Robot multi-degree-of-freedom joint motor capable of being reversely charged

Abstract

The robot multi-degree-of-freedom joint motor capable of being charged reversely comprises a motor body and at least two connecting shaft bodies, one end of the motor body is connected to one connecting shaft body, and the other end of the motor body is connected to the other connecting shaft body in a driving mode; the motor body comprises a shell, a battery cell assembly and a PCB, the shell is provided with a mounting cavity with an opening, the PCB is connected to the bottom of the mounting cavity, the battery cell assembly is connected to the mounting cavity, the battery cell assembly is sequentially provided with a power generation stator and a disc type rotor in the direction from the bottom of the mounting cavity to the opening, and the motor stator and the disc type rotor are coaxially provided with a rotating shaft. One end of the rotating shaft penetrates through the power generation stator and is connected to the PCB, the other end of the rotating shaft penetrates through the motor stator and is connected to the opening of the mounting cavity, and the power generation stator is provided with a power generation coil facing the disc-type rotor. The invention aims to improve the structural strength of the joint motor and reduce the energy loss of joint work.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a multi-degree-of-freedom joint motor of a robot capable of reverse charging. Background Art

[0002] In recent years, with the development of artificial intelligence and Internet of Things technologies, intelligent robots not only require highly flexible motion capabilities but also need to have autonomous energy management and self-optimization functions to adapt to complex dynamic environments. In this context, robot joint systems are evolving towards high degrees of freedom, miniaturization, and intelligence. Traditional joint motor systems often only focus on motion control and neglect the intelligent management of energy flow, resulting in problems such as energy waste and power supply imbalance during high-intensity tasks of robots.

[0003] In the prior art, although some high-end robot systems have introduced energy recovery mechanisms, such as regenerative braking technology, they are mostly used in the overall mobile platform or linear actuators, and there is less research on local energy recovery at the joint level and it is difficult to take into account the multi-degree-of-freedom rotation characteristics. In addition, the existing joint energy recovery systems lack in-depth coordination with the main control system and cannot dynamically allocate the recovered electric energy according to real-time working conditions, easily resulting in problems such as local overcharging or energy waste. Summary of the Invention

[0004] The main object of the present invention is to provide a multi-degree-of-freedom joint motor of a robot capable of reverse charging, aiming to improve the structural strength of the joint motor and reduce the energy loss during joint operation.

[0005] To achieve the above object, the present invention provides a multi-degree-of-freedom joint motor of a robot capable of reverse charging, including a motor body and connecting shafts. At least two connecting shafts are provided, one end of the motor body is connected to one connecting shaft, and the other end is drivingly connected to another connecting shaft;

[0006] The motor body includes a housing, a battery cell assembly, and a PCB board. The housing is provided with an installation cavity with an opening. The PCB board is connected to the bottom of the installation cavity. The battery cell assembly is connected to the installation cavity. The battery cell assembly is sequentially provided with a power generation stator, a disc rotor, and a motor stator along the direction from the bottom of the installation cavity to the opening. The disc rotor is coaxially provided with a rotating shaft. One end of the rotating shaft passes through the power generation stator and is connected to the PCB board, and the other end passes through the motor stator and is connected to the opening of the installation cavity. The power generation stator is provided with a power generation coil facing the disc rotor;

[0007] The bottom of the housing relative to the installation cavity is provided with a PCB mounting rack and a rear cover. The end face of the PCB mounting rack facing away from the battery cell assembly is provided with a mounting groove. The rotating shaft passes through the mounting groove and is provided with an adjusting gear relative to the mounting groove. At least two positioning gears are provided in the mounting groove facing the adjusting gear. The PCB board covers the mounting groove. The PCB board is provided with an angle detection unit facing the positioning gears. The rear cover is connected to the PCB mounting rack and wraps around the PCB board.

[0008] In an embodiment of the present application, the disc rotor is provided with a connecting frame and rotor permanent magnets facing the power generation coil. The connecting frame is coaxially connected to the rotating shaft, and the rotor permanent magnets are circumferentially arrayed on the connecting frame.

[0009] The motor stator is provided with a stator coil facing the rotor permanent magnets.

[0010] In an embodiment of the present application, the disc rotor includes a rotor mounting frame made of a magnetic isolation material. One end of the rotor mounting frame facing the power generation coil is connected with a plurality of first permanent magnets, and one end of the rotor mounting frame facing away from the rotor coil is connected with a rotor coil.

[0011] The motor stator is provided with a plurality of second permanent magnets facing the rotor coil.

