Integrated holder

Abstract

The utility model relates to the technical field of driving holders, in particular to an integrated holder which comprises a first shell, a control panel, a rotor and a stator, a first containing groove and a second containing groove which are concave inwards are formed in the two ends of the first shell along the axis of the first shell respectively, and the stator is fixedly arranged in the first containing groove. The stator is provided with a first accommodating groove and a second accommodating groove, the rotor is rotatably connected to the first accommodating groove relative to the stator, the control board is detachably connected to the interior of the second accommodating groove, the rotor and the control board are arranged perpendicular to the axial direction of the first shell, and the control board is electrically connected with the rotor. The requirements for independent installation space and fixing structures are reduced, the overall size is greatly reduced, and mechanical redundancy is eliminated.

Description

Technical Field

[0001] This utility model relates to the field of driving gimbal technology, and in particular to an integrated gimbal. Background Technology

[0002] The existing gimbal has a separate layout for the drive module and the main control circuit board. While this structure facilitates modular development, the stator winding, rotor magnetic ring and its supporting drive circuit often require independent installation space and fixing structure, resulting in an increase in overall size and the introduction of unnecessary mechanical redundancy. In the application of robot joints, the joints are interfered with by surrounding components when rotating or swinging, which limits their range of motion. The end effector of the robotic arm cannot reach the expected working position, affecting its ability to work in complex environments. Utility Model Content

[0003] The purpose of this invention is to provide an integrated gimbal to solve the problem of excessive space occupation caused by redundant gimbal structures in existing technologies.

[0004] The technical solution of this utility model is: an integrated gimbal, comprising: a first housing, a control board, a rotor, and a stator. The first housing has an inwardly recessed first receiving groove and a second receiving groove formed at both ends along its axis. The stator is fixed in the first receiving groove, and the rotor is rotatably connected to the first receiving groove relative to the stator. The control board is detachably connected to the second receiving groove. The rotor and the control board are both arranged perpendicular to the axial direction of the first housing, and the control board is electrically connected to the rotor.

[0005] Preferably, the first housing has a second housing and a third housing at both ends along the axis, the third housing is rotatably connected to the first receiving groove of the first housing, the rotor is fixed to the inner wall of the third housing, and the second housing is detachably connected to the second receiving groove of the first housing.

[0006] Preferably, the second receiving groove is provided with at least two positioning posts, which are movably connected to the control plate to limit the radial displacement of the control plate. The second housing is provided with a plurality of positioning holes that cooperate with the positioning posts, and the positioning posts are movably inserted into the positioning holes.

[0007] Preferably, the outer end face of the second housing is configured as a plane, and the positioning post extends to be flush with the outer end face of the second housing.

[0008] Preferably, the outer end face of the second housing is provided with a first bolt, which threadedly connects the first housing and the second housing. One end of the first bolt is flush with the outer end face of the second housing.

[0009] Preferably, the first housing has a first through hole along its axis, and the side wall of the first housing and / or the side wall of the second housing has a second through hole communicating with the second receiving groove. The first through hole, the second receiving groove and the second through hole are interconnected to form a continuous wiring channel.

[0010] Preferably, a support cylinder is fixedly provided in the first receiving groove of the first housing, the stator is fixedly connected to the outer wall of the support cylinder, and the axis of the support cylinder is coaxial with the axis of the first through hole.

[0011] Preferably, the third housing is provided with a third through hole communicating with the first through hole, and a hollow liner is fixed inside the third housing, the outer wall of the liner being coaxially rotatably connected to the inner wall of the support cylinder.

[0012] Compared with the prior art, the advantages of this utility model are:

[0013] The first housing has first and second receiving slots at both ends along the axis. The stator is fixed in the first receiving slot, and the rotor is rotatably connected therein, with both arranged perpendicular to the axial direction. At the same time, the control board is detachably connected to the second receiving slot and electrically connected to the rotor. This integrated design effectively integrates the stator, rotor, and main control board, reducing independent installation space and fixed structure requirements, significantly reducing the overall volume, and eliminating mechanical redundancy. In robot joint applications, the compact structure avoids interference from surrounding components when the joint rotates or swings, widens the joint's range of motion, and enables the end effector of the robotic arm to reach the expected working position more flexibly, significantly improving the robot's ability to operate in complex environments. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0015] Figure 1 This is a schematic diagram of the integrated gimbal described in this utility model;

[0016] Figure 2 This is an exploded view of the integrated gimbal described in this utility model.

