Axial compression integrated robot joint motor

Abstract

The utility model discloses an axial compression integrated robot joint motor comprising a stator and rotor assembly comprising a stator and a rotor which are coaxially arranged; the planetary gear speed reduction mechanism is coaxially arranged at the radial inward position of the stator and rotor assembly, the planetary gear speed reduction mechanism comprises a gear set, a hollow shaft and an inner gear ring, the hollow shaft wraps the gear set, the hollow shaft is provided with a radial hollowed-out window for exposing a planetary gear in the gear set, and the planetary gear penetrates through the radial hollowed-out window and is meshed with the inner wall of the inner gear ring; one of the stator and the rotor is assembled with the shaft end of the gear set, and the other one of the stator and the rotor is assembled with the outer wall of the inner gear ring. According to the utility model, the planetary gear reducing mechanism is coaxially integrated on the radial inner side of the stator and rotor assembly, so that the traditional layout form that a motor and a reducer are axially connected in series is broken through, the axial size compression of a transmission system is realized, and a more compact structural scheme is provided for robot joints.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of planetary gear, concretely relates to an axial compression integrated robot joint motor. BACKGROUND

[0002] With the continuous development of industry, quadruped robots, humanoid robots are more and more widely used in industrial fields and many other fields, and the performance requirements of robots are also increasing. The traditional robot adopts the form of servo motor plus harmonic reducer and other separated components, but it has problems such as heavy body, complex wiring, and compact structure, which is difficult to meet the needs of lightweight, miniaturization, high precision, and high flexibility of robots.

[0003] The current mainstream servo integrated joint is a joint shell as an appearance part, which needs to coordinate the size of the harmonic, motor, and take into account the installation position of the output end circumferential screw, and has high integration degree, but the structure of the shell is complex, the processing difficulty is great, and finally the size of the joint motor is large, and the reusability is poor.

[0004] The planetary gear structure plays a core transmission role in the robot joint motor, which realizes efficient power transmission and accurate speed reduction through multi-stage gear meshing, and has become a key technology to improve the joint performance. The planetary gear system is usually composed of a sun gear, a planet gear, an inner ring gear, and a planet carrier, and its principle is to input power through the sun gear to drive the planet gear to revolve around the sun gear and rotate, and at the same time, it is meshed with the inner ring gear, and finally the high torque after speed reduction is output by the planet carrier. This structure can convert the high-speed low-torque output of the motor into low-speed high-torque, meeting the demand of robot joints for precise motion and high load capacity.

[0005] The robot joint at least includes a motor and a reducer, and the reducer is often a planetary gear structure. Many existing robot joint motors arrange the motor body and the reducer along the axial direction, and the force is transmitted through the central transmission shaft, which is a relatively stable and mature design. However, this makes the total axial length of the robot joint motor at least the sum of the axial lengths of the motor body and the reducer. In today's robot development trend, robots need joint motors with more axial size. INVENTION CONTENTS

[0006] The utility model solves the problem of providing an axial compression integrated robot joint motor, which integrates the planetary gear reduction mechanism coaxially on the radial inner side of the stator rotor assembly, breaks through the layout form of the traditional motor and reducer in series along the axial direction, realizes the axial size compression of the transmission system, and provides a more compact structure scheme for the robot joint.

[0007] In order to solve the above problems, the utility model provides a kind of axial compression integrated robot joint motor, to achieve the above purpose, the technical scheme that the utility model solves its technical problems is:

[0008] An axial compression integrated robot joint motor, comprising: a stator-rotor assembly comprising a stator and a rotor arranged coaxially; a planetary gear reduction mechanism coaxially arranged at a radially inward position of the stator-rotor assembly, the planetary gear reduction mechanism comprising a gear set, a hollow shaft, and an inner ring gear, the hollow shaft wrapping the gear set, the hollow shaft having a radially hollow window exposing a planetary gear in the gear set, the planetary gear passing through the radially hollow window and engaging with an inner wall of the inner ring gear; one of the stator and the rotor is assembled with an axial end of the gear set, and the other of the stator and the rotor is assembled with an outer wall of the inner ring gear.

[0009] As a further improvement of the utility model, the stator is annular, and the rotor is barrel-shaped, with the stator located in a cavity surrounded by the rotor.

