Permanent magnet synchronous motor and leg-foot type robot

Abstract

The utility model discloses a permanent magnet synchronous motor and a legged robot, the synchronous motor comprises a motor housing, and also comprises a stator, a rotor, a roller and a planetary gear mechanism which are coaxially sleeved in the motor housing, and the planetary gear mechanism comprises a front planetary support, a rear planetary support, a center wheel and a plurality of planetary gears; the front planetary support and the rear planetary support are oppositely connected, a containing space is formed between the front planetary support and the rear planetary support, and the multiple planetary gears are all arranged in the containing space. A mounting rod penetrates through the roller, one end of the mounting rod is connected with a magnet mounting frame, an induction magnet is arranged in the magnet mounting frame, the other end of the mounting rod is sleeved with a center wheel, and the center wheel can be connected with the planetary gear in a meshed mode. The center wheel is sleeved on the mounting rod to directly serve as a sun wheel, the center wheel is directly inserted into the planetary gear mechanism and is in meshed connection with the planetary gear, the structure is simple and compact, and the transmission efficiency of the motor is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of motors, and in particular relates to a permanent magnet synchronous motor. Background Art

[0002] As the "heart" of a legged robot, the permanent magnet synchronous motor provides reliable power support for the robot's movement with its high efficiency, high power density and fast response characteristics. The fast response characteristics of the permanent magnet synchronous motor enable the robot to quickly adjust its posture in different terrains and environments and adapt to complex work scenarios. The reasonable structural design of the permanent magnet synchronous motor can give it the advantages of small size and high power, which can provide sufficient power for the quadruped robot, while reducing the load and weight of the robot and improving the robot's movement efficiency and flexibility. The existing permanent magnet synchronous motor has a relatively complex structure. It not only includes a stator, rotor, and permanent magnets, but also requires various types of bearings and other auxiliary components. The manufacturing cost is high and the assembly is difficult. In addition, the unreasonable structure leads to an increase in components and increases the weight of the motor. As a result, the application of existing permanent magnet synchronous motors in legged robots has been greatly limited and urgently needs improvement. Utility Model Content

[0003] In view of the defects and shortcomings in the prior art, the present invention provides a permanent magnet synchronous motor to solve the technical problems in the prior art of permanent magnet synchronous motors such as complex structure, many parts and heavy weight.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0005] A permanent magnet synchronous motor comprises a motor housing, characterized in that it further comprises a stator, a rotor, a drum and a planetary gear mechanism coaxially sleeved in the motor housing, characterized in that the planetary gear mechanism comprises a front planetary carrier, a rear planetary carrier, a central gear and a plurality of planetary gears;

[0006] The front planetary bracket and the rear planetary bracket are connected relative to each other, and an accommodation space is formed between the front planetary bracket and the rear planetary bracket, and the plurality of planetary gears are arranged in the accommodation space;

[0007] A mounting rod is provided in the drum, one end of the mounting rod is connected to a magnet mounting frame, an induction magnet is provided in the magnet mounting frame, and the other end of the mounting rod is externally sleeved with the center wheel, which can be meshed with the planetary gear.

[0008] The utility model also has the following technical features:

[0009] Specifically, the motor housing includes a shell body with an open front end and a cover plate that can be sealed and connected to the shell body. The shell body includes a shell bottom plate and a shell side plate arranged around the shell bottom plate. The shell bottom plate and the shell side plate form a shell cavity. A first limiting step is arranged along the circumference of the shell side plate in the shell cavity, and a plurality of second limiting steps are arranged at equal intervals on the inner wall of the first limiting step. An inwardly convex mounting boss is provided in the center of the shell bottom plate, and a first through hole is opened in the middle of the mounting boss. A plurality of first weight-reducing holes and second weight-reducing holes that pass through the shell bottom plate are provided on the shell bottom plate outside the first through hole.

[0010] Furthermore, a second through hole is opened in the middle of the cover plate, the second through hole is coaxially arranged with the first through hole, and a plurality of third weight-reducing holes penetrating the cover plate are arranged on the cover plate outside the second through hole.

[0011] Furthermore, connecting rods are arranged at equal intervals along the circumferential direction on the surface of the rear planetary support, and the planetary gears are sleeved on the connecting rods.

[0012] Furthermore, there are three connecting rods and three planetary gear bodies, and support blocks are provided between adjacent planetary gear bodies. The top surface and bottom surface of the support blocks are respectively connected to the front planetary bracket and the rear planetary bracket.

