Module motor
By combining the inner rotor motor with the planetary reducer into a parallel structure and using the motor case for heat dissipation, the problems of large module motor volume and poor heat dissipation effect are solved, and the effect of miniaturization and high life is achieved.
Patent Information
- Application Number
- CN202421473578.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-26
- Publication Date
- 2025-06-17
- Estimated Expiration
- 2034-06-26
AI Technical Summary
The existing module motors have problems of large volume and poor heat dissipation effect, especially the series structure of the internal rotor motor combined reducer leads to an increase in volume, while the parallel structure of the external rotor combined planetary reducer leads to an excessively high reducer temperature.
The inner rotor motor and the planetary reducer are combined into a parallel structure, which realizes the mechanical energy output through the interaction between the rotor and the motor stator, and is connected to the reducer through the sun gear to avoid direct contact between the motor stator and the reducer, and uses the motor casing to dissipate heat.
It realizes the miniaturization and high life of the module motor, improves heat dissipation efficiency, reduces operating temperature rise, extends the service life of the equipment, and simplifies the structure and reduces the requirements for coaxiality and alignment accuracy.
Smart Images
Figure CN222996312U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of motors, in particular to a modular motor. Background Art
[0002] With the development of collaborative robots, bionic robots and various consumer robots, as a power execution mechanism, modular motors are more and more widely used. At present, there are mainly two forms of modular motors: a parallel structure formed by an outer rotor combined with a planetary reducer, and a series structure formed by an inner rotor combined with a planetary or harmonic reducer.
[0003] In the prior art, the parallel modular type composed of an outer rotor combined with a planetary reducer has the advantage of a compact structure. However, the stator of the motor is usually directly connected to the reducer, and the heat generated during the operation of the motor will be conducted to the reducer, resulting in a relatively high temperature of the reducer, which greatly reduces the service life. For the series structure formed by an inner rotor motor combined with a planetary or harmonic reducer, the reducer is assembled at the end of the motor, which effectively solves the problem of high temperature rise of the reducer. However, since the reducer and the motor are in a series structure, the entire module is relatively large in volume. Based on the above, a new modular structure is proposed, in which an inner rotor motor and a planetary reducer are combined into a parallel structure to avoid the problem of large volume of the traditional inner rotor motor combined with a reducer, and at the same time avoid the direct contact between the motor stator and the reducer when the outer rotor is combined with the reducer, realizing the miniaturization and high life of the module. Summary of the Utility Model
[0004] In view of this, the purpose of the present utility model is to provide a modular motor to solve the problems of large volume of the inner rotor motor combined with a reducer and poor heat dissipation caused by the direct contact between the motor stator and the reducer when the outer rotor is combined with the reducer.
[0005] Based on the above purpose, the present utility model provides a modular motor, including: a motor body, the motor body includes a motor housing and a motor stator fixedly installed inside the motor housing; a reducer body, an outer part of the reducer body is fixedly installed with a reducer housing for wrapping the reducer body, and the reducer housing is fixedly installed inside the motor housing by screws; a rotor, the rotor is located on one side of the motor housing, the rotor corresponds to the motor stator, and the rotor can realize the output of mechanical energy through interaction with the motor stator; a sun gear is rotatably installed on one side of the reducer body, and the other end of the sun gear is clamped inside the cavity of the rotor.
[0006] Preferably, the motor stator is fixed on the motor housing by glue bonding or hot sleeve method.
[0007] Preferably, a first bearing and a second bearing are respectively and fixedly installed on both sides of the bottom of the motor housing. The first bearing directly presses against the inner side of the rotor, and the second bearing directly presses against the outer side of the rotor.
[0008] Preferably, the rotor has a bowl-shaped structure.
[0009] Preferably, both the rotor and the reducer body are arranged inside the motor housing, and the rotor and the reducer body are in a parallel structure.
[0010] Preferably, a driver housing is also fixedly installed on one side of the motor housing through screws, and a driver body is fixedly installed inside the driver housing.
[0011] Preferably, an encoder magnet is fixedly adhered to one side of the rotor close to the driver body.
[0012] Advantages of the present utility model:
[0013] 1. For this kind of modular motor, by stacking or hot-fitting the motor stator inside the motor housing, and cooperating with a rotor arranged between the reducer body and the motor stator for transmission, the motor stator and the reducer body do not directly contact. When the motor works, the heat generated by the stator winding directly dissipates into the air through the housing, greatly improving the heat dissipation efficiency. At the same time, the heat will not be directly transferred to the reducer body. The whole structure effectively reduces the operating temperature rise of the module, improves the service life of the system, and the heat dissipates through the motor housing, avoiding direct transfer to the reducer body.
