Robot multi-degree-of-freedom joint motor capable of being reversely charged

Abstract

The utility model relates to a robot multi-degree-of-freedom joint motor capable of being charged reversely, which comprises a motor body and at least two connecting shaft bodies, one end of the motor body is connected to one connecting shaft body, and the other end of the motor body is connected to the other connecting shaft body in a driving manner; the motor body comprises a shell, a battery cell assembly and a PCB, the shell is provided with a mounting cavity with an opening, the PCB is connected to the bottom of the mounting cavity, the battery cell assembly is connected to the mounting cavity, the battery cell assembly is sequentially provided with a power generation stator and a disc type rotor in the direction from the bottom of the mounting cavity to the opening, and the motor stator and the disc type rotor are coaxially provided with a rotating shaft. One end of the rotating shaft penetrates through the power generation stator and is connected to the PCB, the other end of the rotating shaft penetrates through the motor stator and is connected to the opening of the mounting cavity, and the power generation stator is provided with a power generation coil facing the disc-type rotor. The utility model aims to improve the structural strength of the joint motor and reduce the energy loss of joint operation.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a kind of robot multi-degree-of-freedom joint motor of reverse charging. BACKGROUND

[0002] In recent years, with the development of artificial intelligence and internet of things technology, intelligent robots are not only required to have high flexibility in movement, but also need to have autonomous energy management and self-optimization functions to adapt to complex dynamic environments. Under this background, robot joint systems are evolving towards high degrees of freedom, miniaturization and intelligence. Traditional joint motor systems often focus only on motion control, while ignoring intelligent management of energy flow, resulting in energy waste and unbalanced energy supply during high-intensity tasks for robots.

[0003] In the prior art, although some high-end robot systems have introduced energy recovery mechanisms, such as regenerative braking technology, they are mainly used for overall mobile platforms or linear actuators, and there is little research on local energy recovery at the joint level. In addition, the existing joint energy recovery systems lack deep collaboration with the main control system, and cannot dynamically allocate recovered electrical energy according to real-time working conditions, which may lead to local overcharging or energy waste. SUMMARY

[0004] The main purpose of the present utility model is to provide a robot multi-degree-of-freedom joint motor that can be reverse charged, aiming to improve the structural strength of the joint motor and reduce energy loss during joint operation.

[0005] To achieve the above-mentioned purpose, the utility model provides a robot multi-degree-of-freedom joint motor that can be reverse charged, comprising a motor body and a connecting shaft body, the connecting shaft body is provided with at least two, one end of the motor body is connected to one connecting shaft body, and the other end is drivingly connected to another connecting shaft body.

[0006] The motor body comprises a housing, a battery assembly and a PCB board, the housing is provided with an installation cavity with an opening, the PCB board is connected to the bottom of the installation cavity, the battery assembly is connected to the installation cavity, the battery assembly is provided with a power generation stator, a disc rotor and a motor stator in sequence along the direction from the bottom of the installation cavity to the opening, the disc rotor is coaxially provided with a rotating shaft, one end of the rotating shaft penetrates the power generation stator and is connected to the PCB board, the other end penetrates the motor stator and is connected to the opening of the installation cavity, and the power generation stator is provided with a power generation coil facing the disc rotor.

[0007] In an embodiment of the present application, the disc rotor is provided with a connecting frame and a rotor permanent magnet facing the power generation coil, the connecting frame is coaxially connected to the rotating shaft, and the rotor permanent magnet is arranged in an array around the connecting frame.

[0008] The motor stator is provided with stator coils towards the rotor permanent magnets.

[0009] In an embodiment of the present application, the disc rotor comprises a rotor mounting frame made of magnetic isolation material, a plurality of first permanent magnets are connected to one end of the rotor mounting frame towards the power generation coils, and a rotor coil is connected to the other end of the rotor mounting frame away from the rotor coil.

[0010] The motor stator is provided with a plurality of second permanent magnets towards the rotor coil.

[0011] In an embodiment of the present application, the rotor mounting frame comprises a fixed part connected to the rotating shaft, a mounting sleeve is protrudingly arranged on the end surface of the fixed part towards the power generation coils, one end of the mounting sleeve is connected to the outer periphery of the fixed part, the other end is slidingly connected to the inner wall of the shell, and a plurality of the first permanent magnets are arranged in a circumferential array on the mounting sleeve.