[0013] Furthermore, the drum includes a drum bottom plate and a drum side plate arranged around the drum bottom plate, and the drum side plate can be plugged into and matched with the rotor; a mounting hole is opened in the middle position of the surface of the drum bottom plate, and the mounting rod is inserted into the mounting hole.

[0014] Furthermore, a gear ring is provided on the end surface of the cover plate facing the bottom plate of the shell.

[0015] Furthermore, the shell body is cylindrical, and the shell body and the cover plate are connected by countersunk screws.

[0016] Furthermore, the stator and the rotor are both made of conductive materials.

[0017] The present invention also protects a leg-foot robot, which is provided with a plurality of joint motors, and the joint motors are the above-mentioned permanent magnet synchronous motors.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects:

[0019] (1) The utility model sets a roller and a mounting rod passing through the roller, and sets the center wheel on the mounting rod to directly serve as the sun wheel. The center wheel is directly inserted into the planetary gear mechanism and meshes with the planetary gears. The structure is simple and compact, and the transmission efficiency is high.

[0020] (2) The motor housing of the present invention is provided with a plurality of weight-reducing holes, which can effectively reduce the weight of the entire machine. The motor housing can be used for bearing and also has the function of heat dissipation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 Schematic diagram of the overall structure of the motor housing;

[0023] Figure 3 Schematic diagram of the shell body structure;

[0024] Figure 4 Schematic diagram of the planetary gear mechanism structure;

[0025] Figure 5 It is a schematic diagram of the local structure of the utility model;

[0026] Figure 6 This is a cross-sectional view of the planetary gear mechanism.

[0027] Figure 7 This is the leg-foot robot of Example 2.

[0028] The numbers in the figure represent:

[0029] 1-motor housing, 2-stator, 3-rotor, 4-planetary gear mechanism, 5-ring gear, 6-countsunk screw, 7-roller, 8-mounting rod, 9-magnet mounting bracket, 10-permanent magnet synchronous motor;

[0030] 11-shell body, 12-cover plate; 41-front planetary bracket, 42-rear planetary bracket, 43-center wheel, 44-planetary gear, 45-connecting rod, 46-support block; 71-drum bottom plate, 72-drum side plate; 111-shell bottom plate, 112-shell side plate, 113-first limiting step, 114-second limiting step, 115-mounting boss; 121-second through hole, 122-third weight-reducing hole; 1111-first through hole, 1112-first weight-reducing hole, 1113-second weight-reducing hole.

[0031] The present invention will be described in detail below with reference to the accompanying drawings and specific implementation methods. DETAILED DESCRIPTION

[0032] It should be noted that, unless otherwise specified, all components in the present invention are components known in the art.

[0033] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent modifications made on the basis of the technical solution of this application fall within the scope of protection of the present invention.

[0034] The terms "upper," "lower," "front," "back," "top," "bottom," and the like used in this utility model to indicate positions or positional relationships are intended only to facilitate the description of this utility model and simplify the description, and do not indicate or imply that the devices or components referred to must have a specific position, be constructed, or operate in a specific position. "Inside" and "outside" refer to the inside and outside of the corresponding component outlines, and the above terms should not be understood as limiting this utility model. The terms "first," "second," and other ordinal numbers are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more of such features.

[0035] In this utility model, unless otherwise specified, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0036] The permanent magnet synchronous motor provided by the utility model is based on the operating principle of a permanent magnet motor with a planetary gear mechanism, and mainly improves the row connection structure and the motor housing.

[0037] Example 1

[0038] Following the above technical solution, Figures 1 to 6 As shown, the present invention provides a permanent magnet synchronous motor, comprising a motor housing 1, a stator 2, a rotor 3, a drum 7 and a planetary gear mechanism 4 coaxially sleeved in the motor housing 1, the planetary gear mechanism 4 comprising a front planetary carrier 41, a rear planetary carrier 42, a center gear 43 and three planetary gears 44;

[0039] The front planetary bracket 41 and the rear planetary bracket 42 are connected relative to each other, and an accommodation space is formed between the front planetary bracket 41 and the rear planetary bracket 42. The three planetary gears 44 are all arranged in the accommodation space;

[0040] A mounting rod 8 is passed through the drum 7, with both ends of the mounting rod 8 extending from the drum 7, and one end of the mounting rod 8 is connected to a magnet mounting bracket 9, in which an induction magnet is provided, and the induction magnet is connected to a driver provided outside the motor; a center wheel 43 is sleeved on the outside of the other end of the mounting rod 8, and the center wheel 43 serves as a sun gear and can be meshed with the planetary gear 44.

