Outer rotor motor for robot joint

Abstract

The utility model relates to an external rotor motor used for a robot joint. The external rotor motor is provided with a stator assembly and a rotor assembly. The stator assembly comprises a stator base and a stator body provided with a winding; the rotor assembly comprises a rotor shell and a permanent magnet; a first through hole is formed in the stator base; a second through hole coaxial with the stator body is formed in the center of the stator body; the stator body is fixedly mounted on the stator base, and the first through hole and the second through hole are coaxially arranged; an end panel is arranged at one end, away from the stator base, of the rotor shell; a high-speed output hollow shaft which is coaxial with the rotor cylinder is arranged on the end panel; the high-speed output hollow shaft sequentially penetrates through the second through hole and the first through hole and then extends into the controller mounting cavity; the high-speed output hollow shaft is provided with a fourth through hole coaxial with the high-speed output hollow shaft. The utility model has high torque, and can identify the rotating speed of the external rotor motor and the speed reducing mechanism through the controller mounting cavity.

Description

Technical Field

[0001] This utility model relates to the field of motors, and in particular to an external rotor motor for robot joints. Background Technology

[0002] With the increasing aging of the global population and rising labor costs, industrial robots are gradually replacing traditional human labor, and their future development prospects are promising. In various industrial applications, the performance of robot joints has a direct impact on the overall efficiency and precision of the robot. As a core component of robotics technology, the robot joint drive module has undergone several stages of development, from early simple mechanical transmissions to modern high-precision, highly integrated drive systems.

[0003] Traditional robot joints mostly use permanent magnet synchronous motors and drivers as their power source, with their output torque and speed designed according to the joint's rated specifications. However, this design has significant limitations when facing complex environments and high torque and high precision requirements, affecting the robot's high-precision operation.

[0004] To facilitate motor control and achieve high output position accuracy of the reducer, an encoder is included on the servo motor side for motor control. An absolute encoder is also installed at the reducer's output for final angle closed-loop control. In robot joints, because two encoders need to be installed at the motor and reducer ends respectively, axial dimension compression has been currently impossible. However, axial dimension compression is crucial for robot joints.

[0005] As a key output component of robot joints, if a motor can be designed to increase torque while also considering the speed reduction and motor speed recognition, it can play a certain role in propulsion. Utility Model Content

[0006] The purpose of this invention is to provide an external rotor motor for robot joints, which has high torque and allows the output end of the reduction mechanism to be introduced. The rotational speed of the external rotor motor and the reduction mechanism can be identified through a controller mounting cavity.

[0007] The technical solution to achieve the purpose of this utility model is as follows: This utility model has a stator assembly and a rotor assembly; the stator assembly includes a stator base and a stator body with windings; the rotor assembly includes a rotor housing and permanent magnets; a first through hole is provided on the stator base; a second through hole coaxial with the center of the stator body is provided; the stator body is fixedly installed on the stator base, and the first through hole and the second through hole are coaxially arranged; the rotor housing includes a rotor cylinder and a high-speed output hollow shaft; the rotor cylinder includes a cylindrical body, and multiple permanent magnets are distributed circumferentially along its axis on the inner circumferential wall of the cylindrical body; the cylindrical body is rotatably sleeved on the outside of the stator assembly. The rotor body is coaxial with the stator body; an end panel is provided at one end of the cylindrical body away from the stator base; a high-speed output hollow shaft is provided on the end panel and coaxial with the rotor body; a controller end cover is fixed on the stator base; the controller end cover and the stator base cooperate to form a controller mounting cavity; a third through hole is provided on the controller end cover and coaxial with the first through hole; the high-speed output hollow shaft passes through the second through hole and the first through hole in sequence and extends into the controller mounting cavity, and one end of the high-speed output hollow shaft extending into the controller mounting cavity is connected to the first encoder installed in the controller mounting cavity; the high-speed output hollow shaft is provided with a fourth through hole coaxial with it.

[0008] Furthermore, the aforementioned high-speed output hollow shaft is provided with an output connection part that is drively connected to the input end of the reduction mechanism.

[0009] Furthermore, the aforementioned output connection part is an annular connecting flange edge disposed on the inner wall of the high-speed output hollow shaft; the annular connecting flange edge is located at one end of the high-speed output hollow shaft near the end panel; the annular connecting flange plate is used for fixed connection with the input end of the reduction mechanism inserted into the high-speed output hollow shaft.