[0012] The bottom of the mounting sleeve and the other end of the fixed part away from the power generation coils are clamped to form a mounting part, and the rotor coil is arranged in the mounting part.

[0013] In an embodiment of the present application, the motor stator is coaxially provided with a connecting part relative to the rotating shaft, the rotating shaft is provided with a first driving gear towards the connecting part, the first driving gear is connected to a connecting sleeve away from the disc rotor, the connecting sleeve is slidingly connected to the rotating shaft, the inner wall of the connecting sleeve is provided with a first speed reduction rack towards the first driving gear, and a plurality of first transmission gears are rotationally connected to the end surface of the connecting sleeve towards the first driving gear, one end of the first transmission gears is connected to the first driving gear, and the other end is connected to the first speed reduction rack.

[0014] The connecting sleeve is provided with a first driving part away from the disc rotor.

[0015] In an embodiment of the present application, the shell is provided with a protective sleeve relative to the opening of the mounting cavity, the protective sleeve is wrapped around the end of the motor stator away from the disc rotor, and a through hole is coaxially arranged relative to the first driving part, and the diameter of the through hole is greater than the first driving part.

[0016] In an embodiment of the present application, the end surface of the through hole away from the first driving part is provided with a guide part, and the hole diameter of the guide part gradually increases along the direction away from the first driving part.

[0017] In an embodiment of the present application, a driving sleeve is slidingly connected in the protective sleeve, the driving sleeve is provided with a connecting piece towards the first driving part, the outer periphery of the connecting piece is provided with a second driving gear towards the inner wall of the driving sleeve, and the connecting piece is connected to the connecting sleeve.

[0018] The inner wall of the driving sleeve is provided with a second speed reduction rack towards the second driving gear, the driving sleeve is rotatably connected with a plurality of second transmission gears at the end surface towards the connecting sleeve, one end of the second transmission gear is connected to the second driving gear, and the other end is connected to the second speed reduction rack.

[0019] The end of the driving sleeve away from the disc rotor is provided with a second driving part relative to the through hole.

[0020] In an embodiment of the present application, the two ends of the connecting shaft body are provided with mounting joints for connecting the motor body.

[0021] The connecting shaft body is provided with an electricity storage unit towards the mounting joint, and the electricity storage unit is electrically connected to the power generation coil.

[0022] In an embodiment of the present application, the shell is provided with a PCB mounting rack and a rear cover relative to the bottom of the mounting cavity, the end surface of the PCB mounting rack away from the battery cell assembly is provided with a mounting groove, the rotating shaft is arranged in the mounting groove and is provided with an adjusting gear relative to the mounting groove, the mounting groove is provided with at least two positioning gears towards the adjusting gear, the PCB board is covered in the mounting groove, the PCB board is provided with an angle detection unit towards the positioning gear, and the rear cover is connected to the PCB mounting rack and wrapped around the PCB board.

[0023] By adopting the above technical scheme, the present application has the following advantages:

[0024] 1. The robot arm is composed of a plurality of connecting shaft bodies, adjacent connecting shaft bodies are driven and connected to each other by joint motors, a plurality of motors with different orientations can be arranged on the whole robot arm, the plurality of motors are uniformly configured and connected to one master control chip through a cable, so that the plurality of motors on the robot arm can be highly integrated and cooperated, the motor body works more flexibly and stably, the whole robot arm can have multiple degrees of freedom, and the functions that the robot arm wants to realize can be stably realized by the motor body.

[0025] 2. The motor body comprises a shell, an electric core assembly and a PCB board, the shell is provided with a mounting cavity, and an open end is arranged on the outer periphery of the shell; the mounting cavity and the matching open end enable the electric core assembly to be mounted in the shell, and the electric core assembly connected to the open end forms a driving structure at the open end; when the motor is installed, the motor body can be mounted on a connecting shaft body, and the driving structure drives another connecting shaft body in the direction in which the other connecting shaft body rotates; in this structure, the motor body is convenient to assemble, can stably drive the robot arm, the PCB board is mounted at the bottom of the mounting cavity, the electric core assembly penetrates the PCB board, the rotation angle of the motor can be accurately determined by using the PCB board, the whole robot arm can be conveniently controlled by electrically connecting the PCB board to the main control chip, and the safety of the working of the PCB board can be effectively protected by mounting the PCB board at the bottom of the mounting cavity.

