Direct drive motor for robots

Abstract

The application relates to the direct drive motor technical field, in particular to a direct drive motor applied to a robot, which comprises a base, a rotating seat fixedly arranged at the upper end face of the base, a connecting piece arranged at the upper end of the rotating seat, a rotating shaft rotatably inserted into the connecting piece, a stator assembly, an oscillating assembly and a rotor. The stator assembly comprises an iron core fixed to the upper end of the rotating seat and a winding group wound on the iron core, the iron core is arranged outside the rotating shaft and a gap is left between the iron core and the rotating shaft. The oscillating assembly comprises an oscillating arm arranged outside the iron core and a plurality of permanent magnets arranged on the inner wall of the oscillating arm, the oscillating arm is clamped to the outer side of the rotating shaft to realize synchronous rotation, and the permanent magnets are arranged outside the stator assembly. The rotor is arranged in the robot oscillating arm, the motor directly drives the oscillating arm to oscillate, an additional transmission device is not needed to execute the robot operation or movement task, the complexity of the robot driving system and the manufacturing cost are reduced, and the compact structure design of the robot is further realized.

Description

Technical Field

[0001] This invention relates to the field of direct drive motor technology, and in particular to a direct drive motor for use in robots. Background Technology

[0002] With the continuous development of society and the improvement of economic levels, people's industrial capabilities are also constantly improving. Various types of motors are frequently used in the process of industrial development. An electric motor is an electromagnetic device that converts or transmits electrical energy based on the law of electromagnetic induction. Because motors can drive loads, they have a wide range of applications.

[0003] Robots utilize a large number of motors to perform tasks such as work or movement. In particular, the joints that drive the robots have complex structures to meet the movement requirements of the robots, making it difficult to achieve a compact design for both the motors and the robots, which is not conducive to reducing the manufacturing cost of the robots. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a compact direct drive motor for robots.

[0005] The present invention adopts the following technical solution:

[0006] A direct-drive motor for use in robots includes: A base, wherein a rotating seat is fixedly provided on the upper end surface of the base, and a connecting piece is provided on the upper end of the rotating seat, and a rotating shaft that is rotatably connected is inserted into the connecting piece; The stator assembly includes an iron core fixed to the upper end of the rotating seat and a winding group wound on the iron core. The iron core is located outside the rotating shaft and a gap is left between the iron core and the rotating shaft. The swing assembly includes a swing arm disposed outside the iron core and a plurality of permanent magnets disposed on the inner wall of the swing arm. The swing arm is engaged with the outer side of the rotating shaft to achieve synchronous rotation, and the permanent magnets are disposed on the outer side of the stator assembly.

[0007] Preferably, the iron core includes a central column and a plurality of winding portions disposed on the outer wall of the central column. The winding portions are arranged in a circumferential array on the outer side of the central column, and the winding group is wound around the winding portions. A top block is provided at the outward end of the winding portion, and the top block is arranged perpendicular to the winding portion.

[0008] Preferably, the central part of the central column is provided with a through hole, and the rotating shaft is disposed in the through hole.

[0009] Preferably, the lower end face of the central column is recessed with an assembly groove, and the connector is engaged in the assembly groove.

[0010] Preferably, the lower end of the base is provided with an encoder, the encoder extends through a connecting line that passes through the base, and the encoder is electrically connected to the stator assembly through the connecting line.

[0011] Preferably, the base is provided with an arc-shaped limiting groove, and the lower end of the swing arm is provided with an arc-shaped limiting member, which is disposed in the limiting groove to restrict the movement of the swing arm.

[0012] Preferably, the lower end face of the base is provided with a guide post.

[0013] Preferably, the lower end face of the swing arm is provided with a circular placement groove, the permanent magnet circumferential array is fixed to the inner wall of the placement groove, and the stator assembly and the rotating shaft are both located in the placement groove.

[0014] Preferably, the outer wall of the rotating shaft is provided with a double-sided symmetrical flat section, the upper end face of the swing arm is provided with a connecting hole, and the upper end of the rotating shaft is locked in the connecting hole.

