Robot joint motor with disc rotor

Abstract

The utility model relates to the technical field of motors, in particular to a robot joint motor with a disc rotor, which comprises a motor body, a stator and a rotor disc are arranged in the motor body, a permanent magnet is arranged at one end, facing the rotor disc, of the stator, a mounting cavity is arranged on the rotor disc, the mounting cavity and the rotor disc are coaxially arranged, and the mounting cavity is connected with a rotating shaft. A winding coil is arranged at one end of the rotor disc towards the permanent magnet and wraps the periphery of the rotating shaft; the rotor disc comprises a plurality of single disc bodies stacked together, winding coils are arranged on the same sides of the single disc bodies, the rotor disc is provided with at least two through holes opposite to the winding coils, the winding coils are spirally wound from one through hole to the other through hole, the winding coil on the previous single disc body penetrates through the through hole, and the winding coils on the other single disc body penetrate through the through hole. And the winding coil is connected to the winding coil on the next disc single body. The utility model aims to improve the working stability of the motor and reduce the size of the motor.

Description

TECHNICAL FIELD

[0001] The utility model relates to motor technical field, especially a kind of robot joint motor with disc rotor. BACKGROUND

[0002] With the development of science and technology, robot technology is also in high-speed development, in robot technology, the structure at robot joint is the core whether robot can flexibly run, disc motor is especially suitable for this flexible and high-precision work due to its compact structure, power density.

[0003] In the related art, a connecting hole is arranged on the outer connecting disc of the motor rotor, and a coil is wound around the end of the connecting hole facing the motor stator, and finally a packaging sheet is arranged at the end of the outer connecting disc away from the stator to hide and protect the internal structure of the motor after the motor is installed. Although the motor can operate more flexibly under this structure, the thickness of the coil itself is relatively thick, and a packaging sheet needs to be arranged to hide the coil, resulting in a relatively complex motor rotor structure and a relatively large motor size, which can cause the joint structure to be bulky and not conducive to robot work when used in the joint of the robot. SUMMARY

[0004] The main purpose of the present utility model is to provide a kind of robot joint motor with disc rotor, to improve the stability of motor work, and reduce its volume.

[0005] To achieve the above-mentioned purpose, the utility model provides a kind of robot joint motor with disc rotor, including motor body, characterized by, the stator and rotor disc are arranged in the motor body, the stator is provided with permanent magnet at the end facing the rotor disc, the rotor disc is provided with mounting cavity, the mounting cavity and the rotor disc are coaxially arranged, the mounting cavity is connected with the rotating shaft, the end of the rotor disc is provided with winding coil towards the permanent magnet, the winding coil is wrapped around the outer periphery of the rotating shaft;

[0006] The rotor disc includes a plurality of stacked disc monomers, a winding coil is arranged on the same side of each of the plurality of disc monomers, the rotor disc is provided with at least two through holes relative to the winding coil, the winding coil is spirally wound from one through hole to another through hole, the winding coil on the previous disc monomer is arranged in the through hole and connected to the winding coil on the next disc monomer.

[0007] In an embodiment of the present application, a plurality of wire clamping portions are arranged on the disc monomer at equal angles in the circumferential direction, and the winding coil includes a plurality of coil monomers, each wire clamping portion corresponding to one coil monomer.

[0008] In an embodiment of the present application, the coil monomer includes a plurality of turns of wire bundled together, and the plurality of turns of wire are spirally wound from the outer periphery of the wire clamping portion to the center of the wire clamping portion.

[0009] The card line part is provided with at least one through hole at the center.

[0010] In an embodiment of the present application, the positioning structure is provided between the plurality of disc monomers, and comprises a plurality of positioning connecting parts, each of the disc monomers corresponds to a positioning connecting part, the positioning connecting part is arranged between the adjacent two card line parts of a disc monomer, and the positioning connecting part is arranged along the outer periphery of the disc monomer towards the center of the disc monomer.

[0011] The positioning connecting part comprises a positioning connecting rod and a plurality of positioning connecting holes, and the positioning connecting rod and the plurality of positioning connecting holes are arranged in the positioning connecting part.

[0012] In an embodiment of the present application, the positioning connecting rod on the first disc monomer is connected to the outer periphery of the disc monomer, and the positioning connecting rod on the last disc monomer is connected to one side of the mounting cavity.

[0013] The positioning connecting rod on the next disc monomer is connected to the outer periphery of the disc monomer, and the positioning connecting rod on the last disc monomer is connected to one side of the mounting cavity.

