A joint servo module

Abstract

A joint servo module, belonging to the field of joint modules, particularly servo joint modules, is disclosed. It meets the market's urgent need for joint modules capable of precise control, high power output, and low energy consumption. It includes a reduction mechanism, an inner motor stator, an outer motor rotor, and electronic control components. The reduction mechanism is nested within the support base of the joint servo module housing, the inner motor stator is nested outside the support base, and the outer motor rotor is positioned within the cavity between the inner motor stator and the joint servo module housing. The outer motor rotor is connected to the reduction mechanism via a frame. The inner motor stator has a gear frame structure, consisting of an inner ring frame and a T-shaped core. The T-shaped core is 8.5mm high, 2.5mm wide, and 12mm thick, with a 2mm gap between the T-shaped ends at the top.

Description

Technical Field

[0001] A joint servo module, belonging to the field of joint modules, particularly the field of servo joint modules. Background Technology

[0002] With the rapid development of science and technology in modern society, robotics technology has also advanced rapidly and is now widely used in various fields such as industrial production, medical care, and service and entertainment. As one of the core components of a robot, the joint module plays a crucial role in the robot's motion performance, control precision, and overall stability.

[0003] With the development of robotics technology, high-precision robots and micro-robots are placing increasingly higher demands on the performance of their joint modules. Humanoid robots and pet robots, in particular, require joint modules that are small in size yet possess high power, high precision, and high flexibility. However, these requirements are often contradictory in joint module design; when high power is needed, components such as motor coils become larger. Therefore, designing a joint module that can achieve precise control, high power output, and low energy consumption is urgently needed in the current market. Utility Model Content

[0004] In order to achieve the joint module described in the background technology that meets the urgent market demand for precise control, high power output, and low energy consumption, this technical solution provides a solution.

[0005] A joint servo module includes a reduction mechanism, an inner stator of a motor, an outer rotor of a motor, and an electronic control component. The reduction mechanism is nested within a support base of the joint servo module housing, the inner stator of the motor is nested outside the support base of the joint servo module housing, and the outer rotor of the motor is disposed in the cavity between the inner stator of the motor and the joint servo module housing. The outer rotor of the motor is connected to the reduction mechanism via a frame. The inner stator of the motor has a gear frame structure, which is divided into an inner ring frame and a T-shaped iron core. The inner stator has an outer diameter of 81mm, the T-shaped iron core has a height of 7.5-9mm, a width of 1.5-3mm, a thickness of 11-13mm, and the T-shaped end spacing at the top of the T-shaped iron core is 1.5-2.5mm.

[0006] Preferred technical solution: T-shaped iron core with a height of 8.5mm, a width of 2.5mm, and a thickness of 12mm, and the T-shaped end spacing at the top of the T-shaped iron core is 2mm.

[0007] Preferred technical solution: The outer rotor of the motor includes a frame, a permanent magnet and a magnetic yoke ring. The permanent magnet is embedded in the frame, and the magnetic yoke ring is nested in the frame and sleeved on the outside of the permanent magnet.

[0008] Preferred technical solution: The reduction mechanism is a planetary reduction mechanism, which includes a planet carrier, and the planet carrier includes a planetary main carrier, a planetary subcarrier, and planetary gear sleeves.

[0009] Preferred technical solution: The planetary main frame is a T-shaped disk protrusion structure, and the protrusion that connects the planetary main frame and the planetary subframe is double-crescent-shaped; the small end of the double-crescent shape faces the central axis of the disk, and the large end faces the outer side of the disk.

[0010] Preferred technical solution: The planetary gear steel sleeve is fixed to the planetary main frame, the planetary gear is sleeved on the outside of the planetary gear steel sleeve via bearings, and the planetary sub-frame is fixed on the fixed column of the planetary main frame, so that the planetary gears are limited and assembled into a whole.

[0011] Preferred technical solution: The trellis is a circular tree network structure.

[0012] Preferred technical solution: The truss has magnet slots corresponding to the T-shaped iron core, and permanent magnets are embedded in the magnet slots.

[0013] The preferred technical solution also includes a highly integrated and highly anti-interference drive board, which is fixed to the end cover of the joint module housing.