[0015] The direct-drive motor of the present invention applied to robots has the following beneficial effects: The direct-drive motor for robots involved in this invention has a rotor installed inside the robot's swing arm. The motor directly drives the swing arm to swing, eliminating the need for additional transmission devices to perform robot operations or movement tasks. This reduces the complexity and manufacturing cost of the robot's drive system, and further enables a compact structural design for the robot. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the direct drive motor of the present invention applied to a robot; Figure 2 This is a schematic diagram of the overall structure of the direct drive motor of the present invention applied to a robot from another angle; Figure 3 for Figure 1 A cross-sectional view of a direct-drive motor used in robots; Figure 4 for Figure 1 A schematic diagram of the structure of a direct drive motor used in robots, with some components hidden. Figure 5 for Figure 1 A schematic diagram of the stator assembly in the diagram; Figure 6 for Figure 5 A schematic diagram of the iron core structure in the middle; Figure 7 for Figure 1 A schematic diagram of the swing component in the diagram; Figure 8 for Figure 1 A schematic diagram of the rotating shaft in the diagram.

[0017] The following numbers are used in the diagram: 10-Base; 11-Rotating seat; 12-Connector; 13-Limiting groove; 14-Guide post; 15-Assembly hole; 20-Stator assembly; 21-Iron core; 22-Winding assembly; 23-Center post; 231-Through hole; 232-Assembly groove; 24-Winding part; 25-Top block; 30-Oscillating assembly; 31-Swing arm; 311-Connecting hole; 312-Placement groove; 313-Limiting part; 32-Permanent magnet; 40-Rotating shaft; 41-Flat position; 50-Encoder. Detailed Implementation

[0018] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0021] like Figures 1 to 8 As shown, a direct-drive motor for robots according to the present invention includes a base 10, a stator assembly 20, and a swing assembly 30. The stator assembly 20 is fixed on the base 10, and the swing assembly 30 is disposed outside the stator assembly 20. When the stator assembly 20 is energized, it generates magnetic force, which causes the swing assembly 30 to swing.

[0022] Specifically, such as Figure 4 and Figure 8As shown, in this embodiment, a rotating seat 11 is fixedly provided on the upper end surface of the base 10, and a connector 12 integrally connected to the upper end of the rotating seat 11 is provided. A rotating shaft 40 is inserted into the connector 12, and the rotating shaft 40 can rotate within the connector 12. A double-sided symmetrical flat part 41 is provided on the outer wall of the rotating shaft 40. An arc-shaped limiting groove 13 is provided through the base 10.

[0023] Specifically, such as Figure 5 and Figure 6 As shown, in this embodiment, the stator assembly 20 includes an iron core 21 fixed to the upper end of the rotating seat 11 and a winding assembly 22 wound around the iron core 21. The iron core 21 includes a central post 23 and a plurality of winding portions 24 disposed on the outer wall of the central post 23. The winding portions 24 are arranged in a circumferential array on the outer side of the central post 23, and the winding assembly 22 is wound around the outer side of the winding portions 24. In order to prevent the winding assembly 22 from falling off, a top block 25 perpendicular to the winding portion 24 is provided at the outward end of the winding portion 24.

[0024] In some embodiments, the center of the central column 23 is provided with a through hole 231 that allows the rotating shaft 40 to pass through; the lower end face of the central column 23 is recessed with an assembly groove 232, and the connector 12 is inserted into the assembly groove 232 to assemble the iron core 21 onto the rotating seat 11.

[0025] Specifically, such as Figure 7 As shown, in this embodiment, the swing assembly 30 includes a swing arm 31 disposed on the outside of the iron core 21 and a permanent magnet 32 ​​disposed inside the swing arm 31. A connecting hole 311 is provided on the upper end face of the swing arm 31 for the upper end of the rotating shaft 40 to pass through. The inner wall of the connecting hole 311 cooperates with the flat part 41 of the rotating shaft 40, allowing the swing arm 31 and the rotating shaft 40 to move synchronously. A circular placement groove 312 is provided on the lower end face of the swing arm 31. The permanent magnet 32 ​​is circumferentially arrayed and fixed to the inner wall of the placement groove 312. The stator assembly 20 and the rotating shaft 40 are both placed in the placement groove 312. An arc-shaped limiting member 313 is provided at the lower end of the swing arm 31. The limiting member 313 always moves back and forth within the limiting groove 13, thereby restricting the swing arm 31 to always rotate in a circular motion.