[0017] Figure 3 This is a cross-sectional view of the integrated gimbal structure described in this utility model.

[0018] Explanation of reference numerals in the attached figures:

[0019] 1. First housing; 11. First receiving groove; 12. Second receiving groove; 13. First through hole; 14. Positioning post; 15. Support cylinder; 16. Second through hole; 2. Control board; 3. Rotor; 4. Stator; 5. Second housing; 51. Relief groove; 52. First bolt; 53. Positioning hole; 6. Third housing; 61. Third through hole; 62. Liner. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0021] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0022] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0023] like Figure 1 As shown, an integrated gimbal includes a first housing 1, a control board 2, a rotor 3, and a stator 4. The first housing 1 has inwardly recessed first receiving groove 11 and second receiving groove 12 formed at both ends along its axis. The stator 4 is fixed within the first receiving groove 11, and the rotor 3 is rotatably connected to the first receiving groove 11 around the stator 4. The control board 2 is detachably connected to the second receiving groove 12. Both the rotor 3 and the control board 2 are arranged perpendicular to the axial direction of the first housing 1, achieving an axially stacked layout of functional components, reducing redundant space occupation, forming a flat structure, and effectively reducing the overall size.

[0024] like Figure 2 and Figure 3As shown, the first housing 1 has a first through hole 13 along its axial direction to facilitate the routing of wiring between devices through the first housing 1. A support cylinder 15 is fixedly mounted on the first housing 1. The support cylinder 15 is a hollow cylindrical structure located within the first receiving groove 11. The rotational axis of the support cylinder 15 is collinear with the central axis of the first through hole 13. The support cylinder 15 communicates with the first through hole 13 and extends in a direction away from the second receiving groove 12. The stator 4 has an annular structure. The inner wall of the stator 4 is fixedly connected to the outer wall of the support cylinder 15, and coils (not shown in the figure) are wound around the surface of the stator 4.

[0025] A second housing 5 is detachably connected to the end of the first housing 1 facing the second receiving groove 12. The second housing 5 and the first housing 1 are fastened together to seal the second receiving groove 12, forming a chamber for accommodating the control board 2, reducing the risk of damage to the internal control board 2 from external factors such as dust, liquid, and mechanical impact. The outer end face of the second housing 5 is constructed as a plane, and a recessed relief groove 51 is formed on the outer end face of the second housing 5. A first bolt 52 is connected to the second housing 5, and the first bolt 52 is threaded from the relief groove 51 to the second housing 5 and the first housing 1. The bolt head of the first bolt 52 is located in the relief groove 51. Preferably, the first bolt 52 is flush with the outer end face of the second housing 5. The recessed relief groove 51 provides precise accommodating space for the bolt head, allowing the bolt head to be completely sunk into the housing without protruding outward, thereby significantly reducing the overall thickness of the second housing 5, reducing the risk of interference during assembly, making the internal components more compact, further improving space utilization, and meeting the requirements of equipment miniaturization and lightweighting.

[0026] The first housing 1 is fixedly provided with a plurality of positioning posts 14, all of which are located within the second receiving groove 12. The positioning posts 14 extend in a direction away from the second housing 5. In this embodiment, the positioning posts 14 are movably inserted into the control plate 2. In other embodiments, the positioning posts 14 abut against the outer periphery of the control plate 2 to constrain the control plate 2, limiting its movement relative to the first housing 1 in motion or vibration environments, thus reducing the risk of damage or poor contact to the control plate 2. The second housing 5 is provided with a plurality of positioning holes 53 that mate with the positioning posts 14. The positioning posts 14 are movably inserted into the positioning holes 53, with the ends of the positioning posts 14 flush with the outer end face of the second housing 5. This allows the second housing 5 to be correctly installed with the first housing 1, significantly improving assembly efficiency and saving space by reducing the thickness of the second housing 5, resulting in a compact overall structure. Preferably, the positioning posts 14 are arranged in a circumferential array centered on the first through hole 13. The uniform distribution of multiple positioning posts 14 can suppress local warping of the second housing 5 caused by bolt tightening pressure or external loads, maintaining the flatness of the outer end face.

