A large-torque integrated walking module
By integrating core components such as motors and planetary reducers into a compact connection design, the structural defects of existing motor modules have been solved, resulting in reduced size, increased rigidity, and improved operational stability, thus adapting to various robot installation needs.
Patent Information
- Application Number
- CN202521924427.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-08
- Publication Date
- 2026-06-23
- Estimated Expiration
- 2035-09-08
AI Technical Summary
Existing motor modules have structural defects during installation, resulting in a large overall size and insufficient rigidity. They are also prone to vibration and deformation under heavy loads or complex road conditions, affecting transmission efficiency and component wear.
A high-torque integrated walking module is designed, which integrates core components such as motor, planetary reducer, and servo driver into one unit through motor mounting flange and mounting bracket. It adopts a compact connection method to enhance system rigidity, and uses special cable trays and wire clamps to fix the wire harness, ensuring connection stability and neatness.
It significantly reduces module size, enhances system rigidity, improves operational stability and motion control precision, reduces wiring harness wear, lowers maintenance costs, and adapts to the installation needs of different types of robots.
Smart Images
Figure CN224392351U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of walking module technology, specifically a high-torque integrated walking module. Background Technology
[0002] As a core drive component of walking robots and AGVs, motor modules significantly reduce space occupation while increasing output torque density by deeply integrating functional units such as servo motors, reducers, and encoders. These modules are typically mounted on the robot chassis structure via embedded or flange connections, undertaking the critical functions of power transmission and motion control. However, current mainstream motor module installation solutions still have structural defects.
[0003] Traditional walking modules require core components such as motors, planetary reducers, and servo drives to be connected via cables and external brackets. This not only results in a bulky overall size but also insufficient system rigidity after assembly. Under heavy loads or complex road conditions, these components are prone to vibration and deformation, leading to reduced transmission efficiency and even accelerated wear. Utility Model Content
[0004] The purpose of this invention is to provide a high-torque integrated walking module to solve the problems mentioned in the background art.
[0005] In view of the above problems, the technical solution proposed by this utility model is as follows:
[0006] A high-torque integrated walking module includes a motor mounting flange. A planetary reducer is mounted on one side of the motor mounting flange, and a hub is mounted on the outer side of the planetary reducer. The outer side of the hub is covered with a rubber-coated wheel. A motor housing is mounted on the other side of the motor mounting flange. A rear end cover of the motor housing is mounted on its end face, and a motor shaft is located inside the motor housing. Both ends of the motor shaft pass through the other end face of the motor housing and the rear end cover of the motor housing, respectively. The motor shaft is rotatably connected to the other end face of the motor housing and the rear end cover of the motor housing via bearings. One end of the motor shaft is connected to the planetary reducer. The input shaft is fixedly connected. A drive plate end cover is installed on the side of the motor rear end cover, and a servo driver PCB is installed on the side of the drive plate end cover. The servo driver PCB drives the motor shaft to rotate. A motor tail cover is also installed on the side of the drive plate end cover, and the motor tail cover wraps around the servo driver PCB. The planetary reducer, motor housing, and other components are integrated into one unit through the motor mounting flange, which greatly reduces the overall volume and saves installation space. The compact connection of each component enhances the rigidity of the system and improves the operational stability. The motor tail cover wraps around the servo driver PCB, which can protect it and reduce the impact of the external environment.
[0007] Furthermore, an encoder magnet is installed at the other end of the motor shaft, and an encoding sensor is installed on the servo driver PCB facing the encoder magnet. The encoder magnet and the encoding sensor work together to detect the rotation angle of the motor shaft in real time, providing feedback information for the precise control of the motor and improving the motion control accuracy of the walking module.
[0008] Furthermore, a first wiring groove is provided on the side of the motor housing, and a first wire clamping cover is installed on the side of the motor housing. The first wire clamping cover covers the first wiring groove. The first wiring groove is used for the power harness of the servo motor to pass through. The first wiring groove provides a dedicated wiring channel for the power harness of the servo motor, avoiding messy wiring. The first wire clamping cover covers the first wiring groove, which can fix the wiring harness, prevent the wiring harness from loosening and wearing, ensure stable wiring harness connection, and make the module look cleaner.
