Gear reducer motor

Abstract

The utility model provides a gear reducer motor which comprises a motor shell and a machine core arranged in the motor shell, and the machine core comprises a rotor assembly and a stator assembly. The rotor assembly comprises a rotor support and magnetic steel arranged on the inner side wall of the rotor support. The stator assembly comprises an iron core located in the rotor support. A Hall sensor is arranged on the iron core corresponding to the inner side wall of the rotor bracket; a PCB (Printed Circuit Board) is arranged above the iron core; a magnetic coding coil is arranged on the PCB, and a magnetic coding disc corresponding to the magnetic coding coil is arranged in the motor shell; the magnetic coding disc is located above the magnetic coding coil and rotates along with the motor. The Hall sensor and the magnetic braided coil are both connected with the PCB. Under the condition that the motor achieves accurate output positioning, compared with other motors, the requirement for the machining precision of the reduction gear is not high, so that the machining cost of the gear and the production and assembly difficulty of products are greatly reduced, and the reliability of accurate output positioning is higher.

Description

TECHNICAL FIELD

[0001] The utility model relates to motor technical field, specifically, a gear reduction motor, especially a gear reduction motor of hall and magnetic code simultaneous use. BACKGROUND

[0002] At present, mobile robots provide convenience for human production and life in all aspects, and are welcomed by people due to the stable operation characteristics, wherein the gear reduction motor is one of important components for mobile robots to execute walking action, like human legs can accurately operate and position according to the established route in the specific space.

[0003] The walking motor of the mobile robot generally adopts the gear reduction motor, but due to the tooth side gap between the reduction gears, the output positioning inaccuracy problem occurs in the operation process, so that the established target cannot be reached in the use process, and the service experience is reduced.

[0004] For the direct drive wheel hub motor without gear reduction mechanism, the rotor and the wheel hub are integrated, the position of the rotor is the position of the wheel hub, and it can be understood that the rotor rotates by how many degrees, and the wheel hub rotates by how many degrees. For the gear reduction motor, there is a tooth side gap between the gears, the position of the rotor and the position of the output wheel hub are not absolute, and there is an error, and the actual position to be controlled in the rotation process is the position of the wheel hub.

[0005] The utility model increases the magnetic code signal, can accurately measure the wheel hub position, and adjusts the rotor position through the controller to realize the accurate positioning. The utility model adopts the simultaneous use of the hall and the magnetic code, compensates and corrects the tooth side gap between the reduction gears, thereby solves the output positioning inaccuracy problem, and then the machining and assembly precision of the gear can not be too high. UTILITY MODEL CONTENTS

[0006] In view of the defects in the prior art, the utility model aims at providing a gear reduction motor.

[0007] According to the gear reduction motor, the machine core includes a rotor assembly and a stator assembly.

[0008] The rotor assembly comprises a rotor support and magnetic steel arranged on the inner side wall of the rotor support; the stator assembly comprises an iron core located in the rotor support;

[0009] The iron core is provided with a Hall sensor at a position corresponding to the inner side wall of the rotor support; a PCB board is arranged above the iron core;

[0010] A magnetic encoding coil is arranged on the PCB board, and a magnetic encoding disc corresponding to the magnetic encoding coil is arranged in the motor housing; the magnetic encoding disc is located above the magnetic encoding coil and rotates with the motor;

[0011] The Hall sensor and the magnetic encoding coil are connected with the PCB board.

[0012] Preferably, the magnetic encoding disc is integrally formed with the motor housing;

[0013] The motor housing comprises a hub and an end cover connected with each other, and the magnetic encoding disc is a protruding rib structure on the end cover or the hub.

[0014] Preferably, the magnetic encoding disc is a separate code disc.

[0015] The motor housing comprises a hub and an end cover connected with each other, and the magnetic encoding disc is fixedly arranged on the end cover or a motor shaft of the motor.

[0016] Preferably, the iron core is provided with a Hall groove, the Hall sensor is arranged in the Hall groove, and the Hall sensor is connected with the PCB board through a pin.

[0017] Preferably, an insulating end plate with a bayonet is arranged above the iron core, an insulating ring is clamped on the insulating end plate with a bayonet, and the PCB board is arranged on the insulating ring.

[0018] Preferably, a clamping block is arranged on the insulating ring, and the PCB board is clamped and installed on the clamping block.

[0019] Preferably, the magnetic encoding coil is in an arc shape.

[0020] Preferably, the gear reduction motor further comprises a motor shaft and a reduction gear set;

[0021] The motor housing comprises a hub and an end cover connected with each other, and the rotor support is connected with the hub through the reduction gear set;

[0022] One end of the motor shaft is rotatably connected with the hub through the end cover, the iron core, the rotor support and the reduction gear set;

[0023] The rotor support is rotatably connected with the motor shaft through a bearing.