[0012] In an embodiment of the present application, the rotor mounting frame includes a fixing part connected to the rotating shaft. The end face of the fixing part facing the power generation coil protrudes with a mounting sleeve. One end of the mounting sleeve is connected to the outer periphery of the fixing part, and the other end is slidably connected to the inner wall of the housing. The plurality of first permanent magnets are circumferentially arrayed on the mounting sleeve.

[0013] An installation part is formed by clamping between the bottom of the mounting sleeve and one end of the fixing part facing away from the power generation coil. The rotor coil passes through the installation part.

[0014] In an embodiment of the present application, the motor stator is coaxially provided with a connecting part relative to the rotating shaft. The rotating shaft is provided with a first driving gear facing the connecting part. One end of the first driving gear facing away from the disc rotor is connected with a connecting sleeve. The connecting sleeve is slidably connected to the rotating shaft. The inner wall of the connecting sleeve is provided with a first reduction rack facing the first driving gear. The end face of the connecting sleeve facing the first driving gear is rotatably connected with a plurality of first transmission gears. One end of the first transmission gear is connected to the first driving gear, and the other end is connected to the first reduction rack.

[0015] The connecting sleeve is provided with a first driving part at the end facing away from the disc rotor.

[0016] In an embodiment of the present application, the housing is provided with a protective sleeve relative to the open end of the installation cavity. The protective sleeve wraps around one end of the motor stator facing away from the disc rotor and is coaxially provided with a through hole relative to the first driving part. The diameter of the through hole is larger than the first driving part.

[0017] In an embodiment of the present application, a guiding portion is provided on an end face of the through hole facing away from the first driving portion, and the aperture of the guiding portion gradually expands along a direction away from the first driving portion.

[0018] In an embodiment of the present application, a driving sleeve is slidably connected in the protective sleeve. A connecting member is provided on the driving sleeve facing the first driving portion. A second driving gear is provided on an outer periphery of the connecting member facing an inner wall of the driving sleeve. The connecting member is connected to a connecting sleeve;

[0019] A second deceleration rack is provided on an inner wall of the driving sleeve facing the second driving gear. A plurality of second transmission gears are rotatably connected to an end face of the driving sleeve facing the connecting sleeve. One end of the second transmission gear is connected to the second driving gear, and the other end is connected to the second deceleration rack;

[0020] A second driving portion is provided at one end of the driving sleeve facing away from the disc rotor relative to the through hole.

[0021] In an embodiment of the present application, mounting joints for connecting a motor body are provided at both ends of the connecting shaft body;

[0022] A power storage unit is provided on the connecting shaft body facing the mounting joint. The power storage unit is electrically connected to the power generation coil.

[0023] By adopting the above technical solutions, the present invention has the following advantages:

[0024] 1. The robotic arm is composed of a plurality of connecting shaft bodies. The adjacent connecting shaft bodies are mutually driven and connected by joint motors. A plurality of motor bodies with different orientations can be provided on the entire robotic arm at the same time. The plurality of motor bodies are uniformly configured and connected to a main control chip through a cable, so that the plurality of motor bodies on the robotic arm can be highly integrated and cooperate with each other. The motor bodies work more flexibly and stably, enabling the entire robotic arm to have multiple degrees of freedom and enabling the robotic arm to stably achieve the functions it wants to achieve through the motor bodies.

[0025] 2. The motor body includes a housing, a battery cell assembly, and a PCB board. The housing is provided with an installation cavity, and the installation cavity is preset with an open end on the outer periphery of the housing. Through the installation cavity and the matching open end, the battery cell assembly can be installed in the housing. The battery cell assembly is connected to the open end, enabling the battery cell assembly to form a driving structure at the open end. When installing the motor, the motor body can be installed on a connecting shaft body, and the driving structure drives and connects to another connecting shaft body along the direction of rotation of another connecting shaft body. In this structure, the motor body is convenient for assembly and can stably achieve the driving effect. The PCB board is installed at the bottom of the installation cavity, and the battery cell assembly passes through the PCB board. The PCB board can accurately determine the rotation angle of the motor, and the PCB board is electrically connected to the main control chip, making the entire robotic arm easy to control. Installing the PCB board at the bottom of the installation cavity can effectively protect the safety of the PCB board during operation and prevent damage to the PCB board itself.

