Joint motor applied to robot

Abstract

The embodiment of the utility model provides a joint motor applied to a robot. The joint motor comprises an integrally-formed shell, a driving controller, a brushless motor, a change gear set and a rotary bearing part, wherein the driving controller is arranged in the shell through thermal assembly; the driving controller is electrically connected to the brushless motor, an output shaft of the brushless motor is in transmission connection to the input end of the change gear set, and the output end of the change gear set is connected to the pivotal bearing part, so that the pivotal bearing part is controlled to move through the driving controller; the brushless motor and the slewing bearing piece are both located on the same side of the change gear set. According to the joint motor disclosed by the embodiment of the invention, the joint space and the size can be effectively reduced, the manufacturing cost is reduced, the occupancy rate of the joint motor in the same direction can also be reduced, and the requirements of miniaturization and light weight of a robot are met.

Description

Technical Field

[0001] The embodiments disclosed herein belong to the field of robotics technology, and specifically relate to a joint motor used in robots. Background Technology

[0002] Currently, many applications of robots require miniaturization and lightweight design, and robot joint components are fundamental parts of robots. While existing robot joint components have matured, they still suffer from the following problems due to structural and manufacturing limitations:

[0003] (1) The existing robot joint components have separate shells and internal motors and other components, resulting in a large joint space and volume, which is not suitable for the requirements of robot miniaturization and lightweighting. It also causes the joints to be heavy and increases manufacturing costs.

[0004] (2) Robot joint components typically adopt a structure in which the drive motor and the rotary bearing extend in the same direction. This structure makes the joint components too long and the space occupancy rate in the same direction too high.

[0005] (3) High-speed, high-torque sensor-driven brushless motors are usually used inside robot joint components. Using such motors requires a cooling fan inside the housing, which further increases the size of the joint components and is also not conducive to the requirements of robot miniaturization and lightweighting.

[0006] (4) Crossed roller slewing bearings are mostly deployed in the connection of harmonic reducers as a solution for amplifying the output torque of motors. Harmonic reducers have high costs and the multiplier increases with the increase of rated output torque; this is not conducive to cost control of small-volume, high-torque joints.

[0007] (5) The existing position control scheme for articulated motors is a multi-turn incremental encoder on the motor side.

[0008] + Output-side absolute encoders are costly, have requirements for deployment location, and are not conducive to low cost and structural simplification. Utility Model Content

[0009] The embodiments disclosed herein are intended to at least address one of the technical problems existing in the prior art, and to provide a joint motor for use in robots.

[0010] The embodiments of this disclosure provide a joint motor for a robot, the joint motor including an integrally formed housing, a brushless motor thermally mounted in the housing, and a drive controller, a speed-changing gear set and a rotary bearing component disposed separately in the housing;

[0011] The drive controller is electrically connected to the brushless motor, the output shaft of the brushless motor is drively connected to the input end of the gear set, and the output end of the gear set is connected to the slewing bearing component, so that the drive controller can control the movement of the slewing bearing component; wherein...

[0012] The brushless motor and the rotary bearing are both located on the same side of the gear set.

[0013] Optionally, the joint motor further includes a gear ring, and the slewing bearing is a crossed roller slewing bearing;

[0014] The gear ring drive is connected to the output shaft of the gear set, and the gear ring is sleeved on the crossed roller slewing bearing; the outer ring of the crossed roller slewing bearing is connected to the gear ring by a first fastener, and the inner ring of the crossed roller slewing bearing is fixed to the housing by a second fastener.

[0015] Optionally, the housing includes a first receiving cavity integrally formed for heat-fitting the brushless motor, a second receiving cavity for receiving the transmission gear set and the drive controller, and a third receiving cavity for receiving the gear ring and the crossed roller slewing bearing; wherein,

[0016] The first receiving cavity and the third receiving cavity are located on the same side of the second receiving cavity.

[0017] Optionally, the housing may further include a cover plate and a bottom plate;

[0018] The first receiving cavity and the third receiving cavity are open on the side opposite to the second receiving cavity, and the second receiving cavity is open on the side opposite to the first receiving cavity and the third receiving cavity;

[0019] The cover plate is integrally formed to cover the opening of the first receiving cavity, and the bottom plate is integrally formed to cover the opening of the second receiving cavity.

[0020] Optionally, the stator of the brushless motor is thermally fixed to the first receiving cavity, the rotor of the brushless motor passes through the stator, and the output shaft of the brushless motor passes through the first receiving cavity and is connected to the input end of the gear set. The output end of the gear set passes through the second receiving cavity and is connected to the gear ring.

