An in-line reduction motor

Abstract

The application discloses an embedded reduction motor, which comprises a shell, a driving assembly and a reduction assembly. The driving assembly comprises a rotor and a stator, the stator is located in the interior of the rotor, and a cavity for accommodating the reduction assembly is further arranged in the stator. The reduction assembly comprises an eccentric shaft, a reduction structure and an output end, the output end is connected with the eccentric shaft through the reduction structure. The reduction structure comprises a reduction shell, a cycloid disc and a transmission shaft, the cycloid disc is sleeved on the eccentric shaft, the inner wall of the reduction shell is provided with a reduction tooth matched with the cycloid disc, the cycloid disc is provided with a first through hole, and the output end is provided with a second through hole. The two ends of the transmission shaft are respectively inserted into the first through hole and the second through hole, so that the eccentric shaft drives the output end to rotate through the cycloid disc. Through the arrangement of the driving assembly and the reduction assembly, the stator is located in the rotor, and the reduction assembly is arranged in the cavity, so that the volume and weight of the embedded reduction motor are effectively reduced, and the installation convenience of the embedded reduction motor is improved.

Description

Technical Field

[0001] This application relates to the field of geared motor technology, and in particular to an embedded geared motor. Background Technology

[0002] The development of artificial intelligence technology and breakthroughs in humanoid robot control algorithms have accelerated the commercialization of humanoid robots. However, the design and production of joint motors for humanoid robots presents technical challenges related to cost, weight, response time, performance, and reliability. Furthermore, the insufficient performance of existing joint geared motors limits further improvements in the dynamic performance of robots.

[0003] Currently, most joint drive motors used in robots are designed using general-purpose industrial servo motors and reducers, which is not conducive to the lightweight, compact, and small-sized design of the joint mechanism. Planetary geared motors achieve high reduction ratios through multi-stage series reduction, increasing the torque of the geared motor; however, multi-stage reduction leads to increased weight and size, and accumulated backlash reduces transmission accuracy. Harmonic geared motors can achieve high precision, but the rigidity of the harmonic reduction structure is poor, making it susceptible to impact and resulting in a short lifespan. Existing cycloidal motors have high transmission ratios, but the lack of structural optimization in the motor and reduction structure leads to large size and weight, hindering their widespread application in the robotics field. Summary of the Invention

[0004] This application provides an embedded geared motor that optimizes the reduction structure, increases the transmission ratio of the embedded geared motor, and reduces the size and weight of the embedded geared motor.

[0005] An embodiment of this application provides an embedded geared motor, comprising: a housing, a drive assembly, and a reduction assembly; both the drive assembly and the reduction assembly are fixed within the housing; the drive assembly includes a rotor and a stator, the stator being located inside the rotor, and the stator further having a cavity for accommodating the reduction assembly; the reduction assembly includes an eccentric shaft, a reduction structure, and an output end, the output end being connected to the eccentric shaft via the reduction structure; the stator drives the rotor to rotate, thereby causing the eccentric shaft to rotate; the reduction structure includes a reduction housing, a cycloidal disk, and a transmission shaft; the cycloidal disk is sleeved on the eccentric shaft; the inner wall of the reduction housing has reduction teeth that mate with the cycloidal disk; the cycloidal disk has a first through hole; the output end has a second through hole; both ends of the transmission shaft are respectively inserted into the first through hole and the second through hole, so that the eccentric shaft drives the output end to rotate via the cycloidal disk.

[0006] An embedded geared motor according to an embodiment of this application has at least the following advantages: by setting a drive assembly and a reduction assembly, with the stator located inside the rotor and the reduction assembly set inside the cavity, the volume and weight of the embedded geared motor are effectively reduced, and the installation convenience of the embedded geared motor is improved; by setting an eccentric shaft and a reduction structure, the rotor drives the output end to rotate through the eccentric shaft, reduction gears and transmission shaft, which effectively improves the transmission ratio of the embedded geared motor and ensures the operational stability of the embedded geared motor.

