Embedded gear motor and exoskeleton robot
By designing an embedded reducer motor, the internal settings of the planetary gears reduce the motor height, the problems of large size, insufficient torque, high cost and low efficiency of the exoskeleton robot motor are solved, and smaller volume, high torque, low cost and High efficiency motor design.
Patent Information
- Application Number
- CN202421270528.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-05
- Publication Date
- 2025-02-18
- Estimated Expiration
- 2034-06-05
AI Technical Summary
The motors used in existing exoskeleton robots have problems such as excessive volume, insufficient output torque, excessive cost and low transmission efficiency.
An embedded reducer motor is designed, including a rotor, an internal ring gear, a sun gear, a planetary gear and an output carrier, and the planetary gear is designed to be located at least part of the inside of the rotor, thereby saving space and reducing the motor volume.
The volume reduction of the gear motor is achieved, the output torque is increased, the cost is reduced, and the transmission efficiency is improved.
Smart Images
Figure CN222502593U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of reduction motors, in particular to an embedded reduction motor and an exoskeleton robot. Background Art
[0002] Exoskeleton robots are widely used in medical rehabilitation, industrial assistance, military protection and other fields. In the industrial field, exoskeleton robots can be used for heavy work and dangerous environments to provide protection and enhance work capabilities for workers.
[0003] At present, the motors used in exoskeleton robots have the following problems with the robot design framework: too large size; insufficient output torque; too high cost; low transmission efficiency, etc. Utility Model Content
[0004] In view of this, the utility model provides an embedded reduction motor and an exoskeleton robot, and the main technical problem to be solved is: how to reduce the volume of the reduction motor.
[0005] In order to achieve the above purpose, the utility model mainly provides the following technical solutions:
[0006] The embodiment of the utility model provides an embedded reduction motor, which includes a rotor, an inner gear ring, a sun gear, a planetary gear and an output gear rack;
[0007] The rotor has an inner hole, the inner gear ring is inserted into the inner hole, and the inner gear ring is a fixed part; the planetary gear is rotatably arranged on the output gear carrier, at least a part of the planetary gear is located inside the inner gear ring, and the planetary gear is meshed with the inner gear ring, and the planetary gear is also meshed with the sun gear;
[0008] The rotor is used to drive the sun gear to rotate, so that the sun gear drives the planetary gears to revolve around the center line of the sun gear, thereby driving the output gear rack to rotate.
[0009] In some embodiments, the embedded reduction motor is connected to a planetary gear and a double-connected planetary pinion;
[0010] The duplex planetary pinions serve as the planetary gears; the duplex planetary gearwheels are located on the outside of the inner gear ring, and the planetary gears are meshed with the sun gear through the duplex planetary gearwheels.
[0011] In some embodiments, the rotor comprises a rotor body and a rotor sleeve sleeved inside the rotor body, and the rotor sleeve comprises the inner hole;
[0012] Wherein, the rotor sleeve is provided with a motor shaft, the sun gear is arranged on the motor shaft, and the rotor drives the sun gear to rotate through the motor shaft on the rotor sleeve.
[0013] In some embodiments, the sun gear is integrally formed on the motor shaft.
[0014] In some embodiments, a connecting shaft is provided on the inner side of the rotor sleeve, and the rotor sleeve is detachably connected to the motor shaft via the connecting shaft.
[0015] In some embodiments, the embedded reduction motor further has a wiring hole that passes through the connecting shaft and the motor shaft in sequence.
[0016] In some embodiments, the embedded reduction motor further includes a stator and an encoder module;
[0017] The rotor sleeve is arranged inside the stator, and the encoder module is also arranged inside the stator.
[0018] The utility model also provides an exoskeleton robot, which comprises any one of the above-mentioned built-in reduction motors.
[0019] By means of the above technical solution, the embedded reduction motor and exoskeleton robot of the utility model have at least the following beneficial effects:
[0020] 1. Since the inner gear ring is inserted into the inner hole of the rotor and the planetary gears are arranged inside the inner gear ring, at least a part of the planetary reduction mechanism can be located inside the rotor, thereby saving space in the height direction of the reduction motor and reducing the volume of the reduction motor.
