Joint motor

Abstract

The invention relates to the technical field of gear motors, in particular to a joint motor which comprises a first shell, a second shell, a third shell and a fourth shell, and the first shell is internally provided with a containing cavity and is divided into a first section, a second section, a third section and a fourth section along the axis; one axial end of the second shell is fixedly arranged in the first shell, and the other end of the second shell and the inner wall of the first shell form a gap of a second section, so that the accommodating cavity is divided into an inner cavity and an outer cavity which are communicated with each other; the motor assembly comprises a rotor and a stator, the stator is fixedly arranged on the outer wall of the second shell, the rotor and the first shell are rotationally connected to the first section, and the rotor and the stator rotate relative to the third section; according to the motor and speed reducer assembly, additional connecting parts between the motor and the speed reducer in a split type layout are omitted, intermediate links are reduced, and the space occupied by installation of the motor and the speed reducer is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of geared motor technology, and in particular to a joint motor. Background Technology

[0002] In the current field of industrial transmission technology, the traditional combination of motors and reducers commonly employs either an axial series or a separate layout. While an axial series layout can ensure the continuity of power transmission to a certain extent, it requires the motor and reducer to be arranged sequentially in the axial direction, increasing the overall length. A separate layout, while offering some flexibility in installation and maintenance, requires additional connecting components between the motor and reducer to achieve power transmission. This not only adds an intermediate step but also makes the two components spatially independent yet mutually constraining, inevitably occupying a significant amount of space. This large space requirement limits the use of such equipment in compact applications. Summary of the Invention

[0003] The purpose of this invention is to provide a joint motor to solve the problem of space occupancy after the installation of the motor and reducer in the prior art.

[0004] The technical solution of the present invention is: a joint motor, comprising: a first housing having a housing chamber therein, the first housing being divided into a first section, a second section, a third section and a fourth section along an axis; The second housing has one end fixed in the first housing along the axial direction and the other end forming a gap in the second section with the inner wall of the first housing, dividing the receiving chamber into an interconnected inner chamber and an outer chamber. The motor assembly includes a rotor and a stator. The stator is fixed to the outer wall of the second housing. The rotor is rotatably connected to the first housing in a first section. The rotor and stator rotate relative to each other and are electromagnetically induced in a third section. The first reduction gear assembly is located in the inner cavity. The output end of the rotor and the input end of the first reduction gear assembly are fixed in the third section. The first reduction gear assembly and the first housing are rotatably connected in the fourth section.

[0005] Preferably, the rotor includes a first permanent magnet ring, a hub, and a drive shaft. The drive shaft extends sequentially to a first section, a second section, and a third section. The drive shaft is rotatably connected to the first housing in the first section. The drive shaft is fixedly connected to the hub in the second section. The first permanent magnet ring is fixed to the end face of the hub facing the third section. The first permanent magnet ring and the stator form a radial gap.

[0006] Preferably, the first reduction assembly includes a first planetary carrier, a first sun gear, a first ring gear, and a plurality of first planetary gears. The first ring gear is fixed to the inner wall of the second housing. The first sun gear is coaxially fixed to the drive shaft in the third section. The first planetary gears mesh between the first sun gear and the first ring gear. The first planetary gears are rotatably connected to the first planetary carrier. The first planetary gears serve as output ends and are rotatably connected to the first housing in the fourth section.

[0007] Preferably, a fifth section is provided between the third and fourth sections. The fifth section is provided with a second reduction assembly. The second reduction assembly includes a second planetary carrier, a second ring gear, a second sun gear, and a plurality of second planet gears. The second sun gear and the output end of the first reduction assembly are fixed in the fifth section. The second ring gear is axially fixed to one end of the first ring gear. The plurality of second planet gears mesh between the second sun gear and the second ring gear. The second planet gears are rotatably connected in the second planetary carrier. The second planet gears serve as an output part and are rotatably connected to the fourth section in the first housing.

[0008] Preferably, the first housing includes a first end cap, an outer cylinder, and a second end cap. Both the first end cap and the second end cap are constructed in annular shape, and the outer cylinder is constructed as a hollow cylinder. One end of the first end cap and the outer cylinder are fixed in a first section, and the drive shaft is rotatably connected to the first end cap. The other end of the second end cap and the outer cylinder are fixed in a fourth section, and the second planetary gear is rotatably connected to the second end cap.

[0009] Preferably, the first end cover is provided with a first encoder, the second end cover is provided with a second encoder, the first encoder and the second encoder are electrically connected, the end of the drive shaft is fixed with a first magnetic ring, the first magnetic ring is located below the first encoder for the first encoder to sense, the second planetary carrier is provided with a second magnetic ring, and the second magnetic ring corresponds to the second encoder.