[0010] As a further improvement of the utility model, the inner wall of the stator is assembled with the outer wall of the inner ring gear, and the rotor comprises a third tubular portion and an end plate portion, with the end plate portion covering one end of the third tubular portion and the centroid of the end plate portion assembled with the axial end of the gear set.

[0011] As a further improvement of the utility model, the outer wall of the stator is annularly arrayed with a plurality of iron cores, and the inner wall of the rotor is annularly arrayed with a plurality of magnets.

[0012] As a further improvement of the utility model, one end of the outer wall of the inner ring gear has a first outer flange portion extending radially outward, and the end plate portion and the first outer flange portion are located at two ends of the stator respectively.

[0013] As a further improvement of the utility model, the gear set comprises a primary gear set and a secondary gear set, the primary gear set comprises a primary sun gear and a plurality of primary planetary gears engaging with each other, and the secondary gear set comprises a secondary sun gear and a plurality of secondary planetary gears engaging with each other, with the rotor assembled with the axial end of the primary sun gear; the axial length of the stator is less than the axial length of the inner ring gear, and the axial length of the stator is greater than the axial length of the secondary sun gear.

[0014] As a further improvement of the utility model, the radial thickness of the stator is greater than the radial thickness of the third tubular portion.

[0015] As a further improvement of the utility model, the outer periphery of the rotor is further wrapped with an input housing, the input housing is assembled with the end plate portion, one end of the planetary gear reduction mechanism is further covered with an output flange, and the input housing and the output flange constitute a cylindrical housing.

[0016] As further improvement of the utility model, the output flange is assembled with the first outer flange part of the inner gear ring through the third bolt set, and the output flange is assembled with the input shell through the second bolt set.

[0017] As further improvement of the utility model, the input shell is further fixed with a driving shell flange at one end away from the output flange, and the driving shell flange is partially wrapped with a driving plate.

[0018] The axial compression integrated robot joint motor has the following advantages:

[0019] By coaxially integrating the planetary gear reduction mechanism on the radial inner side of the stator rotor assembly, the axial series layout form of the traditional motor and the reducer is broken through, the axial size compression of the transmission system is realized, and a more compact structure scheme is provided for the robot joint.

[0020] The structure that the stator and the rotor are directly assembled with the gear set shaft end and the inner gear ring outer wall respectively shortens the power transmission path and reduces the energy loss link, and lays a structural foundation for improving the transmission efficiency and dynamic response performance. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creative labor.

[0022] Figure 1 It is a perspective view of one embodiment of the axial compression integrated robot joint motor;

[0023] Figure 2 It is a perspective view of one embodiment of the axial compression integrated robot joint motor;

[0024] Figure 3 It is a front view of one embodiment of the axial compression integrated robot joint motor;

[0025] Figure 4 It is an A-A sectional view of one embodiment of the axial compression integrated robot joint motor;

[0026] Figure 5 It is an exploded view of one embodiment of the axial compression integrated robot joint motor;

[0027] Figure 6 It is an exploded view of one embodiment of the axial compression integrated robot joint motor;

[0028] Figure 7 is an exploded view of an embodiment of a two-stage planetary gear reducer;

[0029] Figure 8 is a perspective view of an embodiment of the axial compression integrated robot joint motor of the utility model;

[0030] Figure 9 is a perspective view of an embodiment of the axial compression integrated robot joint motor of the utility model;

[0031] Figure 10 is a front view of an embodiment of the axial compression integrated robot joint motor of the utility model;

[0032] Figure 11 is a B-B sectional view of an embodiment of the axial compression integrated robot joint motor of the utility model;

[0033] Figure 12 is an exploded view of an embodiment of the axial compression integrated robot joint motor of the utility model;

[0034] Figure 13 is an exploded view of an embodiment of the axial compression integrated robot joint motor of the utility model.

