Double-rotor joint motor

Abstract

The invention relates to a double-rotor joint motor, which belongs to the technical field of motors, and comprises a base assembly, a rotor assembly, a rotor assembly, a rotor assembly, a rotor assembly, a rotor assembly and a rotor assembly, wherein the base assembly comprises a main shaft, a main shaft end seat and a fixed tooth seat; the output component is formed by connecting an output tooth holder and an output end cover with a magnetic ring, and the main shaft end seat is arranged in the output tooth holder; the middle shaft assembly comprises a middle tooth holder and an inner side middle tooth part; the pair of core motor assemblies is sleeved on the main shaft and comprises a rotor with a containing groove and an inserting shaft, a stator sleeved on the inserting shaft and a flexible gear arranged on the periphery of the stator and provided with an annular groove, the tooth portion of the flexible gear is meshed with teeth of the fixed tooth holder, the middle tooth holder and the output tooth holder, and a roller matched with the annular groove of the flexible gear is arranged on the periphery of the stator. The joint motor adopts a double-rotor and harmonic reducer structure, and the double rotors reversely operate at a constant speed, so that the inertia moment is counteracted, and the influence of rotor motion on output motion is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of motors, and in particular to a dual-rotor joint motor. Background Art

[0002] In order to meet the society's urgent need for productivity, robotic technologies such as robotic arms and humanoid robots are widely used in various fields to fill the population gap in productivity. As the core component of such robots, the performance of joint motors directly determines the level of robot productivity.

[0003] Most existing joint motors use a single rotor and a high-speed ratio reducer structure. Due to the large speed ratio, the rotor of the joint motor is usually required to operate at a high frequency and high speed. At the same time, the electronic rotor has a large moment of inertia. These two characteristics make the joint motor more affected by the inertia torque during operation, causing greater vibration, thereby greatly reducing the working efficiency, positioning accuracy and stability of the joint motor. Summary of the invention

[0004] In order to solve the influence of the inertia torque of a single-rotor joint motor on the output motion of the joint motor, the present invention proposes a dual-rotor joint motor, which adopts a dual-rotor structure and a harmonic reducer structure, and offsets the inertia torque of the two rotors by running the dual rotors in opposite directions at a constant speed, thereby reducing the influence of the rotor motion on the output motion of the joint motor.

[0005] The purpose of the present invention can be achieved by the following technical solutions: A dual-rotor joint motor, comprising: A base assembly, the base assembly comprising a spindle, a spindle end seat arranged at one end of the spindle, and a fixed gear seat arranged at the other end of the spindle, a coding circuit board is arranged on the side of the spindle end seat away from the spindle, and a driving circuit board is arranged between the spindle and the fixed gear seat; An output assembly, the output assembly comprising a connected output gear seat and an output end cover, the output end cover is provided with a magnetic ring, and the spindle end seat is located in the output gear seat; An intermediate shaft assembly, the intermediate shaft assembly comprising an intermediate gear seat, an intermediate gear portion is arranged at the middle of the inner side of the intermediate gear seat, the fixed gear seat and the output gear seat extend into the intermediate gear seat from both sides respectively; A pair of core motor components sleeved on the main shaft, the core motor components comprising: A rotor, wherein the rotor has a receiving groove, a plug-in shaft is arranged in the middle of the receiving groove, and the plug-in shaft is sleeved on the main shaft; A stator, the stator being sleeved on the plug-in shaft; A flexible wheel, wherein the flexible wheel is disposed on the periphery of the stator, and an annular groove is disposed on the side of the flexible wheel near the stator; a flexible wheel tooth portion is disposed on the periphery of the flexible wheel, and teeth on the flexible wheel tooth portion are respectively meshed and connected with a fixed tooth portion disposed on the inner side of the fixed tooth seat, the intermediate tooth portion, and an output tooth portion disposed in the output tooth seat; A plurality of rollers are arranged at intervals on the periphery of the stator and are rotatably connected to the stator, and the outer sides of the rollers are located in the annular grooves of the flexible wheel. Specifically, a rotating shaft is provided at the connection between the rollers and the periphery of the stator, and the rollers can rotate around the rotating shaft, and the rollers can also roll in the annular grooves in the inner ring of the flexible wheel, and can limit the movement of the flexible wheel in the axial direction.