[0026] 3. The electric core assembly comprises a power generation stator, a disc rotor and a motor stator; the center of the disc rotor is provided with a rotating shaft, and the two ends of the rotating shaft penetrate the power generation stator and the motor stator respectively; this structure can improve the structural strength of the whole electric core assembly and ensure the stability of the working of the electric core assembly; the power generation stator connected to one side of the disc rotor facing the PCB board and the motor stator connected to the open end of the mounting cavity; the power generation stator faces the PCB board, and the power generation stator facing the disc rotor is provided with a power generation coil; the power generation coil is electrically connected to the PCB board, so that the current generated by the disc rotor can be more stably led out; the power generation coil close to the PCB board can reduce the transmission path of induced current, effectively reduce the energy loss generated by the joint motor during working, and the induced current can be transmitted to the external energy storage device through the PCB board, so that the energy storage device can work stably; the current can be led out or led in by using the PCB board, so that the shell does not need to be additionally provided with other connecting pins, the integrity of the shell is effectively ensured, the shell has stronger structural strength, and the integrity can avoid dust and the like from entering the mounting cavity, effectively protect the mounting cavity and avoid damage to the mounting cavity itself; through the above structure, the energy loss of the joint during working can be effectively reduced, and the strength of the joint of the robot arm can be ensured. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to the structures shown in these drawings without any creative labor.

[0028] Figure 1The utility model discloses a section view of robot multi-freedom degree joint motor of reverse chargeable robot.

[0029] Figure 2 The utility model discloses a structure schematic drawing of motor body of reverse chargeable robot multi-freedom degree joint motor.

[0030] Figure 3 The utility model discloses a section view of motor body of reverse chargeable robot multi-freedom degree joint motor.

[0031] Figure 4 The utility model discloses a top view explosion drawing of motor body of reverse chargeable robot multi-freedom degree joint motor.

[0032] Figure 5 The utility model discloses a bottom view explosion drawing of motor body of reverse chargeable robot multi-freedom degree joint motor.

[0033] Explanation of the attached drawings:

[0034] 1, motor body;11, shell;12, installation cavity;13, rear cover;2, PCB mounting frame;21, installation groove;22, PCB board;23, positioning gear;3, protection sleeve;31, through -hole;32, guide portion;4, drive sleeve;41, connecting piece;42, second transmission gear;5, electric core subassembly;51, power generation stator;52, power generation coil;53, motor stator;54, second permanent magnet;6, disc type rotor;61, rotor mounting frame;62, fixed part;63, installation sleeve;64, first permanent magnet;65, rotor coil;7, rotating shaft;71, adjusting gear;72, first drive gear;8, connecting sleeve;81, first transmission gear;9, connecting shaft body;91, installation joint;92, electricity storage unit.

[0035] The utility model discloses the realization, functional characteristics and advantages will be further explained with reference to the attached drawings. Specific implementation

[0036] In order to make the purpose, technical scheme and advantage of the application more clear, the application is further explained in detail below with reference to the attached drawings and examples. It should be understood that the specific examples described here are only used to explain the application and do not limit the application.

[0037] Reference Figures 1 to 5 To achieve the above object, the utility model discloses a kind of reverse chargeable robot multi-freedom degree joint motor, including motor body 1 and connecting shaft body 9, connecting shaft body 9 is at least two, motor body 1 one end is connected to one connecting shaft body 9, and the other end is driven to connect in another connecting shaft body 9;

[0038] The motor body 1 comprises a shell 11, an electric core assembly 5 and a PCB board 22, the shell 11 is provided with an installation cavity 12 with an opening, the PCB board 22 is connected to the bottom of the installation cavity 12, and the electric core assembly 5 is connected to the installation cavity 12; the electric core assembly 5 is sequentially provided with a power generation stator 51, a disc type rotor 6 and a motor stator 53 along the direction from the bottom of the installation cavity 12 to the opening; the disc type rotor 6 is coaxially provided with a rotating shaft 7, one end of the rotating shaft 7 is arranged in the power generation stator 51 and connected to the PCB board 22, and the other end of the rotating shaft 7 is arranged in the motor stator 53 and connected to the opening of the installation cavity 12; the power generation stator 51 is provided with a power generation coil 52 facing the disc type rotor 6.

