External rotor electric machine applied to direct-driven horizontal four-axis mechanical arm and mechanical arm

Abstract

The invention provides an external rotor electric machine applied to a direct-driven horizontal four-axis mechanical arm. The external rotor electric machine comprises a stator shaft, a stator, a rotor and an encoder reading head, wherein the stator sleeves the stator shaft, the rotor is arranged at an outer side of the stator, the encoder reading head is arranged at a lower part of the stator shaft, the stator shaft is hollow in the interior, at least one bearing is further embedded into the stator shaft, the rotor is arranged on the bearing, a locking nut is arranged at a lower part of the rotor and is used for stably and fixedly arranging the rotor, a fixed end cover is further arranged at an upper part of the stator shaft and is used for preventing the stator shaft from moving in an axial direction, magnets are further arranged among an inner wall of the rotor, the rotor and the stator, a photoelectric encoder disc is arranged at the bottom of a central shaft of the rotor, the bottom of the stator shaft is further fixedly connected with an encoder fixing seat. By such motor structure design, the external rotor electric machine has the characteristics of large torque, high transmission accuracy, good response speed, low cost and the like, and is very suitable for actual industrial application.

Description

[technical field] [0001] The invention relates to the technical field of outer rotor motors, in particular to an outer rotor motor with high transmission precision, good response speed and low cost, which is applied to a direct-drive horizontal four-axis mechanical arm. [Background technique] [0002] The horizontal joint four-axis robot has been widely used at present, and plays a very important role in handling, processing, assembly and other environments. It has the characteristics of flexible movement, compact structure, small space requirement, and high repeat positioning accuracy. It can accurately and quickly To reach the point of space, the horizontal joint four-axis robot has the advantages of small size, flexibility, and low cost compared with the six-axis industrial robot. It will be an inevitable trend to be widely used in the future industrial assembly line. Robot research is also very necessary. At present, the main brands of horizontal joint four-axis robots a...

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Problems solved by technology

[0003] At present, most of the existing horizontal joint four-axis robots on the market use AC servo motors as the power source, and use RV reducers or harmonic reducers to achieve high-precision positioning of the end-fixed flange. RV reducers and harmonic reducers are currently It is the mainstream reducer, which has the characteristics of large transmission torque, large transmission ratio, impact resistance, small backlash or zero backlash, so it is widely used in industrial robots. However, the processing technology of RV reducer and harmonic reducer is complicated. The transmission precision is high and the price is very expensive. In order to solve the problem of high cost of the reducer, technicians in this field have carried out a lot of research and development and experiments, and achieved good results

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