[0010] Furthermore, the aforementioned third and fourth through holes are connected to form a through cavity for the output end of the deceleration mechanism to pass through; the controller mounting cavity is also provided with a PCBA board and a second encoder; the second encoder is used to connect to the output end of the deceleration mechanism.

[0011] Furthermore, the controller end cover is provided with a bearing chamber.

[0012] Furthermore, both the first encoder and the second encoder mentioned above are thin-film inductive encoders.

[0013] Furthermore, the rotor cylinder is provided with heat dissipation holes.

[0014] Furthermore, the aforementioned heat dissipation holes are located on the end panel and are evenly distributed around the circumference of the high-speed output hollow shaft.

[0015] This invention has the following advantages: Since it is an external rotor motor, it has higher torque than the internal rotor motor used in traditional robot joints; at the same time, through the through cavity formed by the third through hole and the fourth through hole, the output end of the reduction mechanism can be introduced and the output end can be introduced into the controller mounting cavity. While compressing the axial volume, it can simultaneously identify the speed of the external rotor motor and the output speed of the reduction mechanism. Attached Figure Description

[0016] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein...

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a cross-sectional view of the present invention;

[0019] Figure 3 This is a schematic diagram of the stator base in this utility model;

[0020] Figure 4 A schematic diagram of the deceleration mechanism adapted to this utility model;

[0021] Figure 5 This is a schematic diagram of the assembly of the adaptive deceleration structure in this utility model.

[0022] In the figure, there are: stator assembly 1, stator base 11, stator body 12, first through hole 111, second through hole 121, rotor assembly 2, rotor housing 21, permanent magnet 22, rotor cylinder 211, heat dissipation hole 211-1, high-speed output hollow shaft 212, end panel 213, fourth through hole 212-1, annular connecting flange edge 212-2, controller end cover 3, third through hole 31, controller mounting cavity 4, reduction mechanism 5, input end 51, first encoder 6, second encoder 7, and bearing 8. Detailed Implementation

[0023] See Figures 1 to 3This utility model comprises a stator assembly 1 and a rotor assembly 2. The stator assembly 1 includes a stator base 11 and a stator body 12 with windings. The rotor assembly 2 includes a rotor housing 21 and permanent magnets 22. The stator base 11 has a first through hole 111. The stator body 12 has a second through hole 121 coaxial with it at its center. The stator body 12 is fixedly mounted on the stator base 11, and the first through hole 111 and the second through hole 121 are coaxially arranged. The rotor housing 21 includes a rotor cylinder 211 and a high-speed output hollow shaft 212. The rotor cylinder 211 includes a cylindrical body, and a plurality of permanent magnets 22 are distributed circumferentially along its axis on the inner circumferential wall of the cylindrical body. The cylindrical body is rotatably sleeved on the outside of the stator assembly 1 and is coaxial with the stator body 12. The cylindrical body is provided with an end panel 213 at one end away from the stator base 11. The end panel 213 is provided with a high-speed output hollow shaft 212 coaxially arranged with the rotor body 211. A controller end cover 3 is fixedly provided on the stator base 11. The controller end cover 3 and the stator base 11 cooperate to form a controller mounting cavity 4. The controller end cover 3 is provided with a third through hole 31 coaxially arranged with the first through hole 111. The high-speed output hollow shaft 212 passes through the second through hole 121 and the first through hole 111 in sequence and then extends into the controller mounting cavity 4. One end of the high-speed output hollow shaft 212 extending into the controller mounting cavity 4 is connected to the first encoder 6 installed in the controller mounting cavity 4. The high-speed output hollow shaft 212 is provided with a fourth through hole 212-1 coaxial with it.

[0024] The high-speed output hollow shaft 212 is provided with an output connection part that is connected to the input end 51 of the reduction mechanism 5.

[0025] The output connection part is an annular connecting flange edge 212-2 provided on the inner wall of the high-speed output hollow shaft 212; the annular connecting flange edge 212-2 is located at one end of the high-speed output hollow shaft 212 near the end panel 213; the annular connecting flange edge 212-2 is used to be fixedly connected to the input end 51 of the reduction mechanism 5 inserted into the high-speed output hollow shaft 212.

[0026] The third through hole 31 and the fourth through hole 212-1 are connected to form a through cavity for the output end 51 of the deceleration mechanism 5 to pass through; the controller mounting cavity 4 is also provided with a PCBA board and a second encoder 7; the second encoder 7 is used to connect with the output end 51 of the deceleration mechanism 5.