[0039] The shell 11 is provided with a PCB mounting frame 2 and a rear cover 13 relative to the bottom of the installation cavity 12, the end face of the PCB mounting frame 2 away from the electric core assembly 5 is provided with an installation groove 21, the rotating shaft 7 is arranged in the installation groove 21 and is provided with an adjusting gear 71 relative to the installation groove 21, at least two positioning gears 23 are arranged in the installation groove 21 facing the adjusting gear 71, the PCB board 22 is covered in the installation groove 21, the PCB board 22 is provided with an angle detection unit facing the positioning gears 23, and the rear cover 13 is connected to the PCB mounting frame 2 and wrapped around the PCB board 22.

[0040] The robot arm is composed of a plurality of connecting shaft bodies 9, adjacent connecting shaft bodies 9 are connected and driven by joint motors, a plurality of motor bodies 1 with different orientations can be arranged on the whole robot arm, the plurality of motor bodies 1 are uniformly configured and connected to one master control chip through a cable, so that the plurality of motor bodies 1 on the robot arm can be highly integrated and cooperated, the motor body 1 works flexibly and stably, and the whole robot arm has multiple degrees of freedom and can realize the functions required by the robot arm through the motor body 1.

[0041] The motor body 1 comprises a shell 11, an electric core assembly 5 and a PCB board 22, the shell 11 is provided with an installation cavity 12, the installation cavity 12 is provided with an open end at the outer periphery of the shell 11, the installation cavity 12 and the matched open end enable the electric core assembly 5 to be installed in the shell 11, the electric core assembly 5 connected to the open end forms a driving structure at the open end, when the motor is installed, the motor body 1 can be installed on one connecting shaft body 9, and the driving structure is driven and connected to another connecting shaft body 9 along the direction in which the other connecting shaft body 9 rotates, in this structure, the motor body 1 is convenient to assemble and can stably play a driving effect, the PCB board 22 is installed at the bottom of the installation cavity 12, the electric core assembly 5 is arranged in the PCB board 22, the angle of motor rotation can be accurately determined by using the PCB board 22, the PCB board 22 is electrically connected to the master control chip to enable the whole robot arm to be easily controlled, and the PCB board 22 installed at the bottom of the installation cavity 12 can effectively protect the safety of the working of the PCB board 22 and avoid damage to the PCB board 22 itself.

[0042] The electric core assembly 5 is structurally composed of a power generation stator 51, a disc rotor 6, and a motor stator 53. The disc rotor 6 is provided with a rotating shaft 7 at the center, and the two ends of the rotating shaft 7 are respectively arranged in the power generation stator 51 and the motor stator 53. This structure can improve the structural strength of the entire electric core assembly 5, ensure the stability of the electric core assembly 5, and connect the power generation stator 51 to the side of the disc rotor 6 facing the PCB board 22, and connect the motor stator 53 to the open end of the mounting cavity 12. The power generation stator 51 faces the PCB board 22, and the power generation stator 51 is provided with a power generation coil 52 facing the disc rotor 6. The power generation coil 52 is electrically connected to the PCB board 22, which can facilitate the stable export of the current generated by the disc rotor 6. The power generation coil 52 close to the PCB board 22 can reduce the transmission path of the induced current, effectively reduce the energy loss of the joint motor during operation, and through the PCB board 22, the induced current is transmitted to the external energy storage device, which can keep the energy storage device stable. Work, and using the PCB board 22 to export or import current, the shell 11 does not need to be additionally provided with other connecting pins, which can effectively protect the integrity of the shell 11, make the shell 11 have stronger structural strength, and keep the integrity to avoid dust and other things into the mounting cavity 12, which can effectively protect the mounting cavity 12 and avoid damage to the mounting cavity 12 itself. Through the above structure, it can effectively reduce the energy loss of the joint during operation, and ensure the strength of the joint of the robot arm.

[0043] In combination with reference to Figures 1 to 2 The disc rotor 6 is provided with a connecting frame and a rotor permanent magnet facing the power generation coil 52. The connecting frame is coaxially connected to the rotating shaft 7, and the rotor permanent magnet is circumferentially arranged on the connecting frame.