[0041] As a preferred solution of this embodiment, the motor housing 1 includes a housing body 11 with an open front end and a cover plate 12 that can be detachably sealed with the housing body 11. Figure 3 As shown, the shell body 11 includes a shell bottom plate 111 and a shell side plate 112 arranged around the shell bottom plate 111. The shell bottom plate 111 and the shell side plate 112 are surrounded to form a shell cavity. A first limiting step 113 is provided along the circumference of the shell side plate 112 in the shell cavity. The first limiting step 113 can play a certain supporting role for the stator 2 installed in the shell cavity to prevent the stator from axial sliding. A plurality of second limiting steps 114 are evenly spaced on the inner wall of the first limiting step 113. The provision of the second limiting step 114 helps to reduce the wear between the stator 2 and the inner wall of the shell side plate 112, and also helps to determine whether the stator 2 is assembled in place during the assembly process. A mounting boss 115 protruding into the shell is provided at the center of the shell bottom plate 111, and a first through hole 1111 is provided in the middle of the mounting boss 115. A plurality of first weight-reducing holes 1112 and second weight-reducing holes 1113 penetrating the shell bottom plate 111 are provided on the shell bottom plate 111 outside the first through hole 1111. In this embodiment, a circle of first weight-reducing holes 1112 and a circle of second weight-reducing holes 1113 are provided from the inside to the outside outside the first through hole 1111. A cable through hole is also provided on the shell bottom plate 111 for leading out the three-phase wires of the stator 2. The three-phase wires are connected to a driver provided outside the motor, and the motor can be powered and controlled with the help of the driver.

[0042] The boss 115 is used for interference fit connection with the bearing. Specifically, the inner wall of the bearing is connected with the outer wall of the boss, and the outer wall of the bearing matches the inner wall of the rotor, thereby effectively preventing radial runout of the motor when running at high speed.

[0043] As a preferred solution of this embodiment, a second through hole 121 is opened in the middle of the cover plate 12, and the second through hole 121 is coaxially arranged with the first through hole 1111. A plurality of third weight-reducing holes 122 that penetrate the cover plate are arranged on the cover plate 12 outside the second through hole 121.

[0044] The provision of the first weight-reducing hole 1112 , the second weight-reducing hole 1113 and the third weight-reducing hole 122 can effectively reduce the weight of the motor housing and have a heat dissipation effect.

[0045] As a preferred solution of this embodiment, three connecting rods 45 are evenly spaced along the circumference of the rear planetary carrier 42. Each connecting rod 45 is fitted with a planetary gear 44. The connecting rods 45 are used to mount the planetary gears 44. The number of connecting rods 45 is equal to the number of planetary gears 44. Support blocks 46 are provided between adjacent planetary gears 44. The top and bottom surfaces of the support blocks 46 are connected to the front planetary carrier 41 and the rear planetary carrier 42, respectively.

[0046] As a preferred solution of this embodiment, the drum 7 includes a drum bottom plate 71 and a drum side plate 72 arranged around the drum bottom plate 71, and the drum side plate 72 can be plugged into and matched with the rotor 3; a mounting hole is opened in the middle position of the surface of the drum bottom plate 71, and the mounting rod 8 is passed through the mounting hole.

[0047] As a preferred solution of this embodiment, a ring gear 5 is provided on the end face of the cover plate 12 facing the shell bottom plate 111. The cover plate 12 and the ring gear 5 are connected by an interference fit and are equipped with a fixed pin to prevent circumferential rotation between the two. The ring gear 5 can be meshed and connected with the planetary gear 44.

[0048] As a preferred solution of this embodiment, the housing body 11 is cylindrical, and the housing body 11 and the cover plate 12 are connected by countersunk screws 6 .

[0049] As a preferred solution of this embodiment, the stator 2 and the rotor 3 are both made of conductive materials.

[0050] The working process of the utility model when used is as follows:

[0051] After the motor is assembled, a 24V power supply is used to power the motor driver. The driver provides voltage and current to the stator 2. When the stator 2 is energized, a magnetic field is generated. Under the action of the magnetic field, the rotor 3 rotates, driving the roller 7 to rotate, thereby causing the mounting rod 8, the magnet holder 9, and the magnet set on the magnet holder 9 to rotate accordingly. The rotation and speed of the magnet are detected by the encoder on the remote driver to obtain the rotation and speed of the rotor. Conversely, by controlling the rotation of the magnet, the rotation of the rotor can be controlled, which can achieve the adjustment of the motor speed and torque. When the roller rotates 7, it can also drive the center rotor 7 to rotate, and then drive the planetary gear 44 meshed with the center rotor 7 to rotate, achieving a change in the transmission ratio and the output of torque.