[0026] 3. Structurally, the battery cell assembly includes a power generation stator, a disc rotor, and a motor stator. A rotating shaft is provided at the center of the disc rotor, and both ends of the rotating shaft pass through the power generation stator and the motor stator respectively. This structure can improve the structural strength of the entire battery cell assembly and ensure the stability of the battery cell assembly during operation. The power generation stator is connected to one side of the disc rotor facing the PCB board, and the motor stator is connected to the open end of the installation cavity. The power generation stator faces the PCB board, and a power generation coil is provided on the power generation stator facing the disc rotor. The power generation coil is electrically connected to the PCB board, which can facilitate the more stable export of the current generated by the power generation stator through the disc rotor. The power generation coil being close to the PCB board can reduce the transmission path of the induced electricity, effectively reducing the energy loss generated during the operation of the joint motor. In this structure, by transmitting the induced electricity to an external energy storage device through the PCB board, the energy storage device can maintain stable operation. And by using the PCB board to export or import current, the housing does not need to be additionally provided with other connection pins, effectively ensuring the integrity of the housing, making the housing have stronger structural strength, and maintaining integrity can prevent dust and the like from entering the installation cavity, effectively protecting the installation cavity and preventing damage to the installation cavity itself. Through the above structure, the energy loss of the joint operation can be effectively reduced, and the joint strength of the robotic arm can be ensured.

[0027] 4. A PCB mounting frame and a rear cover can be provided on the side of the shell away from the open end. The PCB mounting frame is directly connected to the shell to separate and protect the mounting cavity. At the same time, the PCB mounting frame can be used to more safely install the PCB board. The rotating shaft of the battery core assembly is passed through the PCB mounting frame and the PCB board, so that the PCB board can quickly and accurately measure various indicators of the motor body by setting sensors, such as measuring the motor speed, the rotation distance of the motor, and the rotation direction of the motor through the sensor, so as to determine the current rotation angle of the robot arm at the joint, so as to more accurately control the robot arm. The corresponding current input direction control unit can be configured according to the rotation direction of the motor, so as to use the MOS tube and / or the control chip to realize the control of the circuit rotation direction, and a temperature sensor can also be provided to monitor whether the motor body is in a safe working environment. When overheating, power-off protection can be taken accordingly. The rear cover is provided on the PCB mounting frame to protect the PCB board and is used to connect one end of the stable rotating shaft to improve the overall structural strength of the motor, so that the various components in the motor body are highly integrated, so that the motor volume can be reduced or increased according to user needs, the motor structure can be convenient for design, and the user's practical experience can be effectively improved.

[0028] 5. The PCB mounting frame is further provided with a mounting groove toward the PCB board. The rotating shaft passing through the mounting groove can be provided with an adjusting gear relative to the mounting groove, and the mounting groove can be provided with at least two positioning gears relative to the adjusting gear. The positioning gear is rotatably connected to the bottom of the mounting groove, and an induction magnet can be provided at one end of the positioning gear facing the PCB board. The specifications of the induction magnets on different positioning gears can be different. This makes it easy for the angle detection unit provided on the PCB board to accurately determine the current rotation angle at the open end of the motor body according to the number of rotations of the two positioning gears, so that the main control chip of the robot arm can cooperate with multiple joint motors, multiple connecting shafts, and control the working state of the robot arm with multiple degrees of freedom, thereby improving the flexibility and reliability of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 It is a cross-sectional view of the robot multi-degree-of-freedom joint motor capable of reverse charging according to the present invention;

[0031] Figure 2Schematic diagram of the motor body of the robot multi-degree-of-freedom joint motor capable of reverse charging according to the present invention;

[0032] Figure 3 Cross-sectional view of the motor body of the robot multi-degree-of-freedom joint motor capable of reverse charging according to the present invention;

[0033] Figure 4 Top exploded view of the motor body of the robot multi-degree-of-freedom joint motor capable of reverse charging according to the present invention;

[0034] Figure 5 Bottom exploded view of the motor body of the robot multi-degree-of-freedom joint motor capable of reverse charging according to the present invention.

[0035] Explanation of the reference numerals in the drawings:

[0036] 1. Motor body; 11. Housing; 12. Installation cavity; 13. Rear cover; 2. PCB mounting bracket; 21. Installation groove; 22. PCB board; 23. Positioning gear; 3. Protective sleeve; 31. Through hole; 32. Guide part; 4. Driving sleeve; 41. Connecting part; 42. Second transmission gear; 5. Battery cell assembly; 51. Power generation stator; 52. Power generation coil; 53. Motor stator; 54. Second permanent magnet; 6. Disc rotor; 61. Rotor mounting bracket; 62. Fixed part; 63. Installation sleeve; 64. First permanent magnet; 65. Rotor coil; 7. Rotating shaft; 71. Adjusting gear; 72. First driving gear; 8. Connecting sleeve; 81. First transmission gear; 9. Connecting shaft body; 91. Installation joint; 92. Power storage unit.