[0006] Furthermore, the encoding circuit board is fixed to the spindle end seat by bolts, the spindle end seat is fixed to the spindle by bolts, and the fixed gear seat is fixed to the spindle by bolts.

[0007] Furthermore, the output gear seat and the output end cover are connected by bolts, and the magnetic ring is fixed to the output end cover by bonding.

[0008] Furthermore, the stator is fixed to the main shaft end seat by bolts.

[0009] Furthermore, a second bearing is disposed on the periphery of the main shaft end seat, and is rotatably connected to the output gear seat via the second bearing.

[0010] Furthermore, the intermediate gear seat is evenly provided with threaded holes along its circumference. When necessary, the intermediate gear seat can also be used as a rotating element to connect with other external parts, which is equivalent to the dual-rotor joint motor provided by the present invention having one end fixed on the base and two motion output ends.

[0011] Furthermore, there is a small difference in the number of teeth between the teeth of the fixed tooth portion and the teeth of the intermediate tooth portion.

[0012] Furthermore, there is a small difference in the number of teeth between the teeth of the intermediate tooth portion and the teeth of the output tooth portion.

[0013] Furthermore, the magnetic ring and the encoding circuit board are arranged opposite to each other and are coaxial.

[0014] Furthermore, the output gear seat and the output end cover are fixedly connected, a secondary shaft is arranged in the middle of the output end cover, and the magnetic ring is sleeved on the secondary shaft.

[0015] Furthermore, first bearings are respectively provided at the connection points between the intermediate gear seat and the fixed gear seat and the output gear seat.

[0016] Furthermore, the first bearing is connected to the intermediate gear seat by means of a transition fit.

[0017] Furthermore, the stator of the core motor assembly near the spindle end seat is fixedly connected to the spindle end seat.

[0018] Furthermore, a gasket is sleeved on the main shaft between the pair of core motor components, and the stators of the pair of core motor components are connected to the driving circuit board through the three-phase leads.

[0019] Compared with the prior art, the joint motor provided by the present invention adopts a dual-rotor structure and a harmonic reducer structure, and the inertia torque of the two rotors is offset by the reverse and constant-speed operation of the dual rotors, thereby reducing the influence of the rotor movement on the output movement of the joint motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 An exploded view of the dual-rotor joint motor in the embodiment; Figure 2 A three-dimensional view of a dual-rotor joint motor in an embodiment; Figure 3 An exploded view of an output component in an embodiment; Figure 4 A three-dimensional view of an output component in an embodiment; Figure 5 An exploded view of the intermediate shaft assembly in the embodiment; Figure 6 An exploded view of a core motor component in an embodiment; Figure 7 A three-dimensional view of a core motor component in an embodiment; Figure 8 An exploded view of a base assembly in an embodiment; Fig. 9 is a three-dimensional view of a base assembly in an embodiment; Fig.10 is a cross-sectional view of a dual-rotor joint motor in an embodiment; Fig.11 It is a simplified structural diagram of the dual-rotor joint motor in the embodiment; As shown in the figure, the numbers are as follows: 1-output assembly; 11-output gear seat; 12-magnetic ring; 13-output end cover; 14-output tooth; 15-secondary shaft; 2-intermediate shaft assembly; 21-first bearing; 22-intermediate gear seat; 23-threaded hole; 24-intermediate tooth; 3-core motor assembly; 31-stator; 32-rotor; 33-roller; 34-flexible wheel; 35-plug-in shaft; 36-flexible wheel tooth; 4-base assembly; 41-encoding circuit board; 42-spindle end seat; 43-spindle; 44-drive circuit board; 45-fixed gear seat; 46-fixed tooth; 5-gasket; 6-second bearing. DETAILED DESCRIPTION