[0052] Example 2

[0053] like Figure 5 As shown, this embodiment 2 provides a leg-foot robot, which is provided with a plurality of joint motors, and the joint motors are the permanent magnet synchronous motors disclosed in embodiment 1.

[0054] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the scope of protection of the present invention.

[0055] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible embodiments.

[0056] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A permanent magnet synchronous motor, comprising a motor housing (1), characterized in that: It also includes a stator (2), a rotor (3), a roller (7), and a planetary gear mechanism (4) coaxially sleeved in the motor housing (1); the planetary gear mechanism (4) includes a front planetary carrier (41), a rear planetary carrier (42), a center wheel (43), and a plurality of planetary gears (44); The front planetary bracket (41) and the rear planetary bracket (42) are arranged in relative connection, and an accommodation space is formed between the front planetary bracket (41) and the rear planetary bracket (42), and the plurality of planetary gears (44) are all arranged in the accommodation space; A mounting rod (8) is provided inside the roller (7), one end of the mounting rod (8) is connected to a magnet mounting frame, and an induction magnet is provided inside the magnet mounting frame (9); the other end of the mounting rod (8) is sleeved with the central wheel (43), and the central wheel (43) can be meshed and connected with the planetary gear (44).

2. The permanent magnet synchronous motor according to claim 1, characterized in that The motor housing (1) comprises a housing body (11) with an open front end and a cover plate (12) capable of being sealed and connected to the housing body (11); the housing body (11) comprises a housing bottom plate (111) and a housing side plate (112) arranged around the housing bottom plate (111); the housing bottom plate (111) and the housing side plate (112) are surrounded by a housing cavity; a first limiting step (113) is arranged along the circumference of the housing side plate (112) in the housing cavity; a plurality of second limiting steps (114) are arranged at equal intervals on the inner wall of the first limiting step (113); an inwardly convex mounting boss (115) is provided at the center of the housing bottom plate (111); a first through hole (1111) is opened in the middle of the mounting boss (115); a plurality of first weight-reducing holes (1112) and second weight-reducing holes (1113) penetrating the housing bottom plate (111) are provided on the housing bottom plate (111) outside the first through hole.

3. The permanent magnet synchronous motor according to claim 2, characterized in that: A second through hole (121) is provided in the middle of the cover plate (12), the second through hole (121) is coaxially arranged with the first through hole (1111), and a plurality of third weight-reducing holes (122) penetrating the cover plate are provided on the cover plate (12) outside the second through hole (121).

4. The permanent magnet synchronous motor according to claim 1, wherein: A plurality of connecting rods (45) are arranged at equal intervals along the circumferential direction on the surface of the rear planetary support (42), and the planetary gears (44) are sleeved on the connecting rods (45).

5. The permanent magnet synchronous motor according to claim 4, characterized in that: The number of the connecting rods (45) and the number of the planetary gears (44) are both three, and a support block (46) is provided between adjacent planetary gears (44). The top surface and the bottom surface of the support block (46) are respectively connected to the front planetary bracket (41) and the rear planetary bracket (42).

6. The permanent magnet synchronous motor according to claim 1, characterized in that: The roller (7) comprises a roller bottom plate (71) and a roller side plate (72) arranged around the roller bottom plate (71), wherein the roller side plate (72) can be plugged into and matched with the rotor (3); a mounting hole is provided in the middle of the surface of the roller bottom plate (71), and the mounting rod (8) is inserted into the mounting hole.

7. The permanent magnet synchronous motor according to claim 2, characterized in that: A gear ring (5) is provided on the end surface of the cover plate (12) facing the housing bottom plate (111).

8. The permanent magnet synchronous motor according to claim 2, characterized in that: The housing body (11) is cylindrical, and the housing body (11) and the cover plate (12) are connected via countersunk screws (6).

9. The permanent magnet synchronous motor according to claim 1, characterized in that: The stator (2) and the rotor (3) are both made of conductive materials.

10. A leg-foot robot, characterized in that: The legged robot is provided with a plurality of joint motors, and the joint motors are permanent magnet synchronous motors according to any one of claims 1 to 9.

Images