Articulated motor and robot

Abstract

The utility model provides a kind of joint motor and robot, joint motor includes motor and planetary reducer. Among them, planetary reducer is connected with motor, planetary reducer includes sun gear, planetary gear, inner ring gear and planet carrier, planetary gear is engaged with sun gear and inner ring gear respectively, planetary gear is also set in planet carrier, inner ring gear, the thickness of inner ring gear is less than 5mm. The present application aims to reduce the volume of planetary reducer, to facilitate the miniaturization of joint motor.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to articulated motors and robots. Background Technology

[0002] In related technologies, joint motors include a motor and a planetary reducer, with the motor outputting torque through the planetary reducer.

[0003] However, planetary reducers are relatively large in size in related technologies, which is not conducive to the miniaturization of joint motors. Utility Model Content

[0004] Embodiments of this utility model provide an articulated motor and robot, designed to reduce the size of the planetary reducer in order to facilitate the miniaturization of the articulated motor.

[0005] In a first aspect, embodiments of the present invention provide a joint motor, comprising:

[0006] Electric motor; and

[0007] A planetary reducer is connected to the motor. The planetary reducer includes a sun gear, planet gears, an internal gear ring, and a planet carrier. The planet gears mesh with the sun gear and the internal gear ring, respectively. The planet gears are also located on the planet carrier. The thickness of the internal gear ring is less than 5 mm.

[0008] Optionally, the thickness of the internal gear ring ranges from 1 mm to 5 mm.

[0009] Optionally, the thickness of the internal gear ring ranges from 1.5 mm to 4 mm.

[0010] Optionally, the internal gear ring includes a gear ring segment and an assembly segment connected to the gear ring segment. The assembly segment is mounted on the motor. The gear ring segment meshes with the planetary gear. The thickness of the gear ring segment ranges from 1.5 mm to 4 mm.

[0011] Optionally, the planetary reducer extends at least partially into the motor along the axial direction of the internal gear ring.

[0012] Optionally, the motor includes a stator and a rotor, the stator surrounding the rotor, the rotor surrounding the internal gear ring, the internal gear ring extending at least partially into the rotor, and the outer peripheral surface of the internal gear ring being spaced apart from the inner peripheral surface of the rotor.

[0013] Optionally, the distance between the outer circumferential surface of the internal gear ring and the inner circumferential surface of the rotor ranges from 0.1 mm to 1 mm.

[0014] Optionally, in the axial direction of the internal gear ring, the internal gear ring includes a first gear ring segment and a second gear ring segment. The first gear ring segment extends into the rotor, and the outer peripheral surface of the first gear ring segment is spaced apart from the inner peripheral surface of the rotor. The second gear ring segment is located outside the rotor, and the thickness of the second gear ring segment is greater than that of the first gear ring segment. The planetary gear meshes with the first gear ring segment and the second gear ring segment respectively.

[0015] Optionally, the planetary carrier includes a first carrier and a second carrier, and the planetary reducer further includes a plurality of first bearings. The first carrier and the second carrier are spaced apart along the axial direction of the internal gear ring. The opposite ends of the planetary gears are respectively connected to the first carrier and the second carrier. The first carrier is connected to the sun gear through at least one of the first bearings, and the second carrier is connected to the sun gear through at least one of the first bearings.

[0016] Optionally, the sun gear includes a first shaft and teeth disposed on the outer peripheral surface of the first shaft. The teeth mesh with the planet gear, and on the axial direction of the internal gear ring, the opposite sides of the teeth are respectively provided for contact with a first bearing.

[0017] Optionally, in the axial direction of the internal gear ring, the internal gear ring includes a gear ring segment and an assembly segment connected to the gear ring segment, and the reducer further includes a second bearing, the second frame being connected to the assembly segment via the second bearing.

[0018] Optionally, the planetary carrier is configured as an output flange.

[0019] Optionally, the joint motor further includes an encoder, which includes a code reader, a first code disk, and a second code disk. The first code disk and the second code disk are respectively disposed on opposite sides of the code reader. The first code disk is connected to the rotor of the motor, and the second code disk is connected to the planetary carrier. The code reader is used to read the encoded information of the first code disk and the second code disk.