[0014] 2. For this kind of modular motor, by setting the rotor and the reducer body in parallel and connecting them through a sun gear, the structure of the whole modular motor is more compact, thereby reducing the overall volume of the modular motor, facilitating use in occasions with limited space, improving the integration of the equipment, avoiding the need to fix the reducer body at the end of the rotor when combining the traditional inner rotor with the reducer body, effectively shortening the length of the module, making the whole structure more compact. At the same time, the parallel setting simplifies the installation and debugging process of the rotor and the reducer body, reduces the strict requirements for coaxiality and alignment accuracy, further balances the power distribution inside the system, reduces vibration and noise, and the parallel structure makes the heat sources of the rotor and the reducer body relatively independent, facilitating separate heat dissipation management, helping to avoid heat concentration, improving the heat dissipation efficiency, and extending the service life of the equipment.
[0015] 3. This type of modular motor has a rotor configured as a bowl-shaped structure and is fixed with the cooperation of double bearings. The first bearing and the second bearing support the rotor from the inside and outside respectively, providing double stable support, ensuring that the rotor does not wobble during high-speed rotation, and can effectively reduce the friction between the rotor and the fixed structure, reduce wear, and extend the service life of the rotor and related components. Moreover, this bowl-shaped structure of the rotor has high structural strength and stability, thereby improving the anti-deformation ability of the rotor, ensuring a stable shape during high-speed rotation, and the bowl-shaped structure also makes the mass distribution of the rotor more uniform, reducing eccentricity and vibration during rotor rotation, and improving the running smoothness and precision of the motor. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0017] Figure 1 is a schematic cross-sectional structure diagram of the present invention;
[0018] Figure 2 is a schematic partial cross-sectional structure diagram of the present invention;
[0019] Figure 3 is a schematic rotor structure diagram of the present invention.
[0020] The marks in the figure are:
[0021] 1, motor housing; 2, motor stator; 3, reducer housing; 4, reducer body; 5, sun gear; 1, motor housing; 7, first bearing; 8, second bearing; 9, encoder magnet; 10, driver body; 11, driver cover; 12, rotor. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0022] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the following further details the present invention in conjunction with specific embodiments.
[0023] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in this utility model should have the ordinary meanings understood by those with general skills in the field to which this utility model belongs. The "first", "second" and similar words used in this utility model do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to indicate relative position relationships, and when the absolute position of the object being described changes, the relative position relationship may also change accordingly.
[0024] Such as Figures 1 to 3As shown, the module motor includes: a motor body, the motor body includes a motor housing 1 and a motor stator 2 fixedly installed inside the motor housing 1; a speed reducer body 4, the outside of the speed reducer body 4 is fixedly installed with a speed reducer housing 3 for wrapping the speed reducer body 4, and the speed reducer housing 3 is fixedly installed inside the motor housing 1 by screws; the motor housing 1, the motor housing 1 is located at the rear of the motor body and the speed reducer body 4, and is used to enclose the motor body and the speed reducer housing 3 and provide an installation base; a rotor 12, the rotor 12 is located on one side of the motor housing 1, the rotor 12 corresponds to the motor stator 2, and the rotor 12 can realize the output of mechanical energy through the interaction with the motor stator 2; a sun gear 5 is rotatably installed on one side of the speed reducer body 4, and the other end of the sun gear 5 is clamped inside the cavity of the rotor 12. Among them, the motor stator 2 is fixed on the motor housing 1 by glue bonding or hot sleeving; when the motor starts, the coil inside the motor stator 2 is energized to generate a rotating magnetic field. Due to electromagnetic induction, the rotating magnetic field generated by the motor stator 2 drives the rotor 12 to rotate. The rotor 12 is opposite to the motor stator 2, and the rotor 12 is affected by the acting force of the stator rotating magnetic field and starts to rotate synchronously. The rotational movement of the rotor 12 is transmitted to the speed reducer body 4 through the sun gear 5 press-fitted inside its cavity. The sun gear 5 is tightly clamped inside the cavity of the rotor 12 and rotates together with the rotor 12. The rotation of the sun gear 5 drives the planetary gear system inside the speed reducer body 4 to start operating. The planetary gear system realizes speed reduction and torque amplification through gear meshing. The speed reducer body 4 transmits the low-speed and high-torque rotational movement to the output shaft for transmission. Among them, the motor stator 2 is fixed inside the motor housing 1 by glue bonding or hot sleeving, and the motor stator 2 and the speed reducer body 4 do not directly contact. The advantage of this is that the heat generated by the stator winding during motor operation is directly dissipated into the air through the housing, greatly improving the heat dissipation efficiency. At the same time, the heat will not be directly transmitted to the speed reducer body 4. The entire structure effectively reduces the operating temperature rise of the module and improves the service life of the system. The heat is dissipated through the motor housing 1 to avoid direct transmission to the speed reducer body 4.