[0014] Preferred technical solution: The drive board includes a magnetic coding module, which includes a magnetic ring and a magnetic coding chip. The magnetic ring is nested at the center of the outer rotor of the motor.

[0015] Beneficial effects: This joint servo module integrates the motor and reduction mechanism, greatly reducing the size of the joint module.

[0016] The motor's internal stator is a gear frame structure, which consists of an inner ring frame and a T-shaped iron core. The T-shaped iron core is 8.5mm high, 2.5mm wide, and 12mm thick, with a 2mm gap between the T-shaped ends at the top. This stator structure and parameter settings can achieve a reasonable and optimal configuration of structural dimensions, power output, and energy consumption using professional electromagnetic simulation software (such as Ansys).

[0017] The planetary main frame is a T-shaped disk protrusion structure, and the protrusion connecting the planetary main frame and the planetary subframe is double-crescent-shaped; the smaller end of the double-crescent shape faces the central axis of the disk, and the larger end faces the outer side of the disk. This structural design makes the reduction mechanism compact and small in size.

[0018] The truss is a circular tree-net structure, which ensures structural strength while greatly reducing the weight of the structure. Attached Figure Description

[0019] Figure 1 This is an exploded view of the joint servo module.

[0020] Figure 2 This is an exploded view of the reduction mechanism of the joint servo module.

[0021] Figure 3 This is a diagram showing the combination of the motor's outer rotor and the reduction mechanism of the joint servo module.

[0022] Figure 4 This is a diagram showing the combination of the reduction gear mechanism and the motor mechanism of the joint servo module.

[0023] Figure 5 This is a structural dimension diagram of the inner stator of the motor in the joint servo module.

[0024] Figure 6 This is a cross-sectional view of the inner stator of the motor in the joint servo module.

[0025] Figure 7 This is a characteristic curve analysis diagram of the joint servo module.

[0026] In the diagram, 1 is the end cover, 2 is the outer rotor of the motor, 2-1 is the magnetic yoke ring, 2-2 is the truss, 2-3 is the permanent magnet, 3 is the reduction mechanism, 3-1 is the planetary gear, 3-2 is the gear ring, 3-3 is the planetary gear steel sleeve, 4 is the inner stator of the motor, 5 is the planetary carrier, 5-1 is the main planetary carrier, 5-2 is the secondary planetary carrier, 6 is the housing, and 7 is the electrical control components. Detailed Implementation

[0027] To enable those skilled in the art to better understand the technical solution of this utility model, we will now select preferred embodiments to provide a detailed description of the technical solution of this utility model.

[0028] like Figures 1 to 7 As shown, a joint servo module includes a reduction mechanism 3, an inner stator 4, an outer rotor 2, and an electronic control assembly 7. The reduction mechanism 3 is nested within a support base 6-1 of the joint servo module housing 6 and connected to the support base via a bearing 6-3. The inner stator 4 is nested outside the support base 6-1 of the joint servo module housing 6. The outer rotor 2 is disposed within the cavity between the inner stator 4 and the joint servo module housing 6, and is connected to the reduction mechanism 3 via a frame 2-2. The inner stator 3 is a gear frame structure, consisting of an inner ring frame and a T-shaped core. The outer diameter of the inner stator is 81 mm, the T-shaped core is 7.5-9 mm high, 1.5-3 mm wide, and 11-13 mm thick, and the T-shaped end spacing at the top of the T-shaped core is 1.5-2.5 mm.

[0029] After professional electromagnetic simulation software (such as Ansys), experiments and tests, such as Figure 5 and 6 As shown, when the outer diameter of the motor's inner stator is 81mm, the T-shaped iron core is 8.5mm high, 2.5mm wide, and 12mm thick, with a 2mm spacing between the T-shaped ends at the top. This structural parameter setting optimizes the size, power output, and energy consumption of the joint servo module. Figure 7 The characteristic curve analysis diagram of the joint servo module is shown below.

[0030] like Figure 1 and3 As shown, the outer rotor 2 of the motor includes a frame 2-2, a permanent magnet 2-3, and a yoke ring 2-1. The frame 2-2 has a circular tree-like structure; this structural design ensures structural strength while greatly reducing the weight of the structure. The frame 2-2 has magnet slots corresponding to the T-shaped iron core, and the permanent magnet 2-3 is embedded in the magnet slots. The yoke ring 2-1 is nested in the frame 2-2 and fitted around the permanent magnet 2-3.

