Integrated joint motor

Abstract

The utility model discloses an integrated joint motor, which comprises a speed reducer assembly, a motor assembly, a shell and a driver assembly, the motor assembly and the driver assembly are both arranged on the shell, a center wheel is arranged in the middle of the motor assembly, a containing part is arranged on the outer side of the center wheel, the speed reducer assembly is coaxially arranged in a containing cavity and meshed with the center wheel, and the integrated joint motor is compact in structure, large in transmission ratio, large in torque output and small in mass size.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to an integrated joint motor. Background Art

[0002] The joint motor is a power device that drives the rotating equipment connected to it through the rotational motion of its output end. Generally, joint motors are widely used in robot joints. The joint motor detects the posture of external equipment through encoders and magnetic parts. The joint motor needs to ensure high torque, high precision and low weight in a limited space. The traditional servo motor assembly consists of a motor, a reducer and a controller, which has the following problems:

[0003] 1. The motor and reducer are installed axially, the axial size is too large, and the space occupancy is too large.

[0004] 2. When large torque is required, a large transmission ratio reducer is required, resulting in the overall weight not meeting the design requirements.

[0005] 3. The motor controller is external, resulting in numerous external connection cables, which is not conducive to circuit layout. Utility Model Content

[0006] In order to solve the above technical problems, the utility model provides an integrated joint motor with a large transmission ratio, a large torque output, and a small mass and volume.

[0007] The utility model adopts the following technical solutions:

[0008] An integrated joint motor includes a reducer assembly, a motor assembly, a housing and a driver assembly; the motor assembly and the driver assembly are both arranged on the housing, the motor assembly has a center wheel in the middle, the outer side of the center wheel is a receiving portion, and the reducer assembly is coaxially arranged in the receiving cavity and meshes with the center wheel.

[0009] Preferably, the driver assembly is arranged at the bottom of the housing.

[0010] Preferably, the housing comprises a protective cover and an outer shell, the protective cover is arranged on the inner wall of the outer shell, and the motor assembly is coaxially installed in the outer shell.

[0011] Preferably, the housing comprises a housing body and a first cavity and a second cavity located on both sides of the housing body, the reducer assembly and the motor assembly are located in the first cavity, and the driver assembly is located in the second cavity.

[0012] Preferably, the reducer assembly comprises a planetary wheel, a copper sleeve, a planetary gear and a ring gear, wherein the planetary wheel is coaxially mounted with the copper sleeve and meshes with the center wheel; the copper sleeve is coaxially mounted on the planetary gear; and the planetary gear meshes with the ring gear.

[0013] Preferably, the planetary wheel is fixedly connected to the planetary gear to form a double tooth.

[0014] Preferably, the reducer assembly also includes a flange bearing, an output planetary carrier, a bearing seat, a cross roller bearing, a stator support and an inner planetary carrier, the flange bearing is installed inside the output planetary carrier; the output planetary carrier is coaxially installed inside the cross roller bearing; the bearing seat is coaxially installed on the stator support; the cross roller bearing is located between the output planetary carrier and the bearing seat; the ring gear is coaxially installed on the stator support; the inner planetary carrier is coaxially installed with the output planetary carrier.

[0015] Preferably, the motor assembly further includes a stator coil, a first bearing, a rotor and a second bearing; the center wheel is coaxially mounted with the rotor, the stator coil is coaxially mounted on the rotor, and the first bearing and the second bearing are coaxially mounted on both sides of the rotor respectively.

[0016] Preferably, the driver assembly comprises a magnetic bead seat, magnetic beads and a driving plate; the magnetic beads are coaxially mounted on the magnetic bead seat.

[0017] Preferably, the center wheel of the motor assembly extends out of the stator coil by a certain distance, and the reducer assembly is engaged with the center wheel and is located above the stator coil.

[0018] Compared with the prior art, the utility model has the following advantages: the utility model provides an integrated joint motor, including a reducer assembly, a motor assembly, a housing and a driver assembly; the motor assembly and the driver assembly are both arranged on the housing, the motor assembly has a center wheel in the middle, the outer side of the center wheel is a receiving portion, the reducer assembly is coaxially arranged in the receiving portion and meshes with the center wheel, which changes the traditional axial installation method of the motor and the reducer, so that the reducer assembly is installed inside the motor assembly, reducing the installation height of the motor and the reducer, with a large transmission ratio, large torque output, and a small mass and volume. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is the overall appearance of the integrated joint motor;

[0020] Figure 2 It is a schematic diagram of the structure of each component of the integrated joint motor;

[0021] Figure 3 It is an exploded diagram of the reducer assembly structure;

[0022] Figure 4 It is an exploded diagram of the motor assembly structure;

[0023] Figure 5 It is an exploded diagram of the drive assembly structure;

[0024] Figure 6is a cross-sectional view of Example 2;

[0025] Figure 7 It is a partial structural diagram of Example 2.