[0024] Preferably, the reduction gear set comprises a sun gear, a planet gear, an inner ring gear and a planet carrier;

[0025] The sun gear is arranged on the rotor carrier, and the inner ring gear is arranged on the hub;

[0026] The planet gear is arranged on the planet carrier, and the sun gear and the inner ring gear are in meshing connection with the planet gear.

[0027] Preferably, the planet gear is arranged in multiple;

[0028] The multiple planet gears are arranged around the sun gear and are in meshing connection with the sun gear;

[0029] The inner ring gear is located outside the three planet gears and is in meshing connection with the planet gears.

[0030] Compared with the prior art, the utility model has the beneficial effects that:

[0031] 1、 the utility model discloses a gear reduction motor simultaneously uses hall and magnetic code, solves the problem that the output positioning is not accurate due to the existence of the gear side gap between reduction gears, and the motor simultaneously contains hall and magnetic code inside, and the simultaneous use of the two can reduce the precision requirement of gear processing, breaks through the use limitation caused by insufficient gear processing and assembling precision, and since the mode can improve the output positioning precision of the motor, the application field of the motor can also be more extensive.

[0032] 2、 the simultaneous use of hall and magnetic code in the gear reduction motor of the utility model reduces the manufacturing and assembling difficulty of relevant transmission parts and simultaneously applies the field more extensively, provides more reliable walking driving parts for the use of the wide field of mobile robots high positioning precision, and brings greater vitality to the vigorous development of the robot field.

[0033] 3、 the utility model has the advantages that the motor reaches accurate output positioning, the machining precision requirement of reduction gears is not high compared with other motors, the range of used materials is wide, the assembly requirement between gears is low, thereby greatly reducing the machining cost of gears and the difficulty of product production and assembly, and the reliability of accurate output positioning is higher. BRIEF DESCRIPTION OF DRAWINGS

[0034] Other characteristics, objects and advantages of the utility model will become more apparent through reading the following detailed description of the non-restrictive embodiments with reference to the accompanying drawings:

[0035] Figure 1 It is an explosion view of the gear reduction motor of the utility model;

[0036] Figure 2 It is the whole structure schematic view of gear reduction motor of the utility model.

[0037] Figure 3 It is the sectional view of gear reduction motor of the utility model.

[0038] As shown in the figure:

[0039] End cover 1 hub 10

[0040] Magnetic encoder disc 2 inner gear ring 11

[0041] Magnetic coil 3 iron core 12

[0042] PCB board 4 magnetic steel 13

[0043] Bayonet insulating end plate 14

[0044] Rotor support 6 insulating ring 15

[0045] Center gear 7 motor shaft 16

[0046] Planetary gear 8 clamping block 17

[0047] Planetary support 9 Specific implementation

[0048] The utility model will be described in detail below in combination with specific embodiments. The following embodiments will help the person skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for ordinary skilled in the art, on the premise of not departing from the utility model concept, a number of changes and improvements can be made. These all belong to the protection scope of the utility model.

[0049] Example 1

[0050] As Figures 1 to 3 shown, the embodiment provides a gear reduction motor, which comprises a motor shell and a movement core arranged in the motor shell, the movement core comprises a rotor assembly and a stator assembly; the rotor assembly comprises a rotor support 6 and a magnetic steel 13 arranged on the inner side wall of the rotor support 6; the stator assembly comprises an iron core 12 located in the rotor support 6; the iron core 12 is provided with a Hall sensor 5 at a position corresponding to the inner side wall of the rotor support 6; the iron core 12 is provided with a PCB board 4 above; the PCB board 4 is provided with a magnetic coil 3, and the motor shell is provided with a magnetic encoder disc 2 corresponding to the magnetic coil 3; the magnetic encoder disc 2 is located above the magnetic coil 3 and rotates with the motor; the Hall sensor 5 and the magnetic coil 3 are connected with the PCB board 4. The magnetic coil 3 is arc-shaped.

[0051] The gear reduction motor further comprises a motor shaft 16 and a reduction gear set; the motor housing comprises a connected end cover 1 and a wheel hub 10, the rotor support 6 is connected with the wheel hub 10 through the reduction gear set; one end of the motor shaft 16 is rotatably connected with the wheel hub 10 through the end cover 1, the iron core 12, the rotor support 6 and the reduction gear set; the rotor support 6 is rotatably connected with the motor shaft 16. The reduction gear set comprises a center gear 7, a planetary gear 8, an inner ring gear 11 and a planetary support 9; the center gear 7 is fixedly arranged on the rotor support 6 by screws, and the inner ring gear 11 is arranged on the wheel hub 10; the planetary gear 8 is arranged on the planetary support 9, and the center gear 7 and the inner ring gear 11 are both meshingly connected with the planetary gear 8. The planetary gear 8 is arranged in multiple; the multiple planetary gears 8 are arranged around the center gear 7 and are meshingly connected with the center gear 7; the inner ring gear 11 is located at the periphery of the three planetary gears 8 and is meshingly connected with the planetary gears 8. In this embodiment, the planetary gear 8 is arranged in three.