[0021] Optionally, the first receiving cavity has at least one opening for heat dissipation of the brushless motor;

[0022] The first receiving cavity also has at least one connecting hole for inserting a cable, and the connecting hole is sealed by a gland.

[0023] Optionally, the joint motor further includes an electromagnetic brake and a skeleton oil seal;

[0024] The electromagnetic brake is electrically connected to the brushless motor and is located between the brushless motor and the cover plate;

[0025] The skeleton oil seal is located between the crossed roller slewing bearing and the third receiving cavity.

[0026] Optionally, the gear set is a combined reduction gear set;

[0027] The combined reduction gear set includes a first double reduction gear, a second double reduction gear, and a third reduction gear; the first double reduction gear, the second double reduction gear, and the third reduction gear are respectively connected to a first double reduction shaft, a second double reduction shaft, and a third reduction output shaft, and the third reduction output shaft is also connected to the slewing bearing component.

[0028] Optionally, the large gear in the first double reduction gear meshes with the output shaft of the brushless motor, the small gear in the first double reduction gear meshes with the large gear in the second double reduction gear, and the small gear in the second double reduction gear meshes with the third reduction gear; and,

[0029] When the joint motor includes the gear ring, the third reduction output shaft meshes with the gear ring.

[0030] Optionally, the drive controller is an integrated joint drive control controller.

[0031] The joint motors of robots disclosed in this embodiment, through an integrally molded housing, a brushless motor thermally mounted within the housing, and a drive controller, a transmission gear set, and a rotary bearing component separately disposed within the housing, can effectively reduce joint space and volume, reduce manufacturing costs, and also reduce the occupancy rate of the joint motor in the same direction. It provides higher torque and speed output with the same weight and volume, meets the application requirements in complex scenarios, and meets the requirements of robot miniaturization and lightweighting. Attached Figure Description

[0032] Figure 1 This is an exploded view of a joint motor applied to a robot according to an embodiment of the present disclosure;

[0033] Figure 2 This is a cross-sectional schematic diagram of a joint motor applied to a robot according to another embodiment of the present disclosure;

[0034] Figure 3 This is a schematic diagram of the overall structure of a joint motor applied to a robot, according to another embodiment of this disclosure;

[0035] Figure 4 This is a schematic diagram illustrating the engagement of a variable speed gear set with the output shaft and gear ring of a brushless motor, according to another embodiment of this disclosure. Detailed Implementation

[0036] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] like Figure 1 As shown, a joint motor 100 for a robot includes an integrally formed housing 101, a brushless motor 103 thermally mounted within the housing 101, and a drive controller 102, a gear set 104, and a slewing bearing 105 disposed within the housing 101. The drive controller 102 is electrically connected to the brushless motor 103. The output shaft of the brushless motor 103 is drivenly connected to the input end of the gear set 104, and the output end of the gear set 104 is connected to the slewing bearing 105, so that the drive controller 102 controls the movement of the slewing bearing 105. The brushless motor 103 and the slewing bearing 105 are both located on the same side of the gear set 104.

[0038] Specifically, such as Figure 1 As shown, the housing 101 is a one-piece molded design, and the brushless motor 103 is connected to the housing 101 by heat fitting. After the housing 101 and the brushless motor 103 are heat-fitted together, the drive controller 102, the gear set 104, and the slewing bearing 105 are respectively installed inside the housing 101. The housing 101 serves as both the outer shell and heat sink for the brushless motor 103, and also as the outer shell for the drive controller 102, the gear set 104, and the slewing bearing 105. The one-piece heat-fitted housing 101 effectively reduces the weight of the joint motor and the repetitive positioning of the mechanical structure, thereby reducing costs and weight, and improving the battery life of the robot product.

[0039] The drive controller 102 controls the brushless motor 103 to rotate forward or backward. The brushless motor 103 drives the rotary bearing 105 to rotate forward or backward, thereby controlling the movement of the robot joints connected to the rotary bearing 105. Figure 1 As shown, the brushless motor 103 and the rotary bearing 105 are both located on the same side of the speed-changing gear set 104 to reduce the space occupancy of the joint motor in the same direction and meet the requirements of robot miniaturization and lightweighting.

[0040] It should be noted that the drive controller 102 is an integrated joint drive and control controller. It can function as both the driver of the brushless motor 103 and the controller of the entire joint motor 100. Furthermore, it employs a Field-Oriented Control (FOC) drive scheme, eliminating the need for traditional incremental and absolute encoders for position sensing control. It can read and record the angular position of the brushless motor 103 rotor through software, calculate and output the joint speed and position, and simultaneously save the position in memory in real time. Upon power-up, the joint position is identified by reading the memory. This solution eliminates the need for traditional incremental and absolute encoders, simplifying the structure, enhancing software control and application, significantly reducing product costs, saving joint space and volume, and reducing joint weight. It can be widely used in intelligent control robot products.

