Integrated joint motor actuator, robot
By using an integrated output shaft in the joint motor actuator to connect the motor rotor, reducer and motor controller into an integrated rotation mechanism, the split design increases mechanical complexity and coaxiality problems, achieving higher rotation accuracy and reliability.
Patent Information
- Application Number
- CN202420291195.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-14
- Publication Date
- 2025-04-01
- Estimated Expiration
- 2034-02-14
AI Technical Summary
The split design of the joint motor actuator increases the complexity of mechanical components and reduces the coaxiality between the motor output shaft and the reducer input shaft.
The integrated output shaft is used to design the connectors of the motor rotor, reducer and motor controller in an integrated design, and connect them into an integrated rotating mechanism through the same connector.
It reduces the complexity of the actuator mechanical structure, improves the coaxiality between the motor output shaft, the encoder magnet and the reducer input shaft, reduces noise, improves rotational accuracy and reliability, and simplifies the production process.
Smart Images
Figure CN222697257U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of robotics technology, and in particular to an integrated joint motor actuator. Background Art
[0002] Existing joint motor actuators are mainly composed of three parts: a motor controller, a motor and a reducer. Among them, the motor controller is usually located on one side of the motor, and the reducer is usually located on the other side of the motor. The rotation units of joint motor actuators are all split designs, that is, the encoder magnet of the motor controller is connected to the motor rotor through corresponding connectors, and the reducer needs another connector to connect to the motor rotor. The encoder magnet and the reducer need to be connected to the motor rotor through different connectors to form a split rotation unit. This split design increases the complexity of the mechanical components and reduces the coaxiality between the motor output shaft and the reducer input shaft. Summary of the invention
[0003] The present disclosure provides an integrated joint motor actuator.
[0004] According to one aspect of the present disclosure, an integrated joint motor actuator is provided, comprising a motor, a reducer, and a motor controller; and further comprising:
[0005] An integrated output shaft, through which the motor rotor of the motor, the reducer, and the encoder rotor of the motor controller are connected to each other.
[0006] Optionally, the integrated output shaft comprises:
[0007] The first connecting portion is connected to the reducer input end of the reducer.
[0008] Optionally, the first connecting portion is connected to the reducer input end via a screw, a pin, or a slot.
[0009] Optionally, the integrated output shaft further includes:
[0010] The second connecting portion is connected to the motor rotor.
[0011] Optionally, the second connecting portion includes:
[0012] A slot structure, wherein the second connection portion is connected to the motor rotor via the slot structure.
[0013] Optionally, the second connecting portion is integrally formed with the motor rotor.
[0014] Optionally, the integrated output shaft further includes:
[0015] The third connecting portion is connected to the encoder rotor.
[0016] Optionally, the third connecting portion includes:
[0017] A groove is provided, and the third connecting portion is connected to the encoder rotor through the groove.
[0018] Optionally, the circumferential housing of the motor, the circumferential housing of the reducer and the circumferential housing of the motor controller are connected in sequence to form an actuator housing.
[0019] Optionally, the motor is disposed in the cavity of the reducer, and the circumferential shell of the reducer and the circumferential shell of the motor controller are connected in sequence to form an actuator shell together.
[0020] Optionally, the reducer is disposed in the cavity of the motor, and the circumferential shell of the motor and the circumferential shell of the motor controller are connected in sequence to form an actuator shell together.
[0021] Optionally, the circumference of the motor, the circumference of the reducer and the circumference of the motor controller are connected in sequence to form an actuator body, and the actuator body is connected through a robot structure as an actuator housing, and the robot structure serves as the output end of the integrated joint motor actuator.
[0022] According to another aspect of the present disclosure, a robot is provided, comprising at least one robot joint actuator described in any one of the above technical solutions.
[0023] The integrated joint motor actuator provided by the present invention integrates the connectors of the motor rotor, reducer and motor controller into an integrated design. The motor rotor, reducer and motor controller are connected through the same connector to form an integrated rotating mechanism, which can reduce the complexity of the actuator's mechanical structure and improve the coaxiality between the motor output shaft and the encoder magnet and the reducer input shaft; and the integrated design reduces the difficulty of production, is conducive to mass production, and reduces production costs; when the axial length of the motor increases or decreases, only the actuator housing needs to be redesigned, and there is no need to change the structure and size of other mechanical components; in addition, the noise of the actuator can be reduced, the rotation accuracy of the actuator can be improved, and the reliability of the actuator can be increased.
[0024] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.