[0026] In the figure, reducer assembly 1, flange bearing 1-1, output planetary carrier 1-2, bearing seat 1-3, cross roller bearing 1-4, planetary gear 1-5, copper sleeve 1-6, planetary gear 1-7, ring gear 1-8, stator support 1-9, inner planetary carrier 1-10, motor assembly 2, center wheel 2-1, stator coil 2-2, first bearing 2-3, rotor 2-4, first bearing 2-5, protective cover 3, housing 4, driver assembly 5, magnetic bead seat 5-1, magnetic bead 5-2, and drive plate 5-3. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the technical solution of the utility model, a detailed description is given below in conjunction with the accompanying drawings and specific embodiments.

[0028] Example 1

[0029] like Figure 1-5 As shown, an integrated joint motor includes a reducer assembly 1, a motor assembly 2, a shell and a driver assembly 5; the motor assembly 2 and the driver assembly 5 are both arranged on the shell, the motor assembly 2 has a center wheel 2-1 in the middle, the outer side of the center wheel 2-1 is a accommodating cavity, the reducer assembly 1 is coaxially arranged in the accommodating cavity and meshes with the center wheel 2-1, which changes the traditional axial installation method of the motor and the reducer, so that the reducer assembly 1 is installed inside the motor assembly 2, reducing the installation height of the reducer assembly 1 and the motor assembly 2, and reducing the volume of the joint.

[0030] Specifically, the shell includes a protective cover 3 and an outer shell 4, the protective cover 3 is arranged on the inner wall of the outer shell 4, the motor assembly 2 is coaxially installed in the outer shell 4, and the drive assembly 5 is arranged at the bottom of the outer shell 4; the outer shell 4 includes a outer shell body and a first cavity and a second cavity located on both sides of the outer shell body, the reducer assembly 1 and the motor assembly 2 are located in the first cavity, and the drive assembly 5 is located in the second cavity, that is, the height of the joint motor of the present application is equal to or approximate to the height of the outer shell 4.

[0031] like Figure 3As shown, in some embodiments, the reducer assembly 1 includes a flange bearing 1-1, an output planetary carrier 1-2, a bearing seat 1-3, a cross roller bearing 1-4, a planetary gear 1-5, a copper sleeve 1-6, a planetary gear 1-7, a gear ring 1-8, a stator support 1-9 and an inner planetary carrier 1-10, wherein the flange bearing 1-1 is installed inside the output planetary carrier 1-2; the output planetary carrier 1-2 is coaxially installed inside the cross roller bearing 1-4; the bearing seat 1-3 is coaxially installed on the stator support 1-9; the cross roller bearing 1-4 is between the output planetary carrier 1-2 and the bearing seat 1 -3, the planetary wheel 1-5 is coaxially installed with the copper sleeve 1-6 and meshed with the center wheel 2-1; the copper sleeve 1-6 is coaxially installed on the planetary gear 1-7; the planetary gear 1-7 is meshed with the ring gear 1-8, and the ring gear 1-8 is coaxially installed on the stator support 1-9; the inner planetary carrier 1-10 is coaxially installed with the output planetary carrier 1-2, the planetary wheel 1-5 is coaxially installed with the copper sleeve 1-6 and meshed with the center wheel 2-1; the planetary wheel 1-5 is fixedly connected with the planetary gear 1-7 to form a double tooth, that is, the planetary wheel 1-5 and the planetary gear 1-7 can rotate simultaneously.

[0032] like Figure 4 As shown, the motor assembly 2 includes a center wheel 2-1, a stator coil 2-2, a first bearing 2-3, a rotor 2-4 and a second bearing 2-5; the center wheel 2-1 is coaxially installed with the rotor 2-4, the stator coil 2-2 is coaxially installed on the rotor 2-4, and the first bearing 2-3 and the second bearing 2-5 are coaxially installed on both sides of the rotor 2-4 respectively.

[0033] like Figure 5 As shown, the driver assembly 5 includes a magnetic bead seat 5-1, a magnetic bead 5-2 and a driving board 5-3; the magnetic bead 5-2 is coaxially mounted on the magnetic bead seat 5-1, and the driving board 5-3 is an integrated controller.

[0034] Example 2

[0035] like Figure 6-7 As shown, an integrated joint motor includes a reducer assembly 1, a motor assembly 2, a shell and a driver assembly 5; the motor assembly 2 and the driver assembly 5 are both arranged on the shell, the motor assembly 2 has a center wheel 2-1 in the middle, the outer side of the center wheel 2-1 is a accommodating portion, the reducer assembly 1 is coaxially arranged in the accommodating cavity and meshes with the center wheel 2-1, which changes the traditional axial installation method of the motor and the reducer, reduces the installation height of the reducer assembly 1 and the motor assembly 2, and reduces the volume of the joint.