[0007] In some embodiments, a transmission hole is provided at the middle position of the rotor, and the transmission hole has a notch; the lower end of the eccentric shaft has a protrusion that mates with the notch, and the lower end of the eccentric shaft is inserted into the transmission hole and connected to the rotor for transmission. By providing the notch and the protrusion, it is ensured that the rotor can stably drive the eccentric shaft to rotate, avoiding the eccentric shaft from becoming loose, and also effectively saving the connection space between the rotor and the eccentric shaft, reducing the size and weight of the embedded geared motor.

[0008] In some embodiments, the lower end of the rotor is further provided with a first bearing, which is sleeved on the lower end of the eccentric shaft. By providing the first bearing, the lower end of the eccentric shaft is stably inserted into the transmission hole, preventing the eccentric shaft from becoming loose and improving the operational stability of the embedded geared motor.

[0009] In some embodiments, the housing includes an upper cover, a main body, and a lower cover, with the upper cover and the lower cover fixed at both ends of the housing; the stator and the reduction gear assembly are fixed inside the main body via the upper cover; the upper cover has a third through hole that mates with the output end. By providing the upper cover, main body, and lower cover, the stator and reduction gear assembly are stably fixed inside the housing, and the output end extends outside the third through hole, ensuring the connection stability of the various components inside the housing and improving the structural integrity of the embedded geared motor.

[0010] In some embodiments, a control board is further provided between the lower cover and the main body, and the control board is electrically connected to the stator. By providing a control board, it is convenient to accurately adjust the voltage applied to the stator, thereby accurately controlling the rotor speed and improving the control accuracy of the embedded geared motor.

[0011] In some embodiments, the control board is provided with an interface, and the lower cover is provided with an opening that mates with the interface. By providing the interface and the opening, it is easy for the control board to connect with control devices and to accurately control the rotational speed of the rotor and the output end, thereby improving the ease of use of the embedded geared motor.

[0012] In some embodiments, the inner wall of the cavity is provided with a first slot, and the outer side of the reduction housing is provided with a second slot. The reduction structure is fixedly connected to the stator by inserting a pin into the first slot and the second slot. By providing the first slot and the second slot, the reduction structure can be stably and quickly fixed in the cavity, avoiding the possibility of the reduction structure becoming loose, and improving the assembly convenience and structural stability of the embedded geared motor.

[0013] In some embodiments, the cycloidal disk is sleeved on the eccentric section of the eccentric shaft via a second bearing, and the eccentric shaft drives the cycloidal disk to rotate via the eccentric section. By providing the second bearing, it is ensured that the eccentric section of the eccentric shaft can stably drive the cycloidal disk to rotate, ensuring that the output end of the reduction structure can rotate stably, effectively increasing the transmission ratio of the embedded geared motor and improving the working stability of the embedded geared motor.

[0014] In some embodiments, the number of cycloidal disks is two, and the two cycloidal disks are mounted parallel to each other on different eccentric sections of the eccentric shaft. By setting two cycloidal disks, it is effectively ensured that the cycloidal disks can reduce the eccentric motion within the gear teeth, reduce the vibration of the reduction structure, effectively increase the transmission ratio of the embedded geared motor, and improve the operating stability of the embedded geared motor.

[0015] In some embodiments, limiting blocks are provided above and below the cycloidal disk. By setting the limiting blocks, the cycloidal disk is prevented from becoming loose or displaced during rotation, thus ensuring the operational stability of the embedded geared motor.