[0020] Optionally, the planetary carrier and the rotor of the motor are arranged sequentially along the axial direction of the internal gear ring. The sun gear has a clearance channel extending along the axial direction of the internal gear ring. The joint motor also includes a drive shaft that passes through the clearance channel. The encoder is located on the side of the rotor away from the planetary carrier. The second code disk is connected to the planetary carrier through the drive shaft.

[0021] Optionally, the internal gear ring may be made of metal or plastic.

[0022] Optionally, the internal gear ring is made of aluminum bronze.

[0023] Optionally, the planetary gears are provided in multiples.

[0024] Secondly, embodiments of this utility model provide a robot including the aforementioned joint motor.

[0025] The beneficial effects of the embodiments of this utility model are as follows:

[0026] In the embodiments of this utility model, the internal gear ring is one of the structural components of the planetary reducer, and its thickness directly affects the overall size of the reducer. In related technologies, a large internal gear ring thickness is a significant factor leading to a large planetary reducer size. Controlling the internal gear ring thickness to below 5mm can significantly reduce the space occupied by the reducer in the radial direction of the internal gear ring, thereby reducing the overall volume of the planetary reducer. Since the planetary reducer is part of the articulated motor, reducing the size of the planetary reducer directly drives the miniaturization of the articulated motor design. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional schematic diagram of the joint motor provided in an embodiment of this utility model;

[0029] Figure 2 yes Figure 1 Sectional view of AA;

[0030] Figure 3 yes Figure 1 Exploded view of the joint motor;

[0031] Figure 4 yes Figure 3 Schematic diagram of the internal gear ring;

[0032] Figure 5 yes Figure 4 A structural schematic diagram of the internal gear ring from another perspective;

[0033] Figure 6 yes Figure 5 BB section view.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100. Joint motor; 200. Motor; 210. Housing; 220. Stator; 230. Rotor; 231. Receiving slot; 300. Planetary reducer; 310. Sun gear; 311. First shaft; 312. Gear; 313. Clearance channel; 320. Planetary gear; 330. Internal gear ring; 331. Assembly section; 332. Gear ring section; 333. First gear ring section; 334. Second gear ring section; 340. Planetary carrier; 341. First carrier; 342. Second carrier; 350. First bearing; 360. Second bearing; 400. Encoder; 410. First code disk; 420. Second code disk; 430. Code reader; 500. Drive shaft; 510. Mounting part; 520. Second shaft; 610. First retaining ring; 620. Second retaining ring; 630. Adapter; 700. Drive component. Detailed Implementation

[0036] 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 skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0037] For a follow-up to the first aspect of this application, please refer to Figures 1 to 6 This disclosure provides a joint motor 100. The joint motor 100 includes a motor 200 and a planetary reducer 300. The planetary reducer 300 is connected to the motor 200 and includes a sun gear 310, planet gears 320, an internal gear ring 330, and a planet carrier 340. The planet gears 320 mesh with the sun gear 310 and the internal gear ring 330, respectively. The planet gears 320 are also disposed on the planet carrier 340. The thickness of the internal gear ring 330 is less than 5 mm.

[0038] The internal gear ring 330 is one of the structural components of the planetary reducer 300, and its thickness directly affects the overall size of the reducer. In related technologies, a large thickness of the internal gear ring 330 is a significant factor contributing to the large size of the planetary reducer 300. Controlling the thickness of the internal gear ring 330 to below 5mm can significantly reduce the space occupied by the reducer in the radial direction of the internal gear ring 330, thereby reducing the overall size of the planetary reducer 300. Since the planetary reducer 300 is part of the articulated motor 100, reducing the size of the planetary reducer 300 directly drives the miniaturization of the articulated motor 100.

[0039] Furthermore, the reduced thickness of the internal gear ring 330 means a corresponding reduction in the amount of material used to manufacture it. This reduction in material directly lowers the weight of the internal gear ring 330, thereby reducing the weight of the planetary reducer 300 and even the entire joint motor 100. This improves the robot's flexibility and endurance.

