the invention
本发明提供一种联轴器及具有其的电机组件、机器人，以解决现有技术中的联轴器结构、安装复杂的问题。The invention provides a coupling and a motor assembly and a robot therewith to solve the problem of complicated coupling structure and installation in the prior art.
根据本发明的一个方面，提供了一种联轴器，联轴器包括：筒体；第一限位部，设置在筒体的内壁上；第二限位部，设置在筒体的外壁上；其中，第一限位部用于与电机轴配合限位，第二限位部用于与输出轴配合限位；或，第一限位部用于与输出轴配合限位，第二限位部用于与电机轴配合限位。According to an aspect of the invention, a coupling is provided, the coupling includes: a cylinder; a first limiting portion disposed on an inner wall of the cylinder; and a second limiting portion disposed on an outer wall of the cylinder Wherein, the first limiting portion is configured to cooperate with the motor shaft, and the second limiting portion is configured to cooperate with the output shaft; or the first limiting portion is configured to cooperate with the output shaft, and the second limit The position is used to match the limit of the motor shaft.
进一步地，第一限位部包括筋条，筋条沿筒体的轴向方向设置在筒体的内壁上。 Further, the first limiting portion includes a rib, and the rib is disposed on the inner wall of the cylindrical body in the axial direction of the cylindrical body.
进一步地，第二限位部包括凸块，凸块沿筒体的轴向方向设置在筒体的外壁上。Further, the second limiting portion includes a protrusion, and the protruding block is disposed on the outer wall of the cylindrical body in the axial direction of the cylindrical body.
进一步地，筒体上设置有止挡部，止挡部用于限制电机轴沿筒体的轴向位移或输出轴沿筒体的轴向位移。Further, the cylinder is provided with a stopping portion for limiting the axial displacement of the motor shaft along the cylinder or the axial displacement of the output shaft along the cylinder.
进一步地，止挡部位于筒体的端部。Further, the stop is located at the end of the barrel.
进一步地，止挡部为环体，且止挡部设置在筒体内，环体的内径小于筒体的内径。Further, the stopping portion is a ring body, and the stopping portion is disposed in the cylinder body, and the inner diameter of the ring body is smaller than the inner diameter of the cylinder body.
进一步地，第一限位部包括多个筋条，多个筋条以筒体的轴线中心对称设置在筒体的内壁上。Further, the first limiting portion includes a plurality of ribs, and the plurality of ribs are symmetrically disposed on the inner wall of the cylindrical body at the center of the axis of the cylindrical body.
进一步地，第二限位部包括多个凸块，多个凸块以筒体的轴线中心对称设置在筒体的外壁上。Further, the second limiting portion includes a plurality of protrusions, and the plurality of protrusions are symmetrically disposed on the outer wall of the cylindrical body at the center of the axis of the cylinder.
进一步地，联轴器还包括弹性件，弹性件套设在第一限位部和/或第二限位部上。Further, the coupling further includes an elastic member, and the elastic member is sleeved on the first limiting portion and/or the second limiting portion.
根据本发明的另一方面，提供了一种电机组件，该电机组件包括：联轴器，联轴器为上述提供的联轴器；电机，具有电机轴，电机轴上设置有第一配合部；输出轴，输出轴上设置有第二配合部；其中，联轴器通过第一限位部与第一配合部配合，联轴器通过第二限位部与第二配合部配合以实现电机轴与输出轴的连接；或联轴器通过第一限位部与第二配合部配合，联轴器通过第二限位部与第一配合部配合以实现电机轴与输出轴的连接。According to another aspect of the present invention, a motor assembly is provided, the motor assembly includes: a coupling, the coupling is a coupling provided above; the motor has a motor shaft, and the motor shaft is provided with a first mating portion The output shaft is provided with a second mating portion; wherein the coupling is engaged with the first mating portion through the first limiting portion, and the coupling is coupled to the second mating portion by the second limiting portion to realize the motor The shaft is coupled to the output shaft; or the coupling is engaged with the second engaging portion through the first limiting portion, and the coupling is engaged with the first engaging portion through the second limiting portion to realize the connection between the motor shaft and the output shaft.
本发明的再一方面，提供一种机器人，所述机器人包括电机组件，所述电机组件为上述的电机组件。In still another aspect of the present invention, a robot is provided, the robot including a motor assembly, the motor assembly being the motor assembly described above.
进一步地，所述机器人包括头部和身体，所述头部和身体之间通过所述电机组件相连接。Further, the robot includes a head and a body, and the head and the body are connected by the motor assembly.