[0035] 1-annular gear; 101-inner tooth part; 102-first tubular part; 103-first outer flange part; 104-first circumferential groove; 2-output shaft; 201-first radial hollow window; 3-driving shaft; 301-second radial hollow window; 4-first stage planetary gear; 5-second stage planetary gear; 6-first stage sun gear; 601-first gear tooth segment; 602-first optical axis segment; 7-second stage sun gear; 701-second gear tooth segment; 702-second optical axis segment; 8-first bolt group; 9-first bearing; 10-second bearing; 11-first check ring; 12-second check ring; 30-output flange; 31-output end cover plate; 32-input housing; 3201-second tubular part; 3202-second inner flange part; 33-driving housing flange; 3301-side opening; 34-driving plate; 3401-electrical element; 35-rotor; 3501-end plate part; 3502-third tubular part; 3503-magnet; 3504-axial hollow hole; 36-stator; 3601-iron core; 37-rear end gland; 38-wire outlet partition plate; 39-second bolt group; 40-third bolt group. DETAILED DESCRIPTION

[0036] The utility model will be further explained in detail in combination with specific embodiments:

[0037] In order to achieve the purpose of the utility model, refer to Figures 8 to 13 A kind of axial compression integrated robot joint motor, comprising: stator rotor assembly, including coaxially arranged stator 36 and rotor 35.Planetary gear reduction mechanism, coaxially arranged in the radial direction inward position of stator rotor assembly, planetary gear reduction mechanism includes gear set, hollow shaft, inner ring gear 1, hollow shaft wraps gear set, hollow shaft has the radial hollow window that planet wheel in gear set exposes, planet wheel passes through radial hollow window and is engaged with the inner wall of inner ring gear 1.One of stator 36 and rotor 35 is assembled with the shaft end of gear set, and the other of stator 36 and rotor 35 is assembled with the outer wall of inner ring gear 1.

[0038] The beneficial effects of the above technical scheme are: by coaxially arranging the planetary gear reduction mechanism on the radial inner side of the stator rotor assembly, the axial height integration of the motor and the reducer is realized, and the overall shaft length is significantly shortened.The stator 36 and the rotor 35 are assembled with the gear set and the inner ring gear 1 respectively, forming a compact closed loop path for power transmission, reducing energy loss, improving transmission efficiency, and meeting the lightweight and small size requirements of the robot joint.

[0039] In some other embodiments of the utility model, the stator 36 is annular, and the rotor 35 is barrel-shaped, and the stator 36 is located in the cavity surrounded by the rotor 35.

[0040] The beneficial effects of the above technical scheme are: the nested layout of the annular stator 36 and the barrel-shaped rotor 35 maximizes the use of radial space and reduces axial occupation.The stator 35 is located in the cavity of the rotor 36, shortening the magnetic field transmission path, enhancing the electromagnetic coupling efficiency, and simplifying the heat dissipation channel design, improving the motor heat dissipation performance.

[0041] In some other embodiments of the utility model, the inner wall of the stator 36 is assembled with the outer wall of the inner ring gear 1, and the rotor 35 includes a third tubular part 3502 and an end plate part 3501, the end plate part 3501 covers one end of the third tubular part 3502, and the centroid of the end plate part 3501 is assembled with the shaft end of the gear set.

[0042] The end plate part 3501 also has a plurality of axial hollow holes 3504 arranged in a ring shape, facilitating heat dissipation.

[0043] The beneficial effects of the above technical scheme are: the stator 36 is directly assembled with the outer wall of the inner ring gear 1, and the end plate of the rotor 35 is connected with the shaft end of the gear set, forming an axial force balance structure to avoid vibration and wear caused by component misalignment.The integrated assembly of the inner wall of the stator 36 and the outer wall of the inner ring gear 1 reduces the independent support structure and shortens the transmission chain length.

[0044] In some other embodiments of the present application, the outer wall annular array of the stator 36 has a plurality of cores 3601, and the inner wall annular array of the rotor 35 has a plurality of magnets 3503.

[0045] The stator 36 can include coil flanges 36, and the rotor 35 can include magnetic flanges 35. Figure 10 From the longitudinal section view, and only observing one side of the stator-rotor assembly, the coil flanges 36 and the magnetic flanges 35 are arranged in two central symmetrical double L shapes, which wrap the stator 36 and the rotor 35 inside.

[0046] The beneficial effects of the above technical solution are that the symmetrical arrangement of the outer wall annular cores of the stator 36 and the inner wall annular magnets of the rotor 35 optimizes the magnetic field distribution and improves the torque density.

