Speed reducer module
By designing a vertically positioned reducer module, coupling connection, and magnetic braiding detection, the problem of large space occupation by the reducer was solved, stable power output and torque detection were achieved, and the power transmission efficiency of the robotic arm was improved.
Patent Information
- Application Number
- CN202423276378.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2034-12-30
AI Technical Summary
Existing speed reducers cannot be directly used for the movement of robotic arms, resulting in excessive space occupied by the installation structure and affecting power transmission efficiency.
Design a speed reducer module in which the drive unit and the output direction of the speed reducer are arranged perpendicularly and connected by a coupling. The output shaft is connected to a worm gear, and the magnetic braiding part is sleeved on the outer wall of the output shaft. It is equipped with a torque sensor and spring plate to stabilize the power output and detect the rotational torque.
This design optimizes the installation space of the reducer module, ensures stable power output, enables real-time torque detection, and improves the reliability and power transmission efficiency of the reducer.
Smart Images
Figure CN223609242U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of speed reducer, and particularly relates to a speed reducer module. BACKGROUND
[0002] In the prior art, a speed reducer is installed on a mechanical arm, so that the movement of the mechanical arm can be powered. In the process of power transmission, the existing speed reducer cannot be directly used for the direct movement of the mechanical arm due to its design structure, resulting in that the installation structure of the speed reducer occupies too much space.
[0003] At present, no effective solution has been proposed for the above problems.
[0004] It should be noted that the above introduction to the technical background is only for the convenience of clearly and completely describing the technical scheme of the utility model, and for the convenience of understanding by the person skilled in the art. The above technical scheme cannot be considered as known to the person skilled in the art only because it is described in the background art part of the utility model. Content of the utility model
[0005] The application aims to provide a speed reducer module to solve the above problems.
[0006] The speed reducer module provided by the application comprises:
[0007] A driving part, an output end of the driving part is arranged in a first direction;
[0008] A speed reducer connected with the driving part, an output end of the speed reducer is arranged in a second direction;
[0009] The first direction is perpendicular to the second direction; the plane where the speed reducer is located is perpendicular to the first direction; the driving part and the speed reducer are connected through a shaft coupling.
[0010] Preferably, the speed reducer comprises an output shaft, a housing, a magnetic coding part and an output flange,
[0011] The output shaft is arranged in the housing, the magnetic coding part is sleeved on the output shaft, the end of the output shaft is sleeved with the output flange for power output, and the output shaft is connected with the driving part through a turbine worm.
[0012] Preferably, the outer wall of the output shaft is in contact with the inner ring of a bearing, and the outer ring of the bearing is in contact with the inner wall of the housing.
[0013] Preferably, the magnetic coding part comprises a magnetic coding inner rotor, a magnetic coding stator and a magnetic coding outer rotor, wherein the magnetic coding inner rotor is sleeved on the output shaft, the magnetic coding outer rotor is sleeved on the outer wall of the magnetic coding inner rotor, and the magnetic coding outer rotor and the magnetic coding inner rotor are both rotationally connected with the magnetic coding stator towards one end of the turbine worm.
[0014] Preferably, a torsion sensor is sleeved between the magnetic coding inner rotor and the output shaft.
[0015] Preferably, the output end of the torsion sensor extends towards the output end of the output shaft, and a plurality of spring sheets are fixedly installed on the output end of the torsion sensor.
[0016] Preferably, the plurality of spring sheets are uniformly distributed on the output end of the torsion sensor.
[0017] Compared with the prior art, the utility model has the advantages that:
[0018] 1、 the utility model discloses a drive part is assembled in the plane of first direction, and the output end of drive part is towards first direction, and the reducer is connected on the output end of drive part, and the reducer extends towards second direction, so that the mounting space of the structure of reducer module can be more reasonable, and the output of power is more stable.
[0019] 2、 the utility model discloses that output shaft and drive part are connected through turbine worm, and the magnetic coding part is sleeved on the outer wall of output shaft and the output end part flange of output shaft, so that the reducer can stably output power to the outside.