[0044] The motor stator 53 is provided with a stator coil facing the rotor permanent magnet.

[0045] Because the power generation stator 51 needs to generate electricity, the power generation stator 51 must be provided with a power generation coil 52. When the rotor rotates, the disc rotor 6 is provided with a rotor permanent magnet facing the power generation stator 51. The induced current can be generated by cutting the magnetic induction line with the power generation coil 52, which achieves the purpose of recycling energy. The rotor can only be provided with a rotor permanent magnet. The stator coil on the motor stator 53 needs to be arranged towards the rotor permanent magnet, so that the entire motor can work normally and stably.

[0046] In combination with reference to Figures 2 to 5 The disc rotor 6 includes a rotor mounting frame 61 made of a magnetic isolation material. A plurality of first permanent magnets 64 are connected to one end of the rotor mounting frame 61 facing the power generation coil 52. The rotor mounting frame 61 is connected to a rotor coil 65 at the end away from the rotor coil 65.

[0047] The motor stator 53 is provided with a plurality of second permanent magnets 54 facing the rotor coil 65.

[0048] In the application, the first permanent magnet 64 is arranged on the end face of the disc rotor 6 facing the power generation coil 52, and the end face away from the first permanent magnet 64 is used to arrange the rotor coil 65, the second permanent magnet 54 is arranged on the motor stator 53 facing the rotor coil 65, so that the rotor coil 65 is arranged away from the open end of the mounting cavity 12, and the safety of the motor can be improved.

[0049] The rotor mounting frame 61 is directly arranged on the first permanent magnet 64 and the rotor coil 65, and the rotor mounting frame 61 is directly connected to the central rotating shaft 7, which can be used to support the entire disc rotor 6, and the rotor mounting frame 61 is made of magnetic isolation material, which can reduce the mutual interference between the first permanent magnet 64 and the rotor coil 65, and avoid the rotor mounting frame 61 being magnetized itself, so that the stability of the entire motor body 1 can be effectively improved.

[0050] In combination with the drawings, Figure 3 The rotor mounting frame 61 includes a fixed part 62 connected to the rotating shaft 7, and the fixed part 62 protrudes an installation sleeve 63 towards the end face of the power generation coil 52, one end of the installation sleeve 63 is connected to the outer periphery of the fixed part 62, and the other end is slidingly connected to the inner wall of the shell 11, and a plurality of first permanent magnets 64 are arranged in a circumferential array on the installation sleeve 63.

[0051] The bottom of the installation sleeve 63 and the end of the fixed part 62 away from the power generation coil 52 are clamped to form a mounting part, and the rotor coil 65 is arranged in the mounting part.

[0052] The rotor mounting frame 61 includes the fixed part 62 and the installation sleeve 63 in structure, the fixed part 62 is used to enable the rotor mounting frame 61 to be mounted on the rotating shaft 7, and can be used to support the entire disc rotor 6, the installation sleeve 63 is connected to the end of the fixed part 62 facing the power generation coil 52, the installation space enclosed by the installation sleeve 63 can be used to quickly install the first permanent magnet 64, the strength of the entire structure can be increased, and the installation sleeve 63 and the fixed part 62 are clamped to form the mounting part, the rotor coil 65 can be fixed by the mounting part, and by this structure, the motor body 1 can run stably, and the energy loss during joint work can be easily recovered.

[0053] In combination with the drawings, Figures 3 to 5 The motor stator 53 is coaxially provided with a connecting part relative to the rotating shaft 7, the rotating shaft 7 is provided with a first drive gear 72 facing the connecting part, one end of the first drive gear 72 away from the disc rotor 6 is connected with a connecting sleeve 8, the connecting sleeve 8 is slidingly connected to the rotating shaft 7, the inner wall of the connecting sleeve 8 is provided with a first speed reduction rack facing the first drive gear 72, a plurality of first transmission gears 81 are rotationally connected to the end face of the connecting sleeve 8 facing the first drive gear 72, one end of the first transmission gear 81 is connected to the first drive gear 72, and the other end is connected to the first speed reduction rack.

[0054] The first driving part is arranged on the end of the connecting sleeve 8 away from the disc rotor 6.

