A stator and motor for a robot joint motor

Abstract

The application relates to the technical field of electric machines, in particular to a stator for a robot joint electric machine and an electric machine, which comprises an electric machine shell and an electric machine end cover, and a rotating mounting mechanism, a sealing mechanism and a limiting locking mechanism are arranged between the electric machine shell and the electric machine end cover; the rotating mounting mechanism comprises a fixed ring fixedly connected to the outer wall of the electric machine shell, guide grooves are formed in the four sides of the outer wall of the fixed ring, a rotating groove is formed in the outer wall of the electric machine end cover, a rotating ring is rotationally connected to the inner wall of the rotating groove, a driven ring is fixedly connected to the outer wall of the rotating ring, guide columns are fixedly connected to the four sides of the inner wall of the driven ring, the guide columns slide in the guide grooves, and the rotating fixed mounting of the electric machine end cover is completed when the guide columns slide to the inclined positions of the guide grooves; the application can limit and fix the rotating ring, thus can make the electric machine end cover bear force uniformly and guarantee that the electric machine end cover and the electric machine shell are tightly matched.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more particularly to a stator and motor for a robot joint motor. Background Technology

[0002] With the rapid advancement of robotics technology, especially the significant breakthroughs in artificial intelligence, automation, and precision control in recent years, robots have penetrated into various fields such as industrial manufacturing, medical services, aerospace exploration, and home life. The key indicators of robots, such as motion performance, operational accuracy, and stability, have become important factors determining their practical application effectiveness. As the core component of robot motion, articulated motors play a crucial role in these indicators. Due to their small size, articulated motors consume less electricity, thus they are energy-saving motors that conserve energy.

[0003] In the prior art, the housing and end cover of the joint motor are installed and fixed by bolts. Since the bolts cannot be rotated at the same time during installation, the tightening force of each bolt is different. This will cause the end cover to be subjected to excessive or insufficient force in some areas, resulting in elastic or plastic deformation. Areas with excessive tightening force may compress and deform the end cover, which will damage the fit accuracy between it and the housing. In addition, tools are required during installation, which will take more time and affect the installation efficiency. In addition, under the action of bolt tightening force, the sealing between the surrounding shell and the end cover is good, but the tightening force between the bolts becomes smaller, resulting in poor sealing between the bolts, which affects the sealing effect of the joint motor. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of the prior art by proposing a stator and motor for a robot joint motor.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a stator and a motor for a robot joint motor, comprising a motor housing and a motor end cover, wherein a rotation mounting mechanism, a sealing mechanism and a limit locking mechanism are provided between the motor housing and the motor end cover; The rotating installation mechanism includes a fixed ring fixedly connected to the outer wall of the motor housing, with guide grooves on all four sides of the outer wall of the fixed ring. It also includes a rotating groove on the outer wall of the motor end cover, with a rotating ring rotatably connected to the inner wall of the rotating groove. A driven ring is fixedly connected to the outer wall of the rotating ring, and guide posts are fixedly connected to all four sides of the inner wall of the driven ring. The guide posts slide within the guide groove, and the rotating and fixed installation of the motor end cover is completed when the guide posts finish sliding at the inclined part of the guide groove.

[0006] Preferably, the rotating mounting mechanism further includes a telescopic groove formed on the rotating groove, a trapezoidal limiting block is slidably connected to the inner wall of the telescopic groove, and a plurality of trapezoidal blocks are fixedly connected to the inner wall of the rotating ring, the trapezoidal limiting block being engaged between the trapezoidal blocks to limit and fix the rotating ring.

[0007] Preferably, a second spring is fixedly connected to the bottom end of the trapezoidal limiting block, the second spring is fixedly connected to the telescopic groove, a movable hole is provided at one end of the telescopic groove, a movable plate is provided on the inner wall of the movable hole, the movable plate is fixedly connected to the trapezoidal limiting block, positioning grooves are provided on both sides of the inner wall of the motor housing, and positioning posts are symmetrically fixedly connected to the end of the motor end cover near the motor housing.

[0008] Preferably, the sealing mechanism includes an annular groove formed at one end of the motor housing, the inner wall of the annular groove is provided with sealing rubber, a sealing ring is fixedly connected to the outer side of the positioning post at the end of the motor end cover near the motor housing, and a gear set is provided inside the motor housing.