[0021] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0022] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0023] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0025] Example

[0026] In order to solve the influence of the inertia moment of the single-rotor joint motor on the output motion of the joint motor, this embodiment provides a dual-rotor joint motor, the specific structure of which is shown in FIG. Figure 1-11 ,include: A base assembly 4, the base assembly 4 comprising a spindle 43, a spindle end seat 42 arranged at one end of the spindle 43, and a fixed gear seat 45 arranged at the other end of the spindle 43, a coding circuit board 41 is arranged on the side of the spindle end seat 42 away from the spindle 43, and a driving circuit board 44 is arranged between the spindle 43 and the fixed gear seat 45; An output assembly 1, the output assembly 1 comprises an output gear seat 11 and an output end cover 13 connected to each other, a magnetic ring 12 is arranged on the output end cover 13, and the spindle end seat 42 is located in the output gear seat 11; The intermediate shaft assembly 2 comprises an intermediate gear seat 22, wherein an intermediate gear portion 24 is provided at the inner middle of the intermediate gear seat 22, and the fixed gear seat 45 and the output gear seat 11 extend into the intermediate gear seat 22 from both sides thereof; A pair of core motor components 3 are sleeved on the main shaft 43, and the core motor components 3 include: The rotor 32 has a receiving groove, a plug-in shaft 35 is arranged in the middle of the receiving groove, and the plug-in shaft 35 is sleeved on the main shaft 43; A stator 31, wherein the stator 31 is sleeved on the plug-in shaft 35; The flexible spline 34 is disposed on the periphery of the stator 31, and an annular groove is disposed on the side of the flexible spline 34 close to the stator 31; a flexible spline tooth portion 36 is disposed on the periphery of the flexible spline 34, and teeth on the flexible spline tooth portion 36 are respectively meshed and connected with a fixed tooth portion 46 disposed on the inner side of the fixed tooth seat 45, the intermediate tooth portion 24, and an output tooth portion 14 disposed in the output tooth seat 11; A plurality of rollers 33 are arranged at intervals on the periphery of the stator 31 and are rotatably connected to the stator 31, and the outer sides of the rollers 33 are located in the annular grooves of the flexible spline 34. Specifically, a rotating shaft is provided at the connection between the rollers 33 and the periphery of the stator 31, and the rollers 33 can rotate around the rotating shaft. The rollers 33 can also roll in the annular grooves in the inner ring of the flexible spline 34, and can limit the movement of the flexible spline 34 in the axial direction.

[0027] Please refer to Figure 8-9 In this embodiment, the encoding circuit board 41 is fixed to the spindle end seat 42 by bolts, the spindle end seat 42 is fixed to the spindle 43 by bolts, and the fixed gear seat 45 is fixed to the spindle 43 by bolts. The encoding circuit board 41 calculates the movement angle of the output component 1 by identifying the magnetic field direction of the magnetic ring 12.

[0028] Please refer to Figure 3-4 In this embodiment, the output gear seat 11 and the output end cover 13 are connected by bolts, and the magnetic ring 12 is fixed to the output end cover 13 by bonding.

[0029] In this embodiment, the stator 31 is fixed to the spindle end seat 42 by bolts.

[0030] In this embodiment, a second bearing 6 is disposed on the periphery of the spindle end seat 42 , and is rotatably connected to the output gear seat 11 via the second bearing 6 .

[0031] In this embodiment, the teeth of the fixed tooth portion 46 and the teeth of the intermediate tooth portion 24 have a small difference in number of teeth; the teeth of the intermediate tooth portion 24 and the teeth of the output tooth portion 14 have a small difference in number of teeth. Preferably, the tooth difference is recommended to be 2 teeth or 4 teeth. The smaller the tooth difference, the greater the reduction ratio. In this embodiment, the magnetic ring 12 and the encoding circuit board 41 are arranged opposite to each other and are coaxial.