[0016] An embedded geared motor according to an embodiment of this application, by setting a drive assembly and a reduction assembly, with the stator located inside the rotor and the reduction assembly set in a cavity, effectively reduces the size and weight of the embedded geared motor and improves the ease of installation; by setting an eccentric shaft and a reduction structure, the rotor drives the output end to rotate through the eccentric shaft, reduction gears and transmission shaft, effectively improving the transmission ratio of the embedded geared motor and ensuring the operational stability of the embedded geared motor; by setting notches and protrusions, it ensures that the rotor can stably drive the eccentric shaft to rotate, avoiding the eccentric shaft from becoming loose, and also effectively saves the connection space between the rotor and the eccentric shaft, reducing the embedded size and weight of the motor. The size and weight of the geared motor are controlled; by setting a first bearing, the lower end of the eccentric shaft is stably inserted into the transmission hole, preventing the eccentric shaft from loosening and improving the operational stability of the embedded geared motor; by setting an upper cover, a main body, and a lower cover, the stator and reduction assembly are stably fixed inside the housing, and the output end extends to the outside of the third through hole, ensuring the connection stability of various components inside the housing and improving the structural integrity of the embedded geared motor; by setting a first slot and a second slot, the reduction structure can be stably and quickly fixed in the cavity, preventing the reduction structure from loosening and improving the assembly convenience and structural stability of the embedded geared motor.

[0017] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the description and the accompanying drawings. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an embedded geared motor provided in one embodiment of this application;

[0019] Figure 2 This is an exploded view of the structure of an embedded geared motor provided in one embodiment of this application;

[0020] Figure 3 for Figure 2 Exploded view of the intermediate speed reduction assembly;

[0021] Figure 4 for Figure 3 Enlarged view of the eccentric shaft structure;

[0022] Figure 5 This is a schematic diagram of the structure of an embedded geared motor provided in another embodiment of this application;

[0023] Figure 6 An exploded view of the structure of an embedded geared motor provided in another embodiment of this application;

[0024] Figure 7 for Figure 6 Enlarged view of the rotor structure;

[0025] Figure 8 This is a cross-sectional view of an embedded geared motor provided in one embodiment of this application. Detailed Implementation

[0026] The embodiments of this utility model are described in detail below. Examples of the 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.

[0027] Reference Figures 1 to 8This utility model provides an embedded geared motor, including: a housing 100, a drive assembly 200, and a reduction assembly 300; both the drive assembly 200 and the reduction assembly 300 are fixed inside the housing 100. The drive assembly 200 includes a rotor 210 and a stator 220, with the stator 220 located inside the rotor 210. The stator 220 also has a cavity 230 for accommodating the reduction assembly 300. The reduction assembly 300 includes an eccentric shaft 310, a reduction structure 320, and an output end 330, with the output end 330 connected to the eccentric shaft 310 through the reduction structure 320. The stator 220 drives the rotor 210 to rotate, which in turn drives the eccentric shaft 310 to rotate. The reduction structure 320 includes a reduction housing 321, a cycloidal disk 322, and a transmission shaft 323. The cycloidal disk 322 is sleeved on the eccentric shaft 310. The inner wall of the reduction housing 321 is provided with reduction gears 324 that cooperate with the cycloidal disk 322. The cycloidal disk 322 is provided with a first through hole 325 and the output end 330 is provided with a second through hole 331. The two ends of the transmission shaft 323 are respectively inserted into the first through hole 325 and the second through hole 331, so that the eccentric shaft 310 drives the output end 330 to rotate through the cycloidal disk 322.

[0028] By setting up the drive assembly 200 and the reduction assembly 300, the stator 220 is located inside the rotor 210, and the reduction assembly 300 is set inside the cavity 230, effectively reducing the size and weight of the embedded geared motor and improving the installation convenience of the embedded geared motor; by setting up the eccentric shaft 310 and the reduction structure 320, the rotor 210 drives the output end 330 to rotate through the eccentric shaft 310, the reduction gear 324 and the transmission shaft 323, effectively improving the transmission ratio of the embedded geared motor and ensuring the operational stability of the embedded geared motor.

[0029] Reference Figure 4 and Figure 7 In some embodiments, a transmission hole 211 is provided at the middle position of the rotor 210, and the transmission hole 211 has a notch 212; the lower end of the eccentric shaft 310 has a protrusion 311 that mates with the notch 212, and the lower end of the eccentric shaft 310 is inserted into the transmission hole 211 and connected to the rotor 210 for transmission. By setting the notch 212 and the protrusion 311, it is ensured that the rotor 210 can stably drive the eccentric shaft 310 to rotate, avoiding the eccentric shaft 310 from becoming loose, and also effectively saving the connection space between the rotor 210 and the eccentric shaft 310, reducing the size and weight of the embedded geared motor.