[0025] As Figures 1 to 3As shown, on both sides of the bottom of the motor housing 1, a first bearing 7 and a second bearing 8 are respectively and fixedly installed. The first bearing 7 directly presses against the inner side of the rotor 12, and the second bearing 8 directly presses against the outer side of the rotor 12. The rotor 12 is in the shape of a bowl; the first bearing 7 and the second bearing 8 support the rotor 12 from the inner and outer sides respectively, providing double stable supports, ensuring that the rotor 12 does not shake during high-speed rotation, and can effectively reduce the friction between the rotor 12 and the fixed structure, reduce wear, and extend the service life of the rotor 12 and related components. By setting two bearings, the first bearing 7 and the second bearing 8 jointly share the load of the rotor 12, avoiding excessive load on a single bearing, reducing the wear pressure on a single bearing, and at the same time reducing offset and vibration, ensuring the high-precision operation of the system; and the rotor 12 is in the shape of a bowl, and this bowl-shaped structure has high structural strength and stability, thereby improving the anti-deformation ability of the rotor 12, ensuring a stable shape during high-speed rotation. At the same time, the bowl-shaped structure can increase the surface area of the rotor 12, which is beneficial to heat dissipation. In addition, the bowl-shaped structure can provide a better support surface for the first bearing 7 and the second bearing 8, enabling the two bearings to contact the rotor 12 more stably, ensuring that the rotor 12 runs more smoothly. Moreover, the bowl-shaped structure also makes the mass distribution of the rotor 12 more uniform, reducing the eccentricity and vibration during the rotation of the rotor 12, and improving the running stability and precision of the motor.
[0026] As Figure 1 shown, both the rotor 12 and the reducer body 4 are arranged inside the motor housing 1, and the rotor 12 and the reducer body 4 are in a parallel structure; both the rotor 12 and the reducer body 4 are arranged inside the motor housing 1, in a parallel structure, making the structure of the entire modular motor more compact, thereby reducing the overall volume of the modular motor, facilitating use in occasions with limited space, improving the integration of the equipment, avoiding the need to fix the reducer body 4 at the end of the rotor 12 when combining the traditional inner rotor 12 with the reducer body 4, effectively shortening the length of the module, making the entire structure more compact, and at the same time simplifying the installation and debugging processes of the rotor 12 and the reducer body 4, reducing the strict requirements for coaxiality and alignment accuracy, further balancing the power distribution inside the system, reducing vibration and noise, and the parallel structure makes the heat sources of the rotor 12 and the reducer body 4 relatively independent, facilitating separate heat dissipation management, helping to avoid heat concentration, improving the heat dissipation efficiency, and extending the service life of the equipment.
[0027] As Figure 1As shown, on one side of the motor housing 1, a driver housing 11 is also fixedly installed by screws. Inside the driver housing 11, a driver body 10 is fixedly installed. On the side of the rotor 12 close to the driver body 10, an encoder magnet 9 is fixedly adhered; the driver body 10 is directly fixed on one side of the motor housing 1 to form an integrated drive system, reducing the complexity of external wiring, improving the compactness and integration of the system, facilitating installation and maintenance. And the encoder magnet 9 is adhered to the side of the rotor 12 close to the driver body 10 to real-time monitor the rotation position of the rotor 12, providing high-precision position information for the control system, ensuring the precise control of the motor, and improving the positioning accuracy and operation stability.
[0028] Those of ordinary skill in the art should understand that: the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.
[0029] The present invention is intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.
Claims
1. A module motor, characterized in that: include: A motor body, the motor body comprising a motor housing (1) and a motor stator (2) fixedly mounted inside the motor housing (1); a reducer body (4), a reducer housing (3) for wrapping the reducer body (4) fixedly mounted outside the reducer body (4), the reducer housing (3) being fixedly mounted inside the motor housing (1) by means of screws; A rotor (12), the rotor (12) being located at one side inside the motor housing (1), the rotor (12) corresponding to the motor stator (2), and the rotor (12) being able to output mechanical energy through interaction with the motor stator (2); a sun gear (5) being rotatably mounted on one side of the reducer body (4), the other end of the sun gear (5) being clamped inside the cavity of the rotor (12); a first bearing (7) and a second bearing (8) being respectively mounted inside the motor housing (1), the first bearing (7) being directly pressed against the inner side of the rotor (12), and the second bearing (8) being directly pressed against the outer side of the rotor (12); the rotor (12) having a bowl-shaped structure.
2. The module motor according to claim 1, characterized in that: The motor stator (2) is fixed to the motor casing (1) by gluing or shrink-fitting.
3. The module motor according to claim 1, characterized in that: The rotor (12) and the reducer body (4) are both arranged inside the motor housing (1), and the rotor (12) and the reducer body (4) are in a parallel structure.
4. The module motor according to claim 1, characterized in that: A driver housing (11) is also fixedly mounted on one side of the motor housing (1) by means of screws, and a driver body (10) is fixedly mounted inside the driver housing (11).
5. The module motor according to claim 4, characterized in that: An encoder magnet (9) is fixedly bonded to a side of the rotor (12) close to the driver body (10).