[0032] In this embodiment, the output gear seat 11 and the output end cover 13 are fixedly connected, a secondary shaft 15 is provided in the middle of the output end cover 13 , and the magnetic ring 12 is sleeved on the secondary shaft 15 .

[0033] In this embodiment, first bearings 21 are respectively provided at the connection between the intermediate gear seat 22 and the fixed gear seat 45 and the output gear seat 11. The first bearing 21 is preferably connected to the intermediate gear seat 22 by transition fit.

[0034] In this embodiment, the intermediate gear seat 22 is evenly provided with threaded holes 23 along its circumference. When necessary, the intermediate gear seat 22 can also be used as a rotating element to connect with other external parts, which is equivalent to the dual-rotor joint motor provided in this embodiment having one end fixed on the base and two motion output ends.

[0035] In this embodiment, the stator 31 of the core motor assembly 3 near the spindle end seat 42 is fixedly connected to the spindle end seat 42 .

[0036] In this embodiment, a gasket 5 is sleeved on the shaft of the main shaft 43 between the pair of core motor components 3, and the stators 31 of the pair of core motor components 3 are connected to the driving circuit board 44 through the three-phase lead wires.

[0037] How it works: The external device sends an operation instruction including parameters such as rotation angle, speed, torque, etc. to the driving circuit board 44, and provides power for it. After receiving the instruction, the driving circuit board 44 analyzes it through the internal driving control algorithm, and then drives the two rotors 32 to move in the same speed and opposite direction. In this process, the roller 33 on the rotor 32 will press the teeth on the flexible wheel 34, so that the teeth on the flexible wheel 34 are respectively meshed with the teeth on the fixed tooth seat 45, the intermediate tooth seat 22 and the output tooth seat 11. It is worth noting that the teeth between the fixed tooth seat 45 and the intermediate tooth seat 22, as well as the teeth between the intermediate tooth seat 22 and the output tooth seat 11, all have the characteristics of a small tooth number difference. Based on this characteristic, a large reduction ratio reducer is formed. The reducer can convert the high speed and low torque motion of the rotor 32 into the low speed and high torque motion of the output component 1. In addition, since the two rotors 32 are in a state of reverse and constant speed motion, the inertia moments they generate on the main shaft 43 can offset each other, effectively improving the stability of the equipment operation. Among them, the driving control algorithm mentioned in the operating principle is a common algorithm already known to those skilled in the art, and is not the focus of protection of the present invention, so it will not be described again.

[0038] The reduction ratio of the joint motor is calculated as follows: the fixed gear seat 45 is an inner gear ring with the number of teeth recorded as Z0, the flexible wheel 34 is an outer gear ring with the number of teeth recorded as Z1, the intermediate gear seat 22 is an inner gear ring with the number of teeth recorded as Z2, and the output gear seat 11 is an inner gear ring with the number of teeth recorded as Z3.

[0039] For the gear system composed of the fixed gear seat 45, the flexible gear 34 and the intermediate gear seat 22, the fixed gear seat 45 is a fixed part, the rotor 32 is a motion input part, and the intermediate gear seat 22 is a motion output part. The reduction ratio n 22 / n m0 =(Z2-Z0) / Z2.

[0040] For the gear system composed of the intermediate gear seat 22, the flexible wheel 34 and the output gear seat 11, the intermediate gear seat 22 and the rotor 32 are the motion input parts, and the output gear seat 11 is the motion output part. The reduction ratio is n 11 =(Z3-Z2)×n m1 / Z3+z2×n 22 / Z3, then n 11 =(Z3-Z2)×n m1 / Z3+(Z2-Z0)×n m0 / Z3.

[0041] Among them, the module and pressure angle of Z0 tooth are equal to that of Z1 tooth, while the module and pressure angle of Z2 tooth are not equal to those of Z1, but the normal pitch of Z2 is the same as that of Z1.

