Torque motor with multiple coaxial rotating shafts and robot

Abstract

The invention relates to the technical field of torque motors, in particular to a torque motor with multiple coaxial rotating shafts and a robot. The torque motor with multiple coaxial rotating shafts comprises a base, and a first cylindrical motor, a second cylindrical motor and a third cylindrical motor which are arranged on the base, the third cylindrical motor is sleeved with the first cylindrical motor. The second motor sleeves the first cylindrical motor; and the output shafts of the first cylindrical motor, the second cylindrical motor and the third cylindrical motor are arranged on the same side. And a plurality of motors are coaxially arranged together, so that the size of the whole motor is reduced, and the motor is suitable for more use environments. The first cylindrical motor, the second cylindrical motor and the third cylindrical motor are coaxially arranged, so that debugging is easier, errors are small, response is more timely, and debugging is more convenient.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of torque motor, in particular to a multi-rotary shaft coaxial torque motor and robot. BACKGROUND

[0002] In modern manufacturing industry, such as high-end robot, industrial robot, precision assembly line and automatic detection equipment, the motion flexibility and spatial positioning accuracy of the actuator are required. Although the traditional single shaft is mature, when dealing with complex multi-axis problems, it often needs to be combined in series through multiple motors and complex mechanical transmission mechanism. This multi-stage transmission structure has the following defects: 1. Large volume, large space occupation, difficult to apply in space limited occasions. 2. Multiple motors are set separately, which is easy to cause cumulative error and difficult to debug.

[0003] For example, the patent application number: CN202221906135.0 discloses a six-joint industrial robot servo motor arrangement structure. In order to realize some actions, multiple motors are used, which has the above problems. SUMMARY

[0004] Therefore, the present application aims at the defects of the prior art, and the main purpose is to provide a multi-rotary shaft coaxial torque motor, which has multiple motors arranged coaxially, smaller volume and lower debugging difficulty, thereby overcoming the shortcomings of the prior art.

[0005] To achieve the above purpose, the technical scheme is as follows: The present application provides a multi-rotary shaft coaxial torque motor, which comprises a base, a first cylindrical motor, a second cylindrical motor and a third cylindrical motor arranged on the base; the first cylindrical motor is sleeved on the third cylindrical motor; the second motor is sleeved on the first cylindrical motor; the output shafts of the first cylindrical motor, the second cylindrical motor and the third cylindrical motor are on the same side.

[0006] Preferably, the first cylindrical motor comprises a first rotor, a first stator and a first output shaft, the first rotor is sleeved on the first stator; the first output shaft is arranged on the first rotor; The second cylindrical motor comprises a second stator mounting seat, a second rotor, a second stator and a second output shaft; the second rotor is sleeved on the second stator, the second stator is arranged on the second stator mounting seat; the second output shaft is arranged on the second rotor; the first rotor and the first stator are arranged in the second stator mounting seat; The third cylindrical motor comprises a third rotor, a third stator and a third output shaft; the third stator is sleeved on the third rotor; the third stator is arranged on the second stator mounting seat; the third output shaft is arranged on the third rotor; The rotation gap is left between the first output shaft and the second output shaft, and between the first output shaft and the third output shaft.

[0007] Preferably, the first stator comprises a first silicon steel sheet mounting seat and a first silicon steel sheet arranged on the first silicon steel sheet mounting seat. The first rotor comprises a first magnetic yoke, a first magnet, a first output shaft and a first bearing pressing ring. The first magnet and the first output shaft are arranged on the first magnetic yoke. A first bearing is arranged between the first stator and the first rotor. The first bearing is pressed by the first bearing pressing ring.

[0008] Preferably, a mounting groove is arranged in the second stator mounting seat. A first encoder reader is arranged on a first encoder reader seat in the mounting groove. A first grating glass is arranged on the first bearing pressing ring. The first encoder reader faces the first grating glass.

[0009] Preferably, the second stator comprises a second rotating shaft silicon steel sheet. The second rotating shaft silicon steel sheet is arranged on the second stator mounting seat. The second rotor comprises a second magnetic yoke, a second magnet, a second output shaft and a second bearing pressing ring. The second magnet and the second output shaft are arranged on the second magnetic yoke. A second bearing is arranged between the second magnetic yoke and the second stator mounting seat. The second bearing is pressed by the second bearing pressing ring and the base.