[0040] It is understood that the thickness of the internal gear ring 330 at the tooth root and at the tooth tip is different. In one example, the thickness of the internal gear ring 330 at the tooth root may be, but is not limited to, 0.7mm, 0.73mm, 0.77mm, 0.81mm, 0.87mm, 0.93mm, 0.94mm, 0.97mm, 0.99mm, 1mm, 1.2mm, 1.23mm, 1.27mm, 1.3mm, 1.35mm, 1.4mm, 1.43mm, 1.5mm, 1.8mm, 2mm, or 2.1mm. The thickness of the internal gear ring 330 at the tooth tip may be, but is not limited to, 3mm, 3.2mm, 3.3mm, 3.34mm, 3.7mm, 4mm, 4.63mm, or 5mm.

[0041] In some embodiments, the thickness of the internal gear ring 330 ranges from 1 mm to 5 mm.

[0042] Using 1mm as the minimum thickness not only maximizes volume compression, but also provides a basic space for material strength (such as using high-strength stainless steel, titanium alloy, etc.) and structural design (such as optimizing tooth root fillet and reducing stress concentration), avoiding problems such as easy deformation of the gear ring and meshing failure due to excessive thinness.

[0043] For scenarios with slightly higher torque requirements, a 5mm thickness can increase structural rigidity by increasing the amount of material used, ensuring the stability of the internal gear ring 330 under large loads, without sacrificing transmission reliability in pursuit of extreme thinness.

[0044] In some embodiments, the thickness of the internal gear ring 330 ranges from 1.5 mm to 4 mm.

[0045] Using 1mm as the minimum thickness not only maximizes volume compression, but also provides a basic space for material strength (such as using high-strength stainless steel, titanium alloy, etc.) and structural design (such as optimizing tooth root fillet and reducing stress concentration), avoiding problems such as easy deformation of the gear ring and meshing failure due to excessive thinness.

[0046] For scenarios with slightly higher torque requirements, a 5mm thickness can increase structural rigidity by increasing the amount of material used, ensuring the stability of the internal gear ring 330 under large loads, without sacrificing transmission reliability in pursuit of extreme thinness.

[0047] In some embodiments, the internal gear ring 330 includes a gear ring segment 332 and an assembly segment 331 connected to the gear ring segment 332. The assembly segment 331 is mounted on the motor 200. The gear ring segment 332 meshes with the planetary gear 320. The thickness of the gear ring segment 332 ranges from 1.5 mm to 4 mm.

[0048] Assembly section 331 does not require tooth profile machining and can be processed using conventional processes such as milling and drilling to handle assembly features (such as, but not limited to, bolt holes and locating pin holes). Furthermore, the thickness of assembly section 331 can be adjusted according to assembly strength requirements, decoupling it from the machining process of gear ring section 332 and reducing overall production complexity.

[0049] In some embodiments, the planetary reducer 300 extends at least partially into the motor 200 in the axial direction of the internal gear ring 330.

[0050] This is beneficial for compressing the axial dimensions of the joint motor 100 in the internal gear ring 330.

[0051] There are many structural forms of motor 200. In some embodiments, motor 200 includes stator 220 and rotor 230. Stator 220 surrounds rotor 230. Rotor 230 surrounds internal gear ring 330. Internal gear ring 330 extends at least partially into rotor 230. The outer peripheral surface of internal gear ring 330 is spaced apart from the inner peripheral surface of rotor 230.

[0052] It is understandable that the thickness of the internal gear ring 330 is relatively small. When the planetary gear 320 rotates, it may cause the internal gear ring 330 to run in the radial direction. The spacing between the outer circumferential surface of the internal gear ring 330 and the inner circumferential surface of the rotor 230 can accommodate this running, reduce the intermittent collision between the rotor 230 and the internal gear ring 330, and protect the structural integrity of the rotor 230 and the internal gear ring 330.

[0053] However, this design is not limited to this. In some other embodiments, the motor 200 includes a stator 220 and a rotor 230, with the rotor 230 surrounding the stator 220 and the stator 220 surrounding an internal gear ring 330, the outer peripheral surface of which is connected to the inner peripheral surface of the stator 220.

