Rotary execution device

Abstract

The utility model relates to the technical field of rotation driving, and discloses a rotation execution device, which solves the problems that a cable needs to be wound around a solid shaft motor, so that more installation space is needed, and the wiring distance is increased, and comprises a hollow shaft, a driving shaft is sleeved outside the hollow shaft, and a shell is sleeved outside the driving shaft. A frameless motor is fixedly connected into the shell, a rotor of the frameless motor is fixedly connected with the outer wall of the driving shaft, the end of the hollow shaft is rotationally sleeved with a transmission box, a sealing supporting structure matched with the hollow shaft is installed at the end, away from the transmission box, of the shell, an installation flange is fixedly installed on the transmission box, and the installation flange is fixedly connected with the shell. A transmission part used for driving the hollow shaft to rotate in a differential mode is installed on the driving shaft, a first detection unit used for detecting the rotating speed of the driving shaft is installed in the shell, and a second detection unit used for detecting the rotating speed of the hollow shaft is installed on the installation flange.

Description

Technical Field

[0001] The utility model belongs to the technical field of rotary drive, in particular to a rotary execution device. Background Art

[0002] Currently, most of the motors available on the market are solid-shaft motors with unidirectional torque output. Solid-shaft motors need to be fixedly installed in the equipment before use. Solid-shaft motors are used to drive the components in the equipment to rotate. In the robot system, there are many cables that need to be laid out inside. The cables need to bypass the solid-shaft motor, resulting in more installation space and increasing the wiring distance. There are certain limitations and increased maintenance and usage costs. Utility Model Content

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a rotary actuator, which effectively solves the problem in the above background technology that the cables need to bypass the solid shaft motor, resulting in the need for more installation space and increased wiring distance.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a rotary actuator, comprising a hollow shaft, the outer sleeve of the hollow shaft is provided with a drive shaft, the outer sleeve of the drive shaft is provided with an outer shell, a frameless motor is fixedly connected to the shell, and the rotor of the frameless motor is fixedly connected to the outer wall of the drive shaft, the end rotating sleeve of the hollow shaft is provided with a transmission box, the end of the shell away from the transmission box is provided with a sealing support structure adapted to the hollow shaft, the transmission box is fixedly provided with a mounting flange, the mounting flange and the shell are fixedly connected, a transmission member for driving the hollow shaft to rotate differentially is installed on the drive shaft, a first detection unit for detecting the rotational speed of the drive shaft is installed in the shell, and a second detection unit for detecting the rotational speed of the hollow shaft is installed on the mounting flange.

[0005] Preferably, the sealing support structure includes a sealing cover sleeved on the outside of the hollow shaft, the sealing cover and the outer shell are fixedly connected by bolts, the outer fixed sleeve of the hollow shaft is provided with a mounting ring, and the mounting ring and the sealing cover are connected by a bearing, and a lip seal is fixedly connected to the sealing cover, the lip seal is located on the side of the mounting ring away from the drive shaft, and the lip seal is in contact with the hollow shaft and the mounting ring respectively.

[0006] Preferably, the outer fixing sleeve of the sealing cover is provided with a first sealing ring, and the first sealing ring abuts against the inner wall of the outer shell.

[0007] Preferably, the first detection unit includes an encoder mounting bracket mounted on the outside of the drive shaft, and the encoder mounting bracket is fixedly connected to the inner wall of the outer shell. The encoder mounting bracket is located on the side of the drive shaft away from the transmission box, and the encoder mounting bracket is fixedly installed with an encoder for detecting the drive shaft speed.

[0008] Preferably, the transmission member includes at least one rotating shaft rotatably mounted in the transmission box, a mounting plate is fixedly connected in the transmission box, a transmission sleeve is rotatably connected on the mounting plate, the transmission sleeve is sleeved on the outside of the hollow shaft, and the end portion of the driving shaft is fixedly sleeved on the outside of the transmission sleeve, the external fixed sleeve of the transmission sleeve is provided with a first gear located in the transmission box, at least one second gear meshed with the first gear is rotatably connected to the mounting plate, and the number of the second gear and the rotating shaft is the same, the external fixed sleeve of the hollow shaft is provided with a first gear disk, a second gear disk is rotatably connected in the transmission box, and the diameters of the first gear disk and the second gear disk are the same, the second gear disk and the first gear disk are respectively located on both sides of the first gear, the external fixed sleeve of the rotating shaft is provided with three third gears, and the adjacent three third gears are respectively meshed with the corresponding second gear, the first gear disk and the second gear disk.

