Motor assembly, planetary joint module and robot

Abstract

The utility model provides motor assembly, planetary joint module and robot, this motor assembly includes: casing, motor rotor and motor stator are accommodated in casing, motor stator is located the radial outer side of motor rotor, the pivot is fixed connection through rotor connecting piece with motor rotor, the brake structure of radial inner side of motor rotor is located.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of robot, especially motor assembly, planetary joint module and robot. BACKGROUND

[0002] The planetary joint module is widely applied to the joint parts of various robots as the core component integrating precision transmission and motion control function. The motor assembly is a key driving unit in the planetary joint module, and its performance directly affects the motion performance of the whole machine.

[0003] However, the motor assembly in the related art still has some problems. First, most of the motor assemblies do not integrate a brake structure, and the current position cannot be locked in the event of unexpected power failure or system shutdown, resulting in drift or falling of the planetary joint module under the action of external force or self-weight, which not only seriously affects the positioning accuracy and operation safety, but also limits its application in high-reliability torque maintaining occasions. Secondly, a few motor assemblies with brake structures often have a significantly increased volume due to structural design problems, resulting in an increase in the overall size of the planetary joint module, which makes it difficult to meet the design requirements of compactness and lightness of robots, and restricts its application in space-limited or high-mobility scenarios.

[0004] Therefore, how to provide a motor assembly with a brake function and compact structure has become a technical problem to be solved in the field. SUMMARY

[0005] This part provides a general summary of the utility model, rather than a comprehensive disclosure of the entire scope or all features of the utility model.

[0006] The utility model aims at providing a motor assembly with a brake function and compact structure, a planetary joint module and a robot.

[0007] In order to achieve the above-mentioned purpose, according to one aspect of the utility model, a motor assembly is provided, which comprises:

[0008] A housing;

[0009] A motor rotor and a motor stator accommodated in the housing, the motor stator being arranged on the radial outer side of the motor rotor;

[0010] A rotating shaft fixedly connected with the motor rotor through a rotor connecting piece;

[0011] A brake structure arranged on the radial inner side of the motor rotor;

[0012] The brake structure comprises:

[0013] A brake stator fixedly connected with the housing through a brake fixing piece;

[0014] The brake rotor is fixedly connected to the shaft and rotatably connected to the brake stator;

[0015] Friction element, disposed between brake rotor and brake stator; and

[0016] A thrust member is disposed between the brake rotor and the friction member. The thrust member abuts against the brake rotor and the friction member respectively, and is configured to push the friction member to abut against the brake stator.

[0017] Optionally, in some embodiments, the brake retainer is provided with a first annular protrusion extending axially toward the motor rotor along the housing, and the first annular protrusion is provided with an abutment portion for abutting against the brake stator in the axial and / or radial direction of the housing.

[0018] Optionally, in some embodiments, the first annular protrusion includes a sub-annular protrusion, and the sidewall of the sub-annular protrusion and the end face of the first annular protrusion together define the abutting surface of the abutting portion.

[0019] Optionally, in some embodiments, the rotor connector includes an extension extending axially along the housing, the extension being fixedly connected to the motor rotor; wherein the extension length is 1 / 3 to 1 / 2 of the axial length of the motor rotor.

[0020] Optionally, in some embodiments, an avoidance groove is provided on the inner wall of the extension, and the avoidance groove is recessed relative to the inner wall of the extension toward the side away from the brake structure along the thickness direction of the extension.

[0021] Optionally, in some embodiments, the motor assembly further includes an encoder fixed between the shaft and the brake fixture.

[0022] Optionally, in some embodiments, the motor assembly further includes a motor drive component having clearance holes.

[0023] Optionally, in some embodiments, the motor assembly further includes a cover, which is fixedly connected to the housing and the motor drive, and the cover has a second annular protrusion extending axially toward the motor rotor along the housing; wherein the second annular protrusion is coaxially arranged with the clearance hole.

[0024] According to another aspect of the present invention, a planetary joint module is provided, the planetary joint module comprising:

[0025] According to the motor assembly in any of the foregoing embodiments;

[0026] An internal gear ring that is fixedly connected to the housing in the motor assembly;

[0027] A planetary gear reducer in which the first-stage sun gear is fixedly connected to the shaft in the motor assembly.

[0028] According to another aspect of the present invention, a robot is provided, the robot including a planetary joint module according to any of the foregoing embodiments.