[0027] The side wall of the first housing 1 and / or the side wall of the second housing 5 are provided with a second through hole 16. In the embodiment, the side wall of the first housing 1 and the side wall of the second housing 5 together form the second through hole 16. The second through hole 16, the second receiving groove 12 and the first through hole 13 are interconnected to form a continuous cable channel, providing a concealed and orderly wiring path for the internal wire harness (such as power line, signal line, etc.).

[0028] A third housing 6 is rotatably connected to the first housing 1. The third housing 6 is located on the side of the first housing 1 opposite to the second housing 5, that is, the third housing 6 and the first housing 1 together enclose the first receiving groove 11. Specifically, the third housing 6 has a third through hole 61 along its axis, and the third through hole 61 is coaxial with the first through hole 13. A liner 62 is fixedly provided on the side of the third housing 6 facing the first housing 1. In this embodiment, both the liner 62 and the support cylinder 15 are hollow cylinders, and the outer wall of the liner 62 is rotatably connected to the inner wall of the support cylinder 15 coaxially through a bearing.

[0029] In this embodiment, rotor 3 is a circular magnetic ring. The outer wall of rotor 3 is fixedly connected to the inner wall of third housing 6. The inner wall of rotor 3 rotates relative to the outer wall of stator 4, forming a complete closed magnetic circuit to ensure smooth torque output. Preferably, the outer shape of third housing 6, first housing 1 and second housing 5 are all cylindrical. After assembly, they form a cylindrical structure resembling a disc. The cylindrical shell has no sharp edges, avoiding the space waste of traditional square shells. It is especially suitable for confined installation environments, such as robot joints and drone power cabins. It achieves high functional integration in a limited space and combines small size, high rigidity and easy maintenance of the cylindrical nested structure.

[0030] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore, all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this utility model.

Claims

1. An integrated gimbal, characterized in that, include: The first housing (1), control plate (2), rotor (3) and stator (4) are provided. The first housing (1) has an inwardly recessed first receiving groove (11) and a second receiving groove (12) at both ends of its axis. The stator (4) is fixed in the first receiving groove (11). The rotor (3) is rotatably connected to the first receiving groove (11) relative to the stator (4). The control plate (2) is detachably connected to the second receiving groove (12). The rotor (3) and the control plate (2) are both arranged perpendicular to the axial direction of the first housing (1). The control plate (2) is electrically connected to the rotor (3).

2. An integrated gimbal according to claim 1, characterized in that: The first housing (1) has a second housing (5) and a third housing (6) at both ends along the axis. The third housing (6) is rotatably connected to the first receiving groove (11) of the first housing (1). The rotor (3) is fixed to the inner wall of the third housing (6). The second housing (5) is detachably connected to the second receiving groove (12) of the first housing (1).

3. An integrated gimbal according to claim 2, characterized in that: The second receiving groove (12) is provided with at least two positioning posts (14), the positioning posts (14) are movably connected to the control plate (2) to limit the radial displacement of the control plate (2), and the second housing (5) is provided with a plurality of positioning holes (53) that cooperate with the positioning posts (14), the positioning posts (14) are movably inserted into the positioning holes (53).

4. An integrated gimbal according to claim 3, characterized in that: The outer end face of the second housing (5) is configured as a plane, and the positioning post (14) extends to be flush with the outer end face of the second housing (5).

5. An integrated gimbal according to claim 2, characterized in that: The outer end face of the second housing (5) is provided with a first bolt (52), which is threaded to connect the first housing (1) and the second housing (5). One end of the first bolt (52) is flush with the outer end face of the second housing (5).

6. An integrated gimbal according to claim 2, characterized in that: The first housing (1) has a first through hole (13) along its axis, and the side wall of the first housing (1) and / or the side wall of the second housing (5) has a second through hole (16) communicating with the second receiving groove (12). The first through hole (13), the second receiving groove (12) and the second through hole (16) are interconnected to form a continuous wiring channel.

7. An integrated gimbal according to claim 6, characterized in that: A support cylinder (15) is fixedly provided in the first receiving groove (11) of the first housing (1), and the stator (4) is fixedly connected to the outer wall of the support cylinder (15). The axis of the support cylinder (15) is coaxial with the axis of the first through hole (13).

8. An integrated gimbal according to claim 7, characterized in that: The third housing (6) is provided with a third through hole (61) communicating with the first through hole (13). A hollow liner (62) is fixed inside the third housing (6). The outer wall of the liner (62) is coaxially rotatably connected to the inner wall of the support cylinder (15).

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