[0009] Preferably, the limiting locking mechanism includes four square holes passing through one side of the outer end of the annular groove. Each of the four square holes has a sliding groove on both sides of its inner wall. Each of the four sliding grooves has a slider on its inner wall. Each of the four sliders is fixedly connected to a telescopic plate. Each of the four telescopic plates has a moving groove on its outer end. Each of the four moving grooves has a telescopic column slidably disposed on its inner wall. The driven ring has a limiting groove on its inner wall, and the four telescopic columns are locked in the limiting groove.

[0010] Preferably, each of the four movable slots has a circular hole A through one end on its inner side, and each of the four telescopic columns has a first spring fixedly connected to one end on its inner side. The four first springs and the four movable slots are respectively fixedly connected.

[0011] Preferably, the annular groove has circular holes B on all four sides of one end, the motor housing has L-shaped holes on all four sides of the inside, and ropes are fixedly connected to one end of each of the four telescopic columns. The ropes pass through the circular holes A, B, and L-shaped holes respectively, and a circular plate is fixedly connected to the other end of each of the four ropes. The circular plate is in contact with the motor housing.

[0012] Preferably, the outer wall of the sealing ring has square notches on all four sides, and the four square notches are respectively set on the outer wall of the four ropes. The inner wall of the motor housing is fixedly connected to the inner side of the circular hole B and the L-shaped hole, and the four sets of fixed pulleys are respectively in contact with the four ropes.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the set rotating installation mechanism, the guide column can be slid into the guide groove first during installation. When the guide column reaches the inclined part, the driven ring is rotated. At this time, the guide column slides in the inclined part, and the motor end cover gradually moves closer to the motor housing. When the driven ring stops moving, the guide column approaches the inclined part of the guide groove, and the trapezoidal limit block is stuck between the trapezoidal blocks, thereby completing the limit and fixation of the rotating ring. Therefore, the motor end cover can be subjected to uniform force, ensuring a tight fit between the motor end cover and the motor housing. Moreover, it can save a lot of time during installation and improve installation efficiency. 2. Through the set rotation installation mechanism and sealing mechanism, the driven ring can cover the outside of the gap between the motor end cover and the motor housing, thereby completing the initial sealing operation. During installation, the sealing ring will squeeze the sealing rubber and make the sealing rubber contact the two sides of the sealing groove, which can further improve the sealing effect and prevent the gear set from rusting. 3. Through the set limit locking mechanism, the sealing ring contacts the inclined surface of the telescopic plate during installation, causing it to move outward, so that the telescopic column contacts the east ring. Due to the elasticity of the first spring, the telescopic column will move inward when it contacts the east ring. After installation, the telescopic column is locked in the limit groove, further completing the limit of the east ring, and then it can be reinforced again to ensure the installation effect. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the stator and motor for a robot joint motor according to the present invention; Figure 2 This is a separate diagram of the stator, motor housing, and motor end cover of a robot joint motor according to the present invention. Figure 3 This is another perspective view of the stator, motor housing, and motor end cap of a robot joint motor according to the present invention. Figure 4 This invention relates to a stator and motor for a robot joint motor. Figure 3 Enlarged view of the structure at point A in the middle; Figure 5 This is a cross-sectional view of the stator and motor housing of a robot joint motor according to the present invention. Figure 6 This invention relates to a stator and motor for a robot joint motor. Figure 5 Enlarged view of the structure at point B in the middle; Figure 7 This is a cross-sectional view of the stator and telescopic plate of a robot joint motor according to the present invention. Figure 8 This is a structural diagram of the stator and sealing groove of a robot joint motor according to the present invention; Figure 9This invention relates to a stator and motor for a robot joint motor. Figure 8 Enlarged view of the structure at point C; Figure 10 This is a cross-sectional view of the stator and motor end cover of a robot joint motor according to the present invention. Figure 11 This invention relates to a stator and motor for a robot joint motor. Figure 10 Enlarged view of the structure at point D; Figure 12 This invention relates to a stator and motor for a robot joint motor. Figure 10 Enlarged view of the structure at point E in the middle; Figure 13 This is a cutaway diagram of the stator, rotating ring, and driven ring of a robot joint motor according to the present invention.

[0015] In the diagram: 1. Motor housing; 2. Motor end cover; 3. Rotating ring; 4. Driven ring; 5. Circular plate; 6. Fixed ring; 7. Gear set; 8. Positioning groove; 9. Telescopic plate; 10. Telescopic column; 11. Guide groove; 12. Limiting groove; 13. Guide column; 14. Square notch; 15. Positioning column; 16. Sealing ring; 17. Sealing rubber; 18. Rope; 19. Annular groove; 20. Slider; 21. Fixed pulley block; 22. Circular hole A; 23. Moving groove; 24. First spring; 25. Square hole; 26. Slide groove; 27. Circular hole B; 28. L-shaped hole; 29. ​​Trapezoidal block; 30. Trapezoidal limiting block; 31. Moving plate; 32. Moving hole; 33. Telescopic groove; 34. Second spring; 35. Rotating groove. Detailed Implementation

[0016] The following description is intended to disclose the invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art.