[0009] Preferably, the second detection unit includes an induction magnetic ring provided on a side of the transmission case facing the mounting flange, the mounting flange is fixedly mounted with an induction circuit board for detecting the rotation speed of the induction magnetic ring, and the induction magnetic ring and the second gear disc are fixedly connected via a connecting column;

[0010] Preferably, the mounting flange and the housing are fixedly connected by bolts, an external fixing sleeve of the mounting flange is provided with a second sealing ring, and the second sealing ring abuts against an inner wall of the housing.

[0011] Compared with the prior art, the beneficial effects of the present invention are:

[0012] The drive shaft is driven to rotate by a frameless motor, and the drive shaft drives the hollow shaft to rotate through a transmission member. The hollow shaft is supported by a sealed support structure, which increases the stability of the hollow shaft rotation. The rotation speed of the drive shaft is detected by a first detection unit, and the rotation speed of the hollow shaft is detected by a second detection unit, thereby realizing real-time monitoring of the transmission efficiency. The cable can pass directly through the middle of the hollow shaft, and there is no need for the cable to bypass the rotating actuator, which facilitates the layout of the cable and reduces the use and maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention.

[0014] In the attached figure:

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a schematic diagram of the cutaway structure of the entire utility model;

[0017] Figure 3 It is a schematic diagram of the overall explosion structure of the utility model.

[0018] In the figure: 1. Hollow shaft; 2. Housing; 3. Drive shaft; 4. Transmission box; 5. Transmission sleeve; 6. Sealing cover; 7. Mounting ring; 8. Bearing; 9. Lip seal; 10. First sealing ring; 11. Frameless motor; 12. Encoder mounting bracket; 13. Encoder; 14. Mounting flange; 15. Rotating shaft; 16. Mounting plate; 17. First gear; 18. Second gear; 19. First gear disc; 20. Second gear disc; 21. Third gear; 22. Induction magnetic ring; 23. Connecting column; 24. Induction circuit board; 25. Second sealing ring. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] Embodiment 1, by Figure 1 、 Figure 2 and Figure 3 The utility model includes a hollow shaft 1, the outer sleeve of the hollow shaft 1 is provided with a drive shaft 3, the outer sleeve of the drive shaft 3 is provided with a shell 2, a frameless motor 11 is fixedly connected to the shell 2, and the rotor of the frameless motor 11 is fixedly connected to the outer wall of the drive shaft 3, the end of the hollow shaft 1 is provided with a transmission box 4, the end of the shell 2 away from the transmission box 4 is provided with a sealing support structure adapted to the hollow shaft 1, the transmission box 4 is fixedly provided with a mounting flange 14, the mounting flange 14 and the shell 2 are fixedly connected, a transmission member for driving the hollow shaft 1 to rotate differentially is installed on the drive shaft 3, and a device for detecting the rotation of the drive shaft 3 is installed in the shell 2. The first detection unit for detecting the speed of the hollow shaft 1 is installed, and the mounting flange 14 is equipped with a second detection unit for detecting the speed of the hollow shaft 1; the drive shaft 3 is driven to rotate by the frameless motor 11, and the drive shaft 3 drives the hollow shaft 1 to rotate through the transmission member, and the hollow shaft 1 is supported by the sealing support structure, which increases the stability of the rotation of the hollow shaft 1. The speed of the drive shaft 3 is detected by the first detection unit, and the speed of the hollow shaft 1 is detected by the second detection unit, thereby realizing real-time monitoring of the transmission efficiency, and the cable can pass directly through the middle of the hollow shaft 1, without the cable bypassing the rotating actuator, which facilitates the layout of the cable and reduces the use and maintenance costs.

[0021] Example 2, based on Example 1, Figure 2 and Figure 3It is given that the sealing support structure includes a sealing cover 6 sleeved on the outside of the hollow shaft 1, the sealing cover 6 and the housing 2 are fixedly connected by bolts, the external fixed sleeve of the hollow shaft 1 is provided with a mounting ring 7, and the mounting ring 7 and the sealing cover 6 are connected by a bearing 8, a lip seal 9 is fixedly connected to the sealing cover 6, the lip seal 9 is located on the side of the mounting ring 7 away from the drive shaft 3, and the lip seal 9 is in contact with the hollow shaft 1 and the mounting ring 7 respectively, the external fixed sleeve of the sealing cover 6 is provided with a first sealing ring 10, and the first sealing ring 10 is in contact with the inner wall of the housing 2, the first detection unit includes an encoder mounting sleeve sleeved on the outside of the drive shaft 3 The encoder mounting frame 12 is fixedly connected to the inner wall of the outer shell 2, the encoder mounting frame 12 is located on the side of the drive shaft 3 away from the transmission box 4, and the encoder mounting frame 12 is fixedly installed with an encoder 13 for detecting the rotational speed of the drive shaft 3; the hollow shaft 1 is supported by the design of the sealing cover 6, the mounting ring 7 and the bearing 8, and the sealing between the sealing cover 6, the mounting ring 7 and the hollow shaft 1 is increased by the design of the lip seal 9. The sealing between the sealing cover 6 and the outer shell 2 is increased by the design of the first sealing ring 10. When the drive shaft 3 rotates, the rotational speed of the drive shaft 3 is detected by the encoder 13.