[0026] In some embodiments, an encoder 50 is provided at the lower end of the base 10. The encoder 50 is electrically connected to the stator assembly 20 via a connecting wire to realize the speed regulation and start / stop of the motor.

[0027] In some embodiments, the lower end face of the base 10 is provided with a guide post 14, and the corner of the base 10 is provided with an assembly hole 15. The direct drive motor is installed on the robot by the guiding action of the guide post 14 and by screwing the assembly bolt into the assembly hole 15. At the same time, the assembly hole 15 is specifically a countersunk hole to prevent the assembly bolt from protruding and affecting the rotation of the swing arm 31.

[0028] The working principle of a direct-drive motor for robots involved in this invention is as follows: When energized, the winding assembly 22 and the iron core 21 generate a rotating magnetic field, which acts on the swing arm 31 to form a magnetoelectric rotational torque, ultimately causing the swing arm 31 to rotate outside the stator assembly 20. At the same time, the mutual cooperation between the limiting member 313 and the limiting groove 13, and the rotating shaft 40 and the connecting member 12 ensures that the swing arm 31 always rotates around the rotating shaft 40. The direct drive motor can be installed on the part of the robot that needs to rotate to directly drive it. In addition, different motion mechanisms such as grippers and push rods can be connected to one end of the swing arm 31 to meet the diverse tasks of the robot.

[0029] The direct-drive motor for robots involved in this invention has a rotor installed inside the robot's swing arm. The motor directly drives the swing arm to swing, eliminating the need for additional transmission devices to perform robot operations or movement tasks. This reduces the complexity and manufacturing cost of the robot's drive system, and further enables a compact structural design for the robot.

[0030] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this patent should be determined by the appended claims.

Claims

1. A direct-drive motor for use in robots, characterized in that, include: A base, wherein a rotating seat is fixedly provided on the upper end surface of the base, and a connecting piece is provided on the upper end of the rotating seat, and a rotating shaft that is rotatably connected is inserted into the connecting piece; The stator assembly includes an iron core fixed to the upper end of the rotating seat and a winding group wound on the iron core. The iron core is located outside the rotating shaft and a gap is left between the iron core and the rotating shaft. as well as The swing assembly includes a swing arm disposed outside the iron core and a plurality of permanent magnets disposed inside the swing arm. The swing arm is engaged with the outside of the rotating shaft to achieve synchronous rotation, and the permanent magnets are disposed on the outside of the stator assembly. The base is provided with an arc-shaped limiting groove, and the lower end of the swing arm is provided with an arc-shaped limiting member. The limiting member moves back and forth in the limiting groove to restrict the movement of the swing arm.

2. The direct-drive motor for robots according to claim 1, characterized in that: The iron core includes a central column and a plurality of winding portions disposed on the outer wall of the central column. The winding portions are arranged in a circumferential array on the outside of the central column, and the winding group is wound around the winding portions. A top block is provided at the outward end of the winding portion, and the top block is arranged perpendicular to the winding portion.

3. The direct-drive motor for robots according to claim 2, characterized in that: The central column has a through hole in its center, and the rotating shaft is located inside the through hole.

4. The direct-drive motor for robots according to claim 2, characterized in that: The lower end face of the central column is recessed with an assembly groove, and the connector is engaged in the assembly groove.

5. The direct-drive motor for robots according to claim 1, characterized in that: An encoder is provided at the lower end of the base, and a connecting line extends from the encoder through the base. The encoder is electrically connected to the stator assembly through the connecting line.

6. The direct-drive motor for robots according to claim 1, characterized in that: The lower end face of the base is provided with a guide post, and the corners of the base are provided with assembly holes.

7. The direct-drive motor for robots according to claim 1, characterized in that: The lower end face of the swing arm is provided with a circular placement groove, the permanent magnet circumferential array is fixed to the inner wall of the placement groove, and the stator assembly and the rotating shaft are both located in the placement groove.

8. The direct-drive motor for robots according to claim 1, characterized in that: The outer wall of the rotating shaft is provided with a double-sided symmetrical flat section, and the upper end face of the swing arm is provided with a connecting hole, and the upper end of the rotating shaft is locked in the connecting hole.

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