[0047] In some other embodiments of the present application, one end of the outer wall of the inner gear ring 1 has a first outer flange portion 103 extending radially outward, and the end plate portion 3501 and the first outer flange portion 103 are respectively located at both ends of the stator 36.

[0048] The beneficial effects of the above technical solution are that the outer flange of the inner gear ring 1 and the rotor end plate portion are distributed at both ends of the stator 36, forming bidirectional axial limiting, preventing the gear set and the stator-rotor assembly from axial movement during high-speed operation.

[0049] In some other embodiments of the present application, the gear set includes a primary gear set and a secondary gear set, the primary gear set includes a primary sun gear 6 and a plurality of primary planetary gears 4 meshing with each other, the secondary gear set includes a secondary sun gear 7 and a plurality of secondary planetary gears 5 meshing with each other, and the rotor 35 is assembled with the shaft end of the primary sun gear 6.

[0050] The beneficial effects of the above technical solution are that the coaxial layout of the double-stage planetary gear set cooperates with the differential axial length design to balance the high reduction ratio and the compact axial size.

[0051] In some other embodiments of the present application, the radial thickness of the stator 36 is greater than the radial thickness of the third tubular portion 3502.

[0052] The beneficial effect of the above technical scheme is that the radial thickness of the stator 36 is greater than the tubular part of the rotor 35, the structural rigidity of the stator 36 is enhanced, and electromagnetic vibration noise is inhibited. The thick-walled stator 36 can also accommodate more coil turns, and the output torque of the motor is improved.

[0053] In some other embodiments of the utility model, the outer periphery of the rotor 35 is also wrapped with an input shell 32, the input shell 32 is assembled with the end plate part 3501, one end of the planetary gear reduction mechanism is also covered with an output flange 30, and the input shell 32 and the output flange 30 constitute a cylindrical shell.

[0054] As shown in Figure 12 The input shell 32 includes a second tubular part 3201 and a second inner flange part 3202, and the second tubular part 3201 and the second inner flange part 3202 jointly constitute a barrel-shaped structure similar to the rotor 35. The second tubular part 3201 is coaxial with the third tubular part 3502, and the second inner flange part 3202 is parallel to the end plate part 3501.

[0055] The beneficial effect of the above technical scheme is that the input shell 32 and the output flange 30 constitute an integrated cylindrical shell, which simplifies the external structure, improves the protection level, and provides reliable mechanical protection. The distributed connection of the bolt set enhances the structural strength of the shell, and adapts to the load transmission requirements under complex working conditions.

[0056] In some other embodiments of the utility model, the output flange 30 is assembled with the first outer flange part 103 of the inner gear ring 1 through a third bolt set 40, and the output flange 30 is assembled with the input shell 32 through a second bolt set 40.

[0057] As shown in Figure 11 And Figure 12 The outer end of the output flange 30 can also be covered with an output end cover plate 31, and the output end cover plate 31, the output flange 30, and the first outer flange part 103 of the inner gear ring 1 are jointly penetrated and fixed by the third bolt set 40.

[0058] The beneficial effect of the above technical scheme is that the output flange 30 is connected with the inner gear ring 1 and the input shell 32 through multiple bolt sets, the fastening stress is dispersed, and local deformation is avoided. The third bolt set 40 is fixed in cooperation with the output end cover plate 31, the torsional resistance of the output end is enhanced, and high-load working conditions are adapted.

[0059] In some other embodiments of the utility model, the input shell 32 is also fixed with a driving shell flange 33 at the end away from the output flange 30, and the driving shell flange 33 is half-wrapped with a driving plate 34.

[0060] The outer contour of the driving shell flange 33 is in the shape of a truncated cone. The driving shell flange 33 also has a radial side opening 3301 that can expose the internal driving plate 34, which can have electrical elements 3401. The side opening 3301 can serve to dissipate heat, facilitate assembly and maintenance, and expand functionality. The side opening 3301 first serves as a heat dissipation channel, reducing the operating temperature of power elements (such as MOS tubes and driver chips) on the driving plate 34 (such as a PCB) through air convection, and exposing part of the circuit to facilitate signal monitoring with a probe or access to a burning interface during debugging. Secondly, it provides a lead-out path for cables (such as power lines and encoder signal lines) to avoid damage from bending, and can serve as a positioning reference for the assembly of the shell and internal components, reducing installation interference.