[0014] In an embodiment of the present application, the positioning connecting rod comprises a positioning locking rod, the positioning locking rod is provided with at least two, the two positioning locking rods are arranged on the first disc monomer and the last disc monomer respectively, one end of the positioning locking rod is connected to the first or last disc monomer, the other end of the positioning locking rod is arranged in the plurality of oppositely arranged positioning connecting holes, and the positioning locking rod is provided with a positioning locking hole, and the last or first disc monomer is provided with a counterbore groove corresponding to the positioning locking hole.

[0015] In an embodiment of the present application, the rotor disc is provided with at least two positioning structures, each of the disc monomers is provided with at least two positioning connecting parts, and the positioning connecting parts on the adjacent disc monomers are oppositely arranged.

[0016] By adopting the above technical scheme, the present application has the following advantages:

[0017] 1. The motor rotor adopts the structure of the rotating shaft matched with the rotor disc, the rotor disc is sleeved on the rotating shaft through the installation cavity, in order to enable the rotating shaft to stably rotate, the winding coil is arranged on the rotor disc, the rotor disc and the rotating shaft are rotationally connected in the assembly cavity in the motor, the motor body is provided with a stator towards the rotor disc, the stator is provided with a permanent magnet, the winding coil is arranged towards the permanent magnet, in order to reduce the volume of the motor and guarantee the stability of the motor, the clamping groove is arranged on one end surface of the rotor disc, the winding coil is wound in the clamping groove, and in order to improve the stability of the connection, the winding coil can be reinforced by welding, under the structure, the rotor disc itself can limit the winding coil on one side of the rotor disc, the encapsulation sheet needs to be arranged, and the winding coil wound in the clamping groove can stably cooperate with the stator to work, which is beneficial to improving the stability of the motor and reducing the overall volume of the motor, so that the joint of the robot is more stable.

[0018] 2. In order to increase the number of coils to improve the power of the motor, in order to achieve this purpose, the rotor disc itself is composed of a plurality of disc monomers similar in structure and stacked, the adjacent disc monomers can be fixed by welding, one side of the plurality of disc monomers is provided with the clamping groove for mounting the winding coil, one winding coil can be connected on each disc monomer, and the plurality of winding coils are clamped in the rotor disc by the adjacent disc monomers, in this way, the thickness of the rotor disc can be as small as possible while increasing the number of coils, which can effectively reduce the volume of the motor and make the joint of the robot more easily designed and maintained.

[0019] 3. In order to connect the winding coils on the plurality of disc monomers, the through hole is arranged on the disc monomer, the disc monomer is provided with at least two through holes, one through hole is used for facilitating the external wiring of the winding coil, and the other through hole can facilitate the winding coil to pass through the disc monomer and enter the other side of the disc monomer, the through hole can facilitate the wiring between the adjacent disc monomers, so that the winding coils on the plurality of disc monomers can become a whole, through the above structure, the stability of the motor can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings from the structures shown in the drawings without creating any creative labor.

[0021] Figure 1 is a sectional view of the motor of the robot joint motor with a disc rotor of the present application;

[0022] Figure 2The utility model discloses a robot joint motor with disc rotor's rotor disc structure diagram.

[0023] Figure 3 The utility model discloses a robot joint motor with disc rotor's rotor disc sectional view.

[0024] Figure 4 The utility model discloses a robot joint motor with disc rotor's winding coil structure diagram of one embodiment.

[0025] Figure 5 The utility model discloses a robot joint motor with disc rotor's winding coil structure diagram of another embodiment.

[0026] Explanation of drawing mark:

[0027] 10, motor body;20, stator;1, rotor disc;11, installation cavity;2, winding coil;21, coil unit;3, disc unit;31, through -hole;32, card line portion;4, positioning structure;5, positioning connecting portion;51, positioning connecting rod;52, positioning lock solid rod;53, positioning lock solid hole;54, positioning connecting hole;6, rotating shaft.

[0028] The utility model discloses a robot joint motor with disc rotor's rotor disc structure diagram. Specific implementation

[0029] In order to make the purpose, technical scheme and advantage of the application more clear, the application is further explained in detail below by combining with the drawings and examples.

