Hollow robot joint steering engine with high power density ratio

Abstract

The hollow high-power-density-ratio robot joint steering engine comprises a shell, a motor, a speed reducer and double encoders, and a containing space is formed in the shell; the motor is arranged in the accommodating space; the speed reducer and the motor are arranged at an interval and are in transmission connection; the double encoders comprise a first encoder and a second encoder, the first encoder is arranged opposite to the motor, and the second encoder is arranged opposite to the output end of the speed reducer. According to the steering engine, the double encoders are arranged in the steering engine, so that the first encoder and the second encoder in the double encoders can detect and feed back the output performance of the motor and the speed reducer in the using process of the steering engine, a user can adjust the output performance of the steering engine according to feedback information, and the using performance of the steering engine is improved; and the use feeling of a user using the steering engine is improved. And meanwhile, high-power output and lightweight design of the steering engine can be realized, so that the applicability of the steering engine in different robots is improved.

Description

Technical Field

[0001] The invention relates to the technical field of steering gears, and in particular to a hollow high power density ratio robot joint steering gear. Background Art

[0002] In the prior art, joint servos are often provided at the joints of the robot, so that during the operation of the robot, the joint servos at different joints can be controlled separately to achieve operations such as movement. In order to allow the robot to be used as designed, encoders are often provided in the joint servos to detect and provide feedback on the use of the joint servos.

[0003] In the prior art, an encoder is usually provided to detect one of the motor and the reducer, so that the encoder's detection of the servo is often not comprehensive and accurate enough, and thus the servo performance cannot be detected and fed back according to the current actual usage, so that the working performance of the servo is affected, and the output performance of the servo cannot be adjusted according to the current usage of the servo, which greatly affects the use of the robot. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to provide a hollow high power density ratio robot joint servo, wherein a dual encoder is provided in the servo, so that the two encoders can respectively detect the output performance of the motor and the reducer in the servo, so as to adjust the servo performance according to the current actual use situation, so as to make the working performance of the servo more accurate and reliable.

[0005] According to an embodiment of the present invention, a hollow high power density ratio robot joint servo includes: a shell, a motor, a reducer and a dual encoder, wherein a accommodating space is formed in the shell; the motor is arranged in the accommodating space; the reducer is spaced apart from the motor, and the reducer is transmission-connected to the motor; the dual encoder includes a first encoder and a second encoder, the first encoder is arranged opposite to the motor, and the second encoder is arranged opposite to the output end of the reducer.

[0006] According to the hollow high power density ratio robot joint servo of the embodiment of the present invention, a dual encoder is provided in the servo, so that the first encoder and the second encoder of the dual encoder can detect and feedback the output performance of the motor and the reducer during the use of the servo, so that the user can adjust the output performance of the servo according to the feedback information, so that the performance of the servo is improved, and the user's experience of using the servo is improved. At the same time, since the reducer is provided in the servo, the motor in the servo can use higher power to achieve high power output of the servo. In addition, since a weight reduction part is provided, the mass of the servo can be reduced, and while saving costs, the servo can also achieve a lightweight design, so that the applicability of the servo in different robots is improved.

[0007] In some embodiments, it also includes: a first transmission component and a second transmission component, the first transmission component is connected to the output end of the reducer, and the second encoder is connected to the output end of the first transmission component; the second transmission component is spaced apart from the first transmission component, the second transmission component is connected to the output end of the motor, and the first encoder is connected to the output end of the second transmission component.

[0008] In some embodiments, the first transmission assembly includes: a transmission shaft and first transmission gears meshing with each other, a through hole is provided in the middle of the motor, the transmission shaft is connected to one end of the reducer and is passed through the through hole, and the transmission shaft is spaced apart from the inner circumferential wall of the through hole; the output end of the transmission shaft is connected to one of the first transmission gears, and the other first transmission gear is transmission-connected to the second encoder.

[0009] In some embodiments, the transmission shaft is a hollow metal shaft.

[0010] In some embodiments, the second transmission assembly includes: second transmission gears meshing with each other, wherein one of the second transmission gears is connected to the output end of the motor, and wherein another of the second transmission gears is transmission-connected to the first encoder.

[0011] In some embodiments, a bearing is further provided, and the bearing is provided between the first transmission assembly and the motor.

[0012] In some embodiments, the motor includes: a stator and a rotor, the stator is arranged in the accommodating space; the rotor is arranged on the inner side of the stator, and the rotor rotates around the stator, the reducer is connected to one end of the rotor, and the second transmission assembly is connected to the other end of the rotor.

[0013] In some embodiments, a weight-reducing portion is provided on the rotor, and the weight-reducing portion is provided in the middle portion of the rotor.

[0014] In some embodiments, it further includes: a circuit board, wherein the circuit board is disposed in the accommodating space and spaced apart from the motor, and the dual encoder is integrated on the circuit board.

