Stator structure and joint module
Patent Information
- Application Number
- CN202522321111.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-31
- Publication Date
- 2026-09-29
- Estimated Expiration
- 2035-10-31
AI Technical Summary
[0004]1、同轴度难以保证：电机和减速器作为两个独立部件，在装配过程中存在不可避免的累积误差
[0009]本申请的定子本体在自身内侧壁(内径孔道)直接设计有一体的内齿圈，该内齿圈作为行星减速器的内齿圈，这种一体化的结构形式至少具有以下效果：1、极高的同轴度：定子本体与行星减速器的内齿圈一体化成型，从制造根源上消除了装配误差，具有传动平稳、噪音低、寿命长等优点。2、结构紧凑：省去了独立的减速器外壳和连接机构，大幅减少了零件数量和轴向安装空间，使整个驱动模块更加小巧轻便。
Smart Images
Figure CN224817899U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of motor reducers, specifically to a stator structure and a joint module. Background Technology
[0002] Existing robot joint modules typically consist of a motor, a reducer, and a driver. The current conventional approach is to manufacture and install the motor and reducer as two separate components. The typical assembly method is as follows: first, the motor stator is fixed to the base, the outer rotor housing rotates to output power, and then the output shaft of the outer rotor housing is connected to the input component (such as the sun gear) of the reducer.
[0003] This split structure has at least the following problems:
[0004] 1. Coaxiality is difficult to guarantee: As two independent components, the motor and reducer inevitably accumulate errors during assembly. The centerline of the motor rotor and the centerline of the reducer gear system are difficult to perfectly coincide, which will lead to eccentricity, increased vibration and noise, and reduced transmission efficiency and component life (such as causing gear wear and abnormal bearing wear).
[0005] 2. Complex structure and long axial dimension: The split design requires separate shells, connectors and fastening mechanisms, resulting in a large number of parts in the entire drive module, a non-compact structure and a long axial dimension, which is not conducive to layout in space-constrained application scenarios. Utility Model Content
[0006] To address the aforementioned problems and overcome at least one deficiency, this invention proposes a stator structure and a joint module.
[0007] The technical solution adopted by this utility model is as follows:
[0008] A stator structure includes a stator body machined as a single unit, the stator body being used to cooperate with an outer rotor, the outer side wall of the stator body having a slotted structure for mounting a stator winding of a motor, the inner side wall of the stator body having at least one internal gear ring, the center line of the internal gear ring coinciding with the center line of the stator body, the internal gear ring being used as the internal gear ring of a planetary reducer.
[0009] The stator body of this application features an integral internal gear ring directly designed into its inner wall (inner diameter channel). This internal gear ring serves as the internal gear ring of the planetary reducer. This integrated structure offers at least the following advantages: 1. Extremely high coaxiality: The stator body and the internal gear ring of the planetary reducer are integrally formed, eliminating assembly errors at the manufacturing stage and resulting in smooth transmission, low noise, and long service life. 2. Compact structure: The elimination of a separate reducer housing and connecting mechanism significantly reduces the number of parts and axial installation space, making the entire drive module more compact and lightweight.
[0010] Traditional split-type designs have limited strength and rigidity. Specifically, the motor's output torque needs to be transmitted to the reducer through components such as shafts and couplings. These connecting parts become weak points in the structural strength, limiting the maximum torque the system can withstand. The integrated design of this application avoids these fragile connecting parts, provides a more direct power transmission path, and significantly improves the overall structural rigidity, enabling it to withstand greater loads and impact torques.
[0011] Traditional split-type reducer designs have limited speed ratios. Specifically, because the motor and reducer are separate units, the reducer's size (especially the diameter of the internal gear ring) is limited by the motor's external dimensions. To achieve a smaller size, the reducer's speed ratio and torque output capacity often have to be sacrificed. This application achieves a larger speed ratio by fully utilizing the radial space inside the motor to increase the reducer's size, making it possible to use multi-stage planetary gears or larger gears, thus easily achieving a larger reduction ratio and meeting the application requirements of low-speed, high-torque applications.
[0012] Furthermore, the integrated form of this application simplifies the assembly process, requiring only the planetary reduction gear assembly to be installed into the stator body before installing other components, thus improving production efficiency and product consistency.
[0013] In practical application, after the stator body of this application is fitted with the stator winding of the motor, it functionally serves as the stator core of the motor. The stator body is fixed to the mounting structure and cooperates with the existing outer rotor component and the existing planetary reduction gear assembly. The outer rotor component includes a permanent magnet and a rotor yoke. The outer rotor component is fitted onto the outside of the stator structure and mounted on the stator structure via bearings. The planetary reduction gear assembly includes a sun gear, planetary gears, and a planet carrier. The sun gear serves as the input shaft and is connected to the output shaft of the motor (or directly to the outer rotor). The planetary gears mesh simultaneously with the internal gear ring and the sun gear located at the center of the internal gear ring. The planet carrier serves as the output end, outputting power. One working principle: When the motor is running, the outer rotor component rotates, driving the sun gear to rotate. The sun gear drives the planetary gears, which in turn drive the planet carrier to output low-speed, high-torque power, thereby driving the joint movement.