[0010] Preferably, a second encoder reader is arranged on a second encoder reader seat on the base. A second grating glass is arranged on the bottom of the second magnetic yoke. The second encoder reader faces the second grating glass.

[0011] Preferably, the third stator is arranged on the second stator mounting seat. The third rotor comprises a third magnetic yoke, a third magnet, a third output shaft and a third bearing pressing ring. The third magnet and the third output shaft are arranged on the third magnetic yoke. A third bearing is arranged between the third stator and the third rotor. The third bearing is pressed by the third bearing pressing ring and the base bearing pressing ring.

[0012] Preferably, a third grating glass is arranged on a first mounting portion on the third magnetic yoke. A third encoder reader seat is arranged on the first stator. A third encoder reader is arranged on the third encoder reader seat. The third encoder reader faces the third grating glass.

[0013] Preferably, a stepped structure is arranged on the top of the base. The stepped structure supports the second stator mounting seat and the third stator.

[0014] The application provides a robot comprising the multi-rotating shaft coaxial torque motor. The output shaft of the multi-rotating shaft coaxial torque motor is connected with a speed reducer.

[0015] Compared with the prior art, the present application has obvious advantages and beneficial effects, specifically, when the first cylindrical motor, the second cylindrical motor and the third cylindrical motor are arranged on the base, the first cylindrical motor is sleeved on the third cylindrical motor, the second motor is sleeved on the first cylindrical motor, and the output shafts of the first cylindrical motor, the second cylindrical motor and the third cylindrical motor are on the same side. This design can arrange multiple motors coaxially together, reduce the volume of the entire motor, and be suitable for more use environments. The coaxial arrangement of the first cylindrical motor, the second cylindrical motor and the third cylindrical motor is easier to debug, has small error, is more timely and convenient to debug. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 is the overall schematic diagram of embodiment one of the present application.

[0017] Fig. 2 is the exploded schematic diagram of embodiment one of the present application.

[0018] Fig. 3 is the assembled state cross-sectional schematic diagram of embodiment one of the present application.

[0019] Fig. 4 is the exploded state cross-sectional schematic diagram of embodiment one of the present application.

[0020] BRIEF DESCRIPTION OF DRAWINGS: 10, base; 11, protruding part; 12, step structure; 20, first cylindrical motor; 210, first rotor; 211, first magnetic yoke; 212, first magnet; 213, first output shaft; 214, first bearing pressing ring; 215, first bearing; 216, first grating glass; 220, first stator; 221, first silicon steel sheet mounting seat; 222, first silicon steel sheet; 223, first encoder read head; 30, second cylindrical motor; 31, second stator mounting seat; 32, mounting groove; 310, second rotor; 311, second output shaft; 312, second magnetic yoke; 313, second magnet; 314, second bearing pressing ring; 315, second bearing; 316, second grating glass; 317, recessed part; 320, second stator; 321, second rotating shaft silicon steel sheet; 322, second encoder read head; 40, third cylindrical motor; 410, third rotor; 411, third magnetic yoke; 412, third magnet; 413, third output shaft; 414, third grating glass; 415, third bearing; 416, third bearing pressing ring; 417, base bearing pressing ring; 420, third stator; 421, third encoder read head. DETAILED DESCRIPTION

[0021] To further clarify the technical means and effects taken by the present application to achieve the predetermined inventive purpose, the specific embodiments, structures, features and effects thereof according to the present application are described in detail below in conjunction with the drawings and preferred embodiments.

[0022] Embodiment one Please refer to Figs. 1 to 4 The figure shows the specific structure of the preferred embodiment of the present application, which is a multi-rotating shaft coaxial torque motor Among them, the first cylindrical motor 20, the second cylindrical motor 30, and the third cylindrical motor 40 are coaxially arranged on the base 10, which can make the size of the entire torque motor smaller, suitable for more use environment. At the same time, the coaxial design also makes the error smaller, and the debugging is more convenient.