[0041] It should be further noted that the brushless motor 103 can be configured as a high-speed, high-torque sensor-driven brushless motor with a maximum speed exceeding 30,000 rpm, a maximum torque exceeding 1.2 Nm, and a rated current exceeding 15 A. Such high-speed, high-torque sensor-driven brushless motors used in articulated motors are typically equipped with cooling fans for heat dissipation, thus requiring a large installation space. This disclosure, however, uses a one-piece molded and heat-fitted housing to tightly house the drive controller, brushless motor, transmission gear set, and slewing bearing components inside, eliminating the need for the standard cooling fan and effectively saving installation space.

[0042] The joint motors of robots disclosed in this embodiment, through an integrally molded housing, a brushless motor thermally mounted within the housing, and a drive controller, a transmission gear set, and a rotary bearing component separately disposed within the housing, can effectively reduce joint space, weight, and volume, reduce manufacturing costs, and also reduce the occupancy rate of the joint motor in the same direction. Under the same weight and volume, it can provide higher torque and speed output, meet the application requirements in complex scenarios, and meet the requirements of robot miniaturization and lightweighting.

[0043] For example, such as Figure 1 As shown, the joint motor 100 also includes a gear ring 106, and the slewing bearing 105 is a crossed roller slewing bearing. The gear ring 106 is drively connected to the output shaft of the transmission gear set 104, and the gear ring 106 is sleeved on the crossed roller slewing bearing. The outer ring of the crossed roller slewing bearing is connected to the gear ring 106 by a first fastener 200, and the inner ring of the crossed roller slewing bearing is fixed to the housing 101 by a second fastener 300.

[0044] Specifically, such as Figure 1As shown, the output shaft of the gear set 104 is connected to the gear ring 106, which is fitted onto the outer ring of the crossed roller slewing bearing. The outer ring of the crossed roller slewing bearing is connected to the gear ring 106 via a first fastener 200, and the inner ring of the crossed roller slewing bearing is fixed to the housing 101 via a second fastener 300. The gear ring 106 can drive the movement of the outer ring of the crossed roller slewing bearing, serving as the output of joint speed, position, and torque. It should be noted that the first and second fasteners can be screws, or other fasteners; this embodiment does not impose specific limitations on this. The gear ring and crossed roller slewing bearing further improve the working efficiency and accuracy of the joint motor, facilitating its operation. Furthermore, by utilizing the cross roller slewing bearing and the gear set, costs can be further reduced while maintaining a small size and high torque.

[0045] For example, such as Figures 1 to 3 As shown, the housing 101 includes a first receiving cavity 1011 integrally formed for heat-fitting the brushless motor 103, a second receiving cavity 1012 for receiving the transmission gear set 104 and the drive controller 102, and a third receiving cavity 1013 for receiving the gear ring 106 and the crossed roller slewing bearing. The first receiving cavity 1011 and the third receiving cavity 1013 are located on the same side of the second receiving cavity 1012.

[0046] Specifically, such as Figures 1 to 3 As shown, the first receiving cavity 1011 thermally houses the brushless motor 103, the second receiving cavity 1012 houses the transmission gear set 104 and the drive controller 102, and the third receiving cavity 1013 houses the gear ring 106 and the crossed roller slewing bearing. Positioning the first and third receiving cavities on the same side of the second receiving cavity reduces the occupancy rate of the joint motors in the same direction, meeting the requirements for robot miniaturization and weight reduction.

[0047] Furthermore, such as Figure 2 and Figure 3 As shown, the housing 101 further includes a cover plate 1014 and a bottom plate 1015. The first receiving cavity 1011 and the third receiving cavity 1013 are open on the side opposite to the second receiving cavity 1012, and the second receiving cavity 1012 is open on the side opposite to the first receiving cavity 1011 and the third receiving cavity 1013. The cover plate 1014 is integrally formed to cover the opening of the first receiving cavity 1011, and the bottom plate 1015 is integrally formed to cover the opening of the second receiving cavity 1012.

[0048] It should be noted that after the first receiving cavity 1011 heat-fits the brushless motor 103, the second receiving cavity 1012 receives the speed change gear set 104 and the drive controller 102, and the third receiving cavity 1013 receives the gear ring 106 and the crossed roller slewing bearing, the cover plate 1014 and the base plate 1015 are integrally formed at the openings of the first receiving cavity 1011 and the second receiving cavity 1012, respectively.