[0055] The center of the motor stator 53 is provided with a connecting part, which can also be called a mounting hole or a connecting hole. The connecting part is used to mount the connecting sleeve 8. The connecting sleeve 8 is limited by the connecting part and is in sliding connection with the connecting part. The rotating shaft 7 penetrates the connecting sleeve 8. The rotating shaft 7 is provided with a first driving gear 72 relative to the inner wall of the connecting sleeve 8. The inner wall of the connecting sleeve 8 is provided with a first reduction rack. The connecting sleeve 8 is provided with a first transmission gear 81 relative to the first driving gear 72 and the first reduction rack. Because the circumferential length of the first reduction rack is much longer than the outer circumferential length of the first driving gear 72, when the rotating shaft 7 rotates, the first driving gear 72 drives the first transmission gear 81. The linear speeds of the two are consistent. The first transmission gear 81 drives the first reduction rack. The linear speeds are also consistent, but the angular speed is significantly reduced. The end surface of the connecting sleeve 8 away from the motor body 1 is provided with a first driving part. The first driving part can be used to connect the structure to be driven. Through this structure, the output speed of the motor body 1 can be reduced, and the output speed is more stable. It can avoid that the robot arm cannot be controlled because the motor body 1 runs too fast, and can effectively improve the user's experience.

[0056] In combination with reference to Figure 2 The shell 11 is provided with a protective sleeve 3 relative to the opening of the mounting cavity 12. The protective sleeve 3 is wrapped around the end of the motor stator 53 away from the disc rotor 6 and is coaxially provided with a through hole 31 relative to the first driving part. The diameter of the through hole 31 is greater than that of the first driving part.

[0057] The shell 11 is provided with a protective sleeve 3 relative to the opening of the mounting cavity 12. The protective sleeve 3 can be wrapped around the battery assembly 5 and the connecting sleeve 8. It can protect the most core structure of the entire motor body 1 and effectively prolong the service life of the motor. The through hole 31 is used to protect the connecting sleeve 8 and make the external structure to be driven more flexible to connect the first driving part. Through the above structure, the structural strength of the joint motor can be effectively improved.

[0058] In combination with reference to Figures 2 to 3 The end surface of the through hole 31 away from the first driving part is provided with a guide part 32. The hole diameter of the guide part 32 gradually expands away from the first driving part.

[0059] The end surface of the inner wall of the through hole 31 towards the outside is provided with a guide part 32. The guide part 32 is also a guide inclined surface. The guide part 32 is used as a guide to improve the protection effect and make the external structure reduce the time required for alignment and quickly position to ensure stable connection.

[0060] In combination with reference to Figures 4 to 5The driving sleeve 4 is slidably connected in the protective sleeve 3, the driving sleeve 4 is provided with a connecting piece 41 towards the first driving part, the outer periphery of the connecting piece 41 is provided with a second driving gear towards the inner wall of the driving sleeve 4, and the connecting piece 41 is connected to the connecting sleeve 8;

[0061] The inner wall of the driving sleeve 4 is provided with a second speed reduction rack towards the second driving gear, and a plurality of second transmission gears 42 are rotationally connected to the end surface of the connecting sleeve 8, one end of the second transmission gear 42 is connected to the second driving gear, and the other end is connected to the second speed reduction rack;

[0062] The end of the driving sleeve 4 away from the disc rotor 6 is provided with a second driving part relative to the through hole 31.

[0063] The efficiency of speed reduction by the connecting sleeve 8 and its internal structure is limited, so the driving sleeve 4 can be slidably connected in the protective sleeve 3, the center of the driving sleeve 4 can be provided with a connecting piece 41, the rotating shaft 7 passes through the connecting piece 41 to ensure that the entire connecting piece 41 rotates more stably, the outer periphery of the connecting piece 41 is provided with a second driving gear, and a fixing structure is provided between the connecting piece 41 and the first driving part, so that the power after speed reduction can be transmitted to the driving sleeve 4 through the connecting piece 41, the inner wall of the driving sleeve 4 is provided with a second speed reduction rack, and the driving sleeve 4 is provided with a second transmission gear 42, the circumferential length of the second speed reduction rack is much longer than that of the second driving gear, and the above structure can effectively reduce the rotating speed of the second driving part, and the robot arm can be more easily controlled.