[0030] In some embodiments, the lower end of the rotor 210 is further provided with a first bearing 213, which is sleeved on the lower end of the eccentric shaft 310. By providing the first bearing 213, the lower end of the eccentric shaft 310 is stably inserted into the transmission hole 211, preventing the eccentric shaft 310 from becoming loose and improving the operational stability of the embedded geared motor.

[0031] In some embodiments, the housing 100 includes an upper cover 110, a main body 120, and a lower cover 130, with the upper cover 110 and lower cover 130 fixed at both ends of the housing 100. The stator 220 and the reduction gear assembly 300 are fixed inside the main body 120 via the upper cover 110. The upper cover 110 has a third through hole 111 that mates with the output end 330. By providing the upper cover 110, the main body 120, and the lower cover 130, the stator 220 and the reduction gear assembly 300 are stably fixed inside the housing 100, and the output end 330 extends outside the third through hole 111, ensuring the connection stability of the various components inside the housing 100 and improving the structural integrity of the embedded geared motor.

[0032] In some embodiments, a control board 140 is also provided between the lower cover 130 and the main body 120, and the control board 140 is electrically connected to the stator 220. By providing the control board 140, it is convenient to accurately adjust the voltage applied to the stator 220, thereby accurately controlling the rotational speed of the rotor 210 and improving the control accuracy of the embedded geared motor.

[0033] In some embodiments, the control board 140 is provided with an interface 141, and the lower cover 130 is provided with an opening 131 that mates with the interface 141. By providing the interface 141 and the opening 131, it is convenient for the control board 140 to connect with the control device and to accurately control the speed of the rotor 210 and the output end 330, thereby improving the ease of use of the embedded geared motor.

[0034] In some embodiments, the inner wall of the cavity 230 is provided with a first slot 231, and the outer side of the reduction housing 321 is provided with a second slot 326. The reduction structure 320 is fixedly connected to the stator 220 by inserting a pin 340 into the first slot 231 and the second slot 326. By providing the first slot 231 and the second slot 326, the reduction structure 320 can be stably and quickly fixed in the cavity 230, avoiding the situation where the reduction structure 320 becomes loose, and improving the assembly convenience and structural stability of the embedded geared motor.

[0035] In some embodiments, the cycloidal disk 322 is sleeved on the eccentric section 312 of the eccentric shaft 310 via a second bearing 350, and the eccentric shaft 310 drives the cycloidal disk 322 to rotate via the eccentric section 312. By setting the second bearing 350, it is ensured that the eccentric section 312 of the eccentric shaft 310 can stably drive the cycloidal disk 322 to rotate, and that the output end 330 of the reduction structure 320 can rotate stably, effectively increasing the transmission ratio of the embedded geared motor and improving the working stability of the embedded geared motor.

[0036] In some embodiments, there are two cycloidal disks 322, which are mounted parallel to each other on different eccentric sections 312 of the eccentric shaft 310. By setting two cycloidal disks 322, it is effectively ensured that the cycloidal disks 322 can move eccentrically within the reduction gear 324, reducing the vibration of the reduction structure 320, effectively increasing the transmission ratio of the embedded geared motor, and improving the operating stability of the embedded geared motor.

[0037] In some embodiments, limit blocks 327 are provided above and below the cycloidal disk 322. By setting the limit blocks 327, the cycloidal disk 322 is prevented from becoming loose or displaced during rotation, thus ensuring the operational stability of the embedded geared motor.

[0038] The working principle of this utility model will be further explained below.