[0054] In some embodiments, the distance between the outer peripheral surface of the internal gear ring 330 and the inner peripheral surface of the rotor 230 ranges from 0.1 mm to 1 mm.

[0055] In this way, the rotor 230 is less likely to expand with the internal gear ring 330 when the rotor 230 rotates relative to the internal gear ring 330, and the size of the joint motor 100 is smaller in the radial direction of the internal gear ring 330.

[0056] In one example, the distance between the outer peripheral surface of the internal gear ring 330 and the inner peripheral surface of the rotor 230 may be, but is not limited to, 0.1mm, 0.13mm, 0.15mm, 0.16mm, 0.23mm, 0.24mm, 0.29mm, 0.3mm, 0.35mm, 0.38mm, 0.39mm, 0.4mm, 0.41mm, 0.45mm, 0.5mm, 0.51mm, 0.54mm, 0.59mm, 0.63mm, 0.67mm, 0.71mm, 0.77mm, 0.83mm, 0.95mm, or 1mm.

[0057] In some embodiments, the internal gear ring 330 includes a first gear ring segment 333 and a second gear ring segment 334 in the axial direction. The first gear ring segment 333 extends into the rotor 230, and the outer peripheral surface of the first gear ring segment 333 is spaced apart from the inner peripheral surface of the rotor 230. The second gear ring segment 334 is located outside the rotor 230, and the thickness of the second gear ring segment 334 is greater than that of the first gear ring segment 333. The planetary gear 320 meshes with the first gear ring segment 333 and the second gear ring segment 334 respectively.

[0058] The first gear segment 333 is thin and flexible, allowing for slight elastic deformation, which can buffer the instantaneous impact of the planetary gears 320 during high-speed meshing, such as torque fluctuations during starting and braking.

[0059] The second gear section 334 is thick and rigid, and can serve as the main load-bearing area to stably transmit most of the torque, thus avoiding excessive meshing backlash caused by the deformation of the first gear section 333.

[0060] This combination of rigidity and flexibility in meshing support reduces fluctuations in tooth surface contact stress and extends the service life of the gear ring and planetary gear 320.

[0061] In some embodiments, the planetary carrier 340 includes a first carrier 341 and a second carrier 342, and the planetary reducer 300 also includes a plurality of first bearings 350. The first carrier 341 and the second carrier 342 are spaced apart along the axial direction of the internal gear ring 330. The opposite ends of the planetary gears 320 are respectively connected to the first carrier 341 and the second carrier 342. The first carrier 341 is connected to the sun gear 310 through at least one first bearing 350, and the second carrier 342 is connected to the sun gear 310 through at least one first bearing 350.

[0062] The rigid support of the first frame 341 and the second frame 342 for the planetary gear 320, and the stable constraint of the double first bearings 350 on the sun gear 310, can reduce component resonance during high-speed operation, such as radial vibration of the planetary gear 320 and axial chatter of the sun gear 310.

[0063] In some embodiments, the sun gear 310 includes a first shaft 311 and a tooth 312 disposed on the outer peripheral surface of the first shaft 311. The tooth 312 meshes with the planet gear 320. On the axial direction of the internal gear ring 330, a first bearing 350 is respectively provided on the opposite sides of the tooth 312.

[0064] Thus, the toothed section 312 not only serves as a structure that meshes with the planetary gear 320, but also serves as a structure for positioning and mounting the first bearing 350, which makes the toothed section 312 more versatile.

[0065] In some embodiments, the internal gear ring 330 includes a gear ring segment 332 and an assembly segment 331 connected to the gear ring segment 332 in the axial direction. The reducer also includes a second bearing 360, and the second frame 342 is connected to the assembly segment 331 via the second bearing 360. Thus, the second frame 342 can operate more smoothly.

[0066] In some embodiments, the planetary carrier 340 is configured as an output flange.

[0067] It is understandable that the planetary carrier 340 is reused as the output flange, which helps to simplify the structure of the articulated motor 100 and facilitates the miniaturization of the articulated motor 100.