[0021] 2. The embedded reduction motor of the utility model can be a frameless motor, which utilizes the large hollowness of the frameless motor and its outstanding working performance, embeds NW planetary gear reduction, and compresses the space ratio to achieve flattening;
[0022] 3. Compared with harmonic deceleration and cycloid deceleration, planetary transmission deceleration can significantly reduce costs;
[0023] 4. Compared with the common NGW planetary reducer, the design of the NW planetary reducer is based on the design optimization of the transmission form, while the cost and appearance volume remain basically unchanged. In terms of transmission ratio, the NW planetary reducer is about twice that of the NGW planetary reducer. Combined with the high performance of the frameless motor, it can achieve large torque output.
[0024] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the utility model in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0026] Figure 1 It is a three-dimensional diagram of an embedded reduction motor provided by one embodiment of the utility model;
[0027] Figure 2 It is a cross-sectional view of the embedded reduction motor;
[0028] Figure 3 This is an exploded view of the built-in reduction motor.
[0029] Figure numerals: 1. output gear rack; 2. output end cover; 3. double planetary gear set; 4. motor housing; 5. inner ring gear; 6. rotor; 7. stator; 8. encoder module; 9. rear housing; 10. motor shaft; 11. sun gear; 12. inner hole; 13. planetary gear; 30. gear shaft; 31. double planetary gear; 32. double planetary gear; 61. rotor body; 62. rotor sleeve; 621. connecting shaft; 100. wiring hole. DETAILED DESCRIPTION
[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0031] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the utility model, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the utility model.
[0033] like Figures 1 to 3 As shown, an embedded reduction motor proposed in one embodiment of the utility model includes a rotor 6, an inner ring gear 5, a sun gear 11, planetary gears 13 and an output gear carrier 1. Among them, the rotor 6 has an inner hole 12. The inner ring gear 5 is inserted into the inner hole 12 of the rotor 6, and the inner ring gear 5 is a fixing member, and the inner ring gear 5 can be fixed on the motor housing 4. The planetary gears 13 are rotatably arranged on the output gear carrier 1. At least a part of the planetary gears 13 is located inside the inner ring gear 5, and the planetary gears 13 are meshed with the inner ring gear 5, and the planetary gears 13 are also meshed with the sun gear 11. The aforementioned rotor 6 is used to drive the sun gear 11 to rotate, so that the sun gear 11 drives the planetary gears 13 to revolve around the center line of the sun gear 11 to drive the output gear carrier 1 to rotate. Preferably, the planetary gears 13 are arranged as a whole inside the inner ring gear 5.
[0034] In the above example, since the inner gear ring 5 is a fixed part, when the sun gear 11 drives the planetary gears 13 to rotate, the planetary gears 13 can revolve around the center line of the sun gear 11 under the action of the inner gear ring 5, and then the planetary gears 13 drive the output gear carrier 1 to rotate.
[0035] Among them, since the inner ring gear 5 is inserted into the inner hole 12 of the rotor 6, and the planetary gears 13 are arranged inside the inner ring gear 5, at least a part of the planetary reduction mechanism can be located inside the rotor 6, thereby saving space in the height direction of the reduction motor and reducing the volume of the reduction motor.
[0036] In some embodiments, Figure 3 As shown, the aforementioned embedded reduction motor may further include a double planetary gear set 3, wherein the double planetary gear set 3 has a coaxially fixed double planetary gear 31 and a double planetary pinion 32. The double planetary pinion 32 serves as the aforementioned planetary gear 13, the double planetary gear 31 is located outside the inner gear ring 5, and the planetary gear 13 is meshed with the sun gear 11 through the double planetary gear 31.
[0037] In the above example, since the space in the inner hole 12 of the rotor 6 is limited, by providing a double planetary gear set 3, it is beneficial to completely set the planetary gear 13 in the inner hole 12 of the rotor 6, thereby further saving space in the height direction of the motor and reducing the volume of the reduction motor.