[0014] In one embodiment of the present invention, the inner sidewall of the stator body has a plurality of internal gear rings, and the inner diameters of the different internal gear rings may be the same or different.
[0015] In one embodiment of the present invention, the stator body also has a baffle.
[0016] In practical applications, when there are multiple internal gear rings, the baffle can be set between two adjacent internal gear rings.
[0017] In practical applications, the stator body is a single component made of high-strength materials (such as forged steel or high-strength alloys).
[0018] In one embodiment of this utility model, the internal gear ring is integrally formed by high-speed punching.
[0019] In one embodiment of the present invention, the stator body is formed by stacking multiple silicon steel sheets into an integral structure, and at least a plurality of silicon steel sheets have convex teeth on their inner rings, and the convex teeth of the plurality of silicon steel sheets form the inner tooth ring.
[0020] In practical applications, high-permeability silicon steel sheets with a tensile strength ≥800MPa are preferred. This material combines excellent electromagnetic properties with the mechanical strength required for gear transmission.
[0021] In one embodiment of this utility model, the teeth of the internal gear ring are straight teeth or helical teeth.
[0022] In one embodiment of the present invention, the internal gear ring has teeth evenly distributed along the circumferential direction, or the internal gear ring has multiple non-tooth regions, each non-tooth region being evenly distributed around the axis of the internal gear ring.
[0023] This application also discloses a joint module, including the stator structure described above, and a planetary reduction gear assembly that meshes with the internal gear ring. The planetary reduction gear assembly includes a sun gear, a planet carrier, and a plurality of planetary gears rotatably mounted on the planet carrier. The sun gear is located at the center of the corresponding internal gear ring, and the planetary gears mesh with both the corresponding internal gear ring and the sun gear.
[0024] In one embodiment of this utility model, there are multiple internal gear rings and multiple planetary reduction gear assemblies. The internal gear rings and planetary reduction gear assemblies are matched one-to-one, and each planetary reduction gear assembly is connected to each other to form a multi-stage reduction structure.
[0025] In one embodiment of the present invention, a reduction mechanism is further provided outside the stator structure, and the planetary reduction gear assembly is connected to the external reduction mechanism to form a multi-stage reduction structure.
[0026] The beneficial effects of this utility model are: 1. Extremely high coaxiality: The stator body and the internal gear ring of the planetary reducer are integrally formed, eliminating assembly errors from the manufacturing source, and has the advantages of smooth transmission, low noise, and long service life. 2. Compact structure: The independent reducer housing and connecting mechanism are eliminated, which greatly reduces the number of parts and axial installation space, making the entire drive module more compact and lightweight. Attached Figure Description
[0027] Figure 1 This is a schematic diagram of a stator structure;
[0028] Figure 2 yes Figure 1 A schematic diagram of the stator structure in conjunction with the sun gear and multiple planetary gears;
[0029] Figure 3 This is a schematic diagram of a stator structure with baffles;
[0030] Figure 4 This is a schematic diagram of the stator structure equipped with a planetary reduction gear assembly;
[0031] Figure 5 This is a schematic diagram of the stator structure with the planetary reduction gear assembly installed from another angle;
[0032] Figure 6 This is a schematic diagram of a stator structure with two internal gear rings;
[0033] Figure 7 This is a schematic diagram of a stator structure with an internal gear ring having a non-tooth region;
[0034] Figure 8 This is a simplified schematic diagram of a stator structure with two sets of planetary reduction gear assemblies;
[0035] Figure 9 This is a simplified schematic diagram of a stator structure with three sets of planetary reduction gear assemblies;
[0036] Figure 10 This is a simplified schematic diagram of a speed reduction mechanism on the outside of the stator structure;
[0037] Figure 11 This is a simplified schematic diagram showing that both sides of the stator structure have a reduction gear mechanism.
[0038] The labels for the attached figures are as follows:
[0039] 1. Stator body; 11. Slotted structure; 12. Internal gear ring; 121. Non-tooth zone; 13. Baffle; 2. Planetary reduction gear assembly; 21. Sun gear; 22. Planet carrier; 23. Planetary gear; 3. Reduction mechanism. Detailed Implementation
[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0041] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0042] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0043] The present invention will now be described in detail with reference to the accompanying drawings.