[0027] The reduction mechanism 5 can be a reduction mechanism with the output and input located on the same side and driven concentrically. The main feature of this type of reduction mechanism is that the output shaft passes through its input shaft. In this embodiment, the cycloidal reducer has a hollow high-speed input shaft, and an output shaft is fixedly mounted on its output flange. This output shaft is the input end 51. The output shaft passes through its high-speed input shaft and enters the through cavity before connecting to the second encoder 7.

[0028] The controller end cover 3 is provided with a bearing chamber. This bearing chamber is for the later installation of the bearing 8, which is used to connect with the input shaft of the reduction mechanism 5 that passes through the cavity, to better support the input shaft and ensure the coaxiality of the input shaft of the reduction mechanism 5 and the cavity during movement.

[0029] Both the first encoder 6 and the second encoder 7 are thin inductive encoders.

[0030] The rotor cylinder 211 is provided with heat dissipation holes 211-1. The heat dissipation holes 211-1 are located on the end panel 213 and are evenly distributed around the circumference of the high-speed output hollow shaft 212.

[0031] This invention essentially changes the traditional output shaft mounting method of an external rotor motor. It designs the output shaft as a high-speed hollow output shaft 212, which passes through the stator assembly 1 and is introduced into the controller mounting cavity 4 at the rear end. Simultaneously, the high-speed hollow output shaft 212 provides the necessary conditions for the subsequent reduction mechanism 5's output end 51 to be introduced.

[0032] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this utility model. It should be understood that the above descriptions are merely specific embodiments of this utility model and are not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An external rotor motor for a robot joint, comprising a stator assembly and a rotor assembly; the stator assembly including a stator base and a stator body with windings; the rotor assembly including a rotor housing and a permanent magnet; characterized in that: The stator base has a first through hole; the stator body has a second through hole coaxial with it at its center; the stator body is fixedly mounted on the stator base, and the first through hole and the second through hole are coaxially arranged; the rotor housing includes a rotor cylinder and a high-speed output hollow shaft; the rotor cylinder includes a cylindrical body, and multiple permanent magnets are arranged circumferentially along its axis on the inner circumference of the cylindrical body; the cylindrical body is rotatably sleeved on the outside of the stator assembly and is coaxially arranged with the stator body; an end panel is provided at the end of the cylindrical body away from the stator base; the end panel... The device is equipped with a high-speed output hollow shaft coaxially arranged with the rotor cylinder; a controller end cover is fixedly arranged on the stator base; the controller end cover and the stator base cooperate to form a controller mounting cavity; the controller end cover is provided with a third through hole coaxially arranged with the first through hole; the high-speed output hollow shaft passes through the second through hole and the first through hole in sequence and then extends into the controller mounting cavity, and one end of the high-speed output hollow shaft extending into the controller mounting cavity is connected to the first encoder installed in the controller mounting cavity; the high-speed output hollow shaft is provided with a fourth through hole coaxial with it.

2. The external rotor motor for robot joints according to claim 1, characterized in that: The high-speed output hollow shaft is provided with an output connection part that is driven to the input end of the reduction mechanism.

3. The external rotor motor for robot joints according to claim 2, characterized in that: The output connection part is an annular connecting flange edge disposed on the inner wall of the high-speed output hollow shaft; the annular connecting flange edge is located at one end of the high-speed output hollow shaft near the end panel; the annular connecting flange plate is used for fixed connection with the input end of the reduction mechanism inserted into the high-speed output hollow shaft.

4. The external rotor motor for a robot joint according to claim 1, 2, or 3, characterized in that: The third and fourth through holes are connected to form a through cavity for the output end of the deceleration mechanism to pass through; The controller mounting cavity is also equipped with a PCBA board and a second encoder; the second encoder is used to connect to the output end of the deceleration mechanism.

5. The external rotor motor for a robot joint according to claim 1, characterized in that: The controller end cover is equipped with a bearing chamber.

6. The external rotor motor for a robot joint according to claim 4, characterized in that: Both the first encoder and the second encoder are thin inductive encoders.

7. The external rotor motor for a robot joint according to claim 1, characterized in that: The rotor cylinder is provided with heat dissipation holes.

8. The external rotor motor for a robot joint according to claim 7, characterized in that: The heat dissipation holes are located on the end panel and are evenly distributed around the circumference of the high-speed output hollow shaft.

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