[0010] Preferably, the inner wall of the outer cylinder is fixed with a wire groove guide rail, and the first end cap and the second end cap are both recessed to form a guide groove, forming a channel for accommodating the wire. The first encoder and the second encoder are electrically connected by wires.

[0011] Preferably, the bottom of the first encoder is provided with a brake, the drive shaft passes through the brake and extends to the bottom of the first encoder, and the brake is used to control the start, stop or deceleration of the drive shaft.

[0012] Compared with the prior art, the advantages of the present invention are: By rationally dividing the first housing into sections and using the second housing to separate the accommodating chambers, the stator of the motor assembly is connected to the second housing and the rotor in the outer chamber, while the first reduction assembly is located in the inner chamber and is connected to the rotor and the first housing for transmission. This changes the traditional layout of the motor and reducer in axial series or separate configuration. It avoids the problem of increased overall length caused by axial series configuration and eliminates the additional connecting parts between the motor and reducer in the separate configuration, reducing intermediate links and effectively reducing the space occupied by the motor and reducer installation. This greatly improves the applicability of the equipment in compact application scenarios. Attached Figure Description

[0013] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of a joint motor according to the present invention; Figure 2 This is a cross-sectional view of a joint motor according to the present invention. Figure 3 This is a schematic diagram of the structure of the motor assembly described in this invention; Figure 4 This is an exploded structural diagram of the first deceleration component and the second deceleration component described in this invention; Figure 5 This is a cross-sectional view of the first housing described in this invention; Figure 6 This is a schematic diagram of the structure of a joint motor according to Embodiment 2 of the present invention; Figure 7 This is a cross-sectional view of a joint motor according to Embodiment 2 of the present invention.

[0014] Explanation of reference numerals in the attached figures: 1. First housing; 11. Receiving chamber; 111. Inner chamber; 112. Outer chamber; 12. First end cover; 13. Outer cylinder; 14. Second end cover; 15. Wire groove guide rail; 16. Guide groove; 2. Second housing; 3. Motor assembly; 31. Rotor; 311. First permanent magnet ring; 312. Hub; 313. Drive shaft; 314. Silicon steel sheet; 32. Stator; 33. First magnetic ring; 4. First reduction assembly; 41. First planetary carrier ; 42. First sun gear; 43. First gear ring; 45. First planetary gear; 5. First encoder; 6. Third housing; 7. Second encoder; 8. Second reduction assembly; 81. Second gear ring; 82. Second planetary carrier; 83. Second sun gear; 84. Second planetary gear; 85. Second magnetic ring; 9. Brake; 100. First section; 200. Second section; 300. Third section; 400. Fourth section; 500. Fifth section. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0016] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0017] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 this invention.

[0018] Example 1:

[0019] like Figure 1 and Figure 2 As shown, a joint motor includes a first housing 1 and a second housing 2. The first housing 1 has a housing 11 inside. The second housing 2 is fixed inside the first housing 1 and divides the housing 11 radially into an inner chamber 111 and an outer chamber 112 that are interconnected. The housing 11 is provided with a motor assembly 3 and a first reduction assembly 4. The two are respectively located in the inner chamber 111 and the outer chamber 112 and are connected in drive within the inner chamber 111. The motor assembly 3 and the first reduction assembly 4 are arranged in a compact axial and radial configuration to reduce the overall size of the joint motor.

[0020] like Figure 3As shown, the motor assembly 3 includes a rotor 31 and a stator 32. The first reduction assembly 4 and part of the rotor 31 are disposed in the inner cavity 111, and the stator 32 and another part of the rotor 31 are disposed in the outer cavity 112. Specifically, the first housing 1 includes a first end cover 12, an outer cylinder 13, and a second end cover 14. The first end cover 12 and the second end cover 14 are respectively fixed to both ends of the outer cylinder 13 along the axial direction. The first end cover 12 has a first through hole, through which the rotor 31 is rotatably connected to the first end cover 12. The second end cover 14 has a second through hole, through which the output end of the reduction assembly is rotatably connected to the second end cover 14. The central axis of the first through hole and the central axis of the second through hole are both coaxial with the central axis of the reduction assembly. Preferably, the outer cylinder 13 and the second housing 2 are both constructed as hollow thin-walled cylinders. The second housing 2 is coaxially disposed with the outer cylinder 13. The first end cover 12 and the second end cover 14 are both constructed as annular to reduce the axial dimension.