[0061] In addition, as shown in Figure 12 , the first bolt set 8 is fixed with the second sun gear, and the first bolt set 8, the second bolt set 39, and the third bolt set 40 each include a plurality of bolts. The first bolt set 8 also cooperates with the rear end gland 37.

[0062] The planetary gear reduction mechanism is also provided with a wire outlet partition plate 38, as shown in Figure 12 , the inner wall of the input shell 32 also has a groove for accommodating the wire outlet partition plate 38.

[0063] Referring to Figures 1 to 7 , the axial compression integrated robot joint motor of the present application adopts a planetary gear reduction mechanism, i.e. a two-stage planetary gear reducer for joint motors, which comprises: a primary gear set comprising a primary sun gear 6 and a plurality of primary planetary gears 4 that mesh with each other. A secondary gear set comprising a secondary sun gear 7 and a plurality of secondary planetary gears 5 that mesh with each other. A hollow shaft comprising an output shaft 2 and a transmission shaft 3 that wrap the primary gear set and the secondary gear set respectively, the hollow shaft comprising a radial hollow window for exposing the primary planetary gears 4 or the secondary planetary gears 5. An inner ring gear 1 comprising an inner tooth portion 101 that meshes with the primary planetary gears 4 and the secondary planetary gears 5. The primary gear set and the secondary gear set are arranged coaxially along the axial direction, and the inner ring gear 1 is coaxially arranged with the outer portion of the hollow shaft.

[0064] The beneficial effects of the above technical solution are: through the cooperation of the coaxially arranged two-stage planetary gear set and the inner ring gear 1, the axial compact layout of the power transmission path is realized, two-stage reduction is achieved in a limited space, the transmission ratio is significantly improved, and the size of the planetary gear reducer is effectively reduced. The wrapping structure of the hollow shaft cooperates with the design of the radial hollow window to form a lightweight support frame while ensuring gear meshing accuracy, reduce overall moment of inertia, and reduce overall volume. The synchronous meshing design of the inner ring gear 1 and the two-stage gear set ensures the torque superposition effect of two-stage reduction and improves transmission efficiency. When used on a robot joint, it meets the lightweight and compact requirements of the robot joint.

[0065] In some other embodiments of this utility model, the first-stage sun gear 6 includes a first gear tooth segment 601, and both ends of the first gear tooth segment 601 have first optical axis segments 602. The second-stage sun gear 7 includes a second gear tooth segment 701, and the end of the second gear tooth segment 701 opposite to the first-stage sun gear 6 has a second optical axis segment 702. The first gear tooth segment 601 meshes with the first-stage planetary gear 4, and the second gear tooth segment 701 meshes with the second-stage planetary gear 5.

[0066] The beneficial effects of adopting the above technical solution are: by setting optical shaft sections at both ends of the sun gear, a precise axial positioning reference is provided for the bearing, ensuring the coaxiality and rotational accuracy of the gear set. The combined design of the split gear tooth section and the optical shaft section optimizes the machinability of the sun gear, reduces the manufacturing cost of complex tooth profiles, and also facilitates a simplified assembly process.

[0067] In some other embodiments of this invention, the shaft length of the first gear segment 601 is greater than the shaft length of the second gear segment 701. The number of first-stage planetary gears 4 or second-stage planetary gears 5 ranges from three to six.

[0068] like Figure 7 As shown, the number of first-level planetary gears 4 and second-level planetary gears 5 can each be four, with several first-level planetary gears 4 arranged in a ring array around the first-level sun gear 6, and several second-level planetary gears 5 arranged in a ring array around the second-level sun gear 7.

[0069] The axial length of the first gear segment 601 is equal to the axial length of the teeth of the first-stage planetary gear 4 itself, and the axial length of the second gear segment 701 is equal to the axial length of the teeth of the second-stage planetary gear 5 itself.