[0037] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0038] In order to make the object, technical solution and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] Refer to Figures 1 to 5 , to achieve the above object, a robot multi-degree-of-freedom joint motor capable of reverse charging proposed by the present invention includes a motor body 1 and a connecting shaft body 9. There are at least two connecting shaft bodies 9. One end of the motor body 1 is connected to one connecting shaft body 9, and the other end is drivingly connected to another connecting shaft body 9;

[0040] The motor body 1 includes a housing 11, a battery cell assembly 5, and a PCB board 22. The housing 11 is provided with an installation cavity 12 with an opening. The PCB board 22 is connected to the bottom of the installation cavity 12, and the battery cell assembly 5 is connected to the installation cavity 12. The battery cell assembly 5 is sequentially provided with a power generation stator 51, a disc rotor 6, and a motor stator 53 along the direction from the bottom of the installation cavity 12 to the opening. The disc rotor 6 is coaxially provided with a rotating shaft 7. One end of the rotating shaft 7 penetrates through the power generation stator 51 and is connected to the PCB board 22, and the other end penetrates through the motor stator 53 and is connected to the opening of the installation cavity 12. The power generation stator 51 is provided with a power generation coil 52 facing the disc rotor 6;

[0041] The housing 11 is provided with a PCB mounting bracket 2 and a rear cover 13 relative to the bottom of the installation cavity 12. The end face of the PCB mounting bracket 2 facing away from the battery cell assembly 5 is provided with an installation groove 21. The rotating shaft 7 penetrates through the installation groove 21, and an adjustment gear 71 is provided relative to the installation groove 21. The installation groove 21 is provided with at least two positioning gears 23 facing the adjustment gear 71. The PCB board 22 covers the installation groove 21. The PCB board 22 is provided with an angle detection unit facing the positioning gears 23. The rear cover 13 is connected to the PCB mounting bracket 2 and surrounds the PCB board 22.

[0042] The robotic arm is composed of a plurality of connecting shaft bodies 9. The adjacent connecting shaft bodies 9 are driven and connected to each other by joint motors. A plurality of motor bodies 1 with different orientations can be simultaneously provided on the entire robotic arm. The plurality of motor bodies 1 are uniformly configured and connected to a master control chip through cables, so that the plurality of motor bodies 1 on the robotic arm can be highly integrated and cooperate with each other. The motor body 1 works flexibly and stably, enabling the entire robotic arm to have multiple degrees of freedom and being able to stably achieve the functions that the robotic arm wants to achieve through the motor body 1.

[0043] The motor body 1 includes a housing 11, a battery cell assembly 5, and a PCB board 22. The housing 11 is provided with an installation cavity 12, and an open end is preset on the outer periphery of the housing 11 for the installation cavity 12. Through the installation cavity 12 and the supporting open end, the battery cell assembly 5 can be installed in the housing 11. The connection of the battery cell assembly 5 to the open end can form a driving structure at the open end. When installing the motor, the motor body 1 can be installed on a connecting shaft body 9, and the driving structure is driven and connected to another connecting shaft body 9 along the direction in which the other connecting shaft body 9 wants to rotate. In this structure, the motor body 1 is convenient for assembly and can stably achieve the driving effect. The PCB board 22 is installed at the bottom of the installation cavity 12, and the battery cell assembly 5 penetrates through the PCB board 22. The PCB board 22 can accurately determine the rotation angle of the motor, and the electrical connection of the PCB board 22 to the main control chip enables the entire robotic arm to be easily controlled. Installing the PCB board 22 at the bottom of the installation cavity 12 can effectively protect the safety of the PCB board 22 during operation and prevent the PCB board 22 itself from being damaged.