[0064] And the output rate of the motor output end decreases, but the rotating speed of the rotating shaft 7 remains stable, the power generation efficiency between the disc rotor 6 and the power generation stator 51 can remain stable, which is conducive to energy recovery.

[0065] In combination with reference to Figure 1 Both ends of the connecting shaft body 9 are provided with a mounting joint 91 for connecting the motor body 1; the connecting shaft body 9 is provided with a power storage unit 92 towards the mounting joint 91, and the power storage unit 92 is electrically connected to the power generation coil 52.

[0066] Both ends of the connecting shaft body 9 can be provided with a mounting joint 91 for connecting the motor body 1, the mounting joint 91 can be connected to the rear cover 13 or the second driving part of the motor body 1 as needed, which can make the robot arm more easily controlled, the connecting shaft body 9 is provided with a power storage unit 92, the induced electricity generated by the power generation coil 52 can be stored in the power storage unit 92 in advance through the rear cover 13, and the electricity in the power storage unit 92 is preferentially supplied to the motor body 1 in standby state without rotating, which can ensure the stability of the entire robot arm, and avoid damaging the elements in the robot arm due to charging and power consumption at the same time.

[0067] In combination with reference to Figures 1 to 5The housing 11 is provided with a PCB mounting rack 2 and a rear cover 13 opposite to the bottom of the mounting cavity 12, the end face of the PCB mounting rack 2 away from the battery cell assembly 5 is provided with a mounting groove 21, the rotating shaft 7 is arranged in the mounting groove 21, and the adjusting gear 71 is arranged opposite to the mounting groove 21, the mounting groove 21 is provided with at least two positioning gears 23 towards the adjusting gear 71, the PCB board 22 is covered on the mounting groove 21, the PCB board 22 is provided with an angle detection unit towards the positioning gears 23, and the rear cover 13 is connected to the PCB mounting rack 2 and wrapped around the PCB board 22.

[0068] The housing 11 is provided with a PCB mounting rack 2 and a rear cover 13 opposite to the bottom of the mounting cavity 12, the end face of the PCB mounting rack 2 away from the battery cell assembly 5 is provided with a mounting groove 21, the rotating shaft 7 is arranged in the mounting groove 21, and the adjusting gear 71 is arranged opposite to the mounting groove 21, the mounting groove 21 is provided with at least two positioning gears 23 towards the adjusting gear 71, the PCB board 22 is covered on the mounting groove 21, the PCB board 22 is provided with an angle detection unit towards the positioning gears 23, and the rear cover 13 is connected to the PCB mounting rack 2 and wrapped around the PCB board 22.

[0069] The housing 11 is provided with a PCB mounting rack 2 and a rear cover 13 opposite to the bottom of the mounting cavity 12, the end face of the PCB mounting rack 2 away from the battery cell assembly 5 is provided with a mounting groove 21, the rotating shaft 7 is arranged in the mounting groove 21, and the adjusting gear 71 is arranged opposite to the mounting groove 21, the mounting groove 21 is provided with at least two positioning gears 23 towards the adjusting gear 71, the PCB board 22 is covered on the mounting groove 21, the PCB board 22 is provided with an angle detection unit towards the positioning gears 23, and the rear cover 13 is connected to the PCB mounting rack 2 and wrapped around the PCB board 22.

[0070] The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the present application, it is understood that if 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, they 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.

[0071] The above is only a preferred embodiment of the present application, and is not used to 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 multi-degree of freedom joint motor that can be charged in reverse, characterized by, The motor body is connected to one connecting shaft body at one end and to another connecting shaft body at the other end for driving; The motor body comprises a shell, an electric core assembly and a PCB board, the shell is provided with an installation cavity with an opening, the PCB board is connected to the bottom of the installation cavity, the electric core assembly is connected to the installation cavity, the electric core assembly is sequentially provided with a power generation stator, a disc rotor and a motor stator along the direction from the bottom of the installation cavity to the opening, the disc rotor is coaxially provided with a rotating shaft, one end of the rotating shaft is provided through the power generation stator and connected to the PCB board, the other end is provided through the motor stator and connected to the opening of the installation cavity, and the power generation stator is provided with a power generation coil towards the disc rotor.

