Outer rotor direct drive motor and Delta parallel robot

Abstract

The utility model provides an outer rotor direct drive motor and a Delta parallel robot. The outer rotor direct drive motor comprises a fixed shaft, a stator, a rotor, an end cover and an electromagnetic band-type brake. The two ends of the fixed shaft are respectively fixed on the fixed plate, the stator is sleeved on the outer side of the fixed shaft, and the end covers are respectively and fixedly connected on the fixed shaft and positioned on the two sides of the stator through bearings; the rotor is arranged on the outer side of the stator in a sleeving mode, a driving output arm is arranged on the outer side of the rotor, and the driving output arm is connected with the end cover in a fastening mode; the electromagnetic band-type brake is arranged on the fixing shaft between the fixing plate and one end cover in a clearance sleeving manner, one end of the electromagnetic band-type brake is fixedly connected with the fixing plate, and the other end of the electromagnetic band-type brake is in braking contact with the end cover.

Description

Technical Field

[0001] This utility model relates to a Delta parallel robot, specifically, to an external rotor direct drive motor and a Delta parallel robot. Background Technology

[0002] Delta parallel robots possess advantages such as high rigidity, structural stability, large load-bearing capacity, high micro-motion precision, and low motion load, and are commonly used in sorting, packaging, and other fields. Currently, traditional Delta parallel robots employ a "motor + reducer" transmission method. Because the reducer transmits power through multiple sets of meshing gears, it has backlash, resulting in problems such as complex structure, low motion precision, high mechanical wear, and high maintenance costs.

[0003] To this end, many studies have been conducted. For example, CN106357047B proposed a permanent magnet direct drive motor for parallel robots and its parallel robot structure; CN106451977B proposed a dual-stator direct drive permanent magnet motor and its parallel robot structure; and CN206004509U proposed an external rotor direct drive permanent magnet synchronous motor and its parallel robot structure.

[0004] While the aforementioned motors and parallel robots can increase the braking area and improve braking torque, the replacement and disassembly of motor components are complex, and when replacement is needed, the entire machine usually needs to be replaced, which is costly.

[0005] In order to solve the above problems, people have been seeking an ideal technological solution. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing an external rotor direct-drive Delta parallel robot structure that facilitates the replacement and disassembly of motor components.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] The first aspect provides an external rotor direct drive motor, including a fixed shaft, a stator, a rotor, an end cover, and an electromagnetic brake;

[0009] Both ends of the fixed shaft are fixed to the fixed plate, the stator is sleeved on the outside of the fixed shaft, and the end caps are fixed to the fixed shaft on both sides of the stator by bearings.

[0010] The rotor is sleeved on the outside of the stator, and an active output arm is provided on the outside of the rotor. The active output arm is fastened to the end cover.

[0011] The electromagnetic brake gap is sleeved on the fixed shaft between the fixed plate and one of the end caps, and one end of the electromagnetic brake is fixedly connected to the fixed plate, while the other end is in braking contact with the end cap.

[0012] Furthermore, a sealing adhesive layer is provided between the fixed shaft and the stator.

[0013] Furthermore, the fixed shaft is a hollow shaft, and the hollow shaft has a stator outlet hole and an injection hole.

[0014] Furthermore, an adhesive sealant layer is provided between the active output arm and the outer wall of the rotor.

[0015] Furthermore, a position encoder is provided on one of the end caps.

[0016] The second aspect provides an external rotor direct drive Delta parallel robot, including a stationary platform, driven arms, a moving platform, and three external rotor direct drive motors as proposed in the first aspect. The three external rotor direct drive motors are fixedly mounted on the stationary platform at intervals by fixing plates. The moving platform has six driven arms hinged to its periphery, and the other end of every two driven arms is hinged to the active output arm of an external rotor direct drive motor.

[0017] Furthermore, one end of the driven arm is hinged to the active output arm of the external rotor direct drive motor via a ball bearing, and the other end is hinged to the moving platform via a ball bearing.

[0018] Furthermore, the three external rotor direct drive motors are arranged in a 120-degree circumferential distribution.