[0026] Figure 1is a cross-sectional structural diagram of an integrated joint motor actuator in an embodiment of the present disclosure;
[0027] Figure 2 is a first side view of the integrated joint motor actuator in an embodiment of the present disclosure;
[0028] Figure 3 is a second side view of the integrated joint motor actuator in the embodiment of the present disclosure;
[0029] Figure 4 is a side view of a second integrated joint motor actuator in an embodiment of the present disclosure;
[0030] Figure 5 is a cross-sectional structural diagram of a second integrated joint motor actuator in an embodiment of the present disclosure;
[0031] Figure 6 is a side view of a third integrated joint motor actuator according to an embodiment of the present disclosure;
[0032] Figure 7 is a cross-sectional structural diagram of a third integrated joint motor actuator in an embodiment of the present disclosure;
[0033] Figure 8 It is a structural schematic diagram of an integrated joint motor actuator in which a robot structural member is used as an actuator housing in an embodiment of the present disclosure.
[0034] The reference numerals in the specific implementation manner are as follows:
[0035] Motor 1; motor rotor 101; motor stator 102; reducer 2; reducer input end 201; reducer housing 202; reducer output end 203; motor controller 3; encoder rotor 301; motor controller cover 302; controller circuit board 303; integrated output shaft 4; first connecting part 401; second connecting part 402; vertical part 4021; flange 4022; third connecting part 403; screw 404; actuator stator 5; actuator permanent magnet 6; actuator housing 7; bearing 8; robot structural part 9. DETAILED DESCRIPTION
[0036] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.
[0037] All technical terms used in this document have the same meanings as those generally understood by technicians in the technical field to which this application belongs; the terms used in this document are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.
[0038] In the description of the embodiments of the present application, the term "at least one" refers to one or more, and "plurality" refers to more than two (including two).
[0039] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.
[0040] With the rapid development of the robotics industry, robots are increasingly being used to collaborate with humans. In order to meet the various standards for collaboration with humans, higher requirements are placed on collaborative robots in terms of accuracy, size, safety, and other aspects. For robots, the movement of each joint is inseparable from motors, reducers, encoders, and drivers.
[0041] In view of the technical problem that the encoder magnet, reducer, and motor rotor in the prior art need to be connected through multiple different connecting parts to form a split rotating unit, which increases the complexity of the mechanical parts and reduces the coaxiality between the motor output shaft and the reducer input shaft, the embodiment of the present disclosure provides an integrated joint motor actuator, such as Figure 1 As shown, the integrated joint motor actuator includes a motor 1, a reducer 2, and a motor controller 3; and also includes:
[0042] The integrated output shaft 4 , the motor rotor 101 of the motor 1 , the reducer 2 , and the encoder rotor 301 of the motor controller 3 are connected to each other via the integrated output shaft 4 .
[0043] Specifically, in this embodiment, the integrated output shaft 4 is used as a connector to simultaneously connect the motor rotor 101 of the motor 1, the reducer 2, and the encoder rotor 301 of the motor controller 3. This integrated design replaces the existing split design to form an integrated joint motor actuator, which combines the encoder rotor connector, the motor rotor connector, and the reducer connector into one to form an integrated connector. The present disclosure can reduce the complexity of the actuator's mechanical structure and improve the coaxiality between the motor output shaft and the encoder rotor and the reducer input shaft; in addition, it can also reduce the actuator's noise, improve the actuator's rotation accuracy, and increase the actuator's reliability.
[0044] As an optional implementation, Figure 1 As shown, the motor 1 includes a motor rotor 101 and a motor stator 102. The motor controller 3 includes an encoder rotor 301, a motor controller cover 302, and a controller circuit board 303. The reducer 2 can be a harmonic reducer, which includes a reducer input end 201 and a reducer housing 202. In addition to the motor 1, the reducer 2, the motor controller 3, and the integrated output shaft 4, the actuator can also include an actuator stator 5, an actuator permanent magnet 6, an actuator housing 7, and a bearing 8.
[0045] As an optional implementation, Figure 1 As shown, the integrated output shaft 4 includes:
[0046] The first connecting portion 401 is connected to the reducer input end 201 of the reducer 2 .
[0047] Specifically, the first connection part 401 can be designed as a cylinder, disposed in the cavity of the reducer 2, and connected to the reducer input end 201 through fixing parts such as screws, pins, and slots. For example, in this embodiment, the first connection part 401 is connected to the reducer input end 201 through a screw 404. The first connection part 401 and the encoder rotor 301 can be located on the same rotation axis.
[0048] As an optional implementation, Figure 1 As shown, the integrated output shaft 4 also includes:
[0049] The second connection portion 402 is connected to the motor rotor 101 of the motor 1 .