[0015] In some embodiments, the shell includes: a lower shell, an upper shell and a protective plate, the accommodating space is formed in the lower shell; the upper shell cover is arranged on the open side of the lower shell; the protective plate is arranged in the accommodating space, and the protective plate is arranged on one side of the circuit board to protect the circuit board.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a hollow high power density ratio robot joint servo according to an embodiment of the present invention; Figure 2 is a cross-sectional schematic diagram of a hollow high power density ratio robot joint servo according to an embodiment of the present invention; Reference numerals: Hollow high power density ratio robot joint servo 10, Shell 100, accommodating space 101, lower shell 110, upper shell 120, protective plate 130, aviation plug-in wiring hole 140, Motor 200, stator 210, rotor 220, weight reduction part 230, Reducer 300, Dual encoder 400, first encoder 410, second encoder 420, The first transmission assembly 500, the transmission shaft 510, the first transmission gear 520, The second transmission assembly 600, the second transmission gear 610, Bearing 700, Circuit board 800. DETAILED DESCRIPTION

[0018] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0019] Reference below Figure 1-Figure 2 A hollow high power density ratio robot joint steering gear 10 according to an embodiment of the present invention is described, comprising: a housing 100 , a motor 200 , a reducer 300 and a dual encoder 400 .

[0020] Specifically, a accommodating space 101 is formed in the shell 100; the motor 200 is arranged in the accommodating space 101; the reducer 300 and the motor 200 are arranged at an interval, and the reducer 300 and the motor 200 are transmission connected; the dual encoder 400 includes a first encoder 410 and a second encoder 420, the first encoder 410 is arranged opposite to the output end of the reducer 300, and the second encoder 420 is arranged opposite to the motor 200.

[0021] That is to say, during the use of the servo, it is necessary to use the dual encoder 400 to accurately and reliably detect and provide feedback on the use of the servo, so as to adjust the output performance of the servo according to the use and needs, so that the working performance of the servo can be more accurate and reliable. At the same time, the output performance can be adjusted according to the use, so that the use of the servo can be more efficient and reliable.

[0022] Specifically, the servo is suitable for including a housing 100, a motor 200, a reducer 300 and a dual encoder 400, and a housing space 101 is formed in the housing 100 to protect other structures arranged in the housing space 101, thereby improving the reliability of the servo. For example, the motor 200, the reducer 300 and the dual encoder 400 are arranged in the housing space 101, the motor 200 is suitable for providing a driving effect for transmission, and the output driving effect is suitable for transmission through the reducer 300, so that the output performance of the reducer 300 is suitable for meeting the use requirements of the servo. At the same time, a dual encoder 400 is arranged in the servo, and the dual encoder 400 includes a first encoder 410 and a second encoder 420, the first encoder 410 is suitable for connecting with the reducer 300 to detect and feedback the real-time output of the reducer 300, and the second encoder 420 is suitable for connecting with the motor 200 to detect and feedback the output performance of the motor 200. In this way, during the use of the servo, it is suitable to detect and feedback the use of the servo through the dual encoder 400, so that the user can adjust the performance of the servo according to the feedback information, so that the output performance of the servo can meet different usage requirements, thereby improving the performance of the servo and the user experience.

[0023] According to the hollow high power density ratio robot joint servo 10 of the embodiment of the present invention, by providing a dual encoder 400 in the servo, the servo can allow the first encoder 410 and the second encoder 420 in the dual encoder 400 to detect and feedback the output performance of the motor 200 and the reducer 300 respectively during use, so that the user can adjust the output performance of the servo according to the feedback information, so that the performance of the servo is improved, and the user's experience of using the servo is improved. At the same time, since the reducer 300 is provided in the servo, the motor 200 in the servo can use higher power to achieve high power output of the servo. In addition, since the weight reduction part 230 is provided, the mass of the servo can be reduced, and while saving costs, the servo can also achieve a lightweight design, so that the applicability of the servo in different robots is improved.

[0024] In some embodiments, the hollow high power density ratio robot joint servo 10 also includes: a first transmission assembly 500 and a second transmission assembly 600, the first transmission assembly 500 is connected to the output end of the reducer 300, and the second encoder 420 is connected to the output end of the first transmission assembly 500; the second transmission assembly 600 is spaced apart from the first transmission assembly 500, the second transmission assembly 600 is connected to the output end of the motor 200, and the first encoder 410 is connected to the output end of the second transmission assembly 600.

