Motor device, robot arm and robot

Abstract

The invention discloses a motor device, a robot arm and a robot. The motor device comprises a shell and a motor assembly. The shell comprises an inner cylinder, an outer cylinder and a connecting plate, the motor assembly and the inner cylinder are both located in the outer cylinder, and the connecting plate is connected with the inner cylinder and the outer cylinder; the motor assembly comprises an output shaft which is rotatably arranged in the inner cylinder; the stator is arranged outside the inner cylinder; the rotor is connected with the output shaft and surrounds the stator; the position sensor is located at a position corresponding to the output shaft; the position sensor and the stator are located on the two sides of the connecting plate respectively. The output shaft is located in the inner cylinder, the stator is located outside the inner cylinder, and the rotor is located between the stator and the outer cylinder. The stator is arranged around the inner cylinder, and the rotor is arranged around the stator. In the limited space of the outer cylinder, the size of the stator is maximized by arranging the inner cylinder, so that the motor device obtains larger output torque and efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to an electric motor device, a robotic arm, and a robot. Background Technology

[0002] Motors are widely used in robotic arms and robots, for example, to drive limb rotation. The motors in robotic arms and robots need to have high output torque and small size.

[0003] In the existing technology, it is difficult for motor devices to achieve both high output torque and small size.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a motor device, a robotic arm and a robot in view of the above-mentioned defects of the prior art, so as to solve the problem that the motor device in the prior art is difficult to achieve both high output torque and small size.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A motor device includes: a housing and a motor assembly; wherein the housing includes: an inner cylinder, an outer cylinder, and a connecting plate, the motor assembly and the inner cylinder are both located inside the outer cylinder, and the connecting plate connects the inner cylinder and the outer cylinder; the motor assembly includes: The output shaft is rotatably mounted inside the inner cylinder; The stator is disposed outside the inner cylinder; The rotor is connected to the output shaft and surrounds the stator; A position sensor is located at the position corresponding to the output shaft; The position sensor and the stator are located on opposite sides of the connecting plate.

[0007] The motor device, wherein the stator comprises: Iron core; The winding coil is wound around the iron core; The rotor includes: The housing is connected to the output shaft; The first magnet is located inside the outer casing.

[0008] The motor device, wherein the position sensor includes: A second magnet is disposed on the output shaft; A magnetic encoder, corresponding to the position of the second magnet.

[0009] The motor device further includes: The circuit board is electrically connected to the winding coil; The magnetic encoder is mounted on the circuit board.

[0010] The motor device further includes, in the case of the housing, an auxiliary cylinder disposed outside the outer cylinder; the motor device also includes: A multi-stage deceleration assembly is located inside the auxiliary cylinder; The transmission components are connected to the output shaft and the multi-stage reduction assembly, respectively.

[0011] The motor device, wherein an internal gear ring is formed within the auxiliary cylinder; the multi-stage reduction assembly includes: a first-stage planetary reduction assembly and a second-stage planetary reduction assembly; both the first-stage and second-stage planetary reduction assemblies include: Sun gear, planetary gears, and planet carrier; The sun gear meshes with the planetary gear; The planetary gear is rotatably mounted on the planet carrier; The planetary gear meshes with the gear ring; The planet carrier of the first-stage planetary reduction assembly is connected to the sun gear of the second-stage planetary reduction assembly.

[0012] The motor device, wherein the transmission component includes: At least two gears; The first of the at least two gears is disposed on the output shaft; Two adjacent gears mesh with each other; The last of the at least two gears is connected to the sun gear of the first-stage planetary reduction assembly.

[0013] In the aforementioned motor device, the rotational speed of the first gear is greater than the rotational speed of the last gear.

[0014] A robotic arm, comprising: a motor device as described in any of the above.

[0015] A robot comprising: a motor device as described in any of the preceding claims, or a robotic arm as described above.

[0016] Beneficial effects: The output shaft is located inside the inner cylinder, the stator is located outside the inner cylinder, and the rotor is located between the stator and the outer cylinder. The stator is arranged around the inner cylinder, and the rotor is arranged around the stator. Within the limited space of the outer cylinder, the stator size is maximized by configuring the inner cylinder, enabling the motor to achieve greater output torque and efficiency. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the motor device in an embodiment of the present invention.

