Commercial robot coreless hub motor structure

Abstract

The utility model discloses a hollow cup hub motor structure of a commercial robot. The hollow cup hub motor structure comprises a motor shell, a stator winding is arranged in an inner cavity of the motor shell, a planet carrier is arranged at one end of the stator winding, a planet wheel is arranged on one side of the planet carrier, and a main shaft is arranged on a middle shaft of the stator winding. The motor has the advantages that the winding is wound on the plastic support in advance, vibration generated by the winding when the motor works is reduced, the process of the iron core winding is optimized, the size of the iron core and the size of the magnetic steel are reduced through the gear box, the production cost is reduced, meanwhile, the sun gear and the rotor are designed to be of an integrated structure, the manufacturing process is simplified, and the production efficiency is improved. And moreover, the production cost is reduced, and the installation mode of the planet carrier is improved, so that the use of a small-modulus gear is not influenced by the size of the encoder.

Description

Technical Field

[0001] The utility model relates to the technical field of in-wheel motors, and particularly relates to a structure of a hollow cup in-wheel motor for commercial robots. Background Technique

[0002] In the existing in-wheel motors, large iron cores are often used to meet the torque requirements during use. While having high requirements for rotational speed, they have relatively low requirements for torque, and it is difficult to break through the motor efficiency. At the same time, the winding method of the hollow cup determines its high manufacturing difficulty and unstable structure. Content of the Utility Model

[0003] The purpose of the utility model is to provide a structure of a hollow cup in-wheel motor for commercial robots, so as to solve the problems raised in the above background technique.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A structure of a hollow cup in-wheel motor for commercial robots, including a motor housing. A stator winding is arranged in the inner cavity of the motor housing. A planet carrier is arranged at one end of the stator winding. A planet gear is arranged on one side of the planet carrier. A main shaft is arranged at the central axis of the stator winding.

[0005] Further optimized, an end cover assembly is arranged at the other end of the stator winding away from the planet carrier.

[0006] Further optimized, the main shaft passes through the end cover assembly and is arranged in the inner cavity of the motor housing.

[0007] Further optimized, an internal gear ring is arranged on one side of the planet gear.

[0008] Further optimized, a sun gear rotor is arranged outside the stator winding, and the sun gear rotor is composed of a sun gear and a rotor.

[0009] Further optimized, the inner ring of the bearing on the rotor is fixed to the main shaft through glue.

[0010] Further optimized, the internal gear ring is fixed to the motor housing through glue, and the internal gear ring is provided with a limiting step.

[0011] Further optimized, the planet carrier is fixed to the main shaft through glue. A counterbore is arranged at the bottom of the planet carrier, and a magnetic encoder is installed in the counterbore.

[0012] Further optimized, the upper step of the planet carrier is installed with a bearing on the motor housing.

[0013] Further optimized, the stator winding is composed of a yoke iron core and a plastic mounting bracket, and a coil is fixed on the plastic mounting bracket.

[0014] Beneficial Effects

[0015] The hollow cup hub motor structure of the commercial robot provided by the utility model has the winding pre-wound on the plastic bracket, which reduces the vibration generated by the winding during the operation of the motor, optimizes the process of the iron core winding. By using a gearbox, the volume of the iron core and the magnetic steel is reduced, the production cost is lowered. At the same time, the sun gear and the rotor are designed into an integrated structure, which simplifies the manufacturing process and reduces the production cost. Moreover, the installation method of the planet carrier is improved, so that the use of small module gears is not affected by the volume of the encoder. Description of the Drawings

[0016] Figure 1 It is a schematic cross-sectional view of the overall structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the yoke iron core and the plastic mounting bracket structure of the utility model. Detailed Implementation Modes

[0018] The following are specific embodiments of the utility model in combination with the drawings, and the technical solutions of the utility model will be further described, but the utility model is not limited to these embodiments.

[0019] Embodiment

[0020] As Figure 1-2 shown, a hollow cup hub motor structure of a commercial robot includes a motor housing 1, a stator winding 3 is provided in the inner cavity of the motor housing 1, a planet carrier 8 is provided at one end of the stator winding 3, a planet gear 7 is provided on one side of the planet carrier 8, and a main shaft 5 is provided in the middle axis of the stator winding 3.

[0021] Further optimized, an end cover assembly 4 is provided at the other end of the stator winding 3 away from the planet carrier 8. The setting of the end cover 2 avoids the pollution of the inside of the hub motor by sundries and dust during operation, and reduces its service life.

[0022] The main shaft 5 passes through the end cover assembly 4 and is arranged in the inner cavity of the motor housing 1.

[0023] An internal gear ring 6 is provided on one side of the planet gear 7, and a sun gear rotor 2 is provided outside the stator winding 3. The sun gear rotor 2 is composed of a sun gear and a rotor, which optimizes the installation steps and cost. The inner ring of the bearing on the rotor is fixed to the shaft by adhesive.

[0024] The inner ring of the bearing on the rotor is fixed to the main shaft 5 by adhesive.

[0025] The internal gear ring 6 is fixed to the motor housing 1 by adhesive, and the internal gear ring 6 is provided with a limiting step.

[0026] The planet carrier 8 is fixed to the main shaft 5 by glue. A counterbore is provided at the bottom of the planet carrier 8, and a magnetic encoder is installed in the counterbore, so that the use of the encoder does not interfere with the planetary gears in space. It can be adjusted to turn and embed into the sun gear before the glue solidifies, which is convenient for installation. The upper step of the planet carrier and the bearing on the housing are installed to ensure concentricity.

[0027] The upper step of the planet carrier 8 and the bearing on the motor housing 1 are installed.

[0028] The stator winding 3 is composed of a yoke core 9 and a plastic mounting bracket 10. Coils are fixed on the plastic mounting bracket.

[0029] Since the toothed part of the winding is cancelled, the inner diameter of the stator is increased. Without changing the rotor size, the air gap is correspondingly increased, and the rotor speed is increased. The bracket pre-winding is used. After winding, it is installed in cooperation with the core through the anti-rotation bumps on the bracket, reducing the vibration of the winding during motor operation, optimizing the process of the core winding. At the same time, glue is applied to the outside of the plastic bracket to make it axially stable with the core, and then it is limited by a snap ring on the shaft and stopped by the protrusions on the core.

[0030] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hollow cup hub motor structure for a commercial robot, characterized in that: It includes a motor housing (1), a stator winding (3) is provided in the inner cavity of the motor housing (1), a planet carrier (8) is provided at one end of the stator winding (3), a planet gear (7) is provided on one side of the planet carrier (8), a main shaft (5) is provided on the central axis of the stator winding (3), an end cover assembly (4) is provided at the other end of the stator winding (3) far from the planet carrier (8), the main shaft (5) passes through the end cover assembly (4) and is arranged in the inner cavity of the motor housing (1), an internal gear ring (6) is provided on one side of the planet gear (7), a sun gear rotor (2) is provided outside the stator winding (3), the sun gear rotor (2) is composed of a sun gear and a rotor, the inner ring of the bearing on the rotor is fixed to the main shaft (5) by adhesive, the internal gear ring (6) is fixed to the motor housing (1) by adhesive, and the internal gear ring (6) is provided with a limiting step, the planet carrier (8) is fixed to the main shaft (5) by adhesive, a countersunk hole is provided at the bottom of the planet carrier (8), a magnetic encoder is installed in the countersunk hole, the upper step of the planet carrier (8) is installed with a bearing on the motor housing (1), the stator winding (3) is composed of a yoke iron core and a plastic mounting bracket, and a coil is fixed on the plastic mounting bracket.

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