[0029] According to the above technical solution, the motor assembly has a built-in braking structure, which enables it to perform braking functions and achieve immediate braking when power is lost or the system is stopped, effectively suppressing the position drift or fall of the planetary joint module. In addition, the braking structure is entirely housed inside the cavity formed by the motor rotor, avoiding additional axial or external dimensions, thus facilitating the miniaturization and compact design of the entire machine. Attached Figure Description

[0030] The features and advantages of embodiments of the present invention will become more readily understood from the following description with reference to the accompanying drawings. The drawings are not drawn to scale and some features may be enlarged or reduced to show details of specific parts.

[0031] Figure 1 This is a structural diagram of a motor assembly provided according to an embodiment of the present utility model.

[0032] Figure 2 for Figure 1 The exploded view of the motor assembly is shown.

[0033] Figure 3 for Figure 1 The diagram shows a cross-sectional view of the motor assembly.

[0034] Figure 4 for Figure 1 The diagram shows the structure of the brake mounting component in the motor assembly.

[0035] Figure 5 for Figure 1 The diagram shows the structure of the rotor connector in the motor assembly.

[0036] Figure 6 for Figure 1 The diagram shows a cross-sectional view of the motor rotor and rotor connector in the motor assembly.

[0037] Figure 7 for Figure 1 The diagram shows the structure of the motor drive unit and the cover in the motor assembly.

[0038] Figure 8 for Figure 1 The diagram shows the structure of the rotating shaft in the motor assembly.

[0039] Figure 9This is a cross-sectional view of a planetary joint module provided according to an embodiment of the present invention.

[0040] In the diagram:

[0041] 10: Housing; 20: Motor rotor; 30: Motor stator; 40: Shaft; 401: First step; 402: Second step; 50: Rotor connector; 501: Extension; 50111: Clearance groove; 60: Brake structure; 601: Brake stator; 602: Brake rotor; 603: First bearing; 604: Friction component; 605: Thrust component; 70: Brake fixing component; 701: First annular protrusion; 702: Abutment; 7011: Sub-annular protrusion; 80: Encoder; 90: Second bearing; 100: Motor drive component; 1001: Clearance hole; 110: Cover; 1101: Second annular protrusion; 120: Third bearing; 130: Internal gear ring; 140: Planetary gear reducer; 1401: First stage sun gear. Detailed Implementation

[0042] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments. It should be noted that the following detailed description of the present invention is for illustrative purposes only and is not intended to limit the scope of the invention.

[0043] It should be noted that, in this utility model, when a component is referred to as being "fixed to" another component, it can be directly fixed to the other component or indirectly fixed through an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or indirectly connected through an intermediate component.

[0044] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and for 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 the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] Furthermore, it should be noted that, for clarity, not all features of a particular embodiment are described or shown in the specification and drawings. In order to avoid unnecessary details obscuring the technical solution of interest of this utility model, only the device structure and parts closely related to the technical solution of this utility model are described and shown in the specification and drawings, while other details that are not closely related to the technical content of this utility model and are known to those skilled in the art are omitted.

[0046] Please refer to Figures 1 to 3 The illustration shows a motor assembly 1 provided by an embodiment of the present invention, which includes a housing 10, and a motor rotor 20, a motor stator 30, and a rotating shaft 40 housed within the housing 10. The motor stator 30 is located radially outside the motor rotor 20, and the rotating shaft 40 is fixedly connected to the motor rotor 20 via a rotor connector 50.

[0047] Typically, the motor stator 30 contains coils to generate a rotating electromagnetic field. The motor rotor 20 rotates under the influence of this electromagnetic field, driven by electromagnetic force or torque. When the motor rotor 20 rotates, the shaft 40, connected to it via the rotor connector 50, also rotates synchronously. It can be understood that the shaft 40, as the power output end of the motor assembly 1, is used to transmit torque and rotational motion outwards.

[0048] In some embodiments of the present invention, the motor assembly 1 further includes a brake structure 60, which is disposed radially inside the motor rotor 20 and located between the motor rotor 20 and the shaft 40.

[0049] In some embodiments, the brake structure 60 includes a brake stator 601 fixedly connected to the housing 10. In specific implementations, the brake stator 601 is fixedly connected to the housing 10 via a brake fixing member 70. In some examples, the brake stator 601 is fixed to the brake fixing member 70, while the brake fixing member 70 is fixedly connected to the housing 10.