[0030] Reference Figures 1 to 5 In order to realize the above-mentioned purpose, the utility model discloses a robot joint motor with disc rotor, including motor body 10, motor body 10 is equipped with stator 20 and rotor disc 1 in, and the one end of stator 20 is equipped with permanent magnet towards rotor disc 1, and is equipped with installation cavity 11 on rotor disc 1, and installation cavity 11 and rotor disc 1 are coaxial and are arranged, and installation cavity 11 is connected with rotating shaft 6, and the one end of rotor disc 1 is equipped with winding coil 2 towards permanent magnet, and winding coil 2 is wrapped in the outer periphery of rotating shaft 6;

[0031] Rotor disc 1 includes multiple disc units 3 stacked together, and winding coil 2 is arranged on the same side of multiple disc units 3, and rotor disc 1 is equipped with at least two through -holes 31 relative to winding coil 2, and winding coil 2 is spirally coiled from one through -hole 31 to another through -hole 31, and winding coil 2 on the previous disc unit 3 is arranged in through -hole 31 and is connected to winding coil 2 on the following disc unit 3.

[0032] The motor rotor adopts the structure of the rotating shaft 6 cooperating with the rotor disc 1, the rotor disc 1 is sleeved on the rotating shaft 6 through the installation cavity 11, in order to enable the rotating shaft 6 to rotate stably, the winding coil 2 is arranged on the rotor disc 1, the rotor disc 1 and the rotating shaft 6 are rotationally connected in the assembly cavity in the motor, the motor body 10 is provided with the stator 20 towards the rotor disc 1, the stator 20 is provided with the permanent magnet, the winding coil 2 is arranged towards the permanent magnet, the stability of the motor body 10 can be guaranteed, in order to reduce the volume of the motor and guarantee the stability of the motor, the clamping groove is arranged on one end surface of the rotor disc 1, the winding coil 2 is coiled in the clamping groove, and in order to improve the stability of the connection, the winding coil 2 can be reinforced by welding, under this structure, the rotor disc 1 itself can limit the winding coil 2 on one side of the rotor disc 1, it is required to set the packaging sheet, and the winding coil 2 coiled in the clamping groove can stably cooperate with the stator to work, which is beneficial to improve the stability of the motor and reduce the overall volume of the motor, so that the joint of the robot is more stable.

[0033] In order to increase the number of coils to improve the power of the motor, in order to achieve this purpose, the rotor disc 1 itself is composed of a plurality of disc units 3 similar in structure by stacking, the adjacent disc units 3 can be fixed by welding, one side of the plurality of disc units 3 is provided with a clamping groove for mounting the winding coil 2, one winding coil 2 can be connected on each disc unit 3, and the plurality of winding coils 2 are clamped in the rotor disc 1 by the adjacent disc units 3, in this way, the thickness of the rotor disc 1 can be increased as much as possible while increasing the number of coils, which can effectively reduce the volume of the motor, making it easier to design and maintain the joint of the robot.

[0034] In order to connect the winding coils 2 on the plurality of disc units 3, the through holes 31 are arranged on the disc units 3, at least two through holes 31 are arranged on the disc units 3, one through hole 31 is used for facilitating the external wiring of the winding coil 2, and the other through hole 31 can facilitate the winding coil 2 to pass through the disc unit 3 and enter the other side of the disc unit 3, the through hole 31 can facilitate wiring between adjacent disc units 3, so that the winding coils 2 on the plurality of disc units 3 can become a whole, through the above structure, the stability of the motor can be effectively improved.

[0035] In combination with reference to Figures 4 to 5 A plurality of clamping portions 32 are arranged on the disc units 3 at equal angles in the circumferential direction, the winding coil 2 comprises a plurality of coil units 21, and each clamping portion 32 corresponds to one coil unit 21.

[0036] The disc units 3 are provided with a plurality of clamping portions 32 for connecting the coil units 21, the clamping portions 32 can make a group of coil units 21 coiled in a fan-shaped area, which can effectively facilitate the adjustment of the position of the coil units 21.

[0037] In combination with reference toFigures 4 to 5 The coil monomer 21 comprises a plurality of turns of wire bundled together, and the plurality of turns of wire are spirally wound from the outer periphery of the wire clamping portion 32 to the center of the wire clamping portion 32.

[0038] At least one through hole 31 is provided at the center of the wire clamping portion 32.

[0039] The coil monomer 21 is formed by winding the wire. In order to facilitate the bundling and arrangement, at least one through hole 31 is provided at the center of the wire clamping portion 32. The adjacent coil monomers 3 can pass through the through hole 31, so that the wires are connected to each other. A through hole 31 for the wire to pass through can also be provided at the outer periphery of the wire clamping portion 32. In an embodiment of the present application, the wire in one wire clamping portion 32 can be connected to the wire in another wire clamping portion 32. This structure can reduce the arrangement of the wire and facilitate the assembly of the rotor.