[0025] That is to say, during the use of the servo, it is suitable to use the first transmission assembly 500 and the second transmission assembly 600 to feed back the output performance of the motor 200 and the reducer 300 to different dual encoders 400 for detection and feedback, so that the detection and feedback of the servo during the working process are more accurate and reliable. Specifically, the first transmission assembly 500 is arranged between the output end of the reducer 300 and the second encoder 420 to transfer the output performance of the reducer 300 to the second encoder 420 for detection and feedback, and the second transmission assembly 600 is arranged between the output end of the motor 200 and the first encoder 410 to allow the output performance of the motor 200 to be transferred to the first encoder 410 through the second transmission assembly 600 for detection and feedback. In this way, the use of the servo during use can be more comprehensively detected to improve the reliability of the use of the servo.

[0026] In some embodiments, the first transmission assembly 500 includes: a transmission shaft 510 and first transmission gears 520 meshing with each other, a through hole is provided in the middle of the motor 200, the transmission shaft 510 is connected to one end of the reducer 300 and is passed through the through hole, and the transmission shaft 510 is spaced apart from the inner wall of the through hole; the output end of the transmission shaft 510 is connected to one of the first transmission gears 520, and the other first transmission gear 520 is connected to the second encoder 420 for transmission.

[0027] That is to say, during the use of the first transmission assembly 500, it is suitable to include a transmission shaft 510 and a first transmission gear 520 meshing with each other, and it is suitable to connect the reducer 300 with the transmission shaft 510, so that the output performance of the reducer 300 can be transmitted through the transmission shaft 510, and transmitted to the first transmission gear 520, and transmitted to the second encoder 420 through the first transmission gear 520 to realize the detection of the output performance of the reducer 300. At the same time, the transmission shaft 510 is spaced from the inner peripheral wall of the through hole to avoid interference during the transmission process, so that the output performance detection of the reducer 300 is more accurate and reliable.

[0028] In some specific embodiments, the transmission shaft 510 is a hollow metal shaft. Specifically, the transmission shaft 510 is suitable for being set as a metal shaft so that the transmission shaft 510 has a higher structural strength to more reliably realize power transmission, so that the detection of the dual encoder 400 is more accurate. And setting the transmission shaft 510 as a hollow shaft can reduce the weight of the transmission shaft 510, so that the weight of the servo is reduced. And setting the transmission shaft 510 as a hollow metal shaft so that the transmission shaft 510 can take into account both lower weight and higher structural strength, not only makes the use of the dual encoder 400 more reliable to meet the use requirements of the servo, but also allows The production cost of the servo can be reduced. At the same time, since the middle of the transmission shaft 510 is set as a hollow shaft, the wiring harness can be arranged in the gap in the middle of the transmission shaft 510, which is convenient for the arrangement of the wiring harness.

[0029] In some embodiments, the second transmission assembly 600 includes: second transmission gears 610 meshing with each other, wherein one of the second transmission gears 610 is connected to the output end of the motor 200, and wherein the other second transmission gear 610 is connected to the first encoder 410. It can be understood that the second transmission assembly 600 is suitable for including meshing second transmission gears 610, so that the output performance of the motor 200 can be transmitted through the second transmission gears 610, so that the first encoder 410 can detect the output performance of the motor 200 more reliably.

[0030] In some embodiments, the hollow high power density ratio robot joint servo 10 is further provided with: a bearing 700, which is provided between the first transmission assembly 500 and the motor 200. It is understandable that in the process of power transmission, it is suitable to use the bearing 700 for separation, so that the first transmission assembly 500 and the motor 200 can be supported by the bearing 700, and the first transmission assembly 500 can be prevented from interfering with the output performance of the motor 200 during power transmission, so that the dual encoder 400 can detect the output performance of the motor 200 and the reducer 300 more reliably, so that the dual encoder 400 can detect the performance of the servo more accurately to meet the use requirements.

[0031] In some embodiments, the motor 200 includes: a stator 210 and a rotor 220, wherein the stator 210 is disposed in the accommodation space 101; the rotor 220 is disposed inside the stator 210, and the rotor 220 rotates around the stator 210, the reducer 300 is connected to one end of the rotor 220, and the second transmission assembly 600 is connected to the other end of the rotor 220. It can be understood that in the construction process of the motor 200, it is suitable to construct the stator 210 and the rotor 220, the rotor 220 rotates under the drive of the stator 210 to constitute the output performance of the motor 200, and the reducer 300 is suitable to be connected to the output end of the rotor 220, so that the reducer 300 can accept the output performance of the motor 200 and reduce it, so that the motor 200 can adopt more models in the design process to reduce production costs.

[0032] In some embodiments, a weight-reducing portion 230 is provided on the rotor 220, and the weight-reducing portion 230 is provided in the middle of the rotor 220. In this way, the weight-reducing portion 230 can reduce the mass of the rotor 220, and while reducing the production cost, it can also reduce the overall mass of the servo, so that the applicability of the servo during use is improved.