应用本发明的技术方案，在筒体的内壁上设置第一限位部，在筒体的外壁上设置第二限位部，能够在通过该联轴器连接电机轴和输出轴时，无需再通过其它紧固件进行连接，即可实现电机轴与输出轴的同步转动，其结构简单、安装方便，满足在狭小环境下连接电机轴与输出轴。 According to the technical solution of the present invention, a first limiting portion is disposed on an inner wall of the cylindrical body, and a second limiting portion is disposed on an outer wall of the cylindrical body, which can be connected when the motor shaft and the output shaft are connected through the coupling By connecting with other fasteners, the synchronous rotation of the motor shaft and the output shaft can be realized, and the structure is simple and the installation is convenient, and the motor shaft and the output shaft are connected in a narrow environment.
附图说明DRAWINGS
构成本申请的一部分的说明书附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：The accompanying drawings, which are incorporated in the claims of the claims In the drawing:
图1示出了本发明提供的联轴器的***图；Figure 1 shows an exploded view of a coupling provided by the present invention;
图2示出了图1中联轴器的侧视图；Figure 2 shows a side view of the coupling of Figure 1;
图3示出了图1中联轴器的又一侧视图；Figure 3 shows a further side view of the coupling of Figure 1;
图4示出了本发明提供的电机组件的结构示意图4 is a schematic structural view of a motor assembly provided by the present invention.
图5示出了图4提供的电机组件的剖视图；Figure 5 shows a cross-sectional view of the motor assembly provided in Figure 4;
图6示出了图4提供的电机组件的***图。Figure 6 shows an exploded view of the motor assembly provided in Figure 4.
其中，上述附图包括以下附图标记：Wherein, the above figures include the following reference numerals:
10、筒体；11、止挡部；20、第一限位部；30、第二限位部；40、弹性件；100、联轴器；200、电机轴；300、输出轴。10, the cylinder; 11, the stop portion; 20, the first limit portion; 30, the second limit portion; 40, elastic members; 100, the coupling; 200, the motor shaft; 300, the output shaft.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本发明及其应用或使用的任何限制。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. The following description of the at least one exemplary embodiment is merely illustrative and is in no way All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It is to be noted that the terminology used herein is for the purpose of describing particular embodiments, and is not intended to limit the exemplary embodiments. As used herein, the singular " " " " " " There are features, steps, operations, devices, components, and/or combinations thereof.
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布 置、数字表达式和数值不限制本发明的范围。同时，应当明白，为了便于描述，附图中所示出的各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。Relative to the components and steps set forth in these embodiments, unless specifically stated otherwise The numerical values and numerical values do not limit the scope of the invention. In the meantime, it should be understood that the dimensions of the various parts shown in the drawings are not drawn in the actual scale relationship for the convenience of the description. Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and apparatus should be considered as part of the authorization specification. In all of the examples shown and discussed herein, any specific values are to be construed as illustrative only and not as a limitation. Accordingly, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in one figure, it is not required to be further discussed in the subsequent figures.
在本发明的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本发明保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。In the description of the present invention, it is to be understood that orientations such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplification of the description, which are not intended to indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the invention; the orientations "inside and outside" refer to the inside and outside of the contour of the components themselves.
为了便于描述，在这里可以使用空间相对术语，如“在……之上”、“在……上方”、“在……上表面”、“上面的”等，用来描述如在图中所示的一个器件或特征与其他器件或特征的空间位置关系。应当理解的是，空间相对术语旨在包含除了器件在图中所描述的方位之外的在使用或操作中的不同方位。例如，如果附图中的器件被倒置，则描述为“在其他器件或构造上方”或“在其他器件或构造之上”的器件之后将被定位为“在其他器件或构造下方”或“在其他器件或构造之下”。因而，示例性术语“在……上方”可以包括“在……上方”和“在……下方”两种方位。该器件也可以其他不同方式定位(旋转90度或处于其他方位)，并且对这里所使用的空间相对描述作出相应解释。For convenience of description, spatially relative terms such as "above", "above", "on top", "above", etc., may be used herein to describe as in the drawings. The spatial positional relationship of one device or feature to other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device described. For example, if the device in the figures is inverted, the device described as "above other devices or configurations" or "above other devices or configurations" will be positioned "below other devices or configurations" or "at Under other devices or configurations." Thus, the exemplary term "above" can include both "over" and "under". The device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is interpreted accordingly.
此外，需要说明的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本发明保护范围的限制。In addition, it should be noted that the use of the words "first", "second", etc. to limit the components is only to facilitate the distinction between the corresponding components, if not stated otherwise, the above words have no special meaning, so can not understand To limit the scope of protection of the present invention.