[0052] The motor shaft 16 is rotatably connected with the wheel hub 10 through a bearing, and the rotor support 6 is rotatably connected with the motor shaft 16 through a bearing.

[0053] In this embodiment, the magnetic encoding disc 2 is integrally formed with the motor housing; the motor housing comprises a connected end cover 1 and a wheel hub 10, and the magnetic encoding disc 2 is a convex rib structure on the end cover 1 or the wheel hub 10. In some other embodiments, the magnetic encoding disc 2 is a separate code disc; the motor housing comprises a connected end cover 1 and a wheel hub 10, and the magnetic encoding disc 2 is fixedly arranged on the end cover 1 or the motor shaft 16 of the motor.

[0054] The iron core 12 is provided with a Hall slot, the Hall sensor 5 is arranged in the Hall slot, and the Hall sensor 5 is connected with the PCB board 4 through a pin. An insulating end plate 14 with a bayonet is arranged above the iron core 12, an insulating ring 15 is clamped on the insulating end plate 14 with a bayonet, and the PCB board 4 is arranged on the insulating ring 15. The insulating ring 15 is provided with a clamping block 17, and the PCB board 4 is clamped and installed on the clamping block 17. The clamping block 17 and the insulating ring 15 are an integrally formed structure.

[0055] Example 2:

[0056] Those skilled in the art can understand this embodiment as a more specific description of embodiment 1.

[0057] This embodiment provides a scheme in which the Hall and the magnetic encoding coil are generally integrated on the PCB board and used simultaneously, and the magnetic encoding board and the Hall board can be two separate PCB boards or can be integrated into one PCB board.

[0058] This embodiment uses the Hall and the magnetic encoding scheme simultaneously by the motor, compensates and corrects the tooth side gap between the reduction gears, and thus solves the problem of inaccurate output positioning of the gear reduction motor.

[0059] The structure of the gear reduction motor of the embodiment is as follows:

[0060] The gear reduction motor of the embodiment comprises a motor shell, a machine core is arranged in the motor shell, the machine core is composed of a stator and a rotor, the rotor is composed of a rotor support and magnetic steels pasted on the inner wall of the rotor support, the stator is provided with an iron core, and the iron core is provided with a Hall sensor corresponding to the position of the inner wall of the rotor support.

[0061] The Hall is arranged in the motor, and the magnetic coding is also arranged in the motor; the Hall is welded on the corresponding interface of the PCB; the magnetic coding coil is arranged on the corresponding surface of the PCB, and the magnetic coding disc can be integrated with the shell, such as the protruding ribs on the end cover 1 or the wheel hub 10 as the coding disc; or the magnetic coding disc can be a separate coding disc fixed on the end cover or the shaft above the magnetic coding coil, and rotates with the motor; the Hall and the magnetic coding are arranged in the motor to receive the motor operation signal, so as to compensate and correct the tooth side gap between the gear reduction gears, thereby solving the problem of inaccurate output positioning.

[0062] According to the use condition, the output positioning accuracy of the gear reduction motor is required to be high, but in fact, due to the tooth side gap between the gear matching, the tooth side gap will cause the motor to have low operation accuracy during operation, thereby causing inaccurate output positioning. In this case, the machining accuracy of the gear needs to be improved, the selection of the gear material is also greatly limited, and the subsequent assembly requirement is also high, which will cause the cost of the motor to increase, the production and manufacturing difficulty to increase, the service life to decrease, the use range to be limited, and the subsequent maintenance to be difficult, so it is necessary to propose a new feasible scheme to solve the problem of output positioning accuracy.

[0063] The insulating end plate 14 with a bayonet is matched with the iron core 12, the insulating ring 15 is clamped on the insulating end plate 14 with a bayonet as the mounting support of the PCB 4; the iron core 12, the magnetic steel 13 and the rotor support 6 are the source of power, and the gear reduction mechanism composed of the center gear 7, the planetary gear 8 and the inner ring gear 11 in the gear reduction gearbox transmits the movement to the wheel hub 10 and the end cover 1 of the shell.