[0020] 3、 the utility model discloses that the magnetic coding part comprises a magnetic coding inner rotor, a magnetic coding stator and a magnetic coding outer rotor, so that the rotation torque of rotating shaft can be detected in real time.
[0021] 4、 the utility model discloses that the plurality of spring sheets that are uniformly distributed can bear uniform external force, so that the structure of the output end of the reducer can be more stable, and the reliability of the reducer is improved. DRAWINGS
[0022] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative labor.
[0023] Figure 1 It is a kind of overall structure diagram of the reducer module provided by the embodiment of the present application;
[0024] Figure 2 is a sectional structure diagram of a speed reducer module provided by an embodiment of the application.
[0025] In the figure: 1, driving part; 2, speed reducer; 21, output shaft; 22, shell; 23, magnetic encoding part; 231, magnetic encoding inner rotor; 232, magnetic encoding stator; 233, magnetic encoding outer rotor; 24, flange; 25, worm gear; 3, shaft coupling; 4, torsion sensor; 5, spring sheet. DETAILED DESCRIPTION
[0026] In order for those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.
[0027] In the description of the present application, it should be pointed out that the terms "upper", "middle", "lower", "inner", "outer", "front", "rear" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. The embodiments will be described below according to the overall structure of the present application.
[0028] Referring to Figure 1 , the present application provides a speed reducer module, comprising:
[0029] The driving part 1 extends in the first direction, and the output end of the driving part 1 is arranged in the first direction;
[0030] The speed reducer 2 connected with the driving part 1, the output end of the speed reducer 2 is arranged in the second direction;
[0031] Wherein, the first direction is perpendicular to the second direction; the plane where the speed reducer 2 is located is perpendicular to the first direction; the driving part 1 and the speed reducer 2 are connected through the shaft coupling 3.
[0032] According to Figure 1The skilled in the art can set the driving part 1 to be connected with the speed reducer 2, so that the speed reducer module can be installed at the joint of the mechanical arm, and then the mechanical arm can be driven. For example, the driving part 1 can be set at the joint of the arm of the humanoid robot.
[0033] Specifically, in the embodiment, the skilled in the art can set the driving part 1 to extend towards the first direction, and the output end of the driving part 1 is set towards the first direction. That is, the driving part 1 is assembled in the plane where the first direction is located, and the output end of the driving part 1 is towards the first direction.
[0034] Through the above structure, the skilled in the art can set the overall structure of the driving part 1 and the output direction of the power to be in the plane where the first direction is located.
[0035] Further, the skilled in the art can set the speed reducer 2 to be connected with the driving part 1. Specifically, the speed reducer 2 is connected to the output end of the driving part 1, and the speed reducer 2 extends towards the second direction. The second direction is perpendicular to the first direction, and the output end of the speed reducer 2 is also set towards the second direction.
[0036] Through the above structure, the skilled in the art sets the position of the speed reducer 2 and the output direction of the output end to be towards the second direction. In the above setting, the second direction is perpendicular to the first direction, that is, the setting position and the output direction of the speed reducer 2 are perpendicular to the setting position and the output direction of the driving part 1.
[0037] It can be understood that in the above embodiment, the setting position and the output direction of the speed reducer 2 are perpendicular to the setting position and the output direction of the driving part 1, so that the speed reducer 2 can be set on only one side of the driving part 1, and the installation space of the structure of the speed reducer module is more reasonable.
[0038] Through the above setting, the speed reducer 2 can be set on only one side of the driving part 1, so that the speed reducer 2 can be stably installed at the mechanical arm of the humanoid robot, and the speed reducer 2 can output power to the outside at the mechanical arm of the humanoid robot.
[0039] In summary, the skilled in the art sets the driving part 1 to be assembled in the plane where the first direction is located, and the output end of the driving part 1 is towards the first direction, and the speed reducer 2 is connected to the output end of the driving part 1 and extends towards the second direction, so that the installation space of the structure of the speed reducer module is more reasonable, and the output of the power is more stable.