[0018] Figure 2 This is an exploded view of the motor device in an embodiment of the present invention.

[0019] Figure 3 This is a top view of the motor device in an embodiment of the present invention.

[0020] Figure 4 yes Figure 3 Sectional view along line A.

[0021] Figure 5 yes Figure 4 Exploded view of the motor unit.

[0022] Figure 6 This is a cross-sectional view of the housing in an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the stator structure in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of the rotor structure in an embodiment of the present invention.

[0025] Figure 9 This is a functional principle block diagram of the motor device in an embodiment of the present invention.

[0026] Figure 10 This is a schematic diagram of the structure of the robotic arm in an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of the robot in an embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures: 10. Shell; 11. Inner cylinder; 111. Small hole; 112. First large hole; 113. Second large hole; 12. Outer cylinder; 13. Connecting plate; 131. Conical part; 132. Flat part; 14. Auxiliary cylinder; 141. Internal gear ring; 20. Motor assembly; 21. Output shaft; 22. Stator; 23. Rotor; 231. Housing; 232. First magnet; 24. Position sensor; 241. Second magnet; 242. Magnetic encoder; 30. Circuit board; 40. Multi-stage reduction gear assembly; 41. Single-stage planetary reduction gear assembly; 42. Two-stage planetary reduction gear assembly; 401. Sun gear; 402. Planetary gear; 403. Planet carrier; 43. Flange shaft; 44. Flange; 50. Transmission assembly; 51. First gear; 52. Last gear; 53. Third gear; 54. Drive shaft; 55. Gear shaft; 61. First bearing; 62. Second bearing; 63. Third bearing; 64. Fourth bearing; 65. Fifth bearing; 66. Sixth bearing; 67. Seventh bearing; 68. Eighth bearing; 69. Ninth bearing. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention 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 merely illustrative of the invention and are not intended to limit the invention.

[0030] Please also refer to Figures 1-10 The present invention provides some embodiments of an electric motor device.

[0031] like Figure 1 , Figure 4 and Figure 6 As shown, the motor device of the present invention includes: a housing 10 and a motor assembly 20; the housing 10 includes: an inner cylinder 11, an outer cylinder 12 and a connecting plate 13, the motor assembly 20 and the inner cylinder 11 are both located inside the outer cylinder 12, and the connecting plate 13 connects the inner cylinder 11 and the outer cylinder 12; the motor assembly 20 includes: The output shaft 21 is rotatably mounted inside the inner cylinder 11; Stator 22 is disposed outside the inner cylinder 11; The rotor 23 is connected to the output shaft 21 and surrounds the stator 22; Position sensor 24 is located at the corresponding position of the output shaft 21; The position sensor 24 and the stator 22 are located on both sides of the connecting plate 13, respectively.

[0032] Specifically, the housing 10 has an inner cylinder 11 and an outer cylinder 12, which are connected by a connecting plate 13. The components of the motor assembly 20 are distributed within the inner cylinder 11 and between the inner cylinder 11 and the outer cylinder 12. The output shaft 21 is located inside the inner cylinder 11, the stator 22 is located outside the inner cylinder 11, and the rotor 23 is located between the stator 22 and the outer cylinder 12. The stator 22 is arranged around the inner cylinder 11, and the rotor 23 is arranged around the stator 22. The position sensor 24 is located outside the connecting plate 13 and at a position corresponding to the output shaft 21, detecting the rotational position of the output shaft 21. Within the limited space of the outer cylinder 12, by maximizing the size of the stator 22 within the inner cylinder 11, the motor assembly achieves greater output torque and efficiency.