[0009] Furthermore, a second wiring groove is provided on the side of the motor tail cover, and a second wire clamping cover is installed on the side of the motor tail cover, and the second wire clamping cover covers the second wiring groove. The second wiring groove is used for the wire harness of the servo driver PCB to pass through. The second wiring groove is specifically used for the wiring of the servo driver PCB. With the second wire clamping cover, the wiring harness can be organized and fixed to prevent the wiring harness from getting tangled or damaged, and to ensure reliable connection between the servo driver PCB and external circuits.
[0010] Furthermore, the mounting flange and the planetary reducer, the mounting flange and the motor housing, the motor housing and the motor rear end cover, the motor rear end cover and the drive board end cover, the drive board end cover and the servo driver PCB, the drive board end cover and the motor tail cover, the first pressure wire cover and the motor housing, and the second pressure wire cover and the motor tail cover are all fixedly connected by screws. Using screws to fix the components together ensures a firm and reliable connection, facilitates the assembly and subsequent disassembly and maintenance of the components, and reduces maintenance costs. At the same time, it ensures the stability of the relative positions of the components and ensures the normal operation of the walking module. Furthermore, a mounting bracket is engaged with the side of the motor mounting flange. The mounting bracket consists of a fixing ring and a pair of fixing rods. The pair of fixing rods are symmetrically mounted on the side of the fixing ring about the axis of the fixing ring. Each fixing rod has a fixing hole on its surface. The pair of fixing rods are located on both sides of the motor housing. The fixing ring can slide on the outside of the motor housing. The mounting bracket increases the installation methods of the walking module, allowing it to be installed not only on the walking robot via the motor mounting flange but also via the mounting bracket, adapting to the installation needs of different types of walking robots and expanding the application scenarios. The fixing ring is slidable, making it easy to remove the mounting bracket.
[0011] Furthermore, several heat dissipation fins are installed on the side of the motor tail cover. The heat dissipation fins increase the heat dissipation area of the motor tail cover, accelerate the dissipation of heat generated by the servo driver PCB during operation, avoid the performance and service life of the servo driver PCB due to excessive temperature, and ensure the stable operation of the walking module.
[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This high-torque integrated walking module integrates the planetary reducer, motor housing and other components into one unit through the motor mounting flange, which greatly reduces the overall volume and saves installation space; the compact connection of each component enhances the rigidity of the system and improves the stability of operation; the motor tail cover wraps around the servo driver PCB, which can protect it and reduce the impact of the external environment. Attached Figure Description
[0013] Figure 1 This is a three-dimensional structural diagram of the high-torque integrated walking module disclosed in an embodiment of the present utility model;
[0014] Figure 2 This is a first exploded structural diagram of the high-torque integrated walking module disclosed in an embodiment of this utility model;
[0015] Figure 3 This is a second exploded structural diagram of the high-torque integrated walking module disclosed in an embodiment of this utility model;
[0016] Figure 4 This is a third exploded structural diagram of the high-torque integrated walking module disclosed in an embodiment of this utility model.