[0050] Specifically, the second connection part 402 in this embodiment is a slot structure, and the second connection part 402 is connected to the motor rotor 101 of the motor 1 through the slot structure. The second connection part 402 includes a vertical part 4021 and a circle of flanges 4022 connected to the vertical part 4021, and the vertical part 4021 and the flange 4022 are connected to each other to form a slot structure. Among them, the bottom of the vertical part 4021 is connected to the actuator permanent magnet 6, and the actuator permanent magnet 6 can be connected to the motor rotor 101 through an adhesive process. The top of the vertical part 4021 is connected to the flange 4022, and the flange 4022 extends toward the motor rotor 101, forming a slot structure with the vertical part 4021, and is engaged with the motor rotor 101 through the slot structure, thereby achieving connection with the motor rotor 101.
[0051] In another embodiment, the second connection portion 402 and the motor rotor 101 are integrally formed, that is, during the production process, the second connection portion 402 and the motor rotor 101 can be processed into an integral component without the need for reassembly.
[0052] As an optional implementation, Figure 1 As shown, the integrated output shaft 4 also includes:
[0053] The third connection portion 403 is connected to the encoder rotor 301 .
[0054] Specifically, in this embodiment, the third connection portion 403 may include a groove, and the third connection portion 403 is connected to the encoder rotor 301 through the groove. The inner diameter of the groove is adapted to the outer diameter of the encoder rotor 301, and the encoder rotor 301 is embedded in the groove to fix the encoder rotor 301. In addition, it can also be fixed by other methods such as gluing process, screws, etc.
[0055] In this embodiment, the first connection part 401, the second connection part 402, and the third connection part 403 can be connected by a disc structure, and the center of the disc structure can be located on the rotating shaft of the encoder rotor 301. The first connection part 401, the second connection part 402, and the third connection part 403 can be integrally formed to form an integral connection part, that is, the integrated output shaft 4.
[0056] Since the connectors between the motor rotor and the encoder rotor, and the connectors between the motor rotor and the reducer are eliminated, the complexity of the actuator's mechanical parts can be reduced, and the coaxiality between the motor output shaft and the encoder rotor and the reducer input shaft can be improved; in addition, the actuator's noise can be reduced, and the actuator's rotation accuracy can be improved; the problem of poor control of the motor and encoder's coaxiality after the motor and drive structure are assembled can be solved, the assembly coaxiality can be improved, and the cost can be reduced. In addition, the integrated design reduces the difficulty of production and is conducive to mass production. When the axial length of the motor increases or decreases, only the actuator housing needs to be redesigned, and there is no need to change the structure and size of other mechanical parts.
[0057] As an optional implementation, Figure 2 and Figure 3 As shown, the circumferential housing of the motor 1, the circumferential housing of the reducer 2 and the circumferential housing of the motor controller 3 are connected in sequence to form the actuator housing. When the axial length of the motor increases or decreases, only the actuator housing needs to be redesigned without changing the structure and size of other mechanical parts; the diameter of the actuator can be reduced, saving space and reducing costs.
[0058] As another optional implementation, Figure 4 As shown, the motor 1 is arranged in the cavity of the reducer 2, and the circumferential shell of the reducer 2 and the circumferential shell of the motor controller 3 are connected in sequence to form the actuator housing. By embedding the motor 1 in the cavity of the reducer 2, the rotor structure goes deep into the reducer end, which increases the reliability of the actuator and compresses the axial length of the actuator;
[0059] Specifically, Figure 5 As shown, the motor 1 (main components are the motor rotor 101 and the motor stator 102) is embedded in the reducer 2. The integrated output shaft 4 can also be connected to the input end of the reducer 2 through fixing bolts, and connected to the motor rotor 101 and the encoder rotor 301. In the production process of the actuator, the motor rotor 101 can also be combined with the integrated output shaft 4 into an integral machined part.
[0060] As another optional implementation, Figure 6 As shown, the reducer 2 is arranged in the cavity of the motor 1, and the circumferential shell of the motor 1 and the circumferential shell of the motor controller 3 are connected in sequence to form an actuator shell together.
[0061] Specifically, Figure 7As shown, in this embodiment, the reducer 2 is embedded in the motor 1 (the main components are the motor rotor 101 and the motor stator 102), and the motor 1 and the reducer 2 are combined into one in the axial length, and the actuator has a shorter axial length. The integrated output shaft 4 can also be connected to the input end of the reducer 2 through a fixing bolt, and connected to the motor rotor 101 and the encoder rotor 301. In the production process of the actuator, the motor rotor 101 can also be combined with the integrated output shaft 4 into an integral machined part.
[0062] As an optional implementation, Figure 8 As shown, the circumference of the motor 1, the circumference of the reducer 2 and the circumference of the motor controller 3 are connected in sequence to form the actuator body, and the actuator body is connected through the robot structure 9 as the actuator shell, and the robot structure 9 serves as the output end of the integrated joint motor actuator.