[0033] In some embodiments, the hollow high power density ratio robot joint servo 10 further includes: a circuit board 800, the circuit board 800 is arranged in the accommodating space 101 and is spaced apart from the motor 200, and the dual encoder 400 is integrated on the circuit board 800. In this way, during the use of the dual encoder 400, it is suitable to transmit the control effect and the output effect of the dual encoder 400 to the circuit board 800 for feedback, so that the use of the dual encoder 400 is more reliable. At the same time, the circuit board 800 can also provide a position for the arrangement of the dual encoder 400, so that the dual encoder 400 can be integrated on the circuit board 800 to realize the miniaturized design of the servo.

[0034] In some embodiments, the housing 100 includes: a lower housing 110, an upper housing 120 and a protective plate 130, wherein a receiving space 101 is formed in the lower housing 110; the upper housing 120 is covered on the open side of the lower housing 110; the protective plate 130 is disposed in the receiving space 101, and the protective plate 130 is disposed on one side of the circuit board 800 to protect the circuit board 800. It can be understood that the housing 100 is suitable for including an upper housing 120 and a lower housing 110, wherein the lower housing 110 forms the receiving space 101 to protect the structure disposed in the receiving space 101, and the upper housing 120 is suitable for covering the open side of the lower housing 110 to improve the structural reliability of the lower housing 110. A protective plate 130 is also disposed in the housing 100, and the protective plate 130 is disposed on the outer side of the circuit board 800 to shield and protect the circuit board 800, so that the use of the dual encoder 400 on the circuit board 800 is more reliable, so that the use performance of the servo is improved. Moreover, an aviation connection wire hole 140 is also suitable for being provided on the upper shell 120, so that the servo can be plugged into the aviation connection wire hole 140 to realize signal transmission during subsequent use, so as to improve the convenience of using the servo.

[0035] Other structures and operations of the hollow high power density ratio robot joint servo 10 according to the embodiment of the present invention are known to ordinary technicians in the field and will not be described in detail here.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0037] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A hollow high power density ratio robot joint servo, characterized in that: include: A housing having a receiving space formed therein; A motor, wherein the motor is arranged in the accommodation space; A reducer, the reducer is spaced apart from the motor and is drivingly connected to the motor; A dual encoder comprises a first encoder and a second encoder, wherein the first encoder is arranged opposite to the output end of the reducer, and the second encoder is arranged opposite to the motor.

2. The hollow high power density ratio robot joint servo according to claim 1, characterized in that: Also includes: A first transmission assembly, wherein the first transmission assembly is connected to an output end of the reducer, and the second encoder is connected to an output end of the first transmission assembly; A second transmission assembly is provided with a spacing from the first transmission assembly, the second transmission assembly is connected to the output end of the motor, and the first encoder is connected to the output end of the second transmission assembly.

3. The hollow high power density ratio robot joint servo according to claim 2, characterized in that: The first transmission assembly comprises: A transmission shaft, a through hole is provided in the middle of the motor, the transmission shaft is connected to one end of the reducer and is passed through the through hole, and the transmission shaft is spaced apart from the inner peripheral wall of the through hole; The first transmission gears are meshed with each other, the output end of the transmission shaft is connected to one of the first transmission gears, and the other first transmission gear is transmission-connected to the second encoder.

4. The hollow high power density ratio robot joint servo according to claim 3, characterized in that: The transmission shaft is a hollow metal shaft.

5. The hollow high power density ratio robot joint servo according to claim 2, characterized in that: The second transmission assembly comprises: Second transmission gears meshing with each other, wherein one of the second transmission gears is connected to the output end of the motor, and wherein another of the second transmission gears is transmission-connected to the first encoder.

6. The hollow high power density ratio robot joint servo according to claim 2, characterized in that: Also provided is a bearing, which is arranged between the first transmission assembly and the motor.

7. The hollow high power density ratio robot joint servo according to claim 2, characterized in that: The motor comprises: a stator, the stator being arranged in the accommodation space; The rotor is arranged on the inner side of the stator and rotates around the stator. The reducer is connected to one end of the rotor, and the second transmission assembly is connected to the other end of the rotor.

8. The hollow high power density ratio robot joint servo according to claim 7, characterized in that: The rotor is provided with a weight-reducing portion, and the weight-reducing portion is arranged in the middle of the rotor.

9. The hollow high power density ratio robot joint servo according to claim 1, characterized in that: Also includes: A circuit board is arranged in the accommodating space and spaced apart from the motor, and the dual encoder is integrated on the circuit board.

10. The hollow high power density ratio robot joint servo according to claim 9, characterized in that: The housing comprises: A lower shell, wherein the accommodation space is formed in the lower shell; An upper shell, the upper shell cover is arranged on the open side of the lower shell; A protection plate is arranged in the accommodating space, and the protection plate is arranged on one side of the circuit board to protect the circuit board.

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