[0064] The embodiment mainly is that the motor uses magnetic encoding and Hall simultaneously, the magnetic encoding coil 3 is on the surface of the PCB board 4, the magnetic encoding disc 2 is directly above the magnetic encoding coil, and the magnetic encoding disc 2 is directly above the magnetic encoding coil. The cooperation of the two carries out the collection of the magnetic encoding signal; the Hall sensor 5 is welded together with the related interface of the PCB board 4 by being mounted in the Hall groove of the iron core 12, and the movement signal of the magnetic steel 13 mounted on the rotor support 6 is collected; the Hall and the magnetic encoding simultaneously receive the running signal of the motor, can accurately control the running of the motor, and make the motor obtain accurate output positioning; meanwhile, the machining precision requirement of the reduction gear in the reduction gearbox, the center gear 7, the planetary gear 8, the inner gear 11 and the planetary support 9 is not high, the assembly requirement is low, the production and manufacturing difficulty is reduced, the cost is saved, and the use range of the gear reduction motor is wider.

[0065] The utility model discloses the advantages mainly are that the motor reaches accurate output positioning, compared with other motors, the machining precision requirement of the reduction gear is not high, the range of the material used is wide, and the assembly requirement between the gears is low, thereby greatly reducing the machining cost of the gear and the difficulty of product production and assembly, and the reliability of accurate output positioning is higher.

[0066] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0067] The specific embodiments of the utility model have been described above. It should be understood that the utility model is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essential content of the utility model. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. A gear-reduced motor characterized by, The motor shell and the core arranged in the motor shell, the core comprising a rotor assembly and a stator assembly; The rotor assembly comprises a rotor support (6) and a magnetic steel (13) arranged on the inner side wall of the rotor support (6); the stator assembly comprises an iron core (12) located in the rotor support (6); The iron core (12) is provided with a Hall sensor (5) corresponding to the position of the inner side wall of the rotor support (6); the iron core (12) is provided with a PCB board (4) above; The PCB board (4) is provided with a magnetic encoding coil (3), and the motor shell is provided with a magnetic encoding disc (2) corresponding to the magnetic encoding coil (3); the magnetic encoding disc (2) is located above the magnetic encoding coil (3) and rotates with the motor; The Hall sensor (5) and the magnetic encoding coil (3) are connected with the PCB board (4). The magnetic encoding disc (2) is integrally formed with the motor shell; 2. The gear-reduced motor of claim 1, wherein, The motor shell comprises a hub (10) and an end cover (1) connected with each other, and the magnetic encoding disc (2) is a protruding rib structure on the end cover (1) or the hub (10). The magnetic encoding disc (2) is a separate code disc; 3. The gear-reduced motor of claim 1, wherein, The motor shell comprises a hub (10) and an end cover (1) connected with each other, and the magnetic encoding disc (2) is fixedly arranged on the end cover (1) or a motor shaft (16) of the motor. The iron core (12) is provided with a Hall groove, and the Hall sensor (5) is arranged in the Hall groove; the Hall sensor (5) is connected with the PCB board (4) through a pin.

4. The gear-reduced motor of claim 1, wherein, An insulating end plate (14) with a bayonet is arranged above the iron core (12), an insulating ring (15) is clamped on the insulating end plate (14), and the PCB board (4) is arranged on the insulating ring (15).

5. The gear-reduced motor of claim 1, wherein, The insulating ring (15) is provided with a clamping block (17), and the PCB board (4) is clamped and installed on the clamping block (17).

6. The gear-reduced motor of claim 5, wherein, The magnetic encoding coil (3) is in an arc shape.

7. The gear-reduced motor of claim 1, wherein, The gear reduction motor further comprises a motor shaft (16) and a reduction gear set; 8. The gear-reduced motor of claim 1, wherein, The motor shell comprises a hub (10) and an end cover (1) connected with each other, and the rotor support (6) is connected with the hub (10) through the reduction gear set; One end of the motor shaft (16) penetrates through the end cover (1), the iron core (12), the rotor support (6) and the reduction gear set and is rotationally connected with the hub (10); The rotor support (6) is rotationally connected with the motor shaft (16) through a bearing. The reduction gear set comprises a sun gear (7), a planetary gear (8), an inner ring gear (11) and a planetary support (9); 9. The gear-reduced motor of claim 8, wherein, The sun gear (7) is arranged on the rotor support (6), and the inner ring gear (11) is arranged on the hub (10); The planetary gear (8) is arranged on the planetary support (9), and the sun gear (7) and the inner ring gear (11) are both meshingly connected with the planetary gear (8). The planetary gear (8) is provided in a plurality of forms.

10. The gear-reduced motor of claim 9, wherein, ​ A plurality of said planetary gears (8) are arranged around said sun gear (7) and are in meshing connection with said sun gear (7); Said inner ring gear (11) is located at the periphery of said plurality of planetary gears (8) and is in meshing connection with said planetary gears (8).

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