[0050] It should be understood that the brake stator 601 has a coil inside, which is used to generate a static electromagnetic field when energized.

[0051] It should be noted that although the brake fixing member 70 is shown as a plate structure in the embodiments of this utility model, its specific shape does not constitute a limitation on this utility model, and other applicable structural shapes may also be adopted in the specific implementation process.

[0052] In some embodiments, the brake structure 60 further includes a brake rotor 602 fixedly connected to the rotating shaft 40, the brake rotor 602 being rotatably connected to the brake stator 601. Specifically, as shown... Figure 3As shown, a first bearing 603 is provided between the brake stator 601 and the brake rotor 602.

[0053] In some embodiments, the brake structure 60 further includes:

[0054] Friction member 604 disposed between brake stator 601 and brake rotor 602; and

[0055] A thrust member 605 is provided between the brake rotor 602 and the friction member 604. The thrust member 605 abuts against the brake rotor 602 and the friction member 604 respectively, and is configured to push the friction member 604 to abut against the brake stator 601.

[0056] Specifically, when the motor assembly 1 is energized, the coils within the brake stator 601 generate an electromagnetic field, which exerts an electromagnetic force on the brake rotor 602 along the axial direction of the housing 10. This electromagnetic force is much greater than the thrust of the thrust member 605 and is in the opposite direction to the thrust. Therefore, after overcoming the action of the thrust member 605, a preset air gap can be maintained between the friction member 604 and the brake stator 601. In this situation, the brake structure 60 does not generate braking torque, and the shaft 40 can rotate with the rotation of the motor rotor 20, with the motor assembly 1 in normal operation. When the power is off or the system stops, the coils within the brake stator 601 lose power, and the electromagnetic field they generate disappears. At this time, the thrust of the thrust member 605 pushes the friction member 604 to move along the aforementioned axial direction and abut against the brake stator 601, thereby generating friction. This friction forms a braking torque opposite to the rotation direction of the shaft 40, converting its kinetic energy into heat energy and dissipating it, thus causing the shaft 40 to stop rotating quickly, achieving braking.

[0057] In some examples, the thrust member 605 described above can be an elastic element, such as a ring-shaped thrust spring or a cylindrical compression spring. In this case, when the motor assembly 1 is in normal operation, the thrust member 605 remains in a compressed state. Furthermore, if the friction element 604 and / or the brake stator 601 wears during braking, the thrust member 605, as an elastic element, can continuously provide thrust within its elastic deformation range to keep the friction element 604 in contact with the brake stator 601, thereby compensating for the amount of wear and ensuring the reliability of the braking process.

[0058] It should be noted that the thrust element 605 can also adopt other structures capable of providing thrust, such as a set of electromagnets that generate mutual repulsion. This utility model does not impose specific limitations on the specific implementation of the thrust element 605.

[0059] The motor assembly 1 provided by this utility model has a built-in brake structure 60, which enables it to also have a braking function. It can achieve instant braking when the power is off or the system is stopped, effectively suppressing the position drift or fall of the planetary joint module.

[0060] In addition, from Figure 3 As can be seen, the brake structure 60 is entirely housed within the cavity formed by the motor rotor 20. This structural layout makes full use of the radial mounting space inside the motor assembly 1, avoiding additional axial or external dimensions, thus facilitating the miniaturization and compact design of the entire machine.

[0061] In some implementations, such as Figure 4 As shown, the brake fixing member 70 is provided with a first annular protrusion 701, which extends along the axial direction of the housing 10 toward the motor rotor 20, and the first annular protrusion 701 is provided with an abutment portion 702 for abutting against the brake stator 601 in the axial direction and / or radial direction of the housing 10.

[0062] Combination Figure 3 and Figure 4 As can be seen, the first annular protrusion 701 extends toward the motor rotor 20 along the axial direction of the housing 10, which helps to reduce the space occupied by the brake fixing member 70 in the axial direction of the housing 10, thereby effectively reducing the overall axial dimension of the motor assembly 1 and helping to achieve the miniaturization and compact design of the motor assembly 1.

[0063] In some examples, the first annular protrusion 701 and the abutment portion 702 are integrally formed. Specifically, refer to... Figure 4 The first annular protrusion 701 includes a sub-annular protrusion 7011, the sidewall 70111 of which together with the end face 7012 of the first annular protrusion 701 defines the abutting surface of the abutting portion 702.