[0023] The present application provides a multi-rotating shaft coaxial torque motor, comprising a base 10, a first cylindrical motor 20, a second cylindrical motor 30, and a third cylindrical motor 40 arranged on the base 10; the first cylindrical motor 20 is sleeved on the third cylindrical motor 40; the second motor is sleeved on the first cylindrical motor 20; the output shafts of the first cylindrical motor 20, the second cylindrical motor 30, and the third cylindrical motor 40 are on the same side. The cylindrical motor (annular motor) is a special structure of DC motor, which drives the rotor by electromagnetic induction to generate a rotating magnetic field, with the characteristics of high torque density and compact size. Multiple cylindrical motors are coaxially arranged together, which can greatly reduce the size of the torque motor and be suitable for more occasions. At the same time, the output shafts of the first cylindrical motor 20, the second cylindrical motor 30, and the third cylindrical motor 40 are on the same side, which is convenient for output power. Multiple cylindrical motors are coaxial and arranged on the base 10, which can greatly reduce the cumulative error and make the debugging more convenient.

[0024] Preferably, the first cylindrical motor 20 comprises a first rotor 210, a first stator 220, and a first output shaft 213, the first rotor 210 is sleeved on the first stator 220; the first output shaft 213 is arranged on the first rotor 210. There is a rotating gap between the first rotor 210 and the first stator 220, and the first rotor 210 rotates around the first stator 220. The first output shaft 213 can be fixed on the first rotor by a screw, and the first output shaft 213 can output power of the first cylindrical motor 20.

[0025] The second cylindrical motor 30 comprises a second stator mounting base 31, a second rotor 310, a second stator 320, and a second output shaft 311; the second rotor 310 is sleeved on the second stator 320, the second stator 320 is arranged on the second stator mounting base 31; the second output shaft 311 is arranged on the second rotor 310; the first rotor 210 and the first stator 220 are arranged in the second stator mounting base 31. A rotation gap is also left between the second rotor 310 and the second stator 320, and the second rotor 310 rotates around the second stator 320. The second output shaft 311 is fixed on the second rotor 310 by means of screws, and the second output shaft 311 can output power of the second cylindrical motor 30.

[0026] The third cylindrical motor 40 comprises a third rotor 410, a third stator 420, and a third output shaft 413; the third stator 420 is sleeved on the third rotor 410; the third stator 420 is arranged on the second stator mounting base 31; the third output shaft 413 is arranged on the third rotor 410. A rotation gap is left between the third rotor 410 and the third stator 420. The third rotor 410 rotates on the inner side of the third stator 420. The third output shaft 413 is fixed on the third rotor 410 by means of screws, and the third output shaft 413 can output power of the second cylindrical motor 30. Among them, a rotation gap is left between the first output shaft 213 and the second output shaft 311, and between the first output shaft 213 and the third output shaft; a certain rotation gap is left between each stator and rotor, so that the rotor can rotate. Among them, the second stator 320 and the third stator 420 are arranged on the second stator mounting base 31, which makes the second cylindrical motor 30 and the third cylindrical motor 40 share one second stator mounting base 31 as a mounting base, and the structure is simpler. This design can reduce the cost of the torque motor, and also helps to increase the overall stability, stability and firmness.

[0027] Preferably, the first stator 220 comprises a first silicon steel sheet mounting seat 221, a first silicon steel sheet 222 arranged on the first silicon steel sheet mounting seat 221; the first rotor 210 comprises a first magnetic yoke 211, a first magnet 212, a first output shaft 213, a first bearing pressing ring 214; the first magnet 212 and the first output shaft 213 are arranged on the first magnetic yoke 211; a first bearing 215 is arranged between the first stator 220 and the first rotor 210; the first bearing pressing ring 214 presses the first bearing 215. The first bearing 215 can make the first rotor 210 rotate smoothly and stably. The first silicon steel sheet mounting seat 221, the first magnetic yoke 211, the first bearing pressing ring 214, and the second stator mounting seat 31 form a first bearing 215 groove for mounting the first bearing 215; in assembly, the first bearing 215 is mounted into the first bearing 215 groove, and the first silicon steel sheet mounting seat 221, the first magnetic yoke 211, the first bearing pressing ring 214, and the second stator mounting seat 31 jointly mount the first bearing 215. This assembly structure is very simple and efficient.