[0040] In the above structure, the skilled in the art can set the driving part 1 to be connected with the speed reducer 2 through the shaft coupling 3, so that the power transmission between the driving part 1 and the speed reducer 2 is more stable.
[0041] In one embodiment, preferably, the speed reducer 2 comprises an output shaft 21, a housing 22, a magnetic encoder 23 and a flange 24, wherein the output shaft 21 is arranged in the housing 22, the magnetic encoder 23 is arranged on the output shaft 21, the flange 24 is arranged on the end of the output shaft 21 for power output, and the output shaft 21 is connected with the driving part 1 through a worm gear 25.
[0042] Through the above structure, the person skilled in the art sets the speed reducer 2 to comprise the output shaft 21, the housing 22, the magnetic encoder 23 and the flange 24. The output shaft 21 is connected with the driving part 1, so that the power of the driving part 1 can be transmitted. In the above structure, the setting position and the output direction of the speed reducer 2 are perpendicular to the setting position and the output direction of the driving part 1. In this embodiment, the worm gear 25 is arranged at the connection between the output shaft 21 and the driving part 1, so that the power transmission can be more stable.
[0043] Further, the magnetic encoder 23 is arranged on the outer wall of the output shaft 21, so that the rotation of the output shaft 21 can be detected.
[0044] In the above setting, the person skilled in the art can connect the flange 24 with the output end of the output shaft 21, so that the power can be output through the flange 24.
[0045] In summary, the person skilled in the art sets the output shaft 21 to be connected with the driving part 1 through the worm gear 25, the magnetic encoder 23 to be arranged on the outer wall of the output shaft 21, and the flange 24 to be connected with the output end of the output shaft 21, so that the speed reducer 2 can stably output power to the outside.
[0046] In an alternative embodiment, preferably, the outer wall of the output shaft 21 is in contact with the inner ring of the bearing, and the outer ring of the bearing is in contact with the inner wall of the housing 22. That is, the bearing is arranged between the output shaft 21 and the housing 22 for fixation, so that the mounting structure of the output shaft 21 can be more reasonable. More preferably, the person skilled in the art can set the bearing as a cross-roller bearing, so that the output shaft 21 can maintain stable power transmission when bearing forces in multiple directions.
[0047] In the above embodiment, the magnetic encoder 23 is arranged on the outer wall of the output shaft 21, so that the rotation of the output shaft 21 can be detected. In this embodiment, preferably, the magnetic encoder 23 comprises a magnetic encoder inner rotor 231, a magnetic encoder stator 232 and a magnetic encoder outer rotor 233, wherein the magnetic encoder inner rotor 231 is arranged on the output shaft 21, the magnetic encoder outer rotor 233 is arranged on the outer wall of the magnetic encoder inner rotor 231, and the magnetic encoder outer rotor 233 and the magnetic encoder inner rotor 231 are both rotationally connected with the magnetic encoder stator 232 at the end thereof facing the worm gear 25.
[0048] By the above structure, the person skilled in the art can set that when the output shaft 21 rotates, the output shaft 21 can drive the magnetic internal rotor 231 to rotate, so that the magnetic internal rotor 231 and the magnetic external rotor 233 can generate a rotational angle difference, thereby realizing monitoring of the rotational torque.
[0049] It can be understood that in the above structure, the magnetic external rotor 233 and the magnetic internal rotor 231 are both rotationally connected to the magnetic encoder stator 232 at one end of the turbine worm 25, so that the relative position of the magnetic external rotor 233 and the magnetic internal rotor 231 can be determined and installed by the magnetic encoder stator 232. That is, the magnetic encoder part 23 is installed on the output shaft 21 at this point.
[0050] In summary, the person skilled in the art sets the magnetic encoder part 23 including the magnetic internal rotor 231, the magnetic encoder stator 232 and the magnetic external rotor 233, so that the rotational torque of the output shaft 21 can be detected in real time.