[0044] like Figure 1 , 2 As shown in Figures 4 and 5, a stator structure includes a stator body 1 integrally formed, the stator body 1 being used to cooperate with an outer rotor, the outer side wall of the stator body 1 having a slotted structure 11 for mounting the stator windings of the motor, and the inner side wall of the stator body 1 having at least one internal gear ring 12, the center line of the internal gear ring 12 coinciding with the center line of the stator body 1, the internal gear ring 12 being used as the internal gear ring 12 of a planetary reducer.
[0045] The stator body 1 of this application has an integral internal gear ring 12 designed directly on its inner sidewall (inner diameter channel). This internal gear ring 12 serves as the internal gear ring 12 of the planetary reducer. This integrated structure has at least the following advantages: 1. Extremely high coaxiality: The stator body 1 and the internal gear ring 12 of the planetary reducer are integrally formed, eliminating assembly errors from the manufacturing stage, resulting in advantages such as smooth transmission, low noise, and long service life. 2. Compact structure: The elimination of a separate reducer housing and connecting mechanism significantly reduces the number of parts and axial installation space, making the entire drive module more compact and lightweight.
[0046] Traditional split-type designs have limited strength and rigidity. Specifically, the motor's output torque needs to be transmitted to the reducer through components such as shafts and couplings. These connecting parts become weak points in the structural strength, limiting the maximum torque the system can withstand. The integrated design of this application avoids these fragile connecting parts, provides a more direct power transmission path, and significantly improves the overall structural rigidity, enabling it to withstand greater loads and impact torques.
[0047] Traditional split-type reducer designs have limited speed ratios. Specifically, because the motor and reducer are separate units, the size of the reducer (especially the diameter of the internal gear ring 12) is limited by the external dimensions of the motor. In pursuit of a smaller size, the reducer's speed ratio and torque output capacity often have to be sacrificed. This application achieves a larger speed ratio by fully utilizing the radial space inside the motor to increase the reducer size, making it possible to use multi-stage planetary gears or larger gears, thereby easily achieving a larger reduction ratio and meeting the application requirements of low-speed, high-torque applications.
[0048] Furthermore, the integrated form of this application simplifies the assembly process. Only the planetary reduction gear assembly 2 needs to be installed into the stator body 1 before installing other components, which improves production efficiency and product consistency.
[0049] In practical applications, the stator body 1 is a single component made of a high-strength material (such as forged steel or high-strength alloy). The internal gear ring 12 can be integrally stamped using a high-speed stamping press.
[0050] In practical application, after the stator body 1 is fitted with the stator winding of the motor, it functions as the stator core of the motor. The stator body 1 is fixed to the mounting structure and cooperates with the existing outer rotor component and the existing planetary reduction gear assembly 2. The outer rotor component includes a permanent magnet and a rotor yoke. The outer rotor component is fitted onto the outside of the stator structure and mounted on the stator structure via bearings. The planetary reduction gear assembly 2 includes a sun gear 21, planetary gears 23, and a planet carrier 22. The sun gear 21 serves as the input shaft and is connected to the output shaft of the motor (or directly to the outer rotor). The planetary gears 23 mesh with both the internal gear ring 12 and the sun gear 21 located at the center of the internal gear ring 12. The planet carrier 22 serves as the output end, outputting power. One working principle: When the motor is running, the outer rotor component rotates, driving the sun gear 21 to rotate. The sun gear 21 drives the planetary gears 23, which in turn drives the planet carrier 22 to output low-speed, high-torque power, thereby driving the joint movement.
[0051] like Figure 6 As shown, in actual use, the inner sidewall of the stator body 1 can have multiple internal gear rings 12, and the inner diameters of different internal gear rings 12 may be the same or different.
[0052] like Figure 3As shown, in actual application, a baffle 13 can also be provided on the inner side of the stator body 1. The baffle 13 can also be made of high-strength silicon steel sheet, with holes for installing pins and riveting points punched on it. Multiple baffle 13 sheets are stacked and riveted together with the points to form an integral baffle 13 of the required thickness.
[0053] In practical applications, when there are multiple internal gear rings 12, a baffle 13 can be set between two adjacent internal gear rings 12.
[0054] In this embodiment, the stator body 1 is a single structure formed by stacking multiple silicon steel sheets, and at least a plurality of silicon steel sheets have convex teeth on their inner rings, which together form an inner tooth ring 12.
[0055] The shape of silicon steel sheets can be formed by high-speed stamping.
[0056] In practical applications, high-permeability silicon steel sheets with a tensile strength ≥800MPa are preferred. This material combines excellent electromagnetic properties with the mechanical strength required for gear transmission.
[0057] In practical applications, the teeth of the internal gear ring 12 are either straight or helical.