[0028] Preferably, the second stator mounting seat 31 is arranged with a mounting groove 32, and the first encoder reader 223 seat in the mounting groove 32 is arranged with a first encoder reader 223; the first bearing pressing ring 214 is arranged with a first grating glass 216; the first encoder reader 223 faces the first grating glass 216. The first grating glass 216 and the first encoder reader 223 seat can be mounted by screws. When the first rotor 210 rotates, the first encoder reader 223 and the first grating glass 216 can read the rotation parameters of the first motor. The first encoder reader 223 converts mechanical displacement into pulse signals by detecting the light transmission / occlusion change of the first grating glass 216, and real-time feedbacks the absolute or relative position of the motor rotor. The positions of the first encoder reader 223 and the first grating glass 216 are cleverly arranged, and the data is accurate.

[0029] Preferably, the second stator 320 comprises a second rotating shaft silicon steel sheet 321; the second rotating shaft silicon steel sheet 321 is arranged on a second stator mounting base 31; the second rotor 310 comprises a second magnetic yoke 312, a second magnet 313, a second output shaft 311, and a second bearing pressing ring 314; the second magnet 313 and the second output shaft 311 are arranged on the second magnetic yoke 312; a second bearing 315 is arranged between the second magnetic yoke 312 and the second stator mounting base 31; the second bearing pressing ring 314 and the base 10 press the second bearing 315. The second rotor 310 can rotate on the second stator 320. The second bearing 315 can make the second rotor 310 rotate smoothly and stably. The second magnetic yoke 312, the second stator mounting base 31, the base 10, and the second bearing pressing ring 314 form a second bearing 315 groove for mounting the second bearing 315. The second magnetic yoke 312, the second stator mounting base 31, the base 10, and the second bearing pressing ring 314 jointly mount the second bearing 315. This structural design ingeniously utilizes the structure of the second stator mounting base 31 and the base 10 to mount the second bearing 315. This structure helps reduce costs and is more compact, which is more conducive to motor miniaturization.

[0030] Preferably, a second encoder reader head 322 is arranged on the second encoder reader head 322 seat on the base 10; a second grating glass 316 is arranged on the bottom of the second magnetic yoke 312; the second encoder reader head 322 faces the second grating glass 316. The second encoder reader head 322 and the second grating glass 316 cooperate to read the relevant parameters of the second rotor 310 in real time, which is more conducive to monitoring and controlling the gap of the second cylindrical motor 30. The second grating glass 316 and the second encoder reader head 322 seat can be mounted by screws. The base 10 forms a protruding portion 11, and the second encoder reader head 322 seat is arranged on the protruding portion 11; the bottom of the second magnetic yoke 312 forms a recessed portion 317, and the second grating glass 316 is arranged in the recessed portion 317. Therefore, the positions of the second grating glass 316 and the second encoder reader head 322 are very ingenious, the assembly is very convenient, and the overall torque motor is very compact.

[0031] Preferably, the third stator 420 is arranged on the second stator mounting base 31; the third rotor 410 comprises a third magnetic yoke 411, a third magnet 412, a third output shaft 413, and a third bearing pressing ring; the third magnet 412 and the third output shaft 413 are arranged on the third magnetic yoke 411; a third bearing is arranged between the third stator 420 and the third rotor 410; the third bearing is pressed by the third bearing pressing ring and the base bearing pressing ring 417. The third magnetic yoke 411, the third bearing pressing ring, the base bearing pressing ring 417, and the base 10 form a third bearing groove for mounting the third bearing. The third bearing is arranged in the third bearing groove, and the third bearing 415 is pressed by the third bearing pressing ring 416 and the base bearing pressing ring 417. This structure makes the mounting of the third bearing very convenient and efficient.