[0039] During assembly, firstly, based on the installation space and torque requirements, select the corresponding size of the housing 100 and drive assembly 200, and select the corresponding reduction assembly 300; next, the cycloidal disk 322 is sleeved on the eccentric section 312 of the eccentric shaft 310 via the second bearing 350, and the eccentric shaft 310 drives the cycloidal disk 322 to rotate via the eccentric section 312; then, the limiting block 327 and the cycloidal disk 322 are placed sequentially inside the reduction housing 321, and the rack on the outside of the cycloidal disk 322 engages with the reduction gears 324. Specifically, the number of reduction gears 324 is greater than the number of reduction gears on the outside of the cycloidal disk 322. The gear rack has one more component; then, the output end 330 is installed above the reduction housing 321, and both ends of the drive shaft 323 are inserted into the first through hole 325 and the second through hole 331 respectively, so that the eccentric shaft 310 drives the output end 330 to rotate through the cycloidal disk 322. A load-sharing plate 360 ​​is installed below the reduction housing 321 to fix the cycloidal disk 322 and the limiting block 327 inside the reduction housing 321; simultaneously, the upper end of the drive shaft 323 is fixed to the output end 330, and the lower end of the drive shaft 323 is fixed to the load-sharing plate 360, ensuring the connection stability of the drive shaft 323. To avoid a single-sided fixed structure of the drive shaft 323 and improve the lifespan of the reduction assembly 300, the assembly of the reduction assembly 300 is completed. Next, the stator 220 is installed into the rotor 210, wherein the rotor 210 has evenly distributed magnetic blocks 214 inside, and the stator 220 also has a cavity 230 for accommodating the reduction assembly 300. Then, the stator 220, rotor 210, and reduction assembly 300 are fixedly installed into the main body 120, wherein the lower end of the eccentric shaft 310 is connected to the rotor 210 via a protrusion 311 inserted into a notch 212, and the eccentric shaft 310... The first bearing 213 is installed at the lower end. At the same time, after the first slot 231 and the second slot 326 are aligned, the pin 340 is inserted to ensure that the reduction housing 321 is fixedly installed in the stator 220. Then, the control board 140 is installed at the lower end of the main body 120, and the upper cover 110 and the lower cover 130 are installed at the upper and lower ends of the main body 120 respectively, so that the output end 330 is aligned with the third through hole 111 and the interface 141 is aligned with the opening 131, thus completing the assembly of the embedded geared motor. The whole process is efficient and controllable, and the positioning of each component is accurate, which improves the production efficiency of the embedded geared motor.

[0040] During use, the external control device is connected to the embedded geared motor via interface 141 and applies a rated voltage to the stator 220. The rotor 210 rotates under electromagnetic action and drives the eccentric shaft 310 to rotate through the notch 212 on the transmission hole 211. Then, the eccentric section 312 on the eccentric shaft 310 forces the cycloidal disk 322 to make eccentric motion through the second bearing 350. At this time, the tooth profile of the cycloidal disk 322 is a cycloidal curve, which meshes with the reduction gear 324. Since the number of reduction gears 324 is one more than the number of teeth on the cycloidal disk 322, when the cycloidal disk 322 revolves around the center of the reduction housing 321, the meshing relationship will restrict the movement of the cycloidal disk 322. At this time, the transmission shaft 323 on the cycloidal disk 322 will be driven to rotate synchronously. The two ends of the transmission shaft 323 are respectively inserted into the first through hole 325 and the second through hole 331. The transmission shaft 323 can transmit the rotational motion to the output end 330 to achieve the goal of increasing torque. In practical applications, the transmission ratio of the embedded geared motor reaches 1:25. While reducing the size and weight of the embedded geared motor, the transmission ratio is effectively improved, meeting the installation space and torque requirements of the humanoid robot's joints.