如图1至图3所示，本发明实施例提供了一种联轴器，该联轴器包括：筒体10、第一限位部20以及第二限位部30。其中，第一限位部20设置在 筒体10的内壁上，第二限位部30设置在筒体10的外壁上。As shown in FIG. 1 to FIG. 3 , an embodiment of the present invention provides a coupling, which includes a cylinder 10 , a first limiting portion 20 , and a second limiting portion 30 . Wherein the first limiting portion 20 is disposed at On the inner wall of the cylinder 10, the second limiting portion 30 is disposed on the outer wall of the cylinder 10.
具体的，可以将第一限位部20与电机轴进行配合限位，将第二限位部30与输出轴进行配合限位；也可以将第一限位部20与输出轴进行配合限位，第二限位部30与电机轴进行配合限位。可根据实际情况进行选择，若电机轴尺寸较小，输出轴尺寸较大，则可通过第一限位部20与电机轴进行配合，通过第二限位部30与输出轴进行配合。若电机轴尺寸较大，输出轴尺寸较小，则可以通过第一限位部20与输出轴进行配合，通过第二限位部30与电机轴进行配合。Specifically, the first limiting portion 20 can be matched with the motor shaft to limit the position of the second limiting portion 30 and the output shaft; or the first limiting portion 20 can be matched with the output shaft. The second limiting portion 30 cooperates with the motor shaft to limit the position. It can be selected according to the actual situation. If the motor shaft size is small and the output shaft size is large, the first limiting portion 20 can be matched with the motor shaft, and the second limiting portion 30 can be matched with the output shaft. If the motor shaft has a large size and the output shaft has a small size, the first limiting portion 20 can be engaged with the output shaft, and the second limiting portion 30 can be engaged with the motor shaft.
通过本发明提供的实施例，在筒体10的内壁上设置第一限位部20，在筒体10的外壁上设置第二限位部30，通过第一限位部20与电机轴进行配合限位，通过第二限位部30与输出轴进行配合限位，即可实现电机轴与输出轴的同步转动。该联轴器可通过自身结构与电机轴、输出轴进行配合限位，达到连接效果，从而省去了螺钉等其它紧固件，简化了装置结构，便于工作人员进行安装。并且，便于在狭小环境下进行安装，满足空间上的使用要求。According to the embodiment of the present invention, the first limiting portion 20 is disposed on the inner wall of the cylinder 10, and the second limiting portion 30 is disposed on the outer wall of the cylindrical body 10, and the first limiting portion 20 is matched with the motor shaft. The limit position can be synchronously rotated by the second limit portion 30 and the output shaft to realize synchronous rotation of the motor shaft and the output shaft. The coupling can be matched with the motor shaft and the output shaft by its own structure to achieve the connection effect, thereby eliminating other fasteners such as screws, simplifying the structure of the device and facilitating installation by a worker. Moreover, it is easy to install in a narrow environment to meet the space requirements.
其中，第一限位部20的结构有多种，可以为限位凹槽，将限位凹槽设置在筒体10的内壁上，再与电机轴上对应设置的凸筋配合，可以限制电机轴与筒体10的相对转动。也可将第一限位部20设置为止挡块，将止挡块设置在筒体10的内壁上，再与电机轴上对应设置的凹槽相配合，以限制电机轴与筒体10的相对转动。也可将第一限位部20设置为其它结构，只要能限制电机轴与筒体10的相对转动即可。The first limiting portion 20 has a plurality of structures, and may be a limiting groove. The limiting groove is disposed on the inner wall of the cylinder 10, and then matched with the corresponding convex rib on the motor shaft to limit the motor. The relative rotation of the shaft and the cylinder 10. The first limiting portion 20 can also be provided with a stop block, and the stop block is disposed on the inner wall of the cylinder 10, and then matched with the corresponding groove on the motor shaft to limit the relative relationship between the motor shaft and the cylinder 10. Turn. The first limiting portion 20 may be provided in other configurations as long as the relative rotation of the motor shaft and the cylinder 10 can be restricted.
如图2和图3所示，在本实施例中，该第一限位部20包括筋条，将筋条沿筒体10的轴向方向设置在筒体10的内壁上。通过筋条与电机轴上的对应结构相配合以实现筒体10与电机轴的限位。具体的，将筋条沿筒体10的轴线方向设置在筒体10的内壁上，如此可通过插接的方式，将筒体10上的筋条与电机轴上的对应结构相适配，以达到便于安装的目的。当然，筋条也可采用其它排布方式设置在筒体10的内壁上，例如，可安装螺旋方式设置在筒体10的内壁上，在与电机轴配合安装时，可采用螺旋的方式与电机轴进行连接。As shown in FIG. 2 and FIG. 3, in the present embodiment, the first limiting portion 20 includes ribs, and the ribs are disposed on the inner wall of the cylindrical body 10 in the axial direction of the cylindrical body 10. The ribs cooperate with corresponding structures on the motor shaft to achieve the limit of the cylinder 10 and the motor shaft. Specifically, the ribs are disposed on the inner wall of the cylinder 10 along the axial direction of the cylinder 10, so that the ribs on the cylinder 10 can be matched with the corresponding structures on the motor shaft by means of plugging, It is easy to install. Of course, the ribs can also be disposed on the inner wall of the cylinder 10 by other arrangements, for example, can be installed on the inner wall of the cylinder 10 in a spiral manner, and can be screwed and mounted when being mounted with the motor shaft. The axes are connected.