[0063] This embodiment provides a replaceable design of the actuator housing 7, and the housing of the motor 1, the housing of the reducer 2, and the housing of the motor controller 3 can be removed, and the robot structure 9 can be directly used as the actuator housing. One end of the robot structure 9 is annular and can be sleeved on the circumference of the motor 1. The traditional actuator uses the reducer output end 203 as the joint output end, while the robot structure 9 is used as the actuator housing in this embodiment, and the actuator housing can also be used as the joint output end, which increases the application scenarios of the actuator and reduces the joint diameter after the actuator is installed.
[0064] The present disclosure also provides a robot, comprising the robot joint actuator described in any one of the above embodiments. The integrated joint motor actuator comprises a motor 1, a reducer 2, and a motor controller 3; and further comprises: an integrated output shaft 4, through which the motor rotor 101, the reducer 2, and the encoder rotor 301 of the motor controller 3 are connected to each other.
[0065] Specifically, in this embodiment, the integrated output shaft 4 is used as a connector to simultaneously connect the motor rotor 101, the reducer 2, and the encoder rotor 301 of the motor controller 3. This integrated design replaces the existing split design to form an integrated joint motor actuator, and the encoder rotor connector, the motor rotor connector, and the reducer connector are combined into one to form an integrated connector. The present disclosure can reduce the complexity of the mechanical structure of the actuator and improve the coaxiality between the motor output shaft and the encoder rotor and the reducer input shaft; in addition, it can also reduce the noise of the actuator, improve the rotation accuracy of the actuator, and increase the reliability of the actuator. In addition, the integrated design reduces the difficulty of production, is conducive to mass production, and reduces production costs. And when the axial length of the motor increases or decreases, only the actuator housing needs to be redesigned, and there is no need to change the structure and size of other mechanical components.
[0066] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in this utility model can be achieved, and this document does not limit it here.
[0067] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.
Claims
1. An integrated joint motor actuator, comprising a motor (1), a reducer (2), and a motor controller (3); characterized in that: Also includes: An integrated output shaft (4), wherein the motor rotor (101) of the motor (1), the reducer (2), and the encoder rotor (301) of the motor controller (3) are interconnected via the integrated output shaft (4).
2. The integrated joint motor actuator according to claim 1, characterized in that: The integrated output shaft (4) comprises: The first connecting portion (401) is connected to the reducer input end (201) of the reducer (2).
3. The integrated joint motor actuator according to claim 2, characterized in that: The first connection portion (401) is connected to the reducer input end (201) via a screw (404) or a pin or a slot.
4. The integrated joint motor actuator according to claim 1, characterized in that: The integrated output shaft (4) further comprises: The second connecting portion (402) is connected to the motor rotor (101).
5. The integrated joint motor actuator according to claim 4, characterized in that: The second connecting portion (402) comprises: A slot structure, wherein the second connection portion (402) is connected to the motor rotor (101) via the slot structure.
6. The integrated joint motor actuator according to claim 4, characterized in that: The second connecting portion (402) and the motor rotor (101) are integrally formed.
7. The integrated joint motor actuator according to claim 1, characterized in that: The integrated output shaft (4) further comprises: The third connecting portion (403) is connected to the encoder rotor (301).
8. The integrated joint motor actuator according to claim 7, characterized in that: The third connecting portion (403) comprises: A groove, wherein the third connecting portion (403) is connected to the encoder rotor (301) via the groove.
9. The integrated joint motor actuator according to any one of claims 1 to 8, characterized in that: The circumferential housing of the motor (1), the circumferential housing of the reducer (2) and the circumferential housing of the motor controller (3) are connected in sequence to form an actuator housing (7).
10. The integrated joint motor actuator according to any one of claims 1 to 8, characterized in that: The motor (1) is arranged in the cavity of the reducer (2), and the circumferential shell of the reducer (2) and the circumferential shell of the motor controller (3) are connected in sequence to form an actuator shell (7).
11. The integrated joint motor actuator according to any one of claims 1 to 8, characterized in that: The reducer (2) is arranged in the cavity of the motor (1), and the circumferential shell of the motor (1) and the circumferential shell of the motor controller (3) are connected in sequence to form an actuator shell (7).
12. The integrated joint motor actuator according to any one of claims 1 to 8, characterized in that: The circumference of the motor (1), the circumference of the reducer (2), and the circumference of the motor controller (3) are connected in sequence to form an actuator body, and the actuator body is connected via a robot structure (9) as an actuator housing, and the robot structure (9) serves as an output end of the integrated joint motor actuator.
13. A robot, characterized in that: The invention comprises at least one robot joint actuator according to any one of claims 1 to 12.