[0058] like Figure 1 , 3 As shown in Figure 6, the internal gear ring 12 has teeth evenly distributed along the circumferential direction.
[0059] like Figure 7 As shown, the internal gear ring 12 can also have multiple non-tooth regions 121, each of which is evenly distributed around the axis of the internal gear ring 12. In this structure, the planetary gear 23 that meshes with the internal gear ring 12 no longer rotates in one direction, but rotates back and forth within a certain angle range.
[0060] This embodiment also discloses a joint module, such as Figure 4 and 5 As shown, the stator structure of this embodiment also includes a planetary reduction gear assembly 2 that meshes with the internal gear ring 12. The planetary reduction gear assembly 2 includes a sun gear 21, a planet carrier 22, and a plurality of planetary gears 23 rotatably mounted on the planet carrier 22. The sun gear 21 is located in the center of the corresponding internal gear ring 12, and the planetary gears 23 mesh with both the corresponding internal gear ring 12 and the sun gear 21.
[0061] In practical applications, the stator structure has multiple internal gear rings 12 and multiple planetary reduction gear assemblies 2. The internal gear rings 12 and planetary reduction gear assemblies 2 are matched one-to-one, and the planetary reduction gear assemblies 2 are interconnected to form a multi-stage reduction structure. For example Figure 8 As shown, there are two planetary reduction gear assemblies 2, forming a first-stage reduction structure and a second-stage reduction structure from left to right. Figure 9As shown, the planetary reduction gear assembly 2 has three parts, forming a first-stage reduction structure, a second-stage reduction structure, and a third-stage reduction structure from left to right.
[0062] In practical applications, the joint module can also include a reduction mechanism 3 located outside the stator structure, with the planetary reduction gear assembly 2 connected to the external reduction mechanism 3 to form a multi-stage reduction structure. For example... Figure 10 As shown, the stator structure has a reduction mechanism 3 on the right side, and a planetary reduction gear assembly 2 inside the stator structure, as shown... Figure 11 As shown, there are reduction gears 3 on both the left and right sides of the stator structure, and a planetary reduction gear assembly 2 is located inside the stator structure.
[0063] The stator structure of this application can be configured in various forms, and the corresponding internal gear ring 12 can be designed as needed. The matching forms of the stator structure are also diverse, which can meet various transmission forms.
[0064] The above description is only a preferred embodiment of the present utility model and does not limit the scope of patent protection of the present utility model. Any equivalent structural transformations made based on the content of the present utility model specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present utility model.
Claims
1. A stator structure, characterized in that, The stator body is integrally machined and used to cooperate with an outer rotor. The outer side wall of the stator body has a slotted structure for mounting the stator windings of the motor. The inner side wall of the stator body has at least one internal gear ring, the center line of which coincides with the center line of the stator body. The internal gear ring is used as the internal gear ring of a planetary reducer.
2. The stator structure as described in claim 1, characterized in that, The inner wall of the stator body has multiple internal gear rings, and the inner diameters of the different internal gear rings may be the same or different.
3. The stator structure as described in claim 1, characterized in that, The stator body also has a baffle on its inner side.
4. The stator structure as described in claim 1, characterized in that, The internal gear ring is integrally stamped using a high-speed punch press.
5. The stator structure as described in claim 1, characterized in that, The stator body is a single structure formed by stacking multiple silicon steel sheets, and at least a number of silicon steel sheets have convex teeth on their inner rings, which together form the inner tooth ring.
6. The stator structure as described in claim 1, characterized in that, The teeth of the internal gear ring are straight teeth or helical teeth.
7. The stator structure as described in claim 1, characterized in that, The internal gear ring has teeth evenly distributed along the circumference, or the internal gear ring has multiple non-tooth regions, each of which is evenly distributed around the axis of the internal gear ring.
8. A joint module, characterized in that, The stator structure includes any one of claims 1 to 7, and further includes a planetary reduction gear assembly that meshes with the internal gear ring. The planetary reduction gear assembly includes a sun gear, a planet carrier, and a plurality of planetary gears rotatably mounted on the planet carrier. The sun gear is located at the center of the corresponding internal gear ring, and the planetary gears mesh with both the corresponding internal gear ring and the sun gear.
9. The joint module as described in claim 8, characterized in that, There are multiple internal gear rings and multiple planetary reduction gear assemblies. The internal gear rings and planetary reduction gear assemblies are matched one-to-one, and the planetary reduction gear assemblies are interconnected to form a multi-stage reduction structure.
10. The joint module as described in claim 8, characterized in that, It also includes a reduction gear mechanism disposed outside the stator structure, and the planetary reduction gear assembly is connected to the external reduction gear mechanism to form a multi-stage reduction structure.