[0017] In the diagram: 1. Motor mounting flange; 2. Hub; 3. Rubber-coated wheel; 4. Planetary reducer; 5. Mounting bracket; 6. Motor housing; 7. Motor tail cover; 8. First wire clamping cover; 9. First wiring channel; 10. Motor rear end cover; 11. Drive board end cover; 12. Servo driver PCB; 13. Encoder magnet; 14. Second wire clamping cover; 15. Second wiring channel; 16. Motor shaft. Detailed Implementation
[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0019] Please see Figure 1 - Figure 4This utility model provides a technical solution: a high-torque integrated walking module, including a motor mounting flange 1, a planetary reducer 4 mounted on one side of the motor mounting flange 1, a hub 2 mounted on the outer side of the planetary reducer 4, and a rubber-coated wheel 3 wrapped around the outer side of the hub 2; a motor housing 6 mounted on the other side of the motor mounting flange 1, a motor rear end cover 10 mounted on the end face of the motor housing 6, and a motor shaft 16 disposed inside the motor housing 6; the two ends of the motor shaft 16 respectively pass through the other end face of the motor housing 6 and the motor rear end cover 10, and the motor shaft 16, the other end face of the motor housing 6, and the motor rear end cover 10 are rotatably connected by bearings; one end of the motor shaft 16 is fixedly connected to the input shaft of the planetary reducer 4, and the motor... A drive board end cover 11 is mounted on the side of the rear end cover 10. A servo driver PCB 12 is mounted on the side of the drive board end cover 11. The servo driver PCB 12 drives the motor shaft 16 to rotate. A motor tail cover 7 is also mounted on the side of the drive board end cover 11, and the motor tail cover 7 covers the servo driver PCB 12. The servo driver PCB 12 drives the motor shaft 16 to rotate. The motor shaft 16 drives the input shaft of the planetary reducer 4 to rotate. The planetary reducer 4 reduces the speed and amplifies the torque through internal gear transmission, and drives the hub 2 and the rubber-coated wheel 3 to rotate, thereby realizing the walking function. The motor shaft 16 is rotatably connected to the other end face of the motor housing 6 and the rear end cover 10 of the motor through bearings to ensure the stable rotation of the motor shaft 16.
[0020] As an embodiment of this utility model, an encoder magnet 13 is further installed at the other end of the motor shaft 16. An encoder sensor is installed on the servo driver PCB facing the encoder magnet 13. When the motor shaft 16 rotates, the encoder magnet 13 rotates with it. The encoder sensor on the servo driver PCB senses the change in the rotation angle of the encoder magnet 13 and converts it into an electrical signal, thereby realizing real-time monitoring of the rotation angle of the motor shaft 16.
[0021] As an embodiment of this utility model, a first wiring groove 9 is further provided on the side of the motor housing 6, and a first wire pressing cover 8 is installed on the side of the motor housing 6, and the first wire pressing cover 8 covers the first wiring groove 9. The first wiring groove 9 is used for the power harness of the servo motor to pass through. The power harness of the servo motor passes through the first wiring groove 9, and the first wire pressing cover 8 is fixed to the motor housing 6 by screws, pressing the harness tightly in the first wiring groove 9, thereby realizing the arrangement and fixation of the harness.
[0022] As an embodiment of this utility model, a second wiring groove 15 is further provided on the side of the motor tail cover 7, and a second wire pressing cover 14 is installed on the side of the motor tail cover 7, and the second wire pressing cover 14 covers the second wiring groove 15. The second wiring groove 15 is used for the wire harness of the servo driver PCB 12 to pass through. The wire harness of the servo driver PCB 12 passes through the second wiring groove 15, and the second wire pressing cover 14 is fixed to the motor tail cover 7 by screws, fixing the wire harness in the second wiring groove 15, thereby realizing the orderly arrangement and protection of the wire harness.
[0023] As an embodiment of this utility model, furthermore, the mounting flange 1 and the planetary reducer 4, the mounting flange 1 and the motor housing 6, the motor housing 6 and the motor rear end cover 10, the motor rear end cover 10 and the drive board end cover 11, the drive board end cover 11 and the servo driver PCB 12, the drive board end cover 11 and the motor tail cover 7, the first wire pressing cover 8 and the motor housing 6, and the second wire pressing cover 14 and the motor tail cover 7 are all fixedly connected by screws. The screws tightly fix the components together through threaded connections. The preload of the screws makes the connecting surfaces fit tightly, preventing relative displacement of the components during operation and ensuring the stability of the entire module structure.
[0024] As an embodiment of this utility model, a mounting bracket 5 is further engaged with the side of the motor mounting flange 1. The mounting bracket 5 consists of a fixing ring and a pair of fixing rods. The pair of fixing rods are symmetrically installed on the side of the fixing ring with the axis of the fixing ring as the axis of symmetry. Fixing holes are opened on the surface of each fixing rod. The pair of fixing rods are located on both sides of the motor housing 6. The fixing ring can slide on the outside of the motor housing 6. The mounting bracket 5 is engaged with the motor mounting flange 1 through the fixing ring. The walking module can be fixed to different walking robot chassis using screws through the fixing holes on the fixing rods to achieve multiple installation methods. Alternatively, the mounting bracket 5 can be removed and the motor mounting flange 1 can be directly connected to the walking robot chassis.