[0049] The joint motor of the robot disclosed in this embodiment, through an integrally molded and heat-fitted housing, tightly houses the drive controller, brushless motor, speed gear set and slewing bearing inside the housing, effectively reducing joint space, weight and volume, reducing material waste and making it more miniaturized and lightweight.

[0050] For example, such as Figure 1 and Figure 2 As shown, the stator 1031 of the brushless motor 103 is thermally fixed to the first receiving cavity 1011, the rotor 1032 of the brushless motor 103 passes through the stator 1031, and the output shaft of the brushless motor 103 passes through the first receiving cavity 1011 and is connected to the input end of the speed change gear set 104. The output end of the speed change gear set 104 passes through the second receiving cavity 1012 and is connected to the gear ring 106.

[0051] Specifically, such as Figure 1 and Figure 2 As shown, under the drive control of the drive controller 102, the stator 1031 of the brushless motor 103 generates a magnetic field, and the rotor 1032 of the brushless motor 103 moves under the drive of the magnetic field, thereby driving the speed change gear set 104. The speed change gear set 104 drives the gear ring 106 to move, thereby driving the crossed roller slewing bearing to move.

[0052] Furthermore, the stator 1031 and housing 101 of the brushless motor 103 are thermally fitted together, and a high thermal conductivity silicone grease is applied between them to enhance heat conduction. At the same time, a high temperature resistant and high magnetic strength permanent magnet and a high temperature resistant winding are used as the stator to ensure joint performance and durability.

[0053] For example, such as Figure 1 and Figure 3 As shown, the first receiving cavity 1011 has at least one opening 111 for heat dissipation of the brushless motor 103, thereby improving the heat dissipation capacity of the housing 101. The first receiving cavity 1011 also has at least one connecting hole 112 for inserting a cable, the connecting hole 112 being sealed by a gland 400. As a specific example, such as... Figure 1As shown, a custom power communication combination cable is inserted through the connecting hole 112 as a quick-connect joint for series and parallel connections. It uses a Gland 400 for cable entry and exit and is sealed for protection. Quick-connect terminals are used for quick insertion inside the joint, and then the sealing cap is used to seal it tightly, achieving rapid application and IP65 protection.

[0054] For example, such as Figure 1 As shown, the joint motor 100 also includes an electromagnetic brake 107 and a skeleton oil seal 108. The electromagnetic brake 107 is electrically connected to the brushless motor 103 and is located between the brushless motor 103 and the cover plate 1014. The skeleton oil seal 108 is disposed between the crossed roller slewing bearing and the third receiving cavity 1013.

[0055] Specifically, such as Figure 1 As shown, an electromagnetic brake 107 is used to assist joint braking. When the joint rotates, the electromagnetic brake 107 is activated, releasing the brake on the brushless motor 103. Within one second, it is converted to PWM pulse width control voltage, maintaining brake release even at a low voltage of 8V, significantly reducing heat generation and ensuring long-term online operation. When the joint is in a stopped state, the electromagnetic brake 107 shuts off the power to apply de-energized braking to the joint, using a physical brake instead of the back electromotive force braking of the brushless motor 103, saving power, reducing heat generation, and extending battery life. A skeleton oil seal 108 is used as the seal between the crossed roller slewing bearing and the third receiving cavity 1013, enabling the joint to achieve IP65 protection capability. Figure 1 and Figure 2 As shown, the joint motor 100 also includes a fixed bracket 500 fixed in the housing 101. The fixed bracket 500 is sandwiched between the brushless motor 103 and the electromagnetic brake 107. It can serve as a bearing seat for the rotor 1032 of the brushless motor 103 and can also be used to fix the electromagnetic brake 107 so as to clamp the rotor 1032 of the brushless motor 103 when needed, thereby achieving position fixation.

[0056] For example, such as Figure 1 , Figure 2 and Figure 4 As shown, the transmission gear set 104 is a combined reduction gear set. The combined reduction gear set includes a first double reduction gear 1041, a second double reduction gear 1042, and a third reduction gear 1043. The first double reduction gear 1041, the second double reduction gear 1042, and the third reduction gear 1043 are respectively connected to a first double reduction shaft 10411, a second double reduction shaft 10421, and a third reduction output shaft 10431. The third reduction output shaft 10431 is also connected to the slewing bearing component 105.