[0033] A first bearing 61 is installed inside the inner cylinder 11, and the inner ring of the first bearing 61 is connected to the output shaft 21. A stepped hole is formed inside the inner cylinder 11, which includes a small hole 111 and a first large hole 112. The first large hole 112 is located at the end of the small hole 111 facing the top of the rotor 23, and the first bearing 61 is located inside the first large hole 112. A second large hole 113 is formed at the end of the small hole 111 away from the top of the rotor 23, and a second bearing 62 is installed inside the second large hole 113. The inner ring of the second bearing 62 is connected to the output shaft 21. The inner side of the top of the rotor 23 abuts against the inner ring of the first bearing 61. A third bearing 63 is installed on the outer cylinder 12, and the inner ring of the third bearing 63 is connected to the output shaft 21. The inner ring of the third bearing 63 abuts against the outer side of the top of the rotor 23.

[0034] The connecting plate 13 includes a tapered portion 131 and a flat plate portion 132. The tapered portion 131 is connected to the inner cylinder 11 and supports the stator 22. The flat plate portion 132 is connected to both the tapered portion 131 and the outer cylinder 12. There is a gap between the stator 22 and the flat plate portion 132, and there is also a gap between the rotor 23 and the flat plate portion 132.

[0035] In a preferred implementation of this invention, such as Figure 2 and Figure 7 As shown, the stator 22 includes: Iron core; The winding coil is wound around the iron core.

[0036] Specifically, there are multiple iron cores, which are arranged around the outer side of the inner cylinder 11 and supported by the tapered portion 131. The winding coils are wound around the iron cores. The winding coils can be electrically connected to the position sensor 24. When the winding coils are energized, a rotating magnetic field is formed at the iron cores, which drives the rotor 23 to rotate.

[0037] In a preferred implementation of this invention, such as Figure 5 and Figure 8 As shown, the rotor 23 includes: The outer casing 231 is connected to the output shaft 21; The first magnet 232 is located inside the outer casing 231.

[0038] Specifically, the outer casing 231 covers the stator 22 and the inner cylinder 11. There are multiple first magnets 232, which are arranged circumferentially on the inner side of the outer casing 231. The first magnets 232 move under the rotating magnetic field and drive the outer casing 231 and the output shaft 21 to rotate.

[0039] In a preferred implementation of this invention, such as Figures 2-5 As shown, the position sensor 24 includes: The second magnet 241 is disposed on the output shaft 21; The magnetic encoder 242 corresponds to the position of the second magnet 241.

[0040] Specifically, a second magnet 241 is provided at the end of the output shaft 21. When the output shaft 21 rotates, it drives the second magnet 241 to rotate, which is detected by the magnetic encoder 242, thereby determining the rotation status of the output shaft 21. The second magnet 241 is located at the position corresponding to the second large hole 113, and the magnetic encoder 242 is located at the position corresponding to the tapered portion 131. The tapered portion 131 expands the space of the second large hole 113, which is sufficient to accommodate the magnetic encoder 242.

[0041] In a preferred implementation of this invention, such as Figures 2-5 As shown, the motor device further includes: Circuit board 30 is electrically connected to the winding coil; The magnetic encoder 242 is disposed on the circuit board 30.

[0042] Specifically, circuit board 30 is electrically connected to the winding coil and magnetic encoder 242, respectively. Power is supplied to the winding coil and magnetic encoder 242 through circuit board 30.

[0043] In a preferred implementation of this invention, such as Figures 4-6 As shown, the housing 10 further includes: an auxiliary cylinder 14, disposed outside the outer cylinder 12; the motor device further includes: A multi-stage deceleration assembly 40 is located inside the auxiliary cylinder 14; The transmission assembly 50 is connected to the output shaft 21 and the multi-stage reduction assembly 40, respectively.

[0044] Specifically, the auxiliary cylinder 14 is located outside the outer cylinder 12, and a multi-stage reduction gear assembly 40 is installed inside the auxiliary cylinder 14. The transmission assembly 50 realizes the power transmission between the output shaft 21 and the multi-stage reduction gear assembly 40. The multi-stage reduction gear assembly 40 has a multi-stage reduction function, reducing the rotation of the output shaft 21 and increasing the output torque.

[0045] In a preferred implementation of this invention, such as Figures 4-6 and Figure 9 As shown, an internal gear ring 141 is formed inside the auxiliary cylinder 14; the multi-stage reduction assembly 40 includes: a first-stage planetary reduction assembly 41 and a second-stage planetary reduction assembly 42.