[0017] like Figures 1-13The diagram illustrates a stator and motor for a robot articulated motor. This articulated motor is an energy-saving type, conserving energy. It includes a motor housing 1 and a motor end cover 2. A rotating mounting mechanism, a sealing mechanism, and a limiting locking mechanism are provided between the motor housing 1 and the motor end cover 2. The rotating mounting mechanism ensures even force distribution on the motor end cover 2 during installation, preventing excessive or insufficient force in certain areas and guaranteeing a tight fit between the motor end cover 2 and the motor housing 1. The sealing mechanism improves the sealing effect and ensures sealing quality. The limiting locking mechanism ensures a secure fit during installation. The installation process involves a limit lock, employing two limit structures to prevent loosening during accidental operation and ensure effective installation. The rotating installation mechanism includes a fixed ring 6 fixedly connected to the outer wall of the motor housing 1, with guide grooves 11 on all four sides of the outer wall of the fixed ring 6. It also includes a rotating groove 35 on the outer wall of the motor end cover 2, with a rotating ring 3 rotatably connected to the inner wall of the rotating groove 35. A driven ring 4 is fixedly connected to the outer wall of the rotating ring 3, with guide posts 13 fixedly connected to all four sides of the inner wall of the driven ring 4. The guide posts 13 slide within the guide groove 11, and the rotational fixing installation of the motor end cover 2 is completed when the guide posts 13 finish sliding at the inclined part of the guide groove 11.

[0018] like Figure 11 , Figure 12 As shown, the rotating installation mechanism also includes a telescopic groove 33 formed on the rotating groove 35. A trapezoidal limiting block 30 is slidably connected to the inner wall of the telescopic groove 33. Multiple trapezoidal blocks 29 are fixedly connected to the inner wall of the rotating ring 3. The trapezoidal limiting block 30 is engaged between the trapezoidal blocks 29 to limit and fix the rotating ring 3. The trapezoidal blocks 29 are evenly arranged on the inner wall of the rotating ring 3, so the trapezoidal limiting block 30 can be used to limit the trapezoidal blocks 29, ensuring the installation effect and improving the installation efficiency.

[0019] like Figure 2 , Figure 3 , Figure 11 , Figure 13 As shown, a second spring 34 is fixedly connected to the bottom end of the trapezoidal limiting block 30. The second spring 34 is fixedly connected to the telescopic groove 33. A moving hole 32 is provided at one end of the telescopic groove 33. A moving plate 31 is provided on the inner wall of the moving hole 32. The moving plate 31 is fixedly connected to the trapezoidal limiting block 30. Positioning grooves 8 are provided on both sides of the inner wall of the motor housing 1. Positioning pins 15 are symmetrically fixedly connected to the end of the motor end cover 2 near the motor housing 1. The positioning grooves 8 and positioning pins 15 can be used to position the motor end cover 2, which is convenient for subsequent installation. The second spring 34 can make the trapezoidal limiting block 30 automatically reset, which is convenient for limiting the rotating ring 3. When disassembly is required, the moving plate 31 is pulled down, thereby moving the trapezoidal limiting block 30 downward, releasing the limiting operation on the rotating ring 3, which is convenient for disassembly.

[0020] like Figure 2 , Figure 3 As shown, the sealing mechanism includes an annular groove 19 formed at one end of the motor housing 1. A sealing rubber 17 is provided on the inner wall of the annular groove 19. A sealing ring 16 is fixedly connected to the outer side of the positioning post 15 at the end of the motor end cover 2 near the motor housing 1. A gear set 7 is provided inside the motor housing 1. The sealing ring 16 and the sealing rubber 17 work together to achieve a seal, ensuring a good seal and preventing moisture from entering the motor. This also prevents the gear set 7 from rusting, extending its service life. The gear set 7 inside the motor is a planetary gear, thus providing a speed reduction effect during use.