[0022] Example 3, based on Example 1, Figure 2 and Figure 3The transmission member comprises at least one rotating shaft 15 rotatably arranged in the transmission box 4, the transmission box 4 is fixedly connected with a mounting plate 16, the mounting plate 16 is rotatably connected with a transmission sleeve 5, the transmission sleeve 5 is arranged outside the hollow shaft 1, the end of the driving shaft 3 is fixedly arranged outside the transmission sleeve 5, the transmission sleeve 5 is fixedly arranged outside the first gear 17 located in the transmission box 4, the mounting plate 16 is rotatably connected with at least one second gear 18 engaged with the first gear 17, the number of the second gears 18 is consistent with that of the rotating shafts 15, the hollow shaft 1 is fixedly arranged outside the first toothed disc 19, the transmission box 4 is rotatably connected with the second toothed disc 20, the diameters of the first toothed disc 19 and the second toothed disc 20 are consistent, the second toothed disc 20 and the first toothed disc 19 are respectively located on the two sides of the first gear 17, the rotating shaft 15 is fixedly arranged outside the three third gears 21, and the adjacent three third gears 21 are respectively engaged with the corresponding second gear 18, first toothed disc 19 and second toothed disc 20, the second detection unit comprises an induction magnetic ring 22 arranged on the side of the transmission box 4 facing the mounting flange 14, the mounting flange 14 is fixedly connected with an induction circuit board 24 for detecting the rotating speed of the induction magnetic ring 22, and the induction magnetic ring 22 and the second toothed disc 20 are fixedly connected through the connecting column 23, the mounting flange 14 and the shell 2 are fixedly connected through bolts, the mounting flange 14 is fixedly arranged outside the second sealing ring 25, and the second sealing ring 25 abuts against the inner wall of the shell 2; when the driving shaft 3 rotates, the driving shaft 3 drives the transmission sleeve 5 and the first gear 17 to rotate relative to the mounting plate 16 and the transmission box 4, the first gear 17 drives the corresponding third gear 21 and the rotating shaft 15 to rotate through the second gear 18, the rotating shaft 15 drives the first toothed disc 19 and the second toothed disc 20 to rotate through the corresponding two third gears 21, the first toothed disc 19 drives the hollow shaft 1 to rotate, and the second toothed disc 20 drives the induction magnetic ring 22 to rotate through the connecting column 23, because the diameters of the first toothed disc 19 and the second toothed disc 20 are consistent, the rotating speeds of the hollow shaft 1 and the induction magnetic ring 22 are consistent, the induction magnetic ring 22 rotates relative to the induction circuit board 24, the rotating speed of the induction magnetic ring 22 is detected through the induction circuit board 24, so that the real-time monitoring of the transmission efficiency is realized, and the sealing property of the connection between the mounting flange 14 and the shell 2 is increased through the design of the second sealing ring 25.

[0023] Working principle: when working, the driving shaft 3 is driven to rotate by the frameless motor 11, the hollow shaft 1 is driven to rotate by the transmission member, the hollow shaft 1 is supported by the sealing support structure, the stability of the rotation of the hollow shaft 1 is increased, the rotating speed of the driving shaft 3 is detected by the first detection unit, the rotating speed of the hollow shaft 1 is detected by the second detection unit, so that the real-time monitoring of the transmission efficiency is realized, the cable can directly pass through the middle of the hollow shaft 1, the cable does not need to pass around the rotating execution device, the layout of the cable is facilitated, and the use and maintenance costs are reduced;

[0024] The hollow shaft 1 is supported by the design of the sealing cover 6, the mounting ring 7 and the bearing 8. The sealing performance between the sealing cover 6, the mounting ring 7 and the hollow shaft 1 is improved by the design of the lip seal 9. The sealing performance between the sealing cover 6 and the housing 2 is improved by the design of the first sealing ring 10. When the drive shaft 3 rotates, the speed of the drive shaft 3 is detected by the encoder 13.

[0025] When the drive shaft 3 rotates, the drive shaft 3 drives the transmission sleeve 5 and the first gear 17 to rotate relative to the mounting plate 16 and the transmission box 4. The first gear 17 drives the corresponding third gear 21 and the rotating shaft 15 to rotate through the second gear 18. The rotating shaft 15 drives the first gear disc 19 and the second gear disc 20 to rotate through the corresponding two third gears 21. The first gear disc 19 can drive the hollow shaft 1 to rotate, and the second gear disc 20 drives the induction magnetic ring 22 to rotate through the connecting column 23. Since the diameters of the first gear disc 19 and the second gear disc 20 are the same, the rotation speeds of all hollow shafts 1 and the induction magnetic ring 22 are the same. The induction magnetic ring 22 rotates relative to the induction circuit board 24, and the rotation speed of the induction magnetic ring 22 is detected by the induction circuit board 24, thereby realizing real-time monitoring of the transmission efficiency. The design of the second sealing ring 25 increases the sealing performance of the connection between the mounting flange 14 and the housing 2.