[0025] As an embodiment of this utility model, further, a number of heat dissipation fins are installed on the side of the motor tail cover 7. The heat generated by the servo driver PCB12 when it is working is transferred to the motor tail cover 7. The heat dissipation fins on the side of the motor tail cover 7 are in full contact with the air, and the heat is dissipated into the air by heat conduction and heat convection to achieve heat dissipation and cooling.
[0026] It should be noted that all standard parts used in this application can be purchased from the market, and can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts and equipment adopt conventional models in the prior art. The control method is automatic control through a controller. The control circuit can be implemented by simple programming by those skilled in the art and is common knowledge in the field. Furthermore, since this application is mainly used to protect mechanical devices, this application will not explain the control method and circuit connection in detail.
Claims
1. A high-torque integrated walking module, characterized in that, The system includes a motor mounting flange (1), on one side of which a planetary reducer (4) is mounted. A hub (2) is mounted on the outer side of the planetary reducer (4), and a rubber-coated wheel (3) is wrapped around the outer side of the hub (2). A motor housing (6) is mounted on the other side of the motor mounting flange (1). A motor rear end cover (10) is mounted on the end face of the motor housing (6), and a motor shaft (16) is provided inside the motor housing (6). The two ends of the motor shaft (16) pass through the other end face of the motor housing (6) and the motor rear end cover (10), respectively. The motor shaft (16) and the other end face of the motor housing (6) and the rear end cover (10) of the motor are rotatably connected by bearings. One end of the motor shaft (16) is fixedly connected to the input shaft of the planetary reducer (4). A drive plate end cover (11) is installed on the side of the rear end cover (10) of the motor. A servo driver PCB (12) is installed on the side of the drive plate end cover (11). The servo driver PCB (12) drives the motor shaft (16) to rotate. A motor tail cover (7) is also installed on the side of the drive plate end cover (11), and the motor tail cover (7) wraps the servo driver PCB (12).
2. The high-torque integrated walking module according to claim 1, characterized in that, An encoder magnet (13) is mounted on the other end of the motor shaft (16), and an encoder sensor is mounted on the servo driver PCB facing the encoder magnet (13).
3. The high-torque integrated walking module according to claim 1, characterized in that, The motor housing (6) has a first wiring groove (9) on its side and a first wire pressing cover (8) installed on its side. The first wire pressing cover (8) covers the first wiring groove (9) and the first wiring groove (9) is used for the power harness of the servo motor to pass through.
4. The high-torque integrated walking module according to claim 3, characterized in that, The motor tail cover (7) has a second wiring groove (15) on its side and a second wire clamping cover (14) is installed on its side. The second wire clamping cover (14) covers the second wiring groove (15). The second wiring groove (15) is used for the wire harness of the servo driver PCB (12) to pass through.
5. A high-torque integrated walking module according to claim 4, characterized in that, The mounting flange (1) and the planetary reducer (4), the mounting flange (1) and the motor housing (6), the motor housing (6) and the motor rear end cover (10), the motor rear end cover (10) and the drive board end cover (11), the drive board end cover (11) and the servo driver PCB (12), the drive board end cover (11) and the motor tail cover (7), the first wire clamping cover (8) and the motor housing (6), and the second wire clamping cover (14) and the motor tail cover (7) are all fixedly connected by screws.
6. The high-torque integrated walking module according to claim 1, characterized in that, The motor mounting flange (1) is fitted with a mounting bracket (5) on its side. The mounting bracket (5) consists of a fixing ring and a pair of fixing rods. The pair of fixing rods are symmetrically installed on the side of the fixing ring with the axis of the fixing ring as the axis of symmetry. The surface of each fixing rod is provided with a fixing hole. The pair of fixing rods are located on both sides of the motor housing (6). The fixing ring can slide on the outside of the motor housing (6).
7. The high-torque integrated walking module according to claim 1, characterized in that, Several heat dissipation fins are installed on the side of the motor tail cover (7).