[0041] An embedded geared motor according to an embodiment of this application, by setting a drive assembly 200 and a reduction assembly 300, with the stator 220 located inside the rotor 210 and the reduction assembly 300 set inside the cavity 230, effectively reduces the size and weight of the embedded geared motor and improves the ease of installation; by setting an eccentric shaft 310 and a reduction structure 320, the rotor 210 drives the output end 330 to rotate through the eccentric shaft 310, reduction gears 324 and transmission shaft 323, effectively improving the transmission ratio of the embedded geared motor and ensuring the operational stability of the embedded geared motor; by setting a notch 212 and a protrusion 311, it is ensured that the rotor 210 can stably drive the eccentric shaft 310 to rotate, avoiding the eccentric shaft 310 from becoming loose, and also effectively saving the connection space between the rotor 210 and the eccentric shaft 310, reducing... The embedded geared motor has a low volume and weight. By setting the first bearing 213, the lower end of the eccentric shaft 310 is stably inserted into the transmission hole 211, preventing the eccentric shaft 310 from loosening and improving the operational stability of the embedded geared motor. By setting the upper cover 110, the main body 120 and the lower cover 130, the stator 220 and the reduction assembly 300 can be stably fixed in the housing 100, and the output end 330 extends to the outside of the third through hole 111, ensuring the connection stability of the various components inside the housing 100 and improving the structural integrity of the embedded geared motor. By setting the first slot 231 and the second slot 326, the reduction structure 320 can be stably and quickly fixed in the cavity 230, preventing the reduction structure 320 from loosening and improving the assembly convenience and structural stability of the embedded geared motor.

[0042] In the several embodiments provided in this application, it should be understood that the disclosed systems, instruments, and methods can be implemented in other ways. For example, the instrument embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between instruments or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0043] The above is a detailed description of the preferred embodiments of this application. However, this application is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. An embedded geared motor, characterized in that, include: Housing, drive assembly, and reduction gear assembly; Both the drive assembly and the reduction assembly are fixed within the housing. The drive assembly includes a rotor and a stator, with the stator located inside the rotor. The stator also has a cavity for accommodating the reduction assembly. The reduction assembly includes an eccentric shaft, a reduction structure, and an output end. The output end is connected to the eccentric shaft via the reduction structure. The stator drives the rotor to rotate and, in turn, drives the eccentric shaft to rotate. The reduction structure includes a reduction housing, a cycloidal disk, and a transmission shaft. The cycloidal disk is sleeved on the eccentric shaft. The inner wall of the reduction housing has reduction teeth that mate with the cycloidal disk. The cycloidal disk has a first through hole, and the output end has a second through hole. The two ends of the transmission shaft are respectively inserted into the first through hole and the second through hole, so that the eccentric shaft drives the output end to rotate via the cycloidal disk.

2. The embedded geared motor according to claim 1, characterized in that: The rotor has a transmission hole at its middle position, and the transmission hole has a notch; the lower end of the eccentric shaft has a protrusion that mates with the notch, and the lower end of the eccentric shaft is inserted into the transmission hole and connected to the rotor for transmission.

3. An embedded geared motor according to claim 2, characterized in that: The rotor is also provided with a first bearing at its lower end, which is sleeved on the lower end of the eccentric shaft.

4. An embedded geared motor according to claim 1, characterized in that: The housing includes an upper cover, a main body, and a lower cover. The upper cover and the lower cover are fixed at both ends of the housing. The stator and the reduction gear assembly are fixed inside the main body through the upper cover. The upper cover is provided with a third through hole that mates with the output end.

5. An embedded geared motor according to claim 4, characterized in that: A control board is also provided between the lower cover and the main body, and the control board is electrically connected to the stator.

6. An embedded geared motor according to claim 5, characterized in that: The control board is provided with an interface, and the lower cover is provided with an opening that mates with the interface.

7. An embedded geared motor according to claim 1, characterized in that: The inner wall of the cavity is provided with a first slot, and the outer side of the deceleration housing is provided with a second slot. The deceleration structure is fixedly connected to the stator by inserting a pin into the first slot and the second slot.

8. An embedded geared motor according to claim 1, characterized in that: The cycloidal disc is mounted on the eccentric section of the eccentric shaft via a second bearing, and the eccentric shaft drives the cycloidal disc to rotate through the eccentric section.

9. An embedded geared motor according to claim 8, characterized in that: The number of cycloidal discs is two, and the two cycloidal discs are mounted parallel to each other on different eccentric sections of the eccentric shaft.

10. An embedded geared motor according to claim 8, characterized in that: Limiting blocks are provided above and below the cycloidal disc.

Images