具体的，可在筒体10的内壁上设置一个筋条，也可沿筒体10的内壁 设置多个筋条，可根据具体需要进行设置。在本实施例中，在筒体10上设置4个筋条，4个筋条间隔设置在筒体10的内壁上。为了进一步提高与电机轴安装的便利性，可将这4个筋条沿筒体10的中心对称设置在筒体10的内壁上。Specifically, a rib may be disposed on the inner wall of the cylinder 10, or may be along the inner wall of the cylinder 10. Set multiple ribs and set them according to your specific needs. In the present embodiment, four ribs are provided on the cylindrical body 10, and four ribs are disposed on the inner wall of the cylindrical body 10 at intervals. In order to further improve the convenience of mounting with the motor shaft, the four ribs may be symmetrically disposed on the inner wall of the cylinder 10 along the center of the cylinder 10.
其中，第二限位部30的结构有多种，可以为限位凹槽，将限位凹槽设置在筒体10的外壁上，再与输出轴上对应设置的凸筋配合，可以限制输出轴与筒体10的相对转动。也可将第二限位部30设置为止挡块，将止挡块设置在筒体10的外壁上，再与输出轴上对应设置的凹槽相配合，以限制输出轴与筒体10的相对转动。也可将第二限位部30设置为其它结构，只要能限制输出轴与筒体10的相对转动即可。The second limiting portion 30 has a plurality of structures, and may be a limiting groove. The limiting groove is disposed on the outer wall of the cylinder 10, and then matched with the corresponding convex rib on the output shaft to limit the output. The relative rotation of the shaft and the cylinder 10. The second limiting portion 30 can also be provided with a stop block, and the stop block is disposed on the outer wall of the cylinder 10, and then cooperates with the corresponding groove on the output shaft to limit the relative relationship between the output shaft and the cylinder 10. Turn. The second limiting portion 30 can also be provided in other configurations as long as the relative rotation of the output shaft and the barrel 10 can be restricted.
如图2和图3所示，在本实施例中，该第二限位部30包括凸块，凸块沿筒体10的轴向方向设置在筒体10的外壁上。As shown in FIG. 2 and FIG. 3, in the present embodiment, the second limiting portion 30 includes a projection which is disposed on the outer wall of the cylindrical body 10 in the axial direction of the cylindrical body 10.
通过凸块与输出轴上的对应结构相配合以实现筒体10与输出轴的限位。具体的，将凸块沿筒体10的轴线方向设置在筒体10的外壁上，如此可通过插接的方式，将筒体10上的凸块与输出轴上的对应结构相适配，以达到便于安装的目的。当然，凸块也可采用其它排布方式设置在筒体10的外壁上，例如，可安装螺旋方式设置在筒体10的外壁上，在与输出轴配合安装时，可采用螺旋的方式与输出轴进行连接。The positioning of the barrel 10 and the output shaft is achieved by the engagement of the projections with corresponding structures on the output shaft. Specifically, the bumps are disposed on the outer wall of the cylinder 10 along the axial direction of the cylinder 10, so that the bumps on the cylinder 10 can be matched with the corresponding structures on the output shaft by means of plugging, It is easy to install. Of course, the bumps can also be disposed on the outer wall of the cylinder 10 by other arrangements, for example, can be installed on the outer wall of the cylinder 10 in a spiral manner, and can be screwed and output when being mounted with the output shaft. The axes are connected.
具体的，可在筒体10的外壁上设置一个凸块，也可沿筒体10的外壁设置多个凸块，可根据实际需要进行设置。在本实施例中，在筒体10的外壁上设置有4个凸块，4个凸块间隔设置在筒体10的外壁上。为了进一步提高与输出轴安装的便利性，可将这4个凸块沿筒体10的中心对称设置在筒体10的外壁上。并且，筋条与凸块可一一对应设置，也可交错设置。在本实施例中，一个凸块对应位于相邻两个筋条之间。Specifically, a bump may be disposed on the outer wall of the cylinder 10, or a plurality of bumps may be disposed along the outer wall of the cylinder 10, which may be disposed according to actual needs. In the present embodiment, four projections are provided on the outer wall of the cylinder 10, and four projections are disposed on the outer wall of the cylinder 10 at intervals. In order to further improve the convenience of mounting with the output shaft, the four projections may be symmetrically disposed on the outer wall of the cylinder 10 along the center of the cylinder 10. Moreover, the ribs and the bumps may be arranged one by one or may be staggered. In this embodiment, one bump corresponds to between two adjacent ribs.