2. The robot multi-degree of freedom joint motor with reversible charging according to claim 1, characterized in that, The disc rotor is provided with a connecting frame and a rotor permanent magnet towards the power generation coil, the connecting frame is coaxially connected to the rotating shaft, and the rotor permanent magnet is circumferentially arrayed on the connecting frame; The motor stator is provided with a stator coil towards the rotor permanent magnet.

3. The robot multi-degree of freedom joint motor with reversible charging according to claim 1, characterized in that, The disc rotor comprises a rotor installation frame made of a magnetic isolation material, a plurality of first permanent magnets are connected to one end of the rotor installation frame towards the power generation coil, and a rotor coil is connected to the other end of the rotor installation frame away from the rotor coil; The motor stator is provided with a plurality of second permanent magnets towards the rotor coil.

4. The robot multi-degree of freedom joint motor with reversible charging according to claim 3, characterized in that, The rotor installation frame comprises a fixed part connected to the rotating shaft, an installation sleeve is protrudingly provided on the end face of the fixed part towards the power generation coil, one end of the installation sleeve is connected to the outer periphery of the fixed part, the other end is slidingly connected to the inner wall of the shell, and a plurality of first permanent magnets are circumferentially arrayed on the installation sleeve; The bottom of the installation sleeve and the other end of the fixed part away from the power generation coil are clamped to form an installation part, and the rotor coil is provided through the installation part.

5. The robot multi-degree of freedom joint motor with reversible charging according to claim 1, characterized in that, The motor stator is coaxially provided with a connecting part relative to the rotating shaft, the rotating shaft is provided with a first driving gear towards the connecting part, one end of the first driving gear away from the disc rotor is connected with a connecting sleeve, the connecting sleeve is slidingly connected to the rotating shaft, the inner wall of the connecting sleeve is provided with a first speed reduction rack towards the first driving gear, a plurality of first transmission gears are rotationally connected to the end face of the connecting sleeve towards the first driving gear, one end of the first transmission gear is connected to the first driving gear, and the other end is connected to the first speed reduction rack; One end of the connecting sleeve away from the disc rotor is provided with a first driving part.

6. A robot multi-degree of freedom joint motor capable of reverse charging according to claim 5, characterized in that, The shell is provided with a protective sleeve relative to the opening of the installation cavity, the protective sleeve is wrapped around the end of the motor stator away from the disc rotor, and a through hole is coaxially provided relative to the first driving part, and the diameter of the through hole is larger than that of the first driving part.

7. A robot multi-degree of freedom joint motor with reversible charging according to claim 6, characterized in that, The end face of the through hole away from the first driving part is provided with a guide part, and the hole diameter of the guide part gradually increases along the direction away from the first driving part.

8. A robot multi-degree of freedom joint motor that can be reversely charged according to claim 7, characterized in that, A driving sleeve is slidingly connected in the protective sleeve, the driving sleeve is provided with a connecting piece towards the first driving part, the outer periphery of the connecting piece is provided with a second driving gear towards the inner wall of the driving sleeve, and the connecting piece is connected to the connecting sleeve; The inner wall of the driving sleeve is provided with a second speed reduction rack towards the second driving gear, a plurality of second transmission gears are rotationally connected to the end face of the driving sleeve towards the connecting sleeve, one end of the second transmission gear is connected to the second driving gear, and the other end is connected to the second speed reduction rack; The second driving part is arranged on the end of the driving sleeve away from the disc rotor and opposite the through hole.

9. The robot multi-degree of freedom joint motor with reversible charging according to claim 1, characterized in that, Both ends of the connecting shaft body are provided with mounting joints for connecting the motor body. The connecting shaft body is provided with an electricity storage unit towards the mounting joint, and the electricity storage unit is electrically connected to the power generation coil.

10. The robot multi-degree of freedom joint motor with reversible charging according to claim 1, characterized in that, The bottom of the shell opposite the mounting cavity is provided with a PCB mounting rack and a rear cover, an end surface of the PCB mounting rack away from the battery cell assembly is provided with a mounting groove, the rotating shaft is arranged in the mounting groove and is provided with an adjusting gear opposite the mounting groove, at least two positioning gears are arranged in the mounting groove towards the adjusting gear, the PCB board is covered in the mounting groove, the PCB board is provided with an angle detection unit towards the positioning gears, and the rear cover is connected to the PCB mounting rack and wraps the PCB board.

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