[0051] Furthermore, in the present embodiment, the person skilled in the art can also set a torsion sensor 4 between the magnetic internal rotor 233 and the output shaft 21.
[0052] By the above structure, the person skilled in the art can set the torsion sensor 4 to detect and record the rotational torque of the spring sheet 5, so that the output of the speed reducer module can be more accurately detected.
[0053] More preferably, the output end of the torsion sensor 4 extends towards the output end of the output shaft 21, and a plurality of spring sheets 5 are fixedly installed on the output end of the torsion sensor 4.
[0054] By the above structure, the plurality of spring sheets 5 can withstand vibrations in multiple directions when the speed reducer 2 is output. Specifically, when the output end of the speed reducer 2 outputs power to the outside, the spring sheets 5 can absorb the impact energy when the output end of the speed reducer 2 is subjected to external force, and release energy when the speed reducer 2 stops outputting, that is, the plurality of spring sheets 5 deform and recover during the process, so that the output end of the speed reducer 2 is more stable in working state.
[0055] In an alternative embodiment, the plurality of spring sheets 5 are uniformly distributed on the output end of the torsion sensor 4. The plurality of spring sheets 5 uniformly distributed can withstand uniform external force, so that the structure of the output end of the speed reducer 2 is more stable, and the reliability of the speed reducer 2 is improved.
[0056] Although the present application is described in terms of specific embodiments, the present application is not limited to the embodiments described, but can be practiced with modification and alteration within the scope and spirit of the present application. The description in this detailed description of the application is meant to illustrate embodiments of the application and not to limit the scope of the application. Therefore, the application is not limited to the specific embodiments described herein, but only by the scope of the appended claims, albeit with the pertinent support from the specification.
[0057] While the present application has been described with reference to specific embodiments thereof, it should be understood by those skilled in the art that various changes can be made and equivalents can be substituted without departing from the true spirit and scope of the application. In addition, many modifications can be made to adapt a particular situation to the teachings of the present application without departing from its central scope. Therefore, it is intended that there disclosure be taken as an illustrative example only and not limiting on the scope of the application as would be ascertained by a reader of the application.
Claims
1. A speed reducer module, characterized by, The utility model relates to a kind of drive mechanism and the transmission mechanism of drive mechanism, including: Drive part, the output end of the drive part is arranged towards first direction; Speed reducer connected with the drive part, the output end of the speed reducer is arranged towards second direction; Wherein, the first direction is perpendicular to the second direction;The plane where the speed reducer is perpendicular to the first direction;The drive part is connected between the speed reducer by shaft coupling.
2. The speed reducer module according to claim 1, characterized in that, The speed reducer includes output shaft, shell, magnetic encoding part and output flange, Wherein, the output shaft is arranged in the shell, the magnetic encoding part is sleeved on the output shaft, the end of the output shaft is sleeved with the output flange, for the output of power, the output shaft is connected with the drive part by turbine worm.
3. The speed reducer module according to claim 2, characterized in that, The outer wall of the output shaft is in contact with the inner ring of bearing, and the outer ring of bearing is in contact with the inner wall of the shell.
4. The speed reducer module according to claim 2, characterized in that, The magnetic encoding part includes magnetic encoding inner rotor, magnetic encoding stator and magnetic encoding outer rotor, Wherein, the magnetic encoding inner rotor is sleeved on the output shaft, the magnetic encoding outer rotor is sleeved on the outer wall of magnetic encoding inner rotor, and the magnetic encoding outer rotor and the magnetic encoding inner rotor are rotatably connected with the magnetic encoding stator towards one end of the turbine worm.
5. The speed reducer module according to claim 4, characterized in that, The torsion sensor is sleeved between the magnetic encoding inner rotor and the output shaft.
6. The speed reducer module according to claim 5, characterized in that, The output end of the torsion sensor extends towards the output end of the output shaft, and a plurality of spring sheets are fixedly installed on the output end of the torsion sensor.
7. The speed reducer module according to claim 6, characterized in that Multiple spring sheets are evenly distributed on the output end of the torsion sensor.