[0044] The battery cell assembly 5 structurally includes a power generation stator 51, a disc rotor 6, and a motor stator 53. A rotating shaft 7 is provided at the center of the disc rotor 6. Both ends of the rotating shaft 7 are respectively passed through the power generation stator 51 and the motor stator 53. This structure can improve the structural strength of the entire battery cell assembly 5 and ensure the working stability of the battery cell assembly 5. The power generation stator 51 is connected to the side of the disc rotor 6 facing the PCB board 22, and the motor stator 53 is connected to the open end of the installation cavity 12. The power generation stator 51 faces the PCB board 22, and the power generation stator 51 is provided with a power generation coil 52 facing the disc rotor 6. The power generation coil 52 is electrically connected to the PCB board 22, which can facilitate the current generated by the power generation stator 51 through the disc rotor 6 to be more stably derived, and the power generation The coil 52 is close to the PCB board 22, which can reduce the transmission path of the induced electricity and effectively reduce the energy loss generated when the joint motor is working. In this structure, the induced electricity is transmitted to the external energy storage device through the PCB board 22, which can keep the energy storage device working stably. The PCB board 22 is used to export or import current, and the shell 11 does not need to be additionally provided with other connecting pins, which effectively ensures the integrity of the shell 11, so that the shell 11 has stronger structural strength, and maintaining the integrity can prevent dust and the like from entering the installation cavity 12, and can effectively protect the installation cavity 12, and can prevent the installation cavity 12 itself from being damaged. Through the above structure, the energy loss of the joint operation can be effectively reduced, and the joint strength of the robot arm can be ensured.

[0045] A PCB mounting frame 2 and a rear cover 13 can be provided on the side of the shell 11 away from the open end. The PCB mounting frame 2 is directly connected to the shell 11 to separate and protect the mounting cavity 12. At the same time, the PCB mounting frame 2 can be used to more safely install the PCB board 22. The rotating shaft 7 of the battery core assembly 5 is passed through the PCB mounting frame 2 and the PCB board 22, so that the PCB board 22 can quickly and accurately measure various indicators of the motor body 1 by setting sensors, such as measuring the motor speed, the rotation distance of the motor, and the rotation direction of the motor through the sensor, so as to determine the current rotation angle of the robot arm at the joint, so as to more accurately control the robot arm. The motor rotation direction can be configured with a corresponding current input direction control unit, so that the MOS tube and / or the control chip can be used to control the circuit rotation direction, and a temperature sensor can also be set to monitor whether the motor body 1 is in a safe working environment. When overheating, power-off protection can be taken accordingly. The rear cover 13 is covered on the PCB mounting frame 2, which can protect the PCB board 22 and is used to connect one end of the stable rotating shaft 7 to improve the overall structural strength of the motor, so that the various components in the motor body 1 are highly integrated, so that the motor volume can be reduced or increased according to user needs, which can make the motor structure easy to design and effectively improve the user's practical experience.

[0046] The PCB mounting frame 2 is also provided with a mounting groove 21 facing the PCB board 22. The rotating shaft 7 passing through the mounting groove 21 can be provided with an adjusting gear 71 relative to the mounting groove 21, and the mounting groove 21 can be provided with at least two positioning gears 23 relative to the adjusting gear 71. The positioning gear 23 is rotatably connected to the bottom of the mounting groove 21, and an induction magnet can be provided at one end of the positioning gear 23 facing the PCB board 22. The specifications of the induction magnets on different positioning gears 23 can be different. This can facilitate the angle detection unit provided on the PCB board 22 to accurately determine the current rotation angle at the open end of the motor body 1 according to the number of rotations of the two positioning gears 23, so that the main control chip of the robot arm can cooperate with multiple joint motors and multiple connecting shafts 9 to control the working state of the robot arm with multiple degrees of freedom, thereby improving the flexibility and reliability of the robot arm.

[0047] Combined with reference Figures 1 to 2 The disc rotor 6 is provided with a connecting frame and a rotor permanent magnet facing the power generation coil 52, the connecting frame is coaxially connected to the rotating shaft 7, and the rotor permanent magnet is circumferentially arrayed on the connecting frame;

[0048] The motor stator 53 is provided with stator coils facing the rotor permanent magnets.

[0049] Because the generating stator 51 needs to generate electricity, a generating coil 52 must be provided on the generating stator 51. When the rotor rotates, a rotor permanent magnet is provided on the disc rotor 6 facing the generating stator 51. The generating coil 52 can generate induced electricity by cutting the magnetic flux lines, thereby achieving the purpose of energy recovery. Only the rotor permanent magnet can be provided on the rotor. In this way, the stator coil needs to be provided on the motor stator 53 facing the rotor permanent magnet, so that the entire motor can work normally and stably.

[0050] Combined with reference Figures 2 to 5 The disc rotor 6 includes a rotor mounting frame 61 made of magnetic isolation material, a plurality of first permanent magnets 64 are connected to one end of the rotor mounting frame 61 facing the power generation coil 52, and a rotor coil 65 is connected to one end of the rotor mounting frame 61 facing away from the rotor coil 65;

[0051] The motor stator 53 is provided with a plurality of second permanent magnets 54 facing the rotor coil 65 .