[0021] like Figures 6-9 As shown, the limiting locking mechanism includes four square holes 25 passing through the outer side of one end of the annular groove 19. Each of the four square holes 25 has a sliding groove 26 on both sides of its inner wall. Each of the four sliding grooves 26 has a slider 20 on its inner wall. Each of the four sliders 20 is fixedly connected to a telescopic plate 9. Each of the four telescopic plates 9 has a moving groove 23 on its outer end. Each of the four moving grooves 23 has a telescopic post 10 slidably mounted on its inner wall. A limiting groove 12 is formed in the inner wall of the driven ring 4, and the four telescopic posts 10 are engaged within the limiting groove 12. During installation, the telescopic posts 10 are engaged within the limiting groove 12, further limiting the driven ring 4, ensuring the installation effect, and preventing loosening due to accidental operation.

[0022] like Figure 7 As shown, each of the four movable slots 23 has a circular hole A22 at one end of its inner side, and each of the four telescopic columns 10 has a first spring 24 fixedly connected to one end of its inner side. The four first springs 24 and the four movable slots 23 are respectively fixedly connected. The elasticity of the first springs 24 allows the telescopic columns 10 to move back and forth, thus facilitating subsequent limiting. Through two limiting operations, the overall installation effect is ensured.

[0023] like Figure 5 , Figure 6 , Figure 8 , Figure 9 As shown, circular holes B27 are provided on all four sides of one end of the annular groove 19, and L-shaped holes 28 are provided on all four sides of the inside of the motor housing 1. Ropes 18 are fixedly connected to one end of the inner side of each of the four telescopic columns 10. The ropes 18 pass through the circular holes A22, B27, and L-shaped holes 28 respectively. A circular plate 5 is fixedly connected to the other end of each rope 18, and the circular plate 5 is in contact with the motor housing 1. The ropes 18 can be limited by the circular holes A22, B27, and L-shaped holes 28, and the ropes 18 facilitate the disassembly of the telescopic columns 10.

[0024] like Figure 3 , Figure 6As shown, square notches 14 are provided on all four sides of the outer wall of the sealing ring 16. These four square notches 14 are respectively located on the outer walls of the four ropes 18. Fixed pulley sets 21 are fixedly connected to the inner walls of the motor housing 1, corresponding to the inner sides of the circular hole B27 and the L-shaped hole 28. The four sets of fixed pulley sets 21 are in contact with the four ropes 18 respectively. The fixed pulley sets 21 allow the ropes 18 to slide, reducing wear and extending their service life. The joint motor is small in size and is an energy-saving type, resulting in lower power consumption and thus energy savings.

[0025] Working principle: First, during installation, the positioning post 15 is inserted into the positioning groove 8. At the same time, the guide post 13 slides into the straight section of the guide groove 11. When the guide post 13 reaches the bend of the guide groove 11, the driven ring 4 starts to rotate, causing the rotating ring 3 to rotate as well. When the guide post 13 slides in the inclined section of the guide groove 11, the inclined surface of the trapezoidal block 29 contacts the inclined surface of the trapezoidal limiting block 30, thereby pressing the trapezoidal limiting block 30 downward. When the driven ring 4 stops moving, the guide post 13 is stuck in the guide groove 11, and the trapezoidal limiting block 30 is stuck between the trapezoidal blocks 29. Therefore, the trapezoidal limiting block 30 can limit the trapezoidal blocks 29, thereby ensuring that the motor end cover 2 is subjected to uniform force, ensuring a tight fit between the motor housing 1 and the motor end cover 2, and saving a lot of time and improving installation efficiency during installation. Furthermore, during installation, the sealing ring 16 is inserted into the annular groove 19, and the annular groove 19 compresses the sealing rubber 17 to deform it. This allows the sealing rubber 17 to make close contact with the inner wall of the annular groove 19, thereby achieving a sealing effect. At this time, the driven ring 4 can cover the gap between the motor housing 1 and the motor end cover 2, which can further improve the sealing performance, prevent moisture from entering, and avoid causing the gear set 7 inside the motor housing 1 to rust. Therefore, the service life of the gear set 7 can be improved. Furthermore, during installation, the circular plate 5 is moved away from the motor housing 1, and the rope 18 is taut. At this time, the sealing ring 16 contacts the inclined surface of the telescopic plate 9, causing it to move outward. Simultaneously, the square notch 14 passes through the rope 18, and the telescopic column 10 contacts the inner wall of the driven ring 4. Due to the elasticity of the first spring 24, the telescopic column 10 can move inward. When installed in place, the telescopic column 10 is locked in the limiting groove 12, completing the limiting of the driven ring 4. When disassembly is required, the circular plate 5 is pulled away from the motor housing 1, which moves the rope 18. Since the rope 18 and the telescopic column 10 are fixedly connected, the telescopic column 10 can move inward, releasing the limiting of the driven ring 4. Then, the moving plate 31 is pulled downward, moving the trapezoidal limiting block 30 downward, thereby releasing the limiting of the trapezoidal block 29. Therefore, disassembly can be done quickly, improving disassembly efficiency.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A stator and motor for a robot joint motor, comprising a motor housing (1) and a motor end cap (2), characterized in that: A rotating mounting mechanism, a sealing mechanism, and a limiting locking mechanism are provided between the motor housing (1) and the motor end cover (2); The rotating installation mechanism includes a fixed ring (6) fixedly connected to the outer wall of the motor housing (1). The fixed ring (6) has guide grooves (11) on all four sides of its outer wall. It also includes a rotating groove (35) on the outer wall of the motor end cover (2). A rotating ring (3) is rotatably connected to the inner wall of the rotating groove (35). A driven ring (4) is fixedly connected to the outer wall of the rotating ring (3). Guide posts (13) are fixedly connected to all four sides of the inner wall of the driven ring (4). The guide posts (13) slide in the guide groove (11). When the guide posts (13) finish sliding at the inclined part of the guide groove (11), the rotating and fixed installation of the motor end cover (2) is completed.