[0019] This utility model has substantial features and advancements compared to existing technologies. Specifically, the two ends of the fixed shaft are respectively fixed to a fixed plate, and the stator is sleeved on the outside of the fixed shaft. End caps are also fixed to the two sides of the stator on the fixed shaft via bearings. The rotor is sleeved on the outside of the stator, and an active output arm is provided on the outside of the rotor. The active output arm is tightly connected to the end cap. This arrangement allows the fixed shaft, end caps, rotor, and active output arm to be tightly connected as a whole, achieving integrated synchronous rotation of the fixed shaft, end caps, rotor, and active output arm. The structure is rationally designed and easy to assemble and disassemble. While achieving direct transmission of motor torque, it also utilizes the advantage of the high torque of the external rotor structure motor, possessing broad application prospects. The electromagnetic brake gap is sleeved on the fixed shaft between the fixed plate and one of the end caps, with one end of the electromagnetic brake fixedly connected to the fixed plate and the other end in braking contact with the end cap. When power is lost, the electromagnetic brake actuates, and its braking device contacts the end cap for friction braking, realizing the robot's power-off braking protection function. Attached Figure Description

[0020] Figure 1This is an assembly diagram of the external rotor direct drive motor described in Embodiment 1 of this utility model.

[0021] Figure 2 This is a cross-sectional schematic diagram of the external rotor direct drive motor described in Embodiment 1 of this utility model.

[0022] Figure 3 This is a schematic diagram of the overall structure of the Delta parallel robot described in Embodiment 1 of this utility model.

[0023] In the diagram: 1. Fixed plate; 2. Expansion sleeve; 3. Electromagnetic brake; 4. End cover; 5. Position encoder; 6. Rotor; 7. Fixed shaft; 8. Active output arm; 9. Stator; 10. Bearing; 11. Cable outlet; 12. Glue injection hole; 13. External rotor direct drive motor; 14. Moving platform; 15. Stationary platform; 16. Driven arm. Detailed Implementation

[0024] The technical solution of this utility model will be further described in detail below through specific embodiments.

[0025] Example 1

[0026] This embodiment provides an external rotor direct drive motor 13, including a fixed shaft 7, a stator 9, a rotor 6, an end cover 4, and an electromagnetic brake 3;

[0027] The two ends of the fixed shaft 7 are respectively fixed on the fixed plate 1, the stator 9 is sleeved on the outside of the fixed shaft 7, and the end caps 4 are respectively fixed to the fixed shaft 7 on both sides of the stator 9 by bearings 10.

[0028] The rotor 6 is sleeved on the outside of the stator 9, and an active output arm 8 is provided on the outside of the rotor 6. The active output arm 8 is fastened to the end cover 4.

[0029] The electromagnetic brake 3 is fitted onto the fixed shaft 7 between the fixed plate 1 and one of the end covers 4, with one end of the electromagnetic brake 3 fixedly connected to the fixed plate 1 and the other end in braking contact with the end cover 4. When power is lost, the electromagnetic brake 3 actuates, and its braking device contacts the end cover 4 to perform friction braking, thereby realizing the power failure braking protection function of the external rotor direct drive motor 13.

[0030] The above configuration ensures that the fixed shaft 7, the two end caps 4, the rotor 6, and the active output arm 8 are securely connected as a whole, achieving synchronous rotation of the fixed shaft 7, the end caps 4, the rotor 6, and the active output arm 8. The electromagnetic brake 3 is fitted onto the fixed shaft 7 between the fixed plate 1 and one of the end caps 4, with one end of the electromagnetic brake 3 fixedly connected to the fixed plate 1 and the other end in braking contact with the end cap 4.

[0031] Furthermore, the fixed shaft 7 is fixed to the fixed plate 1 by an expansion sleeve, and a sealant layer is provided between the fixed shaft 7 and the stator 9. In one embodiment, the fixed shaft 7 is a hollow shaft, and the hollow shaft has a stator 9 wire outlet hole 11 and an adhesive injection hole 12. The stator 9 wire outlet hole 11 facilitates the wire exit of the stator 9. The adhesive injection hole 12 facilitates the injection of structural adhesive into the gap between the stator 9 and the fixed shaft 7, so that the stator 9 can be fitted onto the outside of the fixed shaft 7 by means of structural adhesive and cold assembly, making disassembly and assembly convenient and quick.

[0032] In one embodiment, an adhesive sealant layer is provided between the active output arm 8 and the outer wall of the rotor 6. In a specific implementation, the active output arm 8 is fitted onto the outside of the rotor 6 by means of structural adhesive thermal expansion assembly.

[0033] In one embodiment, a position encoder 5 is provided on one of the end caps 4. The position encoder 5 facilitates the control of the rotation angle of the rotor 6 of the external rotor direct drive motor 13.