[0036] Specifically, the shell includes an outer shell 4, the motor assembly 2 is coaxially installed in the outer shell 4, and the drive assembly 5 is arranged at the bottom of the outer shell 4; the outer shell 4 includes a outer shell body and a first cavity and a second cavity located on both sides of the outer shell body, the reducer assembly 1 and the motor assembly 2 are located in the first cavity, and the drive assembly 5 is located in the second cavity, that is, the height of the joint motor of the present application is equal to or approximately the height of the outer shell 4.

[0037] The center wheel 2 - 1 of the motor assembly 2 extends out of the stator coil 2 - 2 by a certain distance, and the reducer assembly 1 is engaged with the center wheel 2 - 1 and is located above the stator coil 2 - 2 .

[0038] The above are only preferred embodiments of the present invention. The protection scope of the present invention shall be based on the scope defined by the claims. Several improvements and modifications made by those skilled in the art without departing from the spirit and scope of the present invention shall also be regarded as the protection scope of the present invention.

Claims

1. An integrated joint motor, characterized in that: The invention comprises a reducer assembly (1), a motor assembly (2), a housing and a driver assembly (5); the motor assembly (2) and the driver assembly (5) are both arranged on the housing, the motor assembly (2) has a central wheel (2-1) in the middle, the outer side of the central wheel (2-1) is a receiving portion, and the reducer assembly (1) is coaxially arranged in the receiving cavity and meshes with the central wheel (2-1).

2. The integrated joint motor according to claim 1, characterized in that: The driver assembly (5) is arranged at the bottom of the housing.

3. The integrated joint motor according to claim 1, characterized in that: The housing comprises a protective cover (3) and an outer shell (4); the protective cover (3) is arranged on the inner wall of the outer shell (4); and the motor assembly (2) is coaxially mounted in the outer shell (4).

4. The integrated joint motor according to claim 3, characterized in that: The housing (4) comprises a housing body and a first cavity and a second cavity located on both sides of the housing body; the reducer assembly (1) and the motor assembly (2) are located in the first cavity; and the driver assembly (5) is located in the second cavity.

5. The integrated joint motor according to claim 1, characterized in that: The reducer assembly (1) comprises a planetary wheel (1-5), a copper sleeve (1-6), a planetary gear (1-7) and a ring gear (1-8); the planetary wheel (1-5) is coaxially mounted with the copper sleeve (1-6) and meshes with the center wheel (2-1); the copper sleeve (1-6) is coaxially mounted on the planetary gear (1-7); and the planetary gear (1-7) and the ring gear (1-8) mesh with each other.

6. The integrated joint motor according to claim 5, characterized in that: The planetary wheel (1-5) is fixedly connected to the planetary gear (1-7) to form a double tooth.

7. The integrated joint motor according to claim 5, characterized in that: The reducer assembly (1) further comprises a flange bearing (1-1), an output planet carrier (1-2), a bearing seat (1-3), a cross roller bearing (1-4), a stator support (1-9) and an inner planet carrier (1-10), wherein the flange bearing (1-1) is mounted inside the output planet carrier (1-2); the output planet carrier (1-2) is coaxially mounted inside the cross roller bearing (1-4); the bearing seat (1-3) is coaxially mounted on the stator support (1-9); the cross roller bearing (1-4) is located between the output planet carrier (1-2) and the bearing seat (1-3); the gear ring (1-8) is coaxially mounted on the stator support (1-9); and the inner planet carrier (1-10) is coaxially mounted with the output planet carrier (1-2).

8. The integrated joint motor according to claim 1, characterized in that: The motor assembly (2) further comprises a stator coil (2-2), a first bearing (2-3), a rotor (2-4) and a second bearing (2-5); the central wheel (2-1) is coaxially mounted with the rotor (2-4), the stator coil (2-2) is coaxially mounted on the rotor (2-4), and the first bearing (2-3) and the second bearing (2-5) are coaxially mounted on both sides of the rotor (2-4), respectively.

9. The integrated joint motor according to claim 1, characterized in that: The driver assembly (5) comprises a magnetic bead seat (5-1), a magnetic bead (5-2) and a driving plate (5-3); the magnetic bead (5-2) is coaxially mounted on the magnetic bead seat (5-1).

10. The integrated joint motor according to claim 1, characterized in that: The central wheel (2-1) of the motor assembly (2) extends a certain distance from the stator coil (2-2), and the reducer assembly (1) is engaged with the central wheel (2-1) and is located above the stator coil (2-2).

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