[0046] Specifically, an internal gear ring 141 is formed inside the auxiliary cylinder 14, and the internal gear ring 141 is formed on the inner wall of the auxiliary cylinder 14. The multi-stage reduction assembly 40 adopts a two-stage planetary reduction assembly, namely a first-stage planetary reduction assembly 41 and a second-stage planetary reduction assembly 42, which share a single internal gear ring 141.

[0047] In a preferred implementation of this invention, such as Figures 4-6 As shown, both the first-stage planetary deceleration assembly 41 and the second-stage planetary deceleration assembly 42 include: Sun gear 401, planetary gear 402 and planet carrier 403; The sun gear 401 meshes with the planetary gear 402; the planetary gear 402 is rotatably mounted on the planet carrier 403; the planetary gear 402 meshes with the ring gear; and the planet carrier 403 of the first-stage planetary reduction assembly 41 is connected to the sun gear 401 of the second-stage planetary reduction assembly 42.

[0048] Specifically, the planetary reduction assembly includes a sun gear 401, planet gears 402, and a planet carrier 403. There are multiple planet gears 402, which surround the sun gear 401. The planet gears 402 mesh with the sun gear 401 and the internal gear ring 141, respectively. The planet gears 402 rotate relative to the planet carrier 403. The sun gear 401 of the first-stage planetary reduction assembly 41 is connected to the transmission assembly 50. The planet carrier 403 of the first-stage planetary reduction assembly 41 is connected to the sun gear 401 of the second-stage planetary reduction assembly 42. The planet carrier 403 of the second-stage planetary reduction assembly 42 is connected to a flange shaft 43, which is connected to a flange 44. A fourth bearing 64 and a fifth bearing 65 are disposed outside the flange shaft 43, enabling the flange shaft 43 to rotate with the auxiliary cylinder 14.

[0049] In a preferred implementation of this invention, such as Figures 2-5 and Figure 9 As shown, the transmission assembly 50 includes: At least two gears; The first gear 51 of the at least two gears is disposed on the output shaft 21; adjacent gears mesh with each other; the last gear 52 of the at least two gears is connected to the sun gear 401 of the first-stage planetary reduction assembly 41.

[0050] Specifically, the transmission assembly 50 has at least two gears. The first gear 51 of the at least two gears is connected to the output shaft 21, and the last gear 52 of the at least two gears is connected to the multi-stage reduction assembly 40. Specifically, the last gear 52 is connected to the sun gear 401 of the first-stage planetary reduction assembly 41. The last gear 52 is connected to the sun gear 401 of the first-stage planetary reduction assembly 41 via the transmission shaft 54. The auxiliary cylinder 14 is equipped with a sixth bearing 66 and a seventh bearing 67. The inner rings of the sixth bearing 66 and the seventh bearing 67 are respectively connected to the transmission shaft 54, realizing the rotational connection between the transmission shaft 54 ​​and the auxiliary cylinder 14.

[0051] In a preferred embodiment of the present invention, the rotational speed of the first gear 51 is greater than the rotational speed of the last gear 52.

[0052] Specifically, if the rotational speed of the first gear 51 is greater than that of the last gear 52, then the rotational speed will decrease.

[0053] In a preferred implementation of this invention, such as Figures 2-5 and Figure 9 As shown, the transmission assembly 50 has three gears, with a third gear 53 between the first gear 51 and the last gear 52. The first gear 51 meshes with the third gear 53, and the third gear 53 meshes with the last gear 52.

[0054] Specifically, the third gear 53 is a double-layer gear. The double-layer gear includes a first layer gear and a second layer gear. The number of teeth on the first layer gear is different from the number of teeth on the second layer gear. The first layer gear and the second layer gear are coaxially arranged. The first layer gear meshes with the first gear 51, and the second layer gear meshes with the last gear 52. The third gear is equipped with a gear shaft 55. An eighth bearing 68 is mounted on the outer cylinder 12, and a ninth bearing 69 is mounted on the auxiliary cylinder 14. The inner rings of the eighth bearing 68 and the ninth bearing 69 are respectively connected to the gear shaft 55, realizing a rotatable connection between the gear shaft 55 and the auxiliary cylinder 14.