[0068] In some embodiments, the articulated motor 100 further includes an encoder 400, which includes a code reader 430, a first code disk 410, and a second code disk 420. The first code disk 410 and the second code disk 420 are respectively disposed on opposite sides of the code reader 430. The first code disk 410 is connected to the rotor 230 of the motor 200, and the second code disk 420 is connected to the planetary carrier 340. The code reader 430 is used to read the encoded information of the first code disk 410 and the second code disk 420.

[0069] The first encoder 410 monitors the input status of the motor 200 in real time. The first encoder 410 is connected to the rotor 230 and can directly detect the speed, angular position and direction of rotation of the rotor 230, reflecting the original output status of the motor 200 (motion parameters before deceleration).

[0070] The second encoder 420 monitors the reducer's output status in real time. Connected to the planetary carrier 340 (output flange), the second encoder 420 can directly detect the reducer's output speed, angular position, and direction of rotation, reflecting the motion parameters ultimately acting on the external load (the actual output after reduction). For example, if the planetary reducer 300 has a transmission ratio of 10:1, theoretically, a 1000° rotation of the rotor 230 corresponds to a 100° rotation of the planetary carrier 340. The second encoder 420 can provide feedback on the actual rotation angle of the planetary carrier 340, determining whether there is a transmission error in the reducer.

[0071] The code reader 430 is located between the two code disks and can collect the encoded information from both sides at the same time. This eliminates the need for two independent encoders 400 to detect separately, avoiding the "time synchronization error of dual encoders 400" (such as the parameter comparison deviation caused by signal transmission delay in traditional dual encoders 400), and providing a precise data foundation for subsequent control.

[0072] The single code reader 430 reads the first code disk 410 and the second code disk 420 at the same time, which helps to save the number of code readers 430, thereby simplifying the structure of the articulated motor 100 and making the articulated motor 100 miniaturized.

[0073] In some embodiments, the planetary carrier 340 and the rotor 230 of the motor 200 are arranged sequentially in the axial direction of the internal gear ring 330. The sun gear 310 is provided with a clearance channel 313 extending along the axial direction of the internal gear ring 330. The joint motor 100 also includes a drive shaft 500, which passes through the clearance channel 313. The encoder 400 is located on the side of the rotor 230 away from the planetary carrier 340. The second code disk 420 is connected to the planetary carrier 340 through the drive shaft 500.

[0074] The sun gear 310 is provided with an axially extending clearance channel 313 for the drive shaft 500 to pass through, eliminating the need to reserve additional axial space for the drive shaft 500 on the outside of the sun gear 310. This design allows the drive shaft 500 to pass through the interior of the sun gear 310, achieving "space reuse between the rotational power transmission of the sun gear 310 and the motion signal transmission of the drive shaft 500." Compared to the design where the drive shaft 500 is arranged beside the sun gear 310, this reduces the radial space occupied.

[0075] In some embodiments, the internal gear ring 330 is configured to be made of metal or plastic.

[0076] In some embodiments, the internal gear ring 330 is made of aluminum bronze.

[0077] The aluminum bronze gives the thinner internal gear ring 330 a certain degree of ductility, reducing the possibility of the planetary gear 320 cracking the internal gear ring 330.

[0078] In some embodiments, the planetary gears 320 are provided in multiple forms.

[0079] Multiple planetary gears 320 are evenly distributed around the sun gear 310 (e.g., three planetary gears 320 are symmetrically distributed at 120°), which can evenly distribute the total torque transmitted by the sun gear 310 to each planetary gear 320. For example, when the total torque is 6 N·m, each of the three planetary gears 320 bears about 2 N·m, and the force on a single planetary gear 320 is only 1 / 3 of that in a "single planetary gear 320 design".

[0080] For ease of understanding, a general overview of the articulated motor 100 disclosed herein will be provided here.

[0081] The joint motor 100 includes a motor 200 and a planetary reducer 300.

[0082] The motor 200 includes a housing 210, a stator 220, and a rotor 230. The stator 220 is arranged around the rotor 230 and is also located on the inner circumferential surface of the housing 210. The rotor 230 has a receiving cavity and a receiving groove 231 on the side near the planetary reducer 300. The receiving groove 231 has a groove bottom and a groove opening opposite to the groove bottom, and the direction from the groove bottom to the groove opening is a first direction.