[0032] Preferably, the first mounting portion on the third magnetic yoke 411 is provided with a third grating glass 414, and the first stator 220 is provided with a third encoder reader seat 421; the third encoder reader seat 421 is provided with a third encoder reader, and the third encoder reader faces the third grating glass 414. The third grating glass 414 and the third encoder reader can be mounted by screws. The third encoder reader and the third grating glass 414 cooperate to monitor the running parameters of the third cylindrical motor 40 in real time, which facilitates the control of the third cylindrical motor 40. The third encoder reader seat 421 is arranged on the first silicon steel sheet mounting base 221, and the first mounting portion extends from the third magnetic yoke 411. This layout makes the position of the third encoder reader seat 421 very ingenious, which helps to improve the compactness of the torque motor and facilitates the miniaturization of the motor.

[0033] Preferably, the top of the base 10 is provided with a stepped structure 12; the stepped structure 12 supports the second stator mounting base 31 and the third stator 420. The stepped structure 12 can provide support for the second stator mounting base 31 and the third stator 420, facilitate the positioning of the second stator mounting base 31 and the third stator 420, and facilitate the installation of the second bearing 315 and the third bearing. At the same time, the stepped structure 12 can provide a reference for the installation position of the entire torque motor, making the overall assembly very convenient.

[0034] The multi-rotary shaft coaxial torque motor in the application also has at least the following advantages: 1. Extremely high motion accuracy, the coaxial design integrates three rotary motions in a single unit, fundamentally eliminating the error accumulation caused by the mechanical transmission chain, so that the absolute positioning accuracy and the repeat positioning accuracy of the end are improved by orders of magnitude. 2. Excellent dynamic response performance, the coaxial structure brings extremely high torsional rigidity and structural rigidity. The motor rotor is directly coupled with the load, and the system has no flexible transmission link, so the response delay is extremely low. 3. Extremely compact, integrating three rotary degrees of freedom in a nearly cylindrical compact housing, achieving unprecedented space utilization. This greatly saves the installation space of the equipment, especially suitable for key parts such as joints and wrists with limited space. 4. Simplify mechanical design and improve reliability, the number of parts is greatly reduced, and a large number of mechanical parts such as couplings, reducers, synchronous belts and harmonic reducers are omitted. The fewer the parts, the fewer the potential failure points, and the reliability of the system is naturally greatly improved. 5. Simplify the control algorithm: ideal three-axis coaxial design can realize simultaneous motion of three rotary shafts. This means that when controlling the motion of one axis, the influence on other axes is small, thereby greatly simplifying the kinematics calculation complexity and reducing the debugging difficulty of multi-axis synchronous control. 6. Zero backlash and smooth motion: since the transmission parts such as gears with backlash are completely eliminated, there is no idle stroke in motion transmission, realizing truly "zero backlash" transmission. This is crucial for precision polishing, high-precision trajectory and other applications, and can ensure extremely smooth and continuous motion quality.

[0035] Embodiment two Embodiment two includes the multi-rotary shaft coaxial torque motor in embodiment one, and the same parts will not be repeated. The robot includes the multi-rotary shaft coaxial torque motor, and the output shaft of the multi-rotary shaft coaxial torque motor is connected with a speed reducer box. The output shaft and the speed reducer box can be connected through coupling or directly connected, so that the installation inside the robot can be adapted, the structure is more compact, and the corresponding speed is improved.

[0036] In summary, the design focus of the application is that the plurality of motors are coaxially arranged together, the volume of the entire motor is reduced, and it is suitable for more use environments. The first cylindrical motor 20, the second cylindrical motor 30 and the third cylindrical motor 40 are coaxially arranged, which is easier to debug, has small error, is more timely and convenient to debug.

[0037] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above disclosed technical content to obtain equivalent embodiments with equivalent changes, as long as the changes or modifications do not deviate from the technical solution of the present application. Any modification, change, equivalent change and modification of the above embodiments made according to the technical essence of the present application still belong to the scope of the technical solution of the present application.

Claims

1. A torque motor with multiple coaxial rotating axes, characterized in that: Includes a base (10), a first cylindrical motor (20), a second cylindrical motor (30), and a third cylindrical motor (40) mounted on the base (10); the first cylindrical motor (20) is mounted on the third cylindrical motor (40); the second motor is mounted on the first cylindrical motor (20); the output shafts of the first cylindrical motor (20), the second cylindrical motor (30), and the third cylindrical motor (40) are on the same side.