[0064] In some implementations, such as Figure 5 As shown, the rotor connector 50 includes an extension 501 that extends axially along the housing 10 and is fixedly connected to the motor rotor 20.

[0065] In this case, the extension 501 provides a robust connection interface, which helps to ensure the connection rigidity and coaxiality between the motor rotor 20 and the shaft 40, thereby reducing deviations and vibrations during transmission and improving the accuracy and efficiency of power transmission.

[0066] Furthermore, the structural design of the extension 501 extending along the aforementioned axial direction is conducive to making full use of the axial space inside the motor rotor 20, avoiding additional axial dimensions of the motor assembly 1, thereby effectively promoting the miniaturization and lightweight design of the overall structure of the motor assembly 1.

[0067] Optionally, such as Figure 6As shown, the extension length L of the extension 501 is 1 / 3 to 1 / 2 of the axial length of the motor rotor 20, so as to enhance the structural stability of the connection interface between the extension 501 and the motor rotor 20.

[0068] It should be noted that the "extension length L of extension 501" here refers to the distance taken along the axis of housing 10 from the connection end face of extension 501 and motor rotor 20 to its free end face.

[0069] In some examples, continue to refer to Figure 5 A clearance groove 50111 is formed in a portion of the inner wall 5011 of the extension 501. Along the thickness direction of the extension 501, the clearance groove 50111 is recessed relative to the inner wall 5011 of the extension 501 towards the side away from the brake structure 60.

[0070] Combination Figure 3 and Figure 5 It can be seen that by recessing the avoidance structure on the inner wall 5011 of the extension 501, the installation space for the brake structure 60 can be provided without increasing the radial dimension of the extension 501 or the brake connector 50, which effectively improves the space utilization efficiency inside the motor assembly 1 and is conducive to achieving a more compact structural layout in both axial and radial directions.

[0071] In some implementations, reference continues. Figure 2 and Figure 3 The motor assembly 1 also includes an encoder 80, which is fixed between the rotating shaft 40 and the brake fixing member 70.

[0072] In this case, the inherent installation space inside the motor assembly 1 is fully utilized, avoiding the need to increase the axial and radial dimensions of the housing 10, which significantly improves space utilization efficiency and structural integration. This is conducive to achieving a compact and miniaturized design of the motor assembly 1, and is especially suitable for applications with strict limitations on installation space.

[0073] In addition, the encoder 80 is arranged near the rotating shaft 40, which effectively avoids the errors and delays introduced by the intermediate transmission links. It can directly and accurately obtain the real-time position and speed information of the rotating shaft 40, thereby improving the feedback accuracy and dynamic response performance of the closed-loop control system.

[0074] from Figure 3 It can be seen that a second bearing 90 is provided between the encoder 80 and the rotating shaft 40.

[0075] In some implementations, reference continues. Figure 2 and Figure 3 The motor assembly 1 also includes a motor drive unit 100, and as shown in the figure. Figure 7As shown, the motor drive component 100 has a clearance hole 1001.

[0076] In some implementations, reference continues. Figure 2 and Figure 3 The motor assembly 1 also includes a cover 110, which is fixedly connected to the housing 10 and the motor drive component 100, and as shown in the figure. Figure 7 As shown, the cover 110 has a second annular protrusion 1101, which extends along the axial direction of the housing 10 toward the motor rotor 20, wherein the second annular protrusion 1101 is coaxially arranged with the clearance hole 1001.

[0077] It is understandable that, such as Figure 3 As shown, a third bearing 120 is provided between the second annular protrusion 1101 and the rotating shaft 40. The inner ring of the third bearing 120 is fixedly connected to the rotating shaft 40, and the outer ring is fixedly connected to the second annular protrusion 1101.

[0078] like Figure 8 As shown, the end of the rotating shaft 40 is provided with a first stepped portion 401 and a second stepped portion 402, and the diameter of the first stepped portion 401 is larger than the diameter of the second stepped portion 402, so as to be used for mounting and positioning the second bearing 90 and the third bearing 120 respectively. Figure 3 and Figure 8 It can be seen that by providing a first step portion 401 and a second step portion 402 at the end of the rotating shaft 40, a precise positioning reference is provided for the second bearing 90 and the third bearing 120, ensuring that they can be installed quickly and accurately. Secondly, the diameters of the main body of the rotating shaft 40, the first step portion 401, and the second step portion 402 decrease sequentially. This stepped structure allows the installation of the second bearing 90 and the third bearing 120 without requiring additional radial dimensions, which is beneficial for the compact design of the overall structure.