[0070] The beneficial effects of adopting the above technical solution are: by differentiating the shaft length of the tooth segments of the two-stage sun gear, the first-stage gear set obtains a larger meshing contact area to improve load-bearing capacity, while the second-stage gear set retains sufficient radial space for bearing arrangement. Furthermore, limiting the number of planetary gears, and thus determining the approximate diameter range of the planetary gears, avoids increased assembly complexity due to an excessive number of planetary gears, while ensuring load-sharing performance.

[0071] In some other embodiments of this utility model, a first bearing 9 is fitted onto a first optical shaft segment 602 facing away from the second-stage gear set, and a second bearing 10 is fitted onto a second optical shaft segment 702. A first bolt group 8 is assembled at the end of the second-stage sun gear 7 facing away from the first-stage gear set.

[0072] The first bolt group 8 actually contains multiple independent bolts that are parallel to each other.

[0073] The beneficial effect of the above technical scheme is that the bearing support structure on the optical axis section accurately restricts the radial runout of the sun gear, and reduces the vibration noise during high-speed operation.

[0074] In some other embodiments of the present application, each radial hollow window is for passing a primary planetary gear 4 or a secondary planetary gear 5, and the circumferential width of the radial hollow window is less than the diameter of the primary planetary gear 4 or the secondary planetary gear 5.

[0075] The radial hollow window includes a first radial hollow window 201 on the output shaft 2, and a second radial hollow window 301 on the transmission shaft 3.

[0076] The beneficial effect of the above technical scheme is that the circumferential width of the hollow window is limited to be less than the diameter of the planetary gear, the weight is reduced under the premise of ensuring the structural strength, the lightweight is realized, and the structural strength is prevented from being reduced due to the excessively large window.

[0077] In some other embodiments of the present application, the diameter of the first bearing 9 is less than the diameter of the second bearing 10, and the outer rings of the first bearing 9 and the second bearing 10 are respectively assembled with the inner walls of the output shaft 2 and the transmission shaft 3.

[0078] The shaft end of the primary planetary gear 4 and the secondary planetary gear 5 is integrally protruded with a protruding shaft, the inner wall of the first radial hollow window 201 and the second radial hollow window 301 is provided with a hole, and the protruding shaft is inserted into the hole to realize the shaft connection.

[0079] The beneficial effect of the above technical scheme is that the stepped bearing diameter is matched with the inner diameter change of the hollow shaft, the distribution of the bearing bearing area is optimized, the differential bearing configuration is adapted to the load demand of different shaft sections, and the service life of the bearing is prolonged.

[0080] In some other embodiments of the present application, the diameters of the primary sun gear 6 and the secondary sun gear 7 are equal, and the diameters of the primary planetary gear 4 and the secondary planetary gear 5 are equal.

[0081] The beneficial effect of the above technical scheme is that the sun gears and the planetary gears with the same diameter are designed to realize the symmetrical distribution of the two-stage reduction ratio, simplify the gear modification process, and unify the machining process.

[0082] In some other embodiments of the present application, the axial length of the inner ring gear 1 is not less than the sum of the axial lengths of the first gear set and the second gear set, and the axial length of the output shaft 2 is greater than the axial length of the transmission shaft 3.

[0083] The beneficial effects of the above technical solution are that the length of the inner ring gear 1 covers the axial working range of the double-stage gear set, ensuring continuous contact of the meshing tooth surfaces and avoiding pitting of the tooth surface caused by local stress concentration. The differential axial length design of the output shaft 2 and the transmission shaft 3 provides installation allowance for the output end connection structure and facilitates connection with external equipment (such as a motor and an output flange).

[0084] In some other embodiments of the present application, the outer wall of the inner ring gear 1 has a first outer flange portion 103 extending radially outward at one end close to the first gear set.

[0085] As shown in Figure 7 , the entire inner ring gear 1 is composed of the first tubular portion 102 and the first outer flange portion 103.

[0086] The beneficial effects of the above technical solution are that the first outer flange portion 103 of the inner ring gear 1 forms a radial extension structure, similar to a flange, providing a housing for the entire planetary gear reducer and a reliable axial limiting reference. The first outer flange portion 103 also provides an additional mounting and positioning surface for the inner ring gear 1, enhancing the structural strength after assembly with the joint motor, and can disperse the bolt fastening force to avoid local deformation and ensure stable transmission.