[0038] It should be noted that the double planetary gear 31 and the double planetary gear 32 can be an integrally formed structure, and the double planetary gear 31 and the double planetary gear 32 can be rotatably arranged on the output gear rack 1 through the same gear shaft 30. The height of the double planetary gear 31 can be designed to be relatively small, so that the double planetary gear 31 is flat, which is conducive to saving space in the height direction of the motor and reducing the volume of the reduction motor.
[0039] In some embodiments, Figure 3 As shown, the number of the aforementioned double planetary gear sets 3 can be more than two, and preferably, the number of the double planetary gear sets 3 is 3. The planetary gears 13 on each double planetary gear set 3 cooperate to drive the output gear carrier 1 to rotate. Among them, the center line of the output gear carrier 1 coincides with the center line of the sun gear 11, so that the output gear carrier 1 can rotate around the center line of the sun gear 11.
[0040] like Figure 3 As shown, the aforementioned rotor 6 may include a rotor body 61 and a rotor sleeve 62 sleeved inside the rotor body 61, and the rotor sleeve 62 has the aforementioned inner hole 12. Among them, the rotor sleeve 62 is provided with a motor shaft 10, and the sun gear 11 is arranged on the motor shaft 10. The rotor 6 drives the sun gear 11 to rotate through the motor shaft 10 on the rotor sleeve 62.
[0041] In the above example, the provision of the rotor sleeve 62 and the motor shaft 10 facilitates the transmission connection between the rotor 6 and the sun gear 11 .
[0042] In some embodiments, the aforementioned sun gear 11 may be integrally formed on the motor shaft 10 , which may improve the connection stability between the sun gear 11 and the motor shaft 10 .
[0043] In order to achieve the effect of connecting the rotor sleeve 62 with the motor shaft 10 , a connecting shaft 621 may be provided on the inner side of the rotor sleeve 62 , and the rotor sleeve 62 is detachably connected to the motor shaft 10 via the connecting shaft 621 .
[0044] In the above example, the connecting shaft 621 can be integrally formed on the rotor sleeve 62. The connecting shaft 621 and the motor shaft 10 can be detachably connected by screws, etc. Among them, since the connecting shaft 621 and the motor shaft 10 are detachably connected, assembly and maintenance are convenient.
[0045] In some embodiments, Figure 2 As shown, the aforementioned embedded reduction motor also has a wiring hole 100 that passes through the connecting shaft 621 and the motor shaft 10 in sequence, so that it is convenient for the motor cable to be routed through the wiring hole 100, thereby saving wiring space.
[0046] like Figure 3 As shown, the aforementioned embedded reduction motor may further include a stator 7 and an encoder module 8. The aforementioned rotor sleeve 62 is arranged inside the stator 7, and the encoder module 8 is also arranged inside the stator 7, so that the maximum utilization of space can be achieved.
[0047] The aforementioned embedded reduction motor has a plurality of bearings arranged in the center, which not only ensure the coaxial rotation of the transmission components, but also play the role of constraining the mutual displacement between the components and increasing the rigidity of the hollow structure.
[0048] The utility model also provides an exoskeleton robot, which can include any of the above-mentioned embedded reduction motors. Among them, because the exoskeleton robot adopts the above-mentioned embedded reduction motor, because the inner gear ring 5 is inserted into the inner hole 12 of the rotor 6, and the planetary gear 13 is arranged inside the inner gear ring 5, at least a part of the planetary reduction mechanism can be located inside the rotor 6, thereby saving space in the height direction of the reduction motor and reducing the volume of the reduction motor.
[0049] For ease of understanding, the overall structure of the utility model is described below, and its working principle is explained.
[0050] The utility model is to design an embedded reduction motor, which includes a stator 7, a rotor 6, a motor shaft 10, a double planetary gear set 3, a motor housing 4, a rear housing 9 and an encoder module 8. The rotor 6 has a rotor body 61 and a rotor sleeve 62 sleeved on the inner side of the rotor body 61. Among them, the stator 7 is fixed in the motor housing 4 by means of radial fit and the like. The rotor sleeve 62 is fixedly connected to the rotor body 61 by radial fit. The inner gear ring 5 is fixed to the motor housing 4 by radial fit and four anti-rotation slots. The motor shaft 10 is mounted on the rotor sleeve 62. The embedded reduction motor of the utility model generates electromagnetic drive when energized, and the rotor 6 drives the motor shaft 10 to rotate as the input of the transmission power.