[0031] like Figure 2 As shown, the reduction mechanism 3 is a planetary reduction mechanism, which includes a planet carrier 5. The planet carrier 5 includes a planetary main carrier 5-1, a planetary auxiliary carrier 5-2, and a planetary gear sleeve 3-3.

[0032] The planetary main frame 5-1 is a T-shaped disk protrusion structure. The protrusion that connects the planetary main frame 5-1 and the planetary subframe 5-2 is double-crescent-shaped. The small end of the double-crescent shape faces the central axis of the disk, and the large end faces the outer side of the disk.

[0033] The planetary gear sleeve 3-3 is fixed to the planetary main frame 5-1. The planetary gears 3-1 are sleeved on the planetary gear sleeve 3-3 via bearings. The planetary sub-frame 5-2 is fixed to the fixed column of the planetary main frame 5-1, so that the planetary gears 3-1 are limited and formed into a whole. This structural design makes the reduction mechanism compact and small in size.

[0034] like Figure 1 As shown, the joint servo module also includes an electronic control component 7, which includes a highly integrated and highly anti-interference drive board. The drive board is fixed to the end cover of the joint module housing. The highly integrated and highly anti-interference drive board allows the joint module to adapt to various complex working conditions.

[0035] The drive board includes a magnetic coding module, which contains a magnetic ring and a magnetic coding chip. The magnetic ring is nested at the center of the outer rotor of the motor.

Claims

1. A joint servo module, comprising a reduction mechanism, an inner stator of a motor, an outer rotor of a motor, and an electronic control assembly; the reduction mechanism is nested within a support base of the joint servo module housing, the inner stator of the motor is nested outside the support base of the joint servo module housing, and the outer rotor of the motor is disposed within a cavity between the inner stator of the motor and the joint servo module housing, the outer rotor of the motor being connected to the reduction mechanism via a frame; the inner stator of the motor is a gear frame structure, the gear frame structure being divided into an inner ring frame and a T-shaped iron core; characterized in that: The outer diameter of the inner stator of the motor is 81mm. The T-shaped iron core is 7.5-9mm high, 1.5-3mm wide, and 11-13mm thick. The T-shaped end spacing at the top of the T-shaped iron core is 1.5-2.5mm.

2. A joint servo module according to claim 1, characterized in that: The T-shaped core is 8.5mm high, 2.5mm wide, and 12mm thick, with a 2mm gap between the T-shaped ends at the top.

3. A joint servo module according to claim 2, characterized in that: The outer rotor of the motor includes a frame, a permanent magnet and a magnetic yoke ring. The permanent magnet is embedded in the frame, and the magnetic yoke ring is nested in the frame and fitted outside the permanent magnet.

4. A joint servo module according to claim 3, characterized in that: The reduction mechanism is a planetary reduction mechanism, which includes a planet carrier, a planetary carrier, a planetary subcarrier, and planetary gear sleeves.

5. A joint servo module according to claim 4, characterized in that: The planetary main frame is a T-shaped disk protrusion structure, and the protrusion that connects the planetary main frame and the planetary subframe is double-crescent-shaped; the smaller end of the double-crescent-shaped part faces the central axis of the disk, and the larger end faces the outer side of the disk.

6. A joint servo module according to claim 5, wherein: The planetary gear sleeves are fixed to the planetary main frame, and the planetary gears are sleeved on the outside of the planetary gear sleeves via bearings. The planetary sub-frame is fixed to the fixed column of the planetary main frame to limit the position of each planetary gear and form a whole.

7. A joint servo module according to any one of claims 1-6, characterized in that: The trellis is a circular tree-network structure.

8. A joint servo module according to claim 7, characterized in that: The truss has magnet slots corresponding to the T-shaped iron core, and permanent magnets are embedded in the magnet slots.

9. A joint servo module according to claim 8, characterized in that: It also includes a highly integrated and highly anti-interference drive board, which is fixed to the end cover of the joint module housing.

10. A joint servo module according to claim 9, characterized in that: The drive board includes a magnetic coding module, which contains a magnetic ring and a magnetic coding chip. The magnetic ring is nested at the center of the outer rotor of the motor.

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