[0052] In the present application, a first permanent magnet 64 is arranged on the end face of the disc rotor 6 facing the power generation coil 52, and a rotor coil 65 is arranged on the end face facing away from the first permanent magnet 64. A second permanent magnet 54 is arranged on the motor stator 53 facing the rotor coil 65. In this way, the rotor coil 65 can be arranged away from the open end of the mounting cavity 12, thereby improving the safety of the motor.

[0053] A rotor mounting bracket 61 is directly provided between the first permanent magnet 64 and the rotor coil 65. The rotor mounting bracket 61 is directly connected to the central rotating shaft 7 and can be used to support the entire disc-shaped rotor 6. The rotor mounting bracket 61 is made of a magnetic isolation material, which can reduce the mutual interference between the first permanent magnet 64 and the rotor coil 65 and prevent the rotor mounting bracket 61 itself from being magnetized, effectively improving the working stability of the entire motor body 1.

[0054] Referring to Figure 3 , the rotor mounting bracket 61 includes a fixing portion 62 connected to the rotating shaft 7. An installation sleeve 63 protrudes from the end face of the fixing portion 62 facing the power generation coil 52. One end of the installation sleeve 63 is connected to the outer periphery of the fixing portion 62, and the other end is slidably connected to the inner wall of the housing 11. A plurality of first permanent magnets 64 are circumferentially arranged on the installation sleeve 63;

[0055] An installation portion is formed by clamping between the bottom of the installation sleeve 63 and the end of the fixing portion 62 facing away from the power generation coil 52, and the rotor coil 65 is passed through the installation portion.

[0056] Structurally, the rotor mounting bracket 61 includes a fixing portion 62 and an installation sleeve 63. The fixing portion 62 is used to enable the rotor mounting bracket 61 to be installed on the rotating shaft 7 and can be used to support the entire disc-shaped rotor 6. The installation sleeve 63 is connected to one end of the fixing portion 62 facing the power generation coil 52. Using the installation space enclosed by the installation sleeve 63, the first permanent magnets 64 can be quickly installed, which can increase the overall structural strength. Moreover, an installation portion is formed by clamping between the installation sleeve 63 and the fixing portion 62, and the rotor coil 65 can be fixed by using the installation portion. With this structure, while enabling the motor body 1 to operate stably, it is convenient to recover the energy loss during the operation of the joint.

[0057] Referring to Figures 3 to 5 , the motor stator 53 is coaxially provided with a connection portion relative to the rotating shaft 7. The rotating shaft 7 is provided with a first driving gear 72 facing the connection portion. One end of the first driving gear 72 facing away from the disc-shaped rotor 6 is connected to a connection sleeve 8. The connection sleeve 8 is slidably connected to the rotating shaft 7. A first reduction rack is provided on the inner wall of the connection sleeve 8 facing the first driving gear 72. A plurality of first transmission gears 81 are rotatably connected to the end face of the connection sleeve 8 facing the first driving gear 72. One end of the first transmission gear 81 is connected to the first driving gear 72, and the other end is connected to the first reduction rack;

[0058] A first driving portion is provided at one end of the connection sleeve 8 facing away from the disc-shaped rotor 6.

[0059] A connecting portion is provided at the center of the motor stator 53. The connecting portion can also be referred to as a mounting hole or a connecting hole. The connecting sleeve 8 can be mounted by using the connecting portion. The connecting sleeve 8 is limited by the connecting portion, and the two are slidably connected. The rotating shaft 7 passes through the connecting sleeve 8, and a first driving gear 72 is provided on the inner wall of the rotating shaft 7 relative to the connecting sleeve 8. A first reduction rack is provided on the inner wall of the connecting sleeve 8 opposite to the first driving gear 72. A first transmission gear 81 is provided on the connecting sleeve 8 relative to the first driving gear 72 and the first reduction rack. Since the circumferential length of the first reduction rack is much longer than the outer circumferential length of the first driving gear 72, when the rotating shaft 7 rotates, the first driving gear 72 will drive the first transmission gear 81, and their linear speeds are the same. The first transmission gear 81 drives the first reduction rack, and the linear speeds are also the same, but the angular speed significantly decreases. A first driving portion is provided on the end surface of the connecting sleeve 8 facing away from the motor body 1. The structure to be driven can be connected by using the first driving portion. Through this structure, the output speed of the motor body 1 can be reduced, and the output speed can be made more stable, avoiding the situation that the robotic arm cannot be controlled due to the too fast running speed of the motor body 1, and effectively improving the user experience.