[0087] In some other embodiments of the present application, a first retainer ring 11 is assembled with the outer wall of the output shaft 2 at one axial end of the inner ring gear 1, and the inner wall of the inner ring gear 1 has a recessed first circumferential groove 104, which is assembled with a second retainer ring 12 together with the outer wall of the transmission shaft 3.

[0088] The beneficial effects of the above technical solution are that the dynamic sealing of the inner ring gear 1 and the hollow shaft is achieved through the assembly of the second retainer ring 12 and the first circumferential groove 104, preventing displacement during transmission and preventing leakage of lubricating grease. The retainer ring can be elastic, and the pre-tightening force design of the elastic retainer ring can adapt to the size changes caused by thermal expansion, avoiding stress concentration caused by rigid connection. In addition, the double-retainer ring structure enhances the reliability of axial fixation and is suitable for high-frequency vibration or impact working conditions.

[0089] Figure 5 , Figure 6 , Figure 7 are all exploded views, in order to further facilitate understanding of the internal structure, Figure 5 , Figure 6 , Figure 7 the circumferential explosion degree is gradually increased.Figure 6 Compared with Figure 5 , Figure 6 The output shaft 2 and the transmission shaft 3 are axially separated, Figure 7 Compared with Figure 6 , Figure 7 The components of the primary gear set and the secondary gear set are also axially separated.

[0090] The above examples are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable the person skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made in accordance with the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. An axial compression integrated robot joint motor, characterized by, The utility model relates to a kind of planetary gear reducer, comprising: Stator rotor assembly, comprising coaxially arranged stator and rotor; Planetary gear reduction mechanism, coaxially arranged in the radial direction of stator rotor assembly, planetary gear reduction mechanism includes gear set, hollow shaft, inner ring gear, hollow shaft wraps gear set, hollow shaft has radial hollow window that planet wheel in gear set exposes, planet wheel passes through radial hollow window and is engaged with the inner wall of inner ring gear; One of stator and rotor is assembled with the shaft end of gear set, and the other of stator and rotor is assembled with the outer wall of inner ring gear.

2. An axially compact integrated robot joint motor according to claim 1, characterized in that: Stator is annular, and rotor is barrel-shaped, and stator is located in the cavity surrounded by rotor.

3. An axially compact integrated robot joint motor according to claim 1, characterized in that: The inner wall of stator is assembled with the outer wall of inner ring gear, and rotor includes third tubular part, end plate part, end plate part covers one end of third tubular part, and the centroid of end plate part is assembled with the shaft end of gear set.

4. The axial compression integrated robot joint motor according to claim 1, characterized in that: The outer wall of stator is annular array with several cores, and the inner wall of rotor is annular array with several magnets.

5. The axial compression integrated robot joint motor according to claim 3, characterized in that: The outer wall of inner ring gear has radially outwardly extending first outer flange part at one end, and end plate part and first outer flange part are respectively located at both ends of stator.

6. The axial compression integrated robot joint motor according to claim 1, characterized in that: Gear set includes primary gear set and secondary gear set, primary gear set includes primary sun gear and several primary planet gears engaged with each other, secondary gear set includes secondary sun gear and several secondary planet gears engaged with each other, and rotor is assembled with the shaft end of primary sun gear; The axial length of stator is less than the axial length of inner ring gear, and the axial length of stator is greater than the axial length of secondary sun gear.

7. The axial compression integrated robot joint motor according to claim 3, characterized in that: The radial thickness of stator is greater than the radial thickness of third tubular part.

8. The axial compression integrated robot joint motor according to claim 5, characterized in that: The outer periphery of rotor is also wrapped with input shell, and input shell is assembled with end plate part, and one end of planetary gear reduction mechanism is also covered with output flange, and input shell and output flange constitute a cylindrical shell.

9. An axially compacted integrated robot joint motor according to claim 8, characterized in that: Output flange is assembled with the first outer flange part of inner ring gear through third bolt set, and output flange is assembled with input shell through second bolt set.

10. The axial compression integrated robot joint motor according to claim 8, characterized in that: Input shell is also fixed with driving shell flange at the end away from output flange, and driving shell flange is half-wrapped with driving plate.

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