[0040] In combination with the accompanying drawings, Figures 2 to 3 The plurality of coil monomers 3 are provided with a positioning structure 4. The positioning structure 4 comprises a plurality of positioning connecting portions 5. Each coil monomer 3 corresponds to one positioning connecting portion 5. The positioning connecting portion 5 is arranged between the adjacent two wire clamping portions 32 of one coil monomer 3 and is arranged along the outer periphery of the coil monomer 3 towards the center of the coil monomer 3.

[0041] The positioning connecting portion 5 comprises a positioning connecting rod 51 and a plurality of positioning connecting holes 54. The positioning connecting rod 51 and the plurality of positioning connecting holes 54 are arranged in the positioning connecting portion 5.

[0042] In order to stabilize the structure of the rotor disc 1 composed of the plurality of coil monomers 3 and to improve the connection efficiency, the rotor disc 1 is provided with the positioning structure 4. The positioning structure 4 itself corresponds to at least one positioning connecting portion 5 for each coil monomer 3. In order to facilitate the connection, the positioning connecting portion 5 itself is arranged between the adjacent two wire clamping portions 32 of the coil monomer 3. When the adjacent coil monomers 3 are connected to each other through the positioning structure 4, they can be more stable and can prevent the positioning connecting portion 5 on one coil monomer 3 from damaging another coil monomer 3 during the connection.

[0043] The positioning connecting portion 5 itself comprises a positioning connecting rod 51 and a plurality of positioning connecting holes 54. The number of the positioning connecting rod 51 and the positioning connecting holes 54 is equal to the number of the coil monomers 3. One coil monomer 3 is provided with one positioning connecting rod 51, and the other coil monomers 3 are provided with the positioning connecting holes 54 corresponding to the positions of the positioning connecting rod 51. Through the cooperation of the positioning connecting rod 51 and the positioning connecting hole 54, the adjacent coil monomers 3 can be connected to each other without repeated positioning. The positioning connecting rod 51 on the two coil monomers 3 can be inserted into each other to ensure the tight connection of the coil monomers 3. Moreover, the through holes 31 of the adjacent coil monomers 3 can be arranged corresponding to the wires to facilitate the connection of the wires themselves. Under such a structure, the rotor disc 1 can be stably connected and installed.

[0044] With reference to Figure 3 The positioning connecting rod 51 on the first disc monomer 3 is connected to the outer periphery of the disc monomer 3, and the positioning connecting rod 51 on the last disc monomer 3 is connected to one side of the mounting cavity 11.

[0045] There is one more positioning connecting hole 54 between the positioning connecting rod 51 on the latter disc monomer 3 and the outer periphery of the disc monomer 3 than between the positioning connecting rod 51 on the former disc monomer 3 and the outer periphery of the disc monomer 3.

[0046] In order to facilitate the structure of the disc monomer 3, it is assumed that there are 12 disc monomers 3, and the positioning connecting part 5 is provided with 12 mounting positions corresponding to the 12 disc monomers 3, the positioning connecting rod 51 of the first disc monomer 3 is arranged at No. 1 position, and the other mounting positions are positioning connecting holes 54 for corresponding the positioning connecting rod 51 on the other disc monomer 3, the positioning connecting rod 51 on the second disc monomer 3 is arranged at No. 2 position, and this structure can make the rotor disc 1 more regular, effectively facilitate the structural design of the rotor disc 1, and ensure the stability of the entire rotor disc 1 structure.

[0047] With reference to Figures 2 to 3 The positioning connecting rod 51 comprises a positioning locking rod 52, and the positioning locking rod 52 is provided with at least two, and the two positioning locking rods 52 are respectively arranged on the first disc monomer 3 and the last disc monomer 3, one end of the positioning locking rod 52 is connected to the first or last disc monomer 3, the other end is arranged in a plurality of relatively arranged positioning connecting holes 54, and a positioning locking hole 53 is arranged, and the last or first disc monomer 3 is provided with a countersunk groove corresponding to the positioning locking hole 53.

[0048] In order to facilitate the disc monomer 3 to be connected by means other than welding, the positioning connecting rod 51 on the first and last disc monomer 3 is a positioning locking rod 52 structure, and in combination with the above structure, the first and last disc monomer 3 are provided with the positioning locking rod 52, so that after the disc monomer 3 is locked by the positioning locking rod 52, the two positioning locking rods 52 can clamp the entire positioning connecting part 5 in the middle, which can ensure the stability of the entire structure, and the positioning locking rod 52 away from the disc monomer 3 connected thereto is provided with a positioning locking hole 53, and the user can screw the screw on the positioning locking rod 52, so that the screw is tightly arranged on one side of the rotor disc 1, and the positioning locking rod 52 is connected to the other side of the rotor disc 1, which can efficiently realize the clamping of the entire rotor disc 1.