[0083] The planetary reducer 300 includes a sun gear 310, planet gears 320, an internal gear ring 330, and a planet carrier 340. The planet gears 320 mesh with the sun gear 310 and the internal gear ring 330 respectively, and the planet gears 320 are also located on the planet carrier 340.

[0084] The planetary reducer 300 also includes a first bearing 350. The planet carrier 340 includes a first carrier body 341 and a second carrier body 342. In a first direction, the opposite ends of the planet gears 320 are respectively connected to the first carrier body 341 and the second carrier body 342. The first carrier body 341 is disposed in the receiving groove 231, and the second step is disposed outside the receiving groove 231. The first carrier body 341 is connected to the sun gear 310 through a first bearing 350, and the second carrier body 342 is connected to the sun gear 310 through a first bearing 350. The sun gear 310 includes a first shaft 311 and teeth 312 disposed on the outer peripheral surface of the first shaft 311. The teeth 312 mesh with the planet gears 320. In the axial direction of the internal gear ring 330, the opposite sides of the teeth 312 are respectively contacted by a first bearing 350.

[0085] In the first direction, the internal gear ring 330 includes a gear ring segment 332 and an assembly segment 331 connected in sequence. The assembly segment 331 is fastened to the housing 210 by a first screw. In the first direction, the gear ring segment 332 includes a first gear ring segment 333 and a second gear ring segment 334 connected in sequence. The first gear ring segment 333 is disposed within the receiving groove 231, and the second gear ring segment 334 is disposed outside the receiving groove 231, and the second gear ring segment 334 is connected to the assembly segment 331.

[0086] The planetary reducer 300 also includes a second bearing 360. The second frame 342 is connected to the assembly section 331 via the second bearing 360. The second frame 342 is configured as an output flange.

[0087] In the axial direction of the internal gear ring 330, the sun gear 310 passes through the bottom of the receiving groove 231 to connect with the rotor 230.

[0088] The joint motor 100 also includes a drive shaft 500, which includes a second shaft 520 and a mounting portion 510 located at one end of the second shaft 520. The mounting portion 510 is fastened to the second frame 342 by a second screw. The first shaft 311 of the sun gear 310 is provided with a clearance channel 313, and the second shaft 520 passes through the clearance channel 313.

[0089] The articulated motor 100 also includes an encoder 400, which comprises a first code disk 410, a second code disk 420, and a code reader 430. The encoder 400 is located on the side of the rotor 230 away from the planetary reducer 300. The first code disk 410 is located on the rotor 230. The articulated motor 100 also includes an adapter frame, through which the second code disk 420 is connected to the end of the second shaft 520 away from the mounting portion 510. The housing 210 is connected to the code reader 430, which is located between the first code disk 410 and the second code disk 420.

[0090] The joint motor 100 also includes a driver, which is located inside the housing 210 and on the side of the rotor 230 away from the planetary reducer 300.

[0091] The joint motor 100 also includes a first retaining ring 610 and a second retaining ring 620. In the first direction, a second bearing 360 is disposed between the first retaining ring 610 and the second retaining ring 620. The first retaining ring 610 is fastened to the assembly section 331 by a first screw, and the second retaining ring 620 is fastened to the second frame 342 by a third screw. The first retaining ring 610 is positioned opposite to the outer ring of the second bearing 360, and the second retaining ring 620 is positioned opposite to the inner ring of the second bearing 360. In this way, the first retaining ring 610 and the second retaining ring 620 can restrict the movement of the second bearing 360 in the first direction, thereby facilitating a more stable connection between the second bearing 360 and the assembly section 331 and the second frame 342, respectively.

[0092] According to a second aspect of this disclosure, a robot is provided that includes the protective subject of the aforementioned articulated motor 100. This robot possesses all the beneficial effects of the aforementioned articulated motor 100, which will not be elaborated further herein.