[0026] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rotary actuator, comprising a hollow shaft (1), characterized in that: The outer sleeve of the hollow shaft (1) is provided with a drive shaft (3), the outer sleeve of the drive shaft (3) is provided with a housing (2), a frameless motor (11) is fixedly connected in the housing (2), and the rotor of the frameless motor (11) is fixedly connected to the outer wall of the drive shaft (3), the end of the hollow shaft (1) is provided with a transmission box (4), the end of the housing (2) away from the transmission box (4) is provided with a sealing support structure adapted to the hollow shaft (1), the transmission box (4) is fixedly provided with a mounting flange (14), the mounting flange (14) and the housing (2) are fixedly connected, a transmission member for driving the hollow shaft (1) to rotate differentially is installed on the drive shaft (3), a first detection unit for detecting the rotation speed of the drive shaft (3) is installed in the housing (2), and a second detection unit for detecting the rotation speed of the hollow shaft (1) is installed on the mounting flange (14).

2. A rotary actuator according to claim 1, characterized in that: The sealing support structure comprises a sealing cover (6) sleeved on the outside of the hollow shaft (1), the sealing cover (6) and the housing (2) being fixedly connected by bolts, a mounting ring (7) being provided on the outer fixed sleeve of the hollow shaft (1), and the mounting ring (7) and the sealing cover (6) being connected by a bearing (8), a lip seal (9) being fixedly connected to the sealing cover (6), the lip seal (9) being located on a side of the mounting ring (7) away from the drive shaft (3), and the lip seal (9) being in contact with the hollow shaft (1) and the mounting ring (7) respectively.

3. A rotary actuator according to claim 2, characterized in that: The outer fixed sleeve of the sealing cover (6) is provided with a first sealing ring (10), and the first sealing ring (10) is in contact with the inner wall of the outer shell (2).

4. The rotary actuator according to claim 1, characterized in that: The first detection unit comprises an encoder mounting frame (12) sleeved on the outside of the drive shaft (3), and the encoder mounting frame (12) is fixedly connected to the inner wall of the housing (2), the encoder mounting frame (12) is located on a side of the drive shaft (3) away from the transmission box (4), and an encoder (13) for detecting the rotational speed of the drive shaft (3) is fixedly mounted on the encoder mounting frame (12).

5. The rotary actuator according to claim 1, characterized in that: The transmission member comprises at least one rotating shaft (15) rotatably mounted in a transmission box (4), a mounting plate (16) fixedly connected in the transmission box (4), a transmission sleeve (5) rotatably connected to the mounting plate (16), the transmission sleeve (5) being sleeved on the outside of the hollow shaft (1), and the end of the drive shaft (3) being fixedly sleeved on the outside of the transmission sleeve (5), the outer fixed sleeve of the transmission sleeve (5) being provided with a first gear (17) located in the transmission box (4), at least one second gear (18) meshing with the first gear (17) being rotatably connected to the mounting plate (16), and the second gear (1 8) and the number of the rotating shaft (15) is consistent, the outer fixed sleeve of the hollow shaft (1) is provided with a first toothed disc (19), the transmission box (4) is rotatably connected with a second toothed disc (20), and the diameters of the first toothed disc (19) and the second toothed disc (20) are consistent, the second toothed disc (20) and the first toothed disc (19) are respectively located on both sides of the first gear (17), the outer fixed sleeve of the rotating shaft (15) is provided with three third gears (21), and the three adjacent third gears (21) are respectively engaged with the corresponding second gear (18), the first toothed disc (19) and the second toothed disc (20).

6. The rotary actuator according to claim 5, characterized in that: The second detection unit comprises an induction magnetic ring (22) arranged on a side of the transmission case (4) facing the mounting flange (14); an induction circuit board (24) for detecting the rotation speed of the induction magnetic ring (22) is fixedly mounted on the mounting flange (14); and the induction magnetic ring (22) and the second gear disc (20) are fixedly connected via a connecting column (23).

7. The rotary actuator according to claim 1, characterized in that: The mounting flange (14) and the housing (2) are fixedly connected by bolts, and an external fixing sleeve of the mounting flange (14) is provided with a second sealing ring (25), and the second sealing ring (25) is in contact with the inner wall of the housing (2).

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