2. The multi-rotating-axis coaxial torque motor according to claim 1, characterized in that: The first cylindrical motor (20) includes a first rotor (210), a first stator (220), and a first output shaft (213), with the first rotor (210) sleeved on the first stator (220); The first output shaft (213) is mounted on the first rotor (210); The second cylindrical motor (30) includes a second stator mounting base (31), a second rotor (310), a second stator (320), and a second output shaft (311); the second rotor (310) is sleeved on the second stator (320), and the second stator (320) is mounted on the second stator mounting base (31); The second output shaft (311) is disposed on the second rotor (310); the first rotor (210) and the first stator (220) are disposed within the second stator mounting base (31); The third cylindrical motor (40) includes a third rotor (410), a third stator (420), and a third output shaft (413); the third stator (420) is sleeved on the third rotor (410); the third stator (420) is mounted on the second stator mounting base (31); the third output shaft (413) is mounted on the third rotor (410); wherein, there is a rotational clearance between the first output shaft (213) and the second output shaft (311), and between the first output shaft (213) and the third output shaft.

3. The multi-rotating-axis coaxial torque motor according to claim 2, characterized in that: The first stator (220) includes a first silicon steel sheet mounting base (221) and a first silicon steel sheet (222) disposed on the first silicon steel sheet mounting base (221); The first rotor (210) includes a first magnetic yoke (211), a first magnet (212), a first output shaft (213), and a first bearing retainer (214); the first magnet (212) and the first output shaft (213) are disposed on the first magnetic yoke (211); a first bearing (215) is disposed between the first stator (220) and the first rotor (210); the first bearing retainer (214) presses down on the first bearing (215).

4. The multi-rotating-axis coaxial torque motor according to claim 3, characterized in that: The second stator mounting base (31) is provided with a mounting groove (32), and the first encoder reading head (223) is provided on the first encoder reading head seat in the mounting groove (32); the first bearing pressure ring (214) is provided with a first grating glass (216); the first encoder reading head (223) faces the first grating glass (216).

5. The multi-rotating-axis coaxial torque motor according to claim 2, characterized in that: The second stator (320) includes a second rotating shaft silicon steel sheet (321); the second rotating shaft silicon steel sheet (321) is disposed on the second stator mounting base (31); The second rotor (310) includes a second magnetic yoke (312), a second magnet (313), a second output shaft (311), and a second bearing retainer (314); the second magnet (313) and the second output shaft (311) are disposed on the second magnetic yoke (312); a second bearing (315) is disposed between the second magnetic yoke (312) and the second stator mounting base (31); the second bearing retainer (314) and the base (10) press the second bearing (315).

6. The multi-rotating-axis coaxial torque motor according to claim 5, characterized in that: The second encoder head (322) is provided on the second encoder head holder on the base (10); the second grating glass (316) is provided at the bottom of the second magnetic yoke (312); the second encoder head (322) faces the second grating glass (316).

7. The multi-rotating-axis coaxial torque motor according to claim 2, characterized in that: The third stator (420) is disposed in the second stator mounting base (31); The third rotor (410) includes a third magnetic yoke (411), a third magnet (412), a third output shaft (413), and a third bearing retaining ring (416); the third magnet (412) and the third output shaft (413) are disposed on the third magnetic yoke (411); a third bearing (415) is disposed between the third stator (420) and the third rotor (410); the third bearing (415) is pressed by the third bearing retaining ring (416) and the base bearing retaining ring (417).

8. The multi-rotating-axis coaxial torque motor according to claim 7, characterized in that: A third grating glass (414) is provided on the first mounting part of the third magnetic yoke (411), and a third encoder read head (421) seat is provided on the first stator (220); a third encoder read head (421) is provided on the third encoder read head (421) seat, and the third encoder read head (421) faces the third grating glass (414).

9. The multi-rotating-axis coaxial torque motor according to any one of claims 2-8, characterized in that: The base (10) has a stepped structure (12) on its top; the stepped structure (12) supports the second stator mounting base (31) and the third stator (420).

10. A robot, characterized in that: The torque motor comprising the multi-rotational-axis coaxial torque motor as described in any one of claims 1-9; the output shaft of the multi-rotational-axis coaxial torque motor is connected to the gearbox.

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