Motor module and robotic arm

Abstract

The present disclosure provides a motor module and a mechanical arm, wherein the motor module comprises a fixed main body, on which a central shaft and a first annular wall are constructed, an annular accommodating cavity is formed between the first annular wall and the central shaft, and the first annular wall has a first meshing tooth; a motor stator, fixedly mounted on the central shaft and located in the annular accommodating cavity; a motor rotor, having an eccentric sleeve section and a magnetic steel mounting section, the eccentric sleeve section is rotatably mounted on the central shaft, a magnetic steel is provided on the inner wall of the magnetic steel mounting section, and the magnetic steel is located on the outer peripheral side of the motor stator; a rotating output member, rotatably mounted on the central shaft, the rotating output member has a second annular wall, on which a second meshing tooth is provided; a transmission gear, rotatably mounted on the eccentric sleeve section, and having a fixed end meshing tooth and an output end meshing tooth. The present disclosure reduces the number of structural parts, reduces the volume of the module, and is also conducive to improving the transmission efficiency and volume power density.

Description

Technical Field

[0001] The present disclosure relates to the field of mechanical technology, and in particular to a motor module and a robotic arm. Background Art

[0002] The joint module of the robot arm is an important component of the robot. Usually, the joint module of the robot arm is composed of motors, reducers, circuits and sensors. The joint module of the robot arm receives instructions from the robot body controller and moves to the corresponding angle to realize the movement of the robot arm. Summary of the invention

[0003] The present disclosure provides a motor module and a robotic arm.

[0004] The present disclosure adopts the following technical solutions.

[0005] In some embodiments, the present disclosure provides a motor module, comprising:

[0006] A fixed main body, wherein the fixed main body is configured with a central axis and a first annular wall which is concentric with the central axis and spaced apart from the central axis, an annular accommodating cavity is formed between the first annular wall and the central axis, and a first meshing tooth is disposed on the inner circumferential wall of the first annular wall;

[0007] A motor stator, fixedly sleeved on the central shaft and located in the annular accommodating cavity;

[0008] The motor rotor comprises an eccentric sleeve section and a magnetic steel mounting section, wherein the eccentric sleeve section is rotatably mounted on the central shaft, and a magnetic steel is arranged on the inner wall of the magnetic steel mounting section, and the magnetic steel is located on the outer peripheral side of the motor stator;

[0009] A rotary output member is rotatably mounted on the central shaft, wherein the rotary output member has a second annular wall which is concentric with the central shaft and spaced apart from the central shaft, and a second meshing tooth is disposed on the inner circumference of the second annular wall;

[0010] The transmission gear is rotatably mounted on the eccentric sleeve segment and has fixed end meshing teeth meshing with the first meshing tooth portion and output end meshing teeth meshing with the second meshing tooth portion.

[0011] In some embodiments, the present disclosure provides a robotic arm comprising the above-mentioned motor module.

[0012] The motor module and robotic arm provided by the embodiments of the present disclosure include: the motor rotor has an integrally designed magnetic steel mounting section corresponding to the motor stator and an eccentric sleeve section corresponding to the transmission gear, and is located in the annular accommodating cavity, which can effectively simplify the structure of the motor module, reduce the number of structural parts, reduce the volume of the module, and also help improve the transmission efficiency and increase the volume power density. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0014] Figure 1 is a structural schematic diagram of a motor module proposed in an embodiment of the present disclosure;

[0015] Figure 2 It is a three-dimensional disassembled structural schematic diagram of a motor module proposed in an embodiment of the present disclosure.

[0016] Figure numerals: 1. fixed main body; 11. central axis; 111. central hole; 12. first annular wall; 13. first meshing tooth; 2. motor stator; 3. motor rotor; 31. eccentric sleeve section; 32. magnetic steel mounting section; 33. magnetic steel; 4. rotating output member; 41. second annular wall; 42. second meshing tooth; 5. transmission gear; 51. fixed end meshing tooth; 52. output end meshing tooth; 61. first cable; 62. second cable; 63. slip ring; 64. fixed end circuit board; 65. output end circuit board; 71. fixed end end cover; 72. output end cover; 73. Hall sensor; 81. first bearing; 82. second bearing; 83. third bearing; 9. positioning nut. DETAILED DESCRIPTION

[0017] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0018] It should be understood that the various steps described in the method embodiments of the present disclosure can be performed in sequence and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0019] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0020] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modification of “one” mentioned in the present disclosure is illustrative rather than restrictive, and those skilled in the art should understand that it should be understood as “one or more” unless otherwise clearly indicated in the context.