[0034] Operating mode: The rotor 6 of the external rotor direct drive motor 13 directly drives the active output arm 8 to rotate, which in turn drives the driven arm 16 and the moving platform 14 to move. The position encoder 5 collects the rotation angle of the rotor 6 of each external rotor direct drive motor 13. When the rotation angle of the rotor 6 of the external rotor direct drive motor 13 is a preset angle, the electromagnetic brake 3 is controlled to apply friction braking to the end cover 4, thereby controlling the movement of the external rotor direct drive motor 13.

[0035] Example 2

[0036] This embodiment provides an external rotor 6 direct drive Delta parallel robot, including a static platform 15, driven arms 16, a moving platform 14, and three external rotor direct drive motors 13 as proposed in the first aspect. The three external rotor direct drive motors 13 are fixedly mounted on the static platform 15 at intervals through fixing plates 1. The moving platform 14 has six driven arms 16 hinged to its periphery, and the other end of every two driven arms 16 is hinged to the active output arm 8 of one external rotor direct drive motor 13.

[0037] Furthermore, one end of the driven arm 16 is hinged to the active output arm 8 of the external rotor direct drive motor 13 via a ball bearing 10, and the other end is hinged to the moving platform 14 via a ball bearing 10.

[0038] Furthermore, the three external rotor direct drive motors 13 are circumferentially distributed at 120 degrees.

[0039] In one embodiment, the position encoder 5 adopts a split structure, wherein the code disk of the position encoder 5 is fixed to the outside of one of the end covers 4, and the reading head of the position encoder 5 is fixed to the stationary platform 15 by a bracket. The position encoder 5 is configured to facilitate the control of the rotation angle of the rotor 6 of the external rotor direct drive motor 13.

[0040] Working method: When in use, the Delta parallel robot with direct drive of the outer rotor 6 is fixed in the working frame through the static platform 15; then the direct drive motor 13 of the outer rotor is controlled to work, and its rotor 6 directly drives the active output arm 8 to rotate, thereby driving the driven arm 16 and the moving platform 14 to move.

[0041] Simultaneously, the position encoder 5 is used to collect the rotation angle of the rotor 6 of each external rotor direct drive motor 13. When the rotation angle of the rotor 6 of the external rotor direct drive motor 13 is a preset angle, the electromagnetic brake 3 is controlled to perform friction braking on the end cover 4, thereby controlling the movement of the external rotor direct drive motor 13. The three external rotor direct drive motors 13 work together to control the position of the moving platform 14, realize the multi-degree-of-freedom movement of the Delta parallel robot, and facilitate the implementation of actions such as picking and releasing.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. An external rotor direct drive motor, characterized in that, Includes fixed shaft, stator, rotor, end cover and electromagnetic brake; Both ends of the fixed shaft are fixed to the fixed plate, the stator is sleeved on the outside of the fixed shaft, and the end caps are fixed to the fixed shaft on both sides of the stator by bearings. The rotor is sleeved on the outside of the stator, and an active output arm is provided on the outside of the rotor. The active output arm is fastened to the end cover. The electromagnetic brake gap is sleeved on the fixed shaft between the fixed plate and one of the end caps, and one end of the electromagnetic brake is fixedly connected to the fixed plate, while the other end is in braking contact with the end cap.

2. The external rotor direct drive motor according to claim 1, characterized in that, A sealant layer is provided between the fixed shaft and the stator.

3. The external rotor direct drive motor according to claim 2, characterized in that, The fixed shaft is a hollow shaft, and the hollow shaft has a stator outlet hole and an injection hole.

4. An external rotor direct drive motor according to any one of claims 1-3, characterized in that, An adhesive layer is provided between the active output arm and the outer wall of the rotor.

5. The external rotor direct drive motor according to claim 4, characterized in that, One of the end caps is equipped with a position encoder.

6. An external rotor direct-drive Delta parallel robot, characterized in that, It includes a stationary platform, driven arms, a moving platform, and three external rotor direct drive motors as described in any one of claims 1-5. The three external rotor direct drive motors are fixedly mounted on the stationary platform at intervals by fixing plates. The moving platform has six driven arms hinged to its periphery, and the other end of every two driven arms is hinged to the active output arm of an external rotor direct drive motor.

7. The external rotor direct-drive Delta parallel robot according to claim 6, characterized in that, One end of the driven arm is hinged to the active output arm of the external rotor direct drive motor via a ball bearing, and the other end is hinged to the moving platform via a ball bearing.

8. The external rotor direct-drive Delta parallel robot according to claim 6, characterized in that, The three external rotor direct drive motors are arranged in a 120-degree circumferential distribution.

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