[0049] In order to avoid interference of the screw with the disc monomer 3, a counterbore is arranged opposite the positioning locking hole 53 on the disc monomer 3, so that after the screw is completely tightened, the screw head can be arranged in the disc monomer 3, effectively ensuring the integrity of the rotor disc 1, making the entire rotor disc 1 structure more compact, effectively reducing the volume of the rotor disc 1 itself, and making the joint design of the robot more sensitive.

[0050] With reference to the accompanying drawings Figures 1 to 5 The rotor disc 1 is provided with at least two positioning structures 4, and each disc unit 3 is provided with at least two positioning connecting parts 5. The positioning connecting parts 5 on adjacent disc units 3 are oppositely arranged.

[0051] The rotor disc 1 is provided with at least two positioning structures 4, and each disc unit 3 is provided with at least two positioning connecting parts 5. The rotor disc 1 is provided with at least two positioning structures 4, and each disc unit 3 is provided with at least two positioning connecting parts 5. According to the principle that two points form a line and three points form a plane, the structural strength of the disc-type rotor of the motor can be effectively improved, and the stability of the motor in operation can be effectively improved.

[0052] In the drawings of the embodiments, the same or similar reference numerals correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationships in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present patent, for those skilled in the art, the specific meanings of the above terms can be understood according to the specific circumstances.

[0053] The above is only a preferred embodiment of the present application, and does not limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot joint motor with a disc rotor, comprising a motor body, characterized in that, The motor body is provided with a stator and a rotor disk. The stator is provided with a permanent magnet at one end facing the rotor disk. The rotor disk is provided with a mounting cavity. The mounting cavity and the rotor disk are coaxially arranged. The mounting cavity is connected to a rotating shaft. The rotor disk is provided with a winding coil at one end facing the permanent magnet. The winding coil is wrapped around the outer periphery of the rotating shaft. The rotor disk includes multiple stacked disk units, each of which has a winding coil on the same side. The rotor disk has at least two through holes relative to the winding coil. The winding coil is spirally wound from one through hole to another. The winding coil on the previous disk unit passes through the through hole and is connected to the winding coil on the next disk unit.

2. A robot joint motor with a disc rotor according to claim 1, characterized in that, The disk unit has multiple wire-clamping sections at equal angles around the circumference, and the winding coil includes multiple coil units, with each wire-clamping section corresponding to one coil unit.

3. A robot joint motor with a disc rotor according to claim 2, characterized in that, The coil unit includes multiple turns of wire bundled together, which are spirally wound from the outer periphery of the wire clamping part to the center of the wire clamping part. At least one through hole is provided at the center of the wire clamping part.

4. A robot joint motor with a disc rotor according to claim 1, characterized in that, A positioning structure is provided between multiple disk units. The positioning structure includes multiple positioning connection parts. Each disk unit corresponds to one positioning connection part. The positioning connection part is located between two adjacent locking parts of a disk unit. The positioning connection part is arranged along the outer periphery of the disk unit towards the center of the disk unit. The positioning connection part includes a positioning connection rod and a positioning connection hole. Multiple positioning connection holes are provided, and the positioning connection rod and multiple positioning connection holes are arrayed in the positioning connection part.

5. A robot joint motor with a disc rotor according to claim 4, characterized in that, The positioning connecting rod on the first disc unit is connected to the outer periphery of the disc unit, and the positioning connecting rod on the last disc unit is connected to one side of the mounting cavity; The positioning connecting rod on the latter disk unit has one more positioning connecting hole between it and the outer periphery of the disk unit than the positioning connecting rod on the former disk unit has between it and the outer periphery of the disk unit.

6. A robot joint motor with a disc rotor according to claim 5, characterized in that, The positioning connecting rod includes a positioning locking rod. There are at least two positioning locking rods. The two positioning locking rods are respectively located on the first disc unit and the last disc unit. One end of the positioning locking rod is connected to the first or last disc unit, and the other end passes through a plurality of oppositely arranged positioning connecting holes and is provided with a positioning locking hole. The last or first disc unit is provided with a countersunk groove corresponding to the positioning locking hole.

7. A robot joint motor with a disc rotor according to claim 4, characterized in that, The rotor disk is provided with at least two positioning structures, and each disk unit is provided with at least two positioning connection parts, with the positioning connection parts on adjacent disk units arranged opposite to each other.

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