[0021] Specifically, the lower end face of the second housing 2 is fixedly connected to the upper end face of the second end cover 14, so that the second through hole and the inner cavity 111 are connected. A gap is formed between the upper end face of the second housing 2 and the first end cover 12, and the inner cavity 111 and the outer cavity 112 are connected radially, so that the stator 32 extends radially from the inner cavity 111 to the outer cavity 112.

[0022] like Figure 2 As shown, to facilitate the explanation of the compactness of the joint motor structure, the joint motor is divided into four sections along the axis from top to bottom, namely the first section 100, the second section 200, the third section 300 and the fourth section 400. The first end cover 12 is located in the first section 100, the outer cylinder 13 is located in the second section 200 and the third section 300, the second housing 2 is located in the second section 200, the second end cover 14 is located in the fourth section 400, and the stator 32 is located in the first and third sections 300.

[0023] The rotor 31 includes a first permanent magnet ring 311, a hub 312, and a drive shaft 313. The drive shaft 313 is coaxially and fixedly connected to the hub 312. The hub 312 is radially formed into a disc-shaped thin-walled component. The drive shaft 313 protrudes axially relative to the hub 312. The drive shaft 313 is rotatably connected to a first through hole via a bearing. The other end of the drive shaft 313 is connected to a reduction assembly. That is, the drive shaft 313 extends from the first section 100 to the second section 200 and the third section 300. The hub 312 is located within the gap between the second housing 2 and the first end cover 12. That is, the hub 312 is located in the second section 200. The hub 312 extends from the inner chamber 111 to the outer chamber 112. The first permanent magnet ring 311 is embedded in the edge of the hub 312, with its magnetic pole face facing the second end cover 14. That is, the first permanent magnet ring 311 is located in the third section 300, and the inner wall of the first permanent magnet ring 311 forms a radial gap with the outer wall of the stator 32. Several silicon steel sheets 314 are fixed on the side of the first permanent magnet ring 311 facing the stator 32. The silicon steel sheets 314 are distributed in a circumferential array along the inner wall of the first permanent magnet ring 311 to optimize the magnetic circuit and enhance the magnetic field efficiency. The length of the drive shaft 313 is integrated into the thickness of the first end cover 12, the axial dimension of the hub 312, and the internal space of the reduction assembly. The overall layout is compact, effectively reducing the axial space occupied.

[0024] like Figure 4 As shown, the first reduction assembly 4 includes a first planetary carrier 41, a first sun gear 42, a first gear ring 43, and a plurality of first planetary gears 45. The inner wall of the first gear ring 43 is provided with internal teeth, and the outer wall of the first gear ring 43 is fixedly connected to the inner wall of the second housing 2. The first gear ring 43 is located in the third section 300. The first sun gear 42 is coaxially fixedly connected to the part of the drive shaft 313 located in the third section 300. The plurality of planetary gears are evenly meshed on the outer periphery of the first sun gear 42, and the plurality of planetary gears are all meshed with the internal teeth of the first gear ring 43. The plurality of planetary gears are all located in the third section 300.

[0025] The first planetary carrier 41 is sequentially divided into an input section, a support section, and an output section along the axial direction. The input section and the support section are located in the third section 300, and the output section is located in the fourth section 400. The input section is constructed as a flange and is rotatably connected to the drive shaft 313 via bearings. The support section has a multi-arm frame structure and forms multiple mounting holes for mounting planetary gears. The output section is constructed as a flange and is rotatably connected to the second through hole for outputting the load.

[0026] The rotor 31 and related components, the first reduction assembly 4 are compactly arranged, and the length of the drive shaft 313 is integrated into the space of multiple components, which effectively reduces the size from the axial direction, reduces the axial space occupation, makes the overall structure more compact, and is conducive to the miniaturization and lightweight design of the equipment and its installation and application in limited spaces.

[0027] like Figure 2As shown, the articulated motor, radially from the outside to the inside, consists of the outer cylinder 13 of the first housing 1, the first permanent magnet of the rotor 31, the stator 32, the first gear ring 43, and the first planetary carrier 41, thus forming a compact nested structure with outer protection, middle conversion, and core transmission. Specifically, the outer cylinder 13 constructs a rigid barrier, undertaking the functions of structural support and environmental protection; its axial partitioning synchronously constrains the radial envelope boundary of the internal components. The first permanent magnet and stator 32 in the middle layer form a radially progressive energy transfer chain; this layer, through axial dynamic layout and compression of the axial dimensions of the thin-walled hub 312, releases radial space and ensures the accuracy of the air gap magnetic field and gear meshing. The inner layer uses the planetary carrier as the power convergence point, running through the multi-level nested structure, concentrating the torque to the central axis output; its cross-section design, while axially compressing, maintains system rigidity by evenly distributing the load through the radial frame. The articulated motor achieves efficient integration at the three-dimensional scale through layer-by-layer functional focus and spatial coupling, avoiding the redundant gaps of traditional layouts, and improving power density through hierarchical division of labor.