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0023] The solution provided by the embodiment of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0024] See attached Figure 1 , Figure 2 In some embodiments of the present disclosure, a motor module is provided, including: a fixed main body 1, which can be fixedly connected to the body of a robot arm, or for some robots, it can be fixedly connected to a fixed base to ensure that the position of the fixed main body 1 remains unchanged when the robot arm joint is driven to move, and the fixed main body 1 is constructed with a central axis 11 and a first annular wall 12 that is concentric with the central axis 11 and is spaced apart, and an annular accommodating cavity is formed between the first annular wall 12 and the central axis 11. It can be understood that the first annular wall 12 and the central axis 11 are connected as a whole through an annular vertical wall, and a first meshing tooth 13 is provided on the inner circumferential wall of the first annular wall 12. Specifically, the first meshing tooth 13 is arranged at the opening position of the annular passage cavity; a motor stator 2, which is fixedly sleeved on the central axis 11 and is located in the annular accommodating cavity;

[0025] The motor rotor 3 comprises an eccentric sleeve section 31 and a magnetic steel mounting section 32. The eccentric sleeve section 31 is rotatably mounted on the central shaft 11. A magnetic steel 33 is arranged on the inner wall of the magnetic steel mounting section 32. The magnetic steel 33 is located on the outer peripheral side of the motor stator 2. It can be understood that at least the magnetic steel mounting section 32 of the motor rotor 3 is also located in the annular accommodating cavity; the rotary output member 4 is rotatably mounted on the central shaft 11. The rotary output member 4 comprises a second annular wall 41 which is concentric with the central shaft 11 and spaced apart. A second meshing tooth 42 is arranged on the inner peripheral wall of the second annular wall 41; the transmission gear 5 is rotatably mounted on the eccentric sleeve section 31. The transmission gear 5 comprises a fixed end meshing tooth 51 which is partially meshed with the first meshing tooth 13 and an output end meshing tooth 52 which is partially meshed with the second meshing tooth 42. In this technical solution, when the motor rotor 3 is driven to rotate, it will drive the eccentric sleeve segment 31 to drive the fixed end meshing teeth 51 and the output end meshing teeth 52 on the transmission gear 5 to mesh with the first meshing teeth 13 and the second meshing teeth 42 respectively, so as to realize the transmission of power from the fixed main body 1 to the rotating output member 4. Since it is a two-stage meshing, the speed ratio can be larger. It can be understood that the specific speed ratio can be obtained by adjusting the modulus, pressure angle and other parameters of each meshing tooth according to specific design requirements, and the present disclosure does not make any special restrictions. The motor rotor 3 in this technical solution has an integrally designed magnetic steel mounting segment 32 corresponding to the motor stator 2 and an eccentric sleeve segment 31 corresponding to the transmission gear 5, so that the motor rotor 3 integrates the functions of the driving rotor and the eccentric shaft, which can effectively simplify the structure of the motor module, reduce the number of structural parts, reduce the volume of the module, and also help to improve the transmission efficiency (only two-stage gear transmission) and improve the volume power density.

[0026] In some embodiments of the present disclosure, the sum of the eccentricity of the eccentric sleeve segment 31 and the pitch circle radius of the fixed end meshing teeth 51 is equal to the pitch circle radius of the first meshing teeth 13; the sum of the eccentricity of the eccentric sleeve segment 31 and the pitch circle radius of the output end meshing teeth 52 is equal to the pitch circle radius of the second meshing teeth 42, so that the meshing between the transmission gear 5 and the fixed main body 1 and the rotating output member 4 is more stable and reliable. Further, the pitch circle radius of the fixed end meshing teeth 51 is smaller than the pitch circle radius of the output end meshing teeth 52, so that when the transmission gear 5 rotates one circle, the angular velocity of the output end meshing teeth 52 and the fixed end meshing teeth 51 is the same but the linear velocity is different, and the linear velocity of the output end meshing teeth 52 is smaller than the linear velocity of the fixed end meshing teeth 51, so the rotation speed can be reduced and the torque can be increased.

[0027] In some embodiments of the present disclosure, the central axis 11 has a central hole 111 that passes through both axial ends thereof. Furthermore, a first cable 61 and a second cable 62 are provided in the central hole 111, and a first end of the first cable 61 and a first end of the second cable 62 are rotatably electrically connected via a slip ring 63, a second end of the first cable 61 is electrically connected to a fixed-end circuit board 64, and a second end of the second cable 62 is electrically connected to an output-end circuit board 65, thereby further simplifying the structure of the joint module and making its structural design more compact, and connecting the corresponding cables in the central hole 111 to prevent the occurrence of adverse phenomena such as pulling that may be caused by laying the cables outside the joint, and thus facilitating and simplifying the assembly process.

[0028] In some embodiments of the present disclosure, the end of the fixed main body 1 away from the rotating output member 4 is connected to a fixed end cover 71, and the fixed end circuit board 64 is clamped and fixed between the fixed end cover 71 and the fixed main body 1; and / or the output end circuit board 65 is fixedly connected to the rotating output member 4, and the fixed end circuit board 64 and the output end circuit board 65 are preferably fixed by clamping two adjacent components, which can facilitate and simplify the assembly process.

