Planetary reducing mechanism of hub motor for industrial robot

Abstract

The utility model discloses a planetary reducing mechanism of a hub motor for an industrial robot, which comprises a hub component, the hub component comprises a shell, a rotating shaft is arranged in the middle of an inner cavity of the shell, a planet carrier is arranged at the bottom of the rotating shaft, and an inner gear ring, a planet wheel and a sun wheel are sequentially arranged on the planet carrier. The other ends, away from the planet carrier, of the inner gear ring, the planet gear and the sun gear are provided with a rotor assembly and a stator assembly. The beneficial effects of the utility model are that the stator and the rotor drive the sun gear and the hub equipped with the inner gear ring, thereby effectively optimizing the power density and the installation technology of the motor, greatly saving the cost, replacing the sintered magnetic steel with the bonded magnetic steel, effectively utilizing the occupied volume of the speed reducer, and reducing the cost.

Description

Technical Field

[0001] The utility model relates to the technical field of hub motors, in particular to a planetary reduction mechanism of a hub motor for an industrial robot. Background Art

[0002] To address the high torque demand, the existing hub motor structure of industrial robots is generally driven directly by a direct-drive motor. The iron core part occupies a large proportion of space, the magnetic steel cost is high, and the production cost is also high. At the same time, the large space occupied by the iron core component leads to inconvenient assembly and low production efficiency. Utility Model Content

[0003] The purpose of the present utility model is to provide a planetary reduction mechanism for a hub motor for an industrial robot, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solution: a planetary reduction mechanism of a hub motor for an industrial robot, comprising a hub assembly, the hub assembly comprising a shell, a rotating shaft being provided in the middle of an inner cavity of the shell, and a planet carrier being provided at the bottom of the rotating shaft, an inner ring gear, planetary gears and a sun gear being provided on the planet carrier in sequence, and a rotor assembly and a stator assembly being provided at the other end of the inner ring gear, planetary gears and sun gear away from the planet carrier.

[0005] For further optimization, a magnetic encoder is provided at one end of the rotating shaft close to the planetary carrier.

[0006] Further optimized, the sun gear is mounted on the rotating shaft.

[0007] Further optimized, the inner diameter of the hub assembly and the outer diameter of the inner gear ring are interference fit, and the material of the inner gear ring is copper-iron based powder metallurgy.

[0008] For further optimization, a rotation-stop groove is provided on the inner gear ring.

[0009] Further optimized, the magnetic encoder is inductively coupled to the magnetic ring on the hub assembly.

[0010] Beneficial effects

[0011] The planetary reduction mechanism of the hub motor for industrial robots provided by the utility model, in which the stator and rotor drive the sun gear and the hub equipped with the inner gear ring, effectively optimizes the motor power density and installation process, greatly saves costs, replaces sintered magnetic steel with bonded magnetic steel, effectively utilizes the volume occupied by the reducer, and reduces costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic cross-sectional view of the overall structure of the utility model. DETAILED DESCRIPTION

[0013] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0014] Example

[0015] like Figure 1 As shown, a planetary reduction mechanism of a hub motor for an industrial robot includes a hub assembly 1. The hub assembly 1 includes a shell 2. A rotating shaft 3 is provided in the middle of the inner cavity of the shell 2, and a planet carrier 4 is provided at the bottom of the rotating shaft 3. An inner ring gear 5, planetary gears 6 and a sun gear 7 are provided on the planet carrier 4 in sequence. A rotor assembly 8 and a stator assembly 9 are provided at the other end of the inner ring gear 5, planetary gears 6 and sun gear 7 away from the planet carrier 4.

[0016] In this embodiment, a magnetic encoder 10 is provided at one end of the rotating shaft 3 close to the planetary carrier 4. The magnetic encoder 10 is installed at one end of the rotating shaft and senses the position of the rotor assembly 8 with the magnetic ring on the hub assembly 1, saving the volume of the iron core while ensuring accuracy.

[0017] The sun gear 7 is mounted on the rotating shaft 3, and the stator and rotor drive the sun gear and the hub with the inner gear ring installed, which effectively optimizes the motor power density and installation process and greatly saves costs.

[0018] The inner diameter of the hub assembly 1 and the outer diameter of the inner gear ring 5 are interference fit. The inner gear ring is made of copper-iron based powder metallurgy. A stop groove is provided on the inner gear ring. The stop groove design is adopted on the gear ring, and the gear ring is used to cut aluminum to achieve stop rotation.

[0019] The magnetic encoder 10 is inductively coupled to the magnetic ring on the hub assembly 1 .

[0020] The rotor and core are pre-installed with two bearing guides to ensure concentricity and avoid the problem of magnetic core installation deviation caused by unilateral installation of the core without guidance when directly installing the motor. The shaft is fixed with an elastic retaining ring on the outside. The magnetic steel is bonded, and the volume of the magnetic steel part is increased by using the volume of the reducer, which saves costs compared to sintering.

[0021] The installation position of the inner ring of the bearing adopts a step design to avoid the side cover and outer ring. The outer ring and the bearing chamber adopt an interference fit. The concentricity of the rotating shaft is guaranteed by controlling the processing dimensional accuracy. The planetary carrier is stopped by the flat key on the shaft and positioned with an elastic retaining ring on the shaft. Due to the limitation of the outer diameter, a C-type retaining ring is used on one side of the planetary gear. The step design of the gear ring installation part thickens the part strength of the gear ring installation part, reduces the deformation caused by the press-fitting process, and ensures the concentricity of the parts.

[0022] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A planetary reduction mechanism for a hub motor for an industrial robot, characterized by: The invention comprises a hub assembly (1), wherein the hub assembly (1) comprises a shell (2), a rotating shaft (3) is provided in the middle of the inner cavity of the shell (2), and a planetary carrier (4) is provided at the bottom of the rotating shaft (3), an inner gear ring (5), planetary gears (6) and a sun gear (7) are sequentially provided on the planetary carrier (4), and a rotor assembly (8) and a stator assembly (9) are provided at the other end of the inner gear ring (5), planetary gears (6) and sun gear (7) away from the planetary carrier (4).

2. The planetary reduction mechanism of the hub motor for an industrial robot according to claim 1, characterized in that: A magnetic encoder (10) is provided at one end of the rotating shaft (3) close to the planet carrier (4).

3. The planetary reduction mechanism of the hub motor for an industrial robot according to claim 1, characterized in that: The sun gear (7) is sleeved on the rotating shaft (3).

4. The planetary reduction mechanism of the hub motor for an industrial robot according to claim 1, characterized in that: The inner diameter of the hub assembly (1) and the outer diameter of the inner gear ring (5) are interference fit, and the material of the inner gear ring is copper-iron based powder metallurgy.

5. The planetary reduction mechanism of the hub motor for an industrial robot according to claim 1, characterized in that: A rotation-stop groove is provided on the inner gear ring.

6. The planetary reduction mechanism of the hub motor for an industrial robot according to claim 2, characterized in that: The magnetic encoder (10) is inductively coupled to the magnetic ring on the hub assembly (1).

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