[0051] The number of the double planetary gear sets 3 is more than two, and preferably, the number of the double planetary gear sets 3 is three. The double planetary gear sets 3 are evenly mounted on the riveted gear shafts 30 on the output gear rack 1. A sun gear 11 is integrally formed on the motor teeth. The sun gear 11 meshes with the double planetary gear 31 for transmission. Based on the characteristics of the double gears, the double planetary pinion 32 follows the double planetary gear 31. The double planetary pinion 32 meshes with the inner ring 5. Since the inner ring 5 is a fixed part, as the double planetary gear set 3 is rotated under force, it can drive the output gear rack 1 to rotate and output power.
[0052] The motor housing 4 is fixed with an output end cover 2, and the motor as a whole can be fixed to an external device through the output end cover 2. Based on the characteristics of the gear reducer, the output gear rack 1 increases torque and reduces speed relative to the input end, thereby achieving high torque output.
[0053] The bearings and screws provided inside the embedded reduction motor can ensure that the components can run coaxially and limit the axial displacement. The aforementioned rear housing 9 not only limits the axial displacement of the rotor 6, but is also used to install the electric board of the encoder module 8.
[0054] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the patent protection scope of the utility model.
Claims
1. An embedded reduction motor, characterized in that: It comprises a rotor (6), an inner gear ring (5), a sun gear (11), planetary gears (13) and an output gear carrier (1); The rotor (6) has an inner hole (12), the inner gear ring (5) is inserted into the inner hole (12), and the inner gear ring (5) is a fixed part; the planetary gear (13) is rotatably arranged on the output gear carrier (1), at least a part of the planetary gear (13) is located inside the inner gear ring (5), and the planetary gear (13) is meshed with the inner gear ring (5), and the planetary gear (13) is also meshed with the sun gear (11); The rotor (6) is used to drive the sun gear (11) to rotate, so that the sun gear (11) drives the planetary gears (13) to revolve around the center line of the sun gear (11), thereby driving the output gear rack (1) to rotate.
2. The embedded reduction motor according to claim 1, characterized in that: The invention also comprises a double planetary gear set (3), wherein the double planetary gear set (3) comprises a double planetary gear (31) and a double planetary gear (32) which are coaxially fixed. The duplex planetary pinion (32) serves as the planetary gear (13); the duplex planetary gear (31) is located outside the inner gear ring (5); and the planetary gear (13) is meshed with the sun gear (11) via the duplex planetary gear (31).
3. The embedded reduction motor according to claim 1 or 2, characterized in that: The rotor (6) comprises a rotor body (61) and a rotor sleeve (62) sleeved on the inner side of the rotor body (61), and the rotor sleeve (62) comprises the inner hole (12); The rotor sleeve (62) is provided with a motor shaft (10), the sun gear (11) is arranged on the motor shaft (10), and the rotor (6) drives the sun gear (11) to rotate via the motor shaft (10) on the rotor sleeve (62).
4. The embedded reduction motor according to claim 3, characterized in that: The sun gear (11) is integrally formed on the motor shaft (10).
5. The embedded reduction motor according to claim 3, characterized in that: A connecting shaft (621) is provided on the inner side of the rotor sleeve (62), and the rotor sleeve (62) is detachably connected to the motor shaft (10) via the connecting shaft (621).
6. The embedded reduction motor according to claim 5, characterized in that: The embedded reduction motor also has a wiring hole (100) that passes through the connecting shaft (621) and the motor shaft (10) in sequence.
7. The embedded reduction motor according to claim 3, characterized in that: Also includes a stator (7) and an encoder module (8); The rotor sleeve (62) is arranged inside the stator (7), and the encoder module (8) is also arranged inside the stator (7).
8. An exoskeleton robot, characterized in that: The invention comprises the embedded reduction motor as claimed in any one of claims 1 to 7.