[0093] The embodiments of this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A joint motor, characterized in that, include: Electric motor; as well as A planetary reducer is connected to the motor. The planetary reducer includes a sun gear, planet gears, an internal gear ring, and a planet carrier. The planet gears mesh with the sun gear and the internal gear ring, respectively. The planet gears are also located on the planet carrier. The thickness of the internal gear ring is less than 5 mm.

2. The joint motor according to claim 1, characterized in that, The thickness of the internal gear ring ranges from 1 mm to 5 mm.

3. The joint motor according to claim 2, characterized in that, The thickness of the internal gear ring ranges from 1.5 mm to 4 mm.

4. The joint motor according to claim 3, characterized in that, The internal gear ring includes a gear ring segment and an assembly segment connected to the gear ring segment. The assembly segment is mounted on the motor. The gear ring segment meshes with the planetary gear. The thickness of the gear ring segment ranges from 1.5 mm to 4 mm.

5. The joint motor according to claim 1, characterized in that, The planetary reducer extends at least partially into the motor along the axial direction of the internal gear ring.

6. The joint motor according to claim 5, characterized in that, The motor includes a stator and a rotor, the stator surrounds the rotor, the rotor surrounds the internal gear ring, the internal gear ring extends at least partially into the rotor, and the outer peripheral surface of the internal gear ring is spaced apart from the inner peripheral surface of the rotor.

7. The joint motor according to claim 6, characterized in that, The distance between the outer circumferential surface of the internal gear ring and the inner circumferential surface of the rotor ranges from 0.1 mm to 1 mm.

8. The joint motor according to claim 6, characterized in that, In the axial direction of the internal gear ring, the internal gear ring includes a first gear ring segment and a second gear ring segment. The first gear ring segment extends into the rotor, and the outer peripheral surface of the first gear ring segment is spaced apart from the inner peripheral surface of the rotor. The second gear ring segment is located outside the rotor, and the thickness of the second gear ring segment is greater than that of the first gear ring segment. The planetary gear meshes with the first gear ring segment and the second gear ring segment respectively.

9. The joint motor according to claim 1, characterized in that, The planetary carrier includes a first carrier and a second carrier. The planetary reducer also includes a plurality of first bearings. The first carrier and the second carrier are spaced apart along the axial direction of the internal gear ring. The opposite ends of the planetary gears are respectively connected to the first carrier and the second carrier. The first carrier is connected to the sun gear through at least one of the first bearings, and the second carrier is connected to the sun gear through at least one of the first bearings.

10. The joint motor according to claim 9, characterized in that, The sun gear includes a first shaft and teeth on the outer circumferential surface of the first shaft. The teeth mesh with the planet gears. On the axial direction of the internal gear ring, the opposite sides of the teeth are respectively contacted by a first bearing.

11. The joint motor according to claim 9, characterized in that, In the axial direction of the internal gear ring, the internal gear ring includes a gear ring segment and an assembly segment connected to the gear ring segment. The reducer also includes a second bearing, and the second frame is connected to the assembly segment via the second bearing.

12. The joint motor according to claim 1, characterized in that, The planetary carrier is configured as an output flange.

13. The joint motor according to claim 12, characterized in that, The joint motor also includes an encoder, which includes a code reader, a first code disk, and a second code disk. The first code disk and the second code disk are respectively disposed on opposite sides of the code reader. The first code disk is connected to the rotor of the motor, and the second code disk is connected to the planetary carrier. The code reader is used to read the encoded information of the first code disk and the second code disk.

14. The joint motor according to claim 13, characterized in that, Along the axial direction of the internal gear ring, the planetary carrier and the rotor of the motor are arranged sequentially. The sun gear has a clearance channel extending along the axial direction of the internal gear ring. The joint motor also includes a drive shaft that passes through the clearance channel. The encoder is located on the side of the rotor away from the planetary carrier. The second code disk is connected to the planetary carrier through the drive shaft.

15. The joint motor according to claim 1, characterized in that, The internal gear ring is made of metal or plastic.

16. The joint motor according to claim 15, characterized in that, The internal gear ring is made of aluminum bronze.

17. The joint motor according to claim 1, characterized in that, The planetary gears are provided in multiple quantities.

18. A robot, characterized in that, Includes the joint motor as described in any one of claims 1 to 17.

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