[0060] Referring to Figure 2 , a protective sleeve 3 is provided on the housing 11 opposite to the open end of the installation cavity 12. The protective sleeve 3 surrounds one end of the motor stator 53 facing away from the disc rotor 6, and a through hole 31 is coaxially provided relative to the first driving portion. The diameter of the through hole 31 is larger than that of the first driving portion.

[0061] A protective sleeve 3 is provided on the housing 11 opposite to the open end of the installation cavity 12. The protective sleeve 3 can surround the battery cell assembly 5 and the connecting sleeve 8, which can protect the most core structure of the entire motor body 1 and effectively extend the service life of the motor. The through hole 31 is used to protect the connecting sleeve 8, and at the same time, the external structure to be driven can be more flexibly connected to the first driving portion. Through the above structure, the structural strength of the joint motor can be effectively improved.

[0062] Referring to Figures 2 to 3 , a guiding portion 32 is provided on the end surface of the through hole 31 facing away from the first driving portion. The aperture of the guiding portion 32 gradually expands along the direction away from the first driving portion.

[0063] A guiding portion 32 is provided on the end surface of the inner wall of the through hole 31 facing the outside. The guiding portion 32 is also a guiding inclined surface. By using the guiding portion 32 as a guide, while improving the protection effect, the external structure can reduce the time required for alignment and can quickly position to ensure stable connection.

[0064] Referring to Figures 4 to 5 , a driving sleeve 4 is slidably connected in the protective sleeve 3. A connecting member 41 is provided on the driving sleeve 4 facing the first driving portion. A second driving gear is provided on the outer circumference of the connecting member 41 facing the inner wall of the driving sleeve 4. The connecting member 41 is connected to the connecting sleeve 8;

[0065] The inner wall of the driving sleeve 4 is provided with a second reduction rack toward the second driving gear. The end surface of the driving sleeve 4 toward the connecting sleeve 8 is rotatably connected to a plurality of second transmission gears 42. One end of the second transmission gear 42 is connected to the second driving gear, and the other end is connected to the second reduction rack.

[0066] An end of the driving sleeve 4 facing away from the disc rotor 6 is provided with a second driving portion opposite to the through hole 31 .

[0067] The efficiency of deceleration using only the connecting sleeve 8 and its internal structure is limited, so the driving sleeve 4 can be slidably connected inside the protective sleeve 3, and a connecting piece 41 can be set at the center of the driving sleeve 4. The rotating shaft 7 is passed through the connecting piece 41 to ensure that the entire connecting piece 41 rotates more stably. A second driving gear is provided on the outer periphery of the connecting piece 41, and a fixed structure is provided between the connecting piece 41 and the first driving part, so that the decelerated power can be transmitted to the driving sleeve 4 through the connecting piece 41. A second reduction rack is relatively provided on the inner wall of the driving sleeve 4, and a second transmission gear 42 is provided in the driving sleeve 4. The circumferential length of the second reduction rack is much longer than that of the second driving gear. The above structure can effectively reduce the rotation speed at the second driving part, and the robot arm can be easier to control.

[0068] And the output rate of the output end of the motor decreases, but the rotation speed of the shaft 7 remains stable, and the power generation efficiency between the disc rotor 6 and the power generation stator 51 can remain stable, which is conducive to energy recovery.

[0069] Combined with reference Figure 1 Both ends of the connecting shaft 9 are provided with mounting joints 91 for connecting to the motor body 1 ; the connecting shaft 9 is provided with a power storage unit 92 toward the mounting joint 91 , and the power storage unit 92 is electrically connected to the generating coil 52 .

[0070] Both ends of the connecting shaft 9 can be provided with mounting joints 91 for connecting to the motor body 1. The mounting joints 91 can be connected to the rear cover 13 or the second driving part of the motor body 1 as needed, which can make the robot arm easier to control. A power storage unit 92 is provided in the connecting shaft 9. The induced electricity generated by the generating coil 52 can be pre-stored in the power storage unit 92 through the rear cover 13. The electricity in the power storage unit 92 is preferentially supplied to the motor body 1 that is not rotating and is on standby, which can ensure the working stability of the entire robot arm and avoid damage to components in the robot arm due to charging and using electricity at the same time.