[0028] like Figure 4 As shown, in order to increase the output torque, a fifth section 500 is provided between the third section 300 and the fourth section 400. The fifth section 500 is provided with a second reduction component 8. The input end of the second reduction component 8 is connected to the input end of the first reduction component 4, and the output end of the second reduction component 8 is rotatably connected to the second end cover 14.

[0029] The second reduction gear assembly 8 includes a second ring gear 81, a second planetary carrier 82, a second sun gear 83, and a plurality of second planetary gears 84. The second sun gear 83 is coaxially and fixedly connected to the output portion of the first planetary carrier 41. The second housing 2 extends axially to the fifth section 500; that is, the second housing 2 is located between the third section 300 and the fifth section 500. The outer wall of the second ring gear 81 is fixed to the inner wall of the second housing 2, and the second ring gear 81 is located in the fifth section 500. A plurality of second planetary gears 84 mesh with the outer peripheral side of the second sun gear 83, and a plurality of second planetary gears 84 mesh with the internal teeth of the second ring gear 81. The second planetary gears 84 are rotatably connected to the second planetary carrier 82, and the second planetary carrier 82 is rotatably connected to the second end cover 14 as the output end.

[0030] A first magnetic ring 33 is fixedly mounted on the end of the drive shaft 313 away from the second end cover 14. Preferably, the drive shaft 313 is a hollow shaft, and the first magnetic ring 33 is embedded and fixed inside the drive shaft 313. The end of the drive shaft 313 carrying the first magnetic ring 33 extends out of the first end cover 12. A first encoder 5 is fixedly mounted on the top of the first end cover 12. Preferably, the first encoder 5 is fixed to the top of the first end cover 12 by support bolts. The first magnetic ring 33 is located below the first encoder 5. The first encoder 5 senses the first magnetic ring 33 to detect the rotation speed, number of revolutions, and other states of the rotor 31. A third housing 6 is provided outside the first encoder 5. The third housing 6 is fixedly connected to the first housing 1 and is used to protect the first encoder 5.

[0031] A second encoder 7 is embedded within the first housing 1. A second magnetic ring 85 is fixed to the outer periphery of the first planetary carrier 41 and / or the second planetary carrier 82. The second encoder 7 and the second magnetic ring 85 are radially aligned. The second encoder 7 detects the rotational speed and number of revolutions of the first planetary carrier 41 and / or the second planetary carrier 82 by sensing the second magnetic ring 85. Preferably, the second magnetic ring 85 is fixed to the outer periphery of the second planetary carrier 82, and the second encoder 7 is embedded within the second end cover 14. Both the second magnetic ring 85 and the second end cover 14 are located in the fourth section 400 to detect the parameters at the output end of the second planetary carrier 82.

[0032] The first encoder 5 detects the power parameters of the rotor 31 at the input end, and the second encoder 7 detects the actual load demand of the second planetary carrier 82 at the output end, thus precisely adjusting the power input of the equipment. If the output load is too light while the input power is too high, it will cause energy waste and unnecessary wear on the equipment; conversely, if the output load is too heavy while the input power is insufficient, the equipment will struggle to operate or may even fail to function properly. By monitoring the status of the input and output ends in real time and dynamically adjusting the power input, the input power and output load are optimally matched, improving energy utilization efficiency, reducing energy consumption, and simultaneously reducing vibration and noise caused by power mismatch, thus extending the service life of the equipment.

[0033] like Figure 5 As shown, the inner wall of the outer cylinder 13 is fixed with a wire groove guide rail 15, and the first end cover 12 and the second end cover 14 are both recessed to form a guide groove 16 for accommodating wires. The first encoder 5 and the second encoder 7 are electrically connected through wires.

[0034] Example 2:

[0035] like Figure 6 and Figure 7As shown, this embodiment differs from Embodiment 1 in that a brake 9 is provided inside the third housing 6. The brake 9 is located between the first encoder 5 and the first end cover 12, and is electrically connected to the first encoder 5. The drive shaft 313 passes through the brake 9 and extends to the bottom of the first encoder 5; that is, the first magnetic ring 33 is located at the bottom of the first encoder 5. In this embodiment, the brake 9 is an electromagnetic brake 9, used to control the start, stop, or deceleration of the drive shaft 313.