如图2和图3所示，在筒体10上设置有止挡部11，通过止挡部11来限制电机轴或输出轴与筒体10配合时，电机轴沿筒体10的轴向位移或输出轴沿筒体10的轴向位移。其中，止挡部11可设置在筒体10的内部，也可设置在筒体10的外部，也可在筒体10的内壁和筒体10的外壁上均设置。在本实施例中，可通过设置在筒体10外壁的止挡部11限制输出轴沿筒体10的轴向位移，通过设置在筒体10内壁的止挡部11限制电机轴沿筒体10 的轴向位移。As shown in FIG. 2 and FIG. 3, a stopper portion 11 is provided on the cylinder 10, and the motor shaft or the output shaft is restrained from being axially displaced along the cylinder 10 by the stopper portion 11 when the motor shaft or the output shaft is engaged with the cylinder 10. Or the output shaft is displaced along the axial direction of the cylinder 10. The stop portion 11 may be disposed inside the cylindrical body 10, or may be disposed outside the cylindrical body 10, or may be disposed on both the inner wall of the cylindrical body 10 and the outer wall of the cylindrical body 10. In the present embodiment, the axial displacement of the output shaft along the cylindrical body 10 can be restricted by the stopper portion 11 provided on the outer wall of the cylindrical body 10, and the motor shaft is restrained along the cylindrical body 10 by the stopper portion 11 provided on the inner wall of the cylindrical body 10. Axial displacement.
具体的，止挡部11可设置在筒体10的中部，也可设置在筒体10的端部。在本实施例中，将该止挡部11设置在筒体10的端部。由于在使用该联轴器的过程中，是将电机轴从联轴器的一端配合连接，将输出轴从联轴器的另一端配合连接，因此，若要通过止挡部11同时限制电机轴和输出轴沿筒体10的轴向位移，则要分别在筒体10的内壁和外壁上均设置，且为了最大程度增加限位面积，将止挡部11分别设置在筒体10的两端。Specifically, the stopper portion 11 may be disposed at a central portion of the cylindrical body 10 or at an end portion of the cylindrical body 10. In the present embodiment, the stopper portion 11 is provided at the end of the cylindrical body 10. Since the motor shaft is coupled from one end of the coupling during the use of the coupling, the output shaft is coupled from the other end of the coupling, so that the motor shaft is simultaneously restricted by the stopper 11 And the output shaft is displaced along the axial direction of the cylinder 10, and is respectively disposed on the inner wall and the outer wall of the cylinder 10, and in order to maximize the limit area, the stoppers 11 are respectively disposed at the two ends of the cylinder 10. .
其中，止挡部11可以为凸块结构，沿筒体10的内壁或外壁设置，也可设置多个凸块，多个凸块间隔设置在筒体10上。在本实施例中，将止挡部11设置为环体，且该环体的内径小于筒体的内径。如此可限制与筒体10内的第一限位部20配合的电机轴或输出轴的轴向位移。具体的，在本实施例中，与筒体10内的第一限位部20配合的为电机轴，通过设置止挡部11可以限制电机轴在筒体10内的位移。The stop portion 11 may be a bump structure disposed along the inner wall or the outer wall of the cylinder 10, or a plurality of bumps may be disposed, and the plurality of bumps are disposed on the cylinder 10 at intervals. In the present embodiment, the stopper portion 11 is provided as a ring body, and the inner diameter of the ring body is smaller than the inner diameter of the cylinder body. This can limit the axial displacement of the motor shaft or the output shaft that cooperates with the first limit portion 20 in the barrel 10. Specifically, in the present embodiment, the motor shaft is engaged with the first limiting portion 20 in the cylinder 10, and the displacement of the motor shaft in the cylinder 10 can be restricted by providing the stopping portion 11.
具体的，在本实施例中，该联轴器还包括弹性件40，并将弹性件40套设在第一限位部20和/或第二限位部30上。通过设置弹性件40可以对第一限位部20和第二限位部30进行保护，防止在安装过程中，由于碰撞、摩擦导致第一限位部20和第二限位部30损坏，避免连接失效。Specifically, in the embodiment, the coupling further includes an elastic member 40, and the elastic member 40 is sleeved on the first limiting portion 20 and/or the second limiting portion 30. The first limiting portion 20 and the second limiting portion 30 can be protected by providing the elastic member 40 to prevent the first limiting portion 20 and the second limiting portion 30 from being damaged due to collision and friction during the installation process, thereby avoiding The connection is invalid.