[0079] like Figure 9 As shown, this utility model embodiment also provides a planetary joint module 2, which includes:

[0080] According to the motor assembly 1 in the foregoing embodiments of this utility model;

[0081] An internal gear ring 130 is fixedly connected to the housing 10 in the motor assembly 1;

[0082] Planetary gear reducer 140, wherein the first stage sun gear 1401 of the planetary gear reducer 140 is fixedly connected to the shaft 40 of the motor assembly 1.

[0083] It should be noted that, in the specific implementation process, the first-stage sun gear 1401 is threadedly connected to the shaft 40.

[0084] Finally, this invention provides a robot that includes the planetary joint module according to the foregoing embodiments of this invention.

[0085] While this utility model has been described with reference to exemplary embodiments, it should be understood that it is not limited to the specific embodiments described and shown herein. Various modifications to the exemplary embodiments can be made by those skilled in the art without departing from the scope defined by the claims.

[0086] The features mentioned and / or shown in the above description of exemplary embodiments of the present invention may be combined in the same or similar manner with one or more other embodiments, combined with features in other embodiments, or substituted for corresponding features in other embodiments. These combined or substituted technical solutions should also be considered to be included within the protection scope of the present invention.

Claims

1. A motor assembly, characterized in that, The motor assembly includes: Shell (10); The motor rotor (20) and motor stator (30) are housed within the housing (10), with the motor stator (30) located radially outside the motor rotor (20); The rotating shaft (40) is fixedly connected to the motor rotor (20) via the rotor connector (50); Braking structure (60) is provided on the radial inner side of the motor rotor (20). The brake structure (60) includes: The brake stator (601) is fixedly connected to the housing (10) via the brake fixing member (70); The brake rotor (602) is fixedly connected to the shaft (40) and rotatably connected to the brake stator (601). A friction element (604) is disposed between the brake rotor (602) and the brake stator (601); and A thrust member (605) is disposed between the brake rotor (602) and the friction member (604), the thrust member (605) abuts against the brake rotor (602) and the friction member (604) respectively, and is configured to push the friction member (604) to abut against the brake stator (601).

2. The motor assembly according to claim 1, characterized in that, The brake fixing member (70) is provided with a first annular protrusion (701) extending along the axial direction of the housing (10) toward the motor rotor (20), and the first annular protrusion (701) is provided with an abutment portion (702) for abutting against the brake stator (601) in the axial direction and / or radial direction of the housing (10).

3. The motor assembly according to claim 2, characterized in that, The first annular protrusion (701) includes a sub-annular protrusion (7011), and the sidewall of the sub-annular protrusion (7011) and the end face of the first annular protrusion (701) together define the abutting surface of the abutting portion (702).

4. The motor assembly according to claim 1, characterized in that, The rotor connector (50) includes an extension (501) extending axially along the housing (10), the extension (501) being fixedly connected to the motor rotor (20); wherein the extension length of the extension (501) is 1 / 3 to 1 / 2 of the axial length of the motor rotor (20).

5. The motor assembly according to claim 4, characterized in that, The inner wall of the extension (501) is provided with a relief groove (50111). Along the thickness direction of the extension (501), the relief groove (50111) is recessed relative to the inner wall of the extension (501) towards the side away from the brake structure (60).

6. The motor assembly according to claim 1, characterized in that, It also includes an encoder (80) which is fixed between the rotating shaft (40) and the brake fixing member (70).

7. The motor assembly according to claim 1, characterized in that, It also includes a motor drive unit (100), on which a clearance hole (1001) is provided.

8. The motor assembly according to claim 7, characterized in that, It also includes a cover (110), which is fixedly connected to the housing (10) and the motor drive (100), and the cover (110) is provided with a second annular protrusion (1101) extending along the axial direction of the housing (10) toward the motor rotor (20); wherein the second annular protrusion (1101) is coaxially arranged with the clearance hole (1001).

9. A planetary joint module, characterized in that, The planetary joint module includes: The motor assembly according to any one of claims 1 to 8; An internal gear ring (130) is fixedly connected to the housing (10) in the motor assembly. A planetary gear reducer (140), wherein the first-stage sun gear (1401) of the planetary gear reducer (140) is fixedly connected to the shaft (40) of the motor assembly.

10. A robot, characterized in that, The robot includes the planetary joint module according to claim 9.

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