[0036] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A joint motor, characterized in that, include: The first housing (1) has a built-in receiving chamber (11) and is divided along the axis into a first section (100), a second section (200), a third section (300) and a fourth section (400). The second housing (2) is fixed at one end in the first housing (1) along the axial direction, and the other end forms a gap of the second section (200) with the inner wall of the first housing (1), dividing the receiving chamber (11) into an interconnected inner chamber (111) and an outer chamber (112). The motor assembly (3) includes a rotor (31) and a stator (32). The stator (32) is fixed to the outer wall of the second housing (2). The rotor (31) is rotatably connected to the first housing (1) in the first section (100). The rotor (31) and the stator (32) rotate relative to each other and are electromagnetically induced in the third section (300). The first deceleration assembly (4) is located in the inner cavity (111). The output end of the rotor (31) and the input end of the first deceleration assembly (4) are fixed in the third section (300). The first deceleration assembly (4) and the first housing (1) are rotatably connected in the fourth section (400).

2. A joint motor according to claim 1, characterized in that: The rotor (31) includes a first permanent magnet ring (311), a hub (312) and a drive shaft (313). The drive shaft (313) extends sequentially to a first section (100), a second section (200) and a third section (300). The drive shaft (313) is rotatably connected to the first housing (1) in the first section (100). The drive shaft (313) is fixedly connected to the hub (312) in the second section (200). The first permanent magnet ring (311) is fixed on the end face of the hub (312) facing the third section (300). The first permanent magnet ring (311) and the stator (32) form a radial gap.

3. A joint motor according to claim 2, characterized in that: The first reduction assembly (4) includes a first planetary carrier (41), a first sun gear (42), a first ring gear (43), and a plurality of first planetary gears (45). The first ring gear (43) is fixed to the inner wall of the second housing (2). The first sun gear (42) is coaxially fixed to the third section (300) with the drive shaft (313). The first planetary gears (45) are meshed between the first sun gear (42) and the first ring gear (43). The first planetary gears (45) are rotatably connected to the first planetary carrier (41). The first planetary gears (45) are rotatably connected to the first housing (1) in the fourth section (400) as the output end.

4. A joint motor according to claim 2, characterized in that: A fifth section (500) is provided between the third section (300) and the fourth section (400). The fifth section (500) is provided with a second reduction assembly (8). The second reduction assembly (8) includes a second planetary carrier (82), a second ring gear (81), a second sun gear (83), and a plurality of second planet gears (84). The second sun gear (83) and the output end of the first reduction assembly (4) are fixed in the fifth section (500). The second ring gear (81) is axially fixed at one end of the first ring gear (43). A plurality of second planet gears (84) mesh between the second sun gear (83) and the second ring gear (81). The second planet gears (84) are rotatably connected in the second planetary carrier (82). The second planet gears (84) serve as an output part and are rotatably connected in the first housing (1) to the fourth section (400).

5. A joint motor according to claim 4, characterized in that: The first housing (1) includes a first end cap (12), an outer cylinder (13), and a second end cap (14). The first end cap (12) and the second end cap (14) are both constructed in annular shape. The outer cylinder (13) is constructed as a hollow cylinder. One end of the first end cap (12) and the outer cylinder (13) is fixed in the first section (100). The drive shaft (313) is rotatably connected to the first end cap (12). The other end of the second end cap (14) and the outer cylinder (13) is fixed in the fourth section (400). The second planetary gear (84) is rotatably connected to the second end cap (14).

6. A joint motor according to claim 5, characterized in that: The first end cover (12) is provided with a first encoder (5), and the second end cover (14) is provided with a second encoder (7). The first encoder (5) and the second encoder (7) are electrically connected. The end of the drive shaft (313) is fixed with a first magnetic ring (33). The first magnetic ring (33) is located below the first encoder (5) for the first encoder (5) to sense. The second planetary carrier (82) is provided with a second magnetic ring (85). The second magnetic ring (85) corresponds to the second encoder (7).

7. A joint motor according to claim 6, characterized in that: The inner wall of the outer cylinder (13) is fixed with a wire groove guide rail (15). The first end cap (12) and the second end cap (14) are both recessed to form a guide groove (16) to form a channel for accommodating wires. The first encoder (5) and the second encoder (7) are electrically connected by wires.

8. A joint motor according to claim 6, characterized in that: The first encoder (5) has a brake (9) at its bottom. The drive shaft (313) passes through the brake (9) and extends to the bottom of the first encoder (5). The brake (9) is used to control the start, stop or deceleration of the drive shaft (313).

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