[0071] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that if there are terms such as "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and should not be construed as a limitation of this patent. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0072] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A reversibly chargeable robot multi-degree-of-freedom joint motor, characterized in that: It comprises a motor body and a connecting shaft body, wherein at least two connecting shaft bodies are provided, one end of the motor body is connected to one connecting shaft body, and the other end is drivingly connected to the other connecting shaft body; The motor body includes a shell, a battery core assembly, and a PCB board. The shell is provided with an installation cavity with an opening. The PCB board is connected to the bottom of the installation cavity. The battery core assembly is connected to the installation cavity. The battery core assembly is provided with a power generation stator, a disc rotor, and a motor stator in sequence along the direction from the bottom of the installation cavity to the opening. The disc rotor is coaxially provided with a rotating shaft. One end of the rotating shaft is passed through the power generation stator and connected to the PCB board, and the other end is passed through the motor stator and connected to the opening of the installation cavity. The power generation stator is provided with a power generation coil facing the disc rotor. A PCB mounting frame and a rear cover are provided at the bottom of the housing relative to the mounting cavity; a mounting groove is provided on the end face of the PCB mounting frame facing away from the battery cell assembly; the rotating shaft passes through the mounting groove and is provided with an adjusting gear relative to the mounting groove; at least two positioning gears are provided in the mounting groove facing the adjusting gear; the PCB board is sealed in the mounting groove; an angle detection unit is provided on the PCB board facing the positioning gear; and the rear cover is connected to the PCB mounting frame and wrapped around the PCB board.

2. A reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 1, characterized in that: The disc rotor is provided with a connecting frame and a rotor permanent magnet facing the power generation coil, the connecting frame is coaxially connected to the rotating shaft, and the rotor permanent magnet is circumferentially arrayed on the connecting frame; The motor stator is provided with a stator coil facing the rotor permanent magnet.

3. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 1, characterized in that: The disc rotor comprises a rotor mounting frame made of magnetic isolation material, a plurality of first permanent magnets are connected to one end of the rotor mounting frame facing the power generation coil, and a rotor coil is connected to one end of the rotor mounting frame facing away from the rotor coil; The motor stator is provided with a plurality of second permanent magnets facing the rotor coil.

4. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 3, characterized in that: The rotor mounting frame includes a fixing portion connected to the rotating shaft, a fixing portion is provided with a mounting sleeve on the end surface facing the power generation coil, one end of the mounting sleeve is connected to the outer periphery of the fixing portion, and the other end is slidably connected to the inner wall of the shell, and a plurality of the first permanent magnets are circumferentially arrayed on the mounting sleeve; The bottom of the mounting sleeve and one end of the fixing portion facing away from the power generation coil are clamped together to form a mounting portion, and the rotor coil is inserted through the mounting portion.

5. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 1, characterized in that: The motor stator is coaxially provided with a connection portion relative to the rotating shaft, the rotating shaft is provided with a first driving gear toward the connection portion, the end of the first driving gear away from the disc rotor is connected with a connecting sleeve, the connecting sleeve is slidably connected to the rotating shaft, the inner wall of the connecting sleeve is provided with a first reduction rack toward the first driving gear, the connecting sleeve is rotatably connected with a plurality of first transmission gears toward the end surface of the first driving gear, one end of the first transmission gear is connected to the first driving gear, and the other end is connected to the first reduction rack; A first driving part is arranged at one end of the connecting sleeve away from the disc rotor.

6. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 5, characterized in that: The shell is provided with a protective cover at the opening relative to the installation cavity. The protective cover surrounds the end of the motor stator away from the disc rotor and is provided with a through hole coaxially relative to the first driving part. The diameter of the through hole is larger than the first driving part.

7. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 6, characterized in that: A guide portion is disposed on the end surface of the through hole away from the first driving portion, and the aperture of the guide portion gradually increases in a direction away from the first driving portion.

8. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 7, characterized in that: A driving sleeve is slidably connected in the protective sleeve, the driving sleeve is provided with a connecting piece facing the first driving part, a second driving gear is provided on the outer periphery of the connecting piece facing the inner wall of the driving sleeve, and the connecting piece is connected to the connecting sleeve; The inner wall of the driving sleeve is provided with a second reduction rack toward the second driving gear, and the end surface of the driving sleeve toward the connecting sleeve is rotatably connected to a plurality of second transmission gears, one end of the second transmission gear is connected to the second driving gear, and the other end is connected to the second reduction rack; The end of the driving sleeve facing away from the disc rotor is provided with a second driving part opposite to the through hole.

9. The reversibly chargeable robot multi-degree-of-freedom joint motor according to claim 1, characterized in that: Both ends of the connecting shaft are provided with mounting joints for connecting to the motor body; The connecting shaft is provided with an electricity storage unit toward the mounting joint, and the electricity storage unit is electrically connected to the generating coil.

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