具体的，可将弹性件40设置为弹性套，并将弹性套的形状与第一限位部20和第二限位部30的结构相适配即可。Specifically, the elastic member 40 can be disposed as an elastic sleeve, and the shape of the elastic sleeve can be matched with the structures of the first limiting portion 20 and the second limiting portion 30.
通过本实施例提供的联轴器，在筒体10的内壁上设置第一限位部20，在筒体10的外壁上设置第二限位部30，如此可通过插接的方式将电机轴和输出轴连接在一起，无需其它紧固件进行连接，简化了装置结构，即使在狭小空间内也能完成安装，便于工作人员进行操作。With the coupling provided in this embodiment, the first limiting portion 20 is disposed on the inner wall of the cylinder 10, and the second limiting portion 30 is disposed on the outer wall of the cylindrical body 10, so that the motor shaft can be inserted and connected It is connected to the output shaft and requires no other fasteners to connect. It simplifies the structure of the unit and can be installed even in a small space for the convenience of the staff.
如图4至图6所示，在本发明的又一实施例中，提供了一种电机组件，该电机组件包括：联轴器100、电机以及输出轴300。其中，联轴器100为上述实施例提供的联轴器100。电机具有电机轴200，电机轴200上设置有第一配合部，输出轴300上设置有第二配合部。具体地，联轴器100可通过第一限位部与第一配合部配合，联轴器100可通过第二限位部与第二配合部配合以实现电机轴200与输出轴300的连接。或者，联轴器100可通过第一限位部与第二配合部配合，联轴器100通过第二限位部与第一配合 部配合以实现电机轴200与输出轴300的连接。可根据实际情况进行安装，只要能限制电机轴200与联轴器100之间、输出轴300与联轴器100之间的相对转动，进而使电机轴200带动输出轴300转动即可。电机轴和输出轴可以为实心轴，也可以为空心轴，可根据实际情况进行设计。As shown in FIGS. 4-6, in yet another embodiment of the present invention, a motor assembly is provided that includes a coupling 100, a motor, and an output shaft 300. Among them, the coupling 100 is the coupling 100 provided in the above embodiment. The motor has a motor shaft 200. The motor shaft 200 is provided with a first mating portion, and the output shaft 300 is provided with a second mating portion. Specifically, the coupling 100 can cooperate with the first engaging portion through the first limiting portion, and the coupling 100 can cooperate with the second engaging portion through the second limiting portion to realize the connection of the motor shaft 200 and the output shaft 300. Alternatively, the coupling 100 can be engaged with the second engaging portion through the first limiting portion, and the coupling 100 is coupled to the first through the second limiting portion. The part cooperates to achieve the connection of the motor shaft 200 and the output shaft 300. The mounting can be performed according to the actual situation, as long as the relative rotation between the motor shaft 200 and the coupling 100 and between the output shaft 300 and the coupling 100 can be restricted, so that the motor shaft 200 can drive the output shaft 300 to rotate. The motor shaft and the output shaft can be solid shafts or hollow shafts, which can be designed according to actual conditions.
在本实施例中，其主要应用在电机轴和输出轴均为空心轴的结构中，联轴器100采用筒体结构，使得其在与电机轴200和输出轴300进行连接时，线路可以从电机轴200、输出轴300以及联轴器100内部进行排布，方便走线，而且在电机轴200转动过程中不会影响到线路，不会形成线路缠绕的问题。对于线路较多的机器，例如机器人，可以将部件之间的线路利用联轴器100、电机轴200以及输出轴300的空心结构进行排布，这样能够极大节省走线空间。具体地，在实现机器人的头部相对于身体转动的结构时，机器人的身体与头部之间可以采用本实施例的电机轴200和输出轴300之间通过联轴器100相连接的结构设计，且电机轴200、输出轴300和联轴器100可以采用中空结构，这样可以在中空结构中走线，在电机轴200通过联轴器100带动输出轴300转动的情况下，机器人的头部可以相对于身体转动，在转动过程中不会对中空结构中穿设的线路造成影响，不会形成线路缠绕的问题。In the present embodiment, the main application is in a structure in which the motor shaft and the output shaft are both hollow shafts, and the coupling 100 adopts a cylindrical structure such that when it is connected with the motor shaft 200 and the output shaft 300, the line can be The motor shaft 200, the output shaft 300, and the inside of the coupling 100 are arranged to facilitate the routing, and the circuit is not affected during the rotation of the motor shaft 200, and the problem of line winding is not formed. For machines with more lines, such as robots, the lines between the components can be arranged using the hollow structure of the coupling 100, the motor shaft 200, and the output shaft 300, which can greatly save the wiring space. Specifically, when the structure of the head of the robot is rotated relative to the body, the structure of the motor shaft 200 and the output shaft 300 of the present embodiment connected by the coupling 100 may be adopted between the body and the head of the robot. And the motor shaft 200, the output shaft 300, and the coupling 100 can adopt a hollow structure, so that the wire can be routed in the hollow structure, and the head of the robot is rotated when the motor shaft 200 drives the output shaft 300 through the coupling 100. It can rotate relative to the body, and does not affect the circuit that is pierced in the hollow structure during the rotation process, and does not cause the problem of wire entanglement.