[0055] Based on the motor device described in any of the above embodiments, the present invention also provides an embodiment of a robotic arm.

[0056] The robotic hand of the present invention includes a motor device as described in any of the above embodiments. The robotic hand can be a single-finger robotic hand or a multi-finger robotic hand, such as a two-finger robotic hand or a three-finger robotic hand. The robotic hand can perform tasks such as grasping or moving objects, operating tools, and displaying different gestures. Figure 10 The robotic hand has five fingers, any one of which can be powered by the motor device described in any of the above embodiments. For example, the index finger, middle finger, ring finger, and little finger can be powered by the motor device described in any of the above embodiments.

[0057] Based on the motor device or robotic arm described in any of the above embodiments, the present invention also provides an embodiment of a robot.

[0058] The robot of this invention includes: a motor device as described in any of the above embodiments, or a robotic arm as described in any of the above embodiments. The robot can be a special robot, a wheeled robot, a legged robot, a crawler robot, a squirming robot, a flying robot, a floating robot, a diving robot, a ground robot, an underground robot, a space robot, a SCARA robot, a parallel robot, a master-slave robot, a collaborative robot, etc. The robot can be a single-armed robot or a multi-armed robot. Figure 11 It is a wheeled robot with bionic dual arms, wherein either bionic arm can be a robotic hand or a motor device as described in any of the above embodiments.

[0059] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A motor device, comprising: A housing and a motor assembly; characterized in that the housing comprises: an inner cylinder, an outer cylinder, and a connecting plate, wherein the motor assembly and the inner cylinder are both located within the outer cylinder, and the connecting plate connects the inner cylinder and the outer cylinder; the motor assembly comprises: The output shaft is rotatably mounted inside the inner cylinder; The stator is disposed outside the inner cylinder; The rotor is connected to the output shaft and surrounds the stator; A position sensor is located at the position corresponding to the output shaft; The position sensor and the stator are located on opposite sides of the connecting plate.

2. The motor device according to claim 1, characterized in that, The stator includes: Iron core; The winding coil is wound around the iron core; The rotor includes: The housing is connected to the output shaft; The first magnet is located inside the outer casing.

3. The motor device according to claim 2, characterized in that, The position sensor includes: A second magnet is disposed on the output shaft; A magnetic encoder, corresponding to the position of the second magnet.

4. The motor device according to claim 3, characterized in that, The motor device also includes: The circuit board is electrically connected to the winding coil; The magnetic encoder is mounted on the circuit board.

5. The motor device according to any one of claims 1 to 4, characterized in that, The housing further includes: an auxiliary cylinder disposed outside the outer cylinder; the motor device further includes: A multi-stage deceleration assembly is located inside the auxiliary cylinder; The transmission components are connected to the output shaft and the multi-stage reduction assembly, respectively.

6. The motor device according to claim 5, characterized in that, An internal gear ring is formed inside the auxiliary cylinder; The multi-stage reduction assembly includes: a first-stage planetary reduction assembly and a second-stage planetary reduction assembly; both the first-stage and second-stage planetary reduction assemblies include: Sun gear, planetary gears, and planet carrier; The sun gear meshes with the planetary gear; The planetary gear is rotatably mounted on the planet carrier; The planetary gear meshes with the gear ring; The planet carrier of the first-stage planetary reduction assembly is connected to the sun gear of the second-stage planetary reduction assembly.

7. The motor device according to claim 6, characterized in that, The transmission assembly includes: At least two gears; The first of the at least two gears is disposed on the output shaft; Two adjacent gears mesh with each other; The last of the at least two gears is connected to the sun gear of the first-stage planetary reduction assembly.

8. The motor device according to claim 7, characterized in that, The first gear rotates at a speed greater than the last ...

9. A robotic arm, characterized in that, include: The motor device as described in any one of claims 1 to 8.

10. A robot, characterized in that, include: The motor device as described in any one of claims 1 to 8, or the robotic arm as described in claim 9.

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