[0029] In some embodiments of the present disclosure, an end of the rotating output member 4 away from the fixed main body 1 is connected to an output end cover 72, and a position sensor or an angle sensor, such as a Hall sensor 73 or a photoelectric sensing component, is sandwiched between the rotating output member 4 and the output end cover 72 to detect the relative rotation angle between the rotating output member 4 and the fixed main body 1 in real time.

[0030] In some embodiments of the present disclosure, a first bearing 81 is provided between the eccentric sleeve segment 31 and the central shaft 11, and / or a second bearing 82 is provided between the rotary output member 4 and the central shaft 11, and / or a third bearing 83 is provided between the transmission gear 5 and the eccentric sleeve segment 31, thereby realizing a rotatable fixed connection between the two mutually fitted components, and it can be further understood that the third bearing 83, the first bearing 81 and the second bearing 82 are arranged along the axial direction of the central shaft 11, and their respective positions can be defined by corresponding retaining rings (not shown in the figure) and corresponding shaft shoulders (not shown in the figure). In some embodiments of the present disclosure, a positioning nut 9 is connected to the free end of the central shaft 11, and the positioning nut 9 is located on the outside of the second bearing 82, so that the positions of the various components fitted on the central shaft 11 are positioned and fixed.

[0031] In some embodiments, the present disclosure provides a robotic arm comprising the above-mentioned motor module.

[0032] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0033] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0034] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

Claims

1. A motor module, characterized in that: include: A fixed main body (1), the fixed main body (1) is configured with a central axis (11) and a first annular wall (12) which is concentric with the central axis (11) and spaced apart, an annular accommodating cavity is formed between the first annular wall (12) and the central axis (11), the first annular wall (12) and the central axis (11) are connected as a whole via an annular vertical wall, and a first meshing tooth (13) is provided on the inner peripheral wall of the first annular wall (12); A motor stator (2) is fixedly mounted on the central shaft (11) and is located in the annular accommodating cavity; The motor rotor (3) comprises an eccentric sleeve section (31) and a magnetic steel mounting section (32) of integral design, wherein the eccentric sleeve section (31) is rotatably mounted on the central shaft (11), and a magnetic steel (33) is provided on the inner wall of the magnetic steel mounting section (32), and the magnetic steel (33) is located on the outer peripheral side of the motor stator (2); A rotary output member (4) is rotatably mounted on the central shaft (11), the rotary output member (4) having a second annular wall (41) which is concentric with the central shaft (11) and spaced apart from the central shaft (11), and a second meshing tooth (42) is provided on the inner peripheral wall of the second annular wall (41); The transmission gear (5) is rotatably mounted on the eccentric sleeve section (31) and comprises fixed end meshing teeth (51) partially meshing with the first meshing teeth (13) and output end meshing teeth (52) partially meshing with the second meshing teeth (42).

2. The motor module according to claim 1, characterized in that: The sum of the eccentricity of the eccentric sleeve segment (31) and the pitch circle radius of the fixed end meshing tooth (51) is equal to the pitch circle radius of the first meshing tooth (13); The sum of the eccentricity of the eccentric sleeve segment (31) and the pitch circle radius of the output end meshing tooth (52) is equal to the pitch circle radius of the second meshing tooth (42).

3. The motor module according to claim 2, characterized in that: The pitch circle radius of the fixed end meshing teeth (51) is smaller than the pitch circle radius of the output end meshing teeth (52).

4. The motor module according to claim 1, characterized in that: The central shaft (11) has a central hole (111) penetrating through both axial ends thereof.

5. The motor module according to claim 4, characterized in that: A first cable (61) and a second cable (62) are arranged in the central hole (111); a first end of the first cable (61) and a first end of the second cable (62) are rotatably electrically connected via a slip ring (63); a second end of the first cable (61) is electrically connected to a fixed-end circuit board (64); and a second end of the second cable (62) is electrically connected to an output-end circuit board (65).

6. The motor module according to claim 5, characterized in that: One end of the fixed main body (1) away from the rotating output member (4) is connected to a fixed end cover (71), and the fixed end circuit board (64) is clamped and fixed between the fixed end cover (71) and the fixed main body (1); and / or the output end circuit board (65) is fixedly connected to the rotating output member (4).

7. The motor module according to claim 1, characterized in that: One end of the rotary output member (4) away from the fixed main body (1) is connected to an output end cover (72); a position sensor or an angle sensor is sandwiched between the rotary output member (4) and the output end cover (72).

8. The motor module according to claim 1, characterized in that: A first bearing (81) is provided between the eccentric sleeve segment (31) and the central shaft (11), and / or a second bearing (82) is provided between the rotary output member (4) and the central shaft (11), and / or a third bearing (83) is provided between the transmission gear (5) and the eccentric sleeve segment (31).

9. The motor module according to claim 8, characterized in that: A positioning nut (9) is connected to the free end of the central shaft (11), and the positioning nut (9) is located outside the second bearing (82).

10. A robotic arm, comprising a motor module, characterized in that: The motor module is the motor module according to any one of claims 1 to 9.

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