电机轴200的第一配合部以及输出轴300的第二配合部，其具体结构可依据联轴器100上的第一限位部以及第二限位部的结构来确定。在本实施例中，将电机轴200上的第一配合部与联轴器100上的第一限位部进行配合，因此，对应的将电机轴200上的第一配合部设置为限位凹槽，通过联轴器100上的筋条与电机轴200上的限位凹槽相配合，以限制电机轴200与联轴器100的相对转动。将输出轴300上的第二配合部与联轴器100上的第二限位部进行配合，因此，对应的将输出轴300上的第二配合部设置为开口结构，输出轴300在与联轴器100进行连接时，将联轴器100上的凸块与输出轴300上的开口配合，以限制输出轴300与联轴器100的相对转动。The specific structure of the first mating portion of the motor shaft 200 and the second mating portion of the output shaft 300 can be determined according to the structure of the first limiting portion and the second limiting portion on the coupling 100. In this embodiment, the first engaging portion on the motor shaft 200 is engaged with the first limiting portion on the coupling 100, and accordingly, the first engaging portion on the motor shaft 200 is correspondingly set as a limiting recess. The slot cooperates with the limiting groove on the motor shaft 200 through the rib on the coupling 100 to limit the relative rotation of the motor shaft 200 and the coupling 100. The second engaging portion on the output shaft 300 is engaged with the second limiting portion on the coupling 100. Therefore, the second engaging portion on the output shaft 300 is correspondingly configured as an open structure, and the output shaft 300 is coupled. When the shaft 100 is connected, the projections on the coupling 100 are engaged with the openings on the output shaft 300 to limit the relative rotation of the output shaft 300 and the coupling 100.
本发明的再一实施例，提供了一种机器人，该机器人包括电机组件，所述电机组件为上述的电机组件。具体地，所述机器人包括头部和身体，所述头部和所述身体之间通过上述的电机组件连接。 In still another embodiment of the present invention, a robot is provided that includes a motor assembly that is the motor assembly described above. Specifically, the robot includes a head and a body, and the head and the body are connected by the motor assembly described above.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。 The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims (12)

  1. 一种联轴器，其特征在于，所述联轴器包括：A coupling characterized in that the coupling comprises:
    筒体(10)；Cylinder (10);
    第一限位部(20)，设置在所述筒体(10)的内壁上；a first limiting portion (20) disposed on an inner wall of the cylinder (10);
    第二限位部(30)，设置在所述筒体(10)的外壁上；a second limiting portion (30) disposed on an outer wall of the cylinder (10);
    其中，所述第一限位部(20)用于与电机轴配合限位，所述第二限位部(30)用于与输出轴配合限位；或，The first limiting portion (20) is configured to cooperate with the motor shaft, and the second limiting portion (30) is configured to cooperate with the output shaft; or
    所述第一限位部(20)用于与输出轴配合限位，所述第二限位部(30)用于与电机轴配合限位。The first limiting portion (20) is for engaging a limit with the output shaft, and the second limiting portion (30) is for engaging a limit with the motor shaft.
  2. 根据权利要求1所述的联轴器，其特征在于，所述第一限位部(20)包括筋条，所述筋条沿所述筒体(10)的轴向方向设置在所述筒体(10)的内壁上。The coupling according to claim 1, wherein the first limiting portion (20) comprises a rib, and the rib is disposed in the cylinder along an axial direction of the cylinder (10) On the inner wall of the body (10).
  3. 根据权利要求1所述的联轴器，其特征在于，所述第二限位部(30)包括凸块，所述凸块沿所述筒体(10)的轴向方向设置在所述筒体(10)的外壁上。The coupling according to claim 1, wherein the second limiting portion (30) comprises a projection, the projection being disposed in the cylinder along an axial direction of the cylinder (10) On the outer wall of the body (10).