[0057] As a concrete example, such as Figure 4As shown, the coupled reduction gear set is specifically configured as a high-precision coupled reduction gear set, which can achieve a large reduction ratio of 1:200 to 1:300 and a mechanical accuracy of ±3 J / min to ±5 J / min. Further, the large gear in the first double reduction gear 1041 meshes with the output shaft of the brushless motor 103, the small gear in the first double reduction gear 1041 meshes with the large gear in the second double reduction gear 1042, and the small gear in the second double reduction gear 1042 meshes with the third reduction gear 1043. Also, when the articulated motor 100 includes the gear ring 106, the third reduction output shaft 10431 meshes with the gear ring 106 to drive the slewing bearing 105 to move via the gear ring 106.

[0058] The joint motors of robots in the embodiments of this disclosure can convert the high-speed, low-torque power of the brushless motor output shaft into low-speed, high-torque power through the set of speed-changing gears, which meets the application requirements of joint motors and has the characteristics of large reduction ratio, high precision, and high-accuracy braking.

[0059] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A joint motor applied to a robot, characterized by, The joint motor comprises an integrally formed shell, a brushless motor arranged in the shell through thermal assembly, a drive controller, a variable speed gear set and a rotary bearing arranged in the shell separately; The drive controller is electrically connected to the brushless motor, an output shaft of the brushless motor is drivingly connected to an input end of the variable speed gear set, an output end of the variable speed gear set is connected to the rotary bearing, so as to control the rotary bearing to move through the drive controller; wherein, The brushless motor and the rotary bearing are located on the same side of the variable speed gear set.

2. The joint motor for a robot according to claim 1, characterized by, The joint motor further comprises a gear ring, and the rotary bearing is a crossed roller rotary bearing; The gear ring is drivingly connected to an output shaft of the variable speed gear set, and the gear ring is sleeved on the crossed roller rotary bearing; an outer ring of the crossed roller rotary bearing is connected to the gear ring through a first fastener, and an inner ring of the crossed roller rotary bearing is fixed to the shell through a second fastener.

3. The joint motor for a robot according to claim 2, characterized by, The shell comprises a first receiving cavity for integrally forming and receiving the brushless motor through thermal assembly, a second receiving cavity for receiving the variable speed gear set and the drive controller, and a third receiving cavity for receiving the gear ring and the crossed roller rotary bearing; wherein, The first receiving cavity and the third receiving cavity are located on the same side of the second receiving cavity.

4. The joint motor for a robot according to claim 3, characterized by, The shell further comprises a cover plate and a bottom plate; The side of the first receiving cavity and the third receiving cavity away from the second receiving cavity is in an open state, and the side of the second receiving cavity away from the first receiving cavity and the third receiving cavity is in an open state; The cover plate is used for integrally covering the opening of the first receiving cavity, and the bottom plate is used for integrally covering the opening of the second receiving cavity.

5. The joint motor for a robot according to claim 3, wherein A stator of the brushless motor is fixed in the first receiving cavity through thermal assembly, a rotor of the brushless motor penetrates the stator, and an output shaft of the brushless motor penetrates the first receiving cavity and is connected to an input end of the variable speed gear set, and an output end of the variable speed gear set penetrates the second receiving cavity and is connected to the gear ring.

6. The joint motor for a robot according to claim 3, wherein The first receiving cavity is provided with at least one aperture for heat dissipation of the brushless motor; The first receiving cavity is further provided with at least one communication hole for penetrating a cable, and the communication hole is sealed by a gland.

7. The joint motor for a robot according to claim 4, wherein The joint motor further comprises an electromagnetic brake and a skeleton oil seal; The electromagnetic brake is electrically connected to the brushless motor and located between the brushless motor and the cover plate; The skeleton oil seal is arranged between the crossed roller rotary bearing and the third receiving cavity.

8. The joint motor for a robot according to any one of claims 1 to 6, characterized in that, The variable speed gear set is a simultaneous reduction gear set; The simultaneous reduction gear set comprises a first double reduction gear, a second double reduction gear and a third reduction gear; the first double reduction gear, the second double reduction gear and the third reduction gear are respectively connected with a first double reduction shaft, a second double reduction shaft and a third reduction output shaft, and the third reduction output shaft is further connected to the rotary bearing.

9. The joint motor for a robot according to claim 8, wherein The big gear in the first double-reduction gear meshes with the output shaft of the brushless motor, the small gear in the first double-reduction gear meshes with the big gear in the second double-reduction gear, and the small gear in the second double-reduction gear meshes with the third reduction gear; and When the joint motor comprises a gear ring, the third reduction output shaft meshes with the gear ring.

10. The joint motor for a robot according to any one of claims 1 to 6, characterized by, The drive controller is a joint drive control integrated controller.

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