[0042] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A dual-rotor joint motor, characterized in that: include: A base assembly (4), the base assembly (4) comprising a main shaft (43), a main shaft end seat (42) arranged at one end of the main shaft (43), and a fixed gear seat (45) arranged at the other end of the main shaft (43), an encoding circuit board (41) being arranged on a side of the main shaft end seat (42) facing away from the main shaft (43), and a driving circuit board (44) being arranged between the main shaft (43) and the fixed gear seat (45); An output assembly (1), the output assembly (1) comprising an output gear seat (11) and an output end cover (13) connected to each other, the output end cover (13) being provided with a magnetic ring (12), and the main shaft end seat (42) being located inside the output gear seat (11); An intermediate shaft assembly (2), the intermediate shaft assembly (2) comprising an intermediate tooth seat (22), an intermediate tooth portion (24) being provided at the middle of the inner side of the intermediate tooth seat (22), the fixed tooth seat (45) and the output tooth seat (11) respectively extending into the intermediate tooth seat (22) from both sides; A pair of core motor components (3) sleeved on the main shaft (43), the core motor components (3) comprising: A rotor (32), the rotor (32) having a receiving groove, a plug-in shaft (35) being arranged in the middle of the receiving groove, and the plug-in shaft (35) being sleeved on the main shaft (43); A stator (31), the stator (31) being sleeved on the plug-in shaft (35); a flexible wheel (34), the flexible wheel (34) being disposed on the periphery of the stator (31), and an annular groove being provided on a side of the flexible wheel (34) close to the stator (31); a flexible wheel tooth portion (36) being provided on the periphery of the flexible wheel (34), and teeth on the flexible wheel tooth portion (36) being meshedly connected with a fixed tooth portion (46) provided on the inner side of the fixed tooth seat (45), the intermediate tooth portion (24), and an output tooth portion (14) provided in the output tooth seat (11); A plurality of rollers (33) are arranged at intervals on the periphery of the stator (31) and are rotatably connected to the stator (31), and the outer sides of the rollers (33) are located in the annular grooves of the flexible wheel (34).

2. A dual-rotor joint motor according to claim 1, characterized in that: A second bearing (6) is disposed on the periphery of the main shaft end seat (42), and is rotatably connected to the output gear seat (11) via the second bearing (6).

3. A dual-rotor joint motor according to claim 1, characterized in that: The teeth of the fixed tooth portion (46) and the teeth of the intermediate tooth portion (24) have a small difference in the number of teeth.

4. A dual-rotor joint motor according to claim 1, characterized in that: The teeth of the intermediate tooth portion (24) and the teeth of the output tooth portion (14) differ slightly in number of teeth.

5. The dual-rotor joint motor according to claim 1, characterized in that: The magnetic ring (12) and the encoding circuit board (41) are arranged opposite to each other and are coaxial.

6. A dual-rotor joint motor according to claim 1, characterized in that: The output gear seat (11) and the output end cover (13) are fixedly connected, a secondary shaft (15) is provided in the middle of the output end cover (13), and the magnetic ring (12) is sleeved on the secondary shaft (15).

7. A dual-rotor joint motor according to claim 6, characterized in that: First bearings (21) are respectively provided at the connection points between the intermediate gear seat (22), the fixed gear seat (45) and the output gear seat (11).

8. A dual-rotor joint motor according to claim 7, characterized in that: The first bearing (21) is connected to the intermediate gear seat (22) by means of a transition fit.

9. The dual-rotor joint motor according to claim 1, characterized in that: The stator (31) of the core motor assembly (3) near the spindle end seat (42) is fixedly connected to the spindle end seat (42).

10. The dual-rotor joint motor according to claim 1, characterized in that: A gasket (5) is sleeved on the shaft of the main shaft (43) between the pair of core motor components (3), and the stators (31) of the pair of core motor components (3) are connected to the driving circuit board (44) via three-phase lead wires.

Images