  4. 根据权利要求1所述的联轴器，其特征在于，所述筒体(10)上设置有止挡部(11)，所述止挡部(11)用于限制电机轴沿所述筒体(10)的轴向位移或所述输出轴沿所述筒体(10)的轴向位移。The coupling according to claim 1, characterized in that the cylinder (10) is provided with a stop portion (11) for limiting the motor shaft along the cylinder The axial displacement of (10) or the axial displacement of the output shaft along the barrel (10).
  5. 根据权利要求4所述的联轴器，其特征在于，所述止挡部(11)位于所述筒体(10)的端部。Coupling according to claim 4, characterized in that the stop (11) is located at the end of the cylinder (10).
  6. 根据权利要求4所述的联轴器，其特征在于，所述止挡部(11)为环体，且所述止挡部(11)设置在所述筒体(10)内，所述环体的内径小于所述筒体(10)的内径。Coupling according to claim 4, characterized in that the stop (11) is a ring body and the stop (11) is arranged in the cylinder (10), the ring The inner diameter of the body is smaller than the inner diameter of the barrel (10).
  7. 根据权利要求2所述的联轴器，其特征在于，所述第一限位部(20)包括多个所述筋条，多个所述筋条以所述筒体(10)的轴线中心对称设置在所述筒体(10)的内壁上。 The coupling according to claim 2, wherein said first limiting portion (20) comprises a plurality of said ribs, and said plurality of ribs are at an axis center of said cylindrical body (10) Symmetrically disposed on the inner wall of the barrel (10).
  8. 根据权利要求3所述的联轴器，其特征在于，所述第二限位部(30)包括多个所述凸块，多个所述凸块以所述筒体(10)的轴线中心对称设置在所述筒体(10)的外壁上。The coupling according to claim 3, wherein said second limiting portion (30) comprises a plurality of said projections, said plurality of said projections being centered on an axis of said cylinder (10) Symmetrically disposed on the outer wall of the barrel (10).
  9. 根据权利要求1所述的联轴器，其特征在于，所述联轴器还包括弹性件(40)，所述弹性件(40)套设在所述第一限位部(20)和/或所述第二限位部(30)上。The coupling according to claim 1, wherein the coupling further comprises an elastic member (40), and the elastic member (40) is sleeved on the first limiting portion (20) and / Or the second limiting portion (30).
  10. 一种电机组件，其特征在于，所述电机组件包括：A motor assembly, characterized in that the motor assembly comprises:
    联轴器(100)，所述联轴器(100)为权利要求1至9中任一项所述的联轴器；a coupling (100), the coupling (100) being the coupling according to any one of claims 1 to 9;
    电机，具有电机轴(200)，所述电机轴(200)上设置有第一配合部；a motor having a motor shaft (200), the motor shaft (200) being provided with a first mating portion;
    输出轴(300)，所述输出轴(300)上设置有第二配合部；An output shaft (300), wherein the output shaft (300) is provided with a second mating portion;
    其中，所述联轴器(100)通过第一限位部与所述第一配合部配合，所述联轴器(100)通过第二限位部与所述第二配合部配合以实现所述电机轴(200)与所述输出轴(300)的连接；或The coupling (100) is engaged with the first engaging portion through a first limiting portion, and the coupling (100) is engaged with the second engaging portion through a second limiting portion to realize Connecting the motor shaft (200) to the output shaft (300); or
    所述联轴器(100)通过第一限位部与所述第二配合部配合，所述联轴器(100)通过第二限位部与所述第一配合部配合以实现所述电机轴(200)与所述输出轴(300)的连接。The coupling (100) is engaged with the second engaging portion through a first limiting portion, and the coupling (100) cooperates with the first engaging portion through a second limiting portion to realize the motor A connection of the shaft (200) to the output shaft (300).
  11. 一种机器人，包括电机组件，其特征在于，所述电机组件为权利要求10所述的电机组件。A robot comprising a motor assembly, characterized in that the motor assembly is the motor assembly of claim 10.
  12. 根据权利要求11所述的机器人，其特征在于，所述机器人包括头部和身体，所述头部和所述身体之间通过所述电机组件连接。 The robot according to claim 11, wherein the robot includes a head and a body, and the head and the body are connected by the motor assembly.
PCT/CN2017/111700 2016-12-02 2017-11-17 Coupling, motor assembly having same, and robot WO2018099279A1 (en)

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CN206280396U (en) * 2016-12-02 2017-06-27 纳恩博（北京）科技有限公司 Shaft coupling and the electric machine assembly with it
CN109826918A (en) * 2019-03-20 2019-05-31 四川安和精密电子电器有限公司 A kind of telescopic device and electronic equipment

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