2. The stator and motor for a robot joint motor according to claim 1, characterized in that: The rotating installation mechanism also includes a telescopic groove (33) opened on the rotating groove (35). A trapezoidal limiting block (30) is slidably connected to the inner wall of the telescopic groove (33). A plurality of trapezoidal blocks (29) are fixedly connected to the inner wall of the rotating ring (3). The trapezoidal limiting block (30) is locked between the trapezoidal blocks (29) to complete the limiting and fixing of the rotating ring (3).

3. The stator and motor for a robot joint motor according to claim 2, characterized in that: The bottom end of the trapezoidal limiting block (30) is fixedly connected to a second spring (34), the second spring (34) and the telescopic groove (33) are fixedly connected, one end of the telescopic groove (33) is provided with a moving hole (32), the inner wall of the moving hole (32) is provided with a moving plate (31), the moving plate (31) and the trapezoidal limiting block (30) are fixedly connected, both sides of the inner wall of the motor housing (1) are provided with positioning grooves (8), and the end of the motor end cover (2) near the motor housing (1) is symmetrically fixedly connected with positioning columns (15).

4. The stator and motor for a robot joint motor according to claim 1, characterized in that: The sealing mechanism includes an annular groove (19) opened at one end of the motor housing (1), the inner wall of the annular groove (19) is provided with sealing rubber (17), the end of the motor end cover (2) near the motor housing (1) is fixedly connected to the outer side of the positioning post (15) with a sealing ring (16), and a gear set (7) is provided inside the motor housing (1).

5. The stator and motor for a robot joint motor according to claim 4, characterized in that: The limiting locking mechanism includes square holes (25) passing through the four sides of one end of the annular groove (19). Sliding grooves (26) are provided on both sides of the inner wall of the four square holes (25). Sliding blocks (20) are provided on the inner wall of the four sets of sliding grooves (26). Telescopic plates (9) are fixedly connected between the four sets of sliding blocks (20). Moving grooves (23) are provided on one end of the outer side of the four telescopic plates (9). Telescopic columns (10) are slidably provided on the inner wall of the four moving grooves (23). A limiting groove (12) is provided on the inner wall of the driven ring (4). The four telescopic columns (10) are locked in the limiting groove (12).

6. The stator and motor for a robot joint motor according to claim 5, characterized in that: Each of the four movable slots (23) has a circular hole A (22) through one end on its inner side, and each of the four telescopic columns (10) has a first spring (24) fixedly connected to one end on its inner side. The four first springs (24) and the four movable slots (23) are fixedly connected respectively.

7. The stator and motor for a robot joint motor according to claim 6, characterized in that: The annular groove (19) has a circular hole B (27) on all four sides of one end, and the motor housing (1) has an L-shaped hole (28) on all four sides of the inside. The four telescopic columns (10) are fixedly connected to one end of the inside with ropes (18). The ropes (18) pass through the circular hole A (22), the circular hole B (27) and the L-shaped hole (28) respectively. The other end of the four ropes (18) is fixedly connected to a circular plate (5). The circular plate (5) is in contact with the motor housing (1).

8. The stator and motor for a robot joint motor according to claim 7, characterized in that: The sealing ring (16) has square notches (14) on all four sides of its outer wall. The four square notches (14) are respectively set on the outer walls of the four ropes (18). The inner walls of the motor housing (1) are fixedly connected to the inner sides of the circular hole B (27) and the L-shaped hole (28). The four sets of fixed pulleys (21) are in contact with the four ropes (18) respectively.

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