A large-torque brushless motor for a robot joint

Abstract

The utility model discloses a big torque brushless motor for robot joint, concretely relates to brushless motor technical field, include: brushless motor main part and motor rotating shaft, the brushless motor main part top is equipped with the connecting casing, the brushless motor main part top integral fixed has the splicing ring, the connecting casing bottom is equipped with the splicing slot, the splicing ring outside is equipped with the limit mechanism, planetary reduction assembly, the planetary reduction assembly includes the planetary gear fixed in the connecting casing inner wall, the motor rotating shaft top is equipped with the transmission shaft, the transmission shaft outer end is equipped with the driving gear, the transmission shaft bottom integral fixed has the hexagonal connecting column, the motor rotating shaft top is equipped with the hexagonal connecting slot. The utility model discloses compact structure, and the space is small, is suitable for using in the occasion such as robot joint space limited, and realizes the quick connection and separation of brushless motor main part and speed reducer, is convenient for independent maintenance, has solved the traditional integrated design maintenance difficult problem.

Description

Technical Field

[0001] This utility model relates to the field of brushless motor technology, specifically to a high-torque brushless motor for robot joints. Background Technology

[0002] A brushless motor consists of a motor body and a driver, and is a typical mechatronics product. Brushless motors have advantages such as small size, light weight, good controllability, and simple control, and have low requirements for the external environment. They have already occupied an important position in both industrial and daily life fields, such as the use of brushless motors in robot joints.

[0003] Currently, in practical applications, brushless motors used in robot joints are generally combined with reducers to increase torque. Previously, the motor and reducer were two separate structures, but this resulted in an excessively large size. To reduce size, the motor body and reducer are now typically integrated into a single housing, with the motor's output shaft and the reducer's input shaft sharing a common shaft. This means that if a problem occurs in either the motor or the reducer's gear structure, both the motor and reducer need to be completely disassembled for repair, which can affect the lifespan of the other intact component. Utility Model Content

[0004] The purpose of this invention is to provide a high-torque brushless motor for robot joints to address the aforementioned shortcomings in the technology.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a high-torque brushless motor for robot joints, comprising: The brushless motor body and the motor shaft are provided. The top of the brushless motor body is provided with a connecting housing. A plug ring is integrally fixed to the top of the brushless motor body. A plug groove is opened at the bottom of the connecting housing. The plug ring is located inside the plug groove. A limiting mechanism is provided on the outside of the plug ring. A planetary reduction gear assembly includes planetary gears fixedly mounted on the inner wall of a connecting housing. A drive shaft is located at the top of a motor shaft, and a drive gear is located at the outer end of the drive shaft, positioned at the center of the planetary gears. A hexagonal connecting post is integrally fixed at the bottom of the drive shaft. A hexagonal connecting groove is formed at the top of the motor shaft, and the hexagonal connecting post is located inside the hexagonal connecting groove. Three driven gears mesh between the outer end of the drive gear and the inner end of the planetary gears. A connecting disc is fixedly mounted at the center of the top of each of the three driven gears. An output shaft is fixedly mounted at the center of the top of the connecting disc. The top of the output shaft passes through the top of the connecting housing and is rotatably connected to the top of the connecting housing via a bearing.

[0006] Preferably, a fixing frame is fixedly provided at the bottom center of the connecting plate, and the top end of the transmission shaft extends into the fixing frame and is rotatably connected to the fixing frame through a bearing.

[0007] Preferably, the limiting mechanism includes multiple movable slots formed at the bottom of the connecting housing, a limiting block is provided inside the movable slot, multiple limiting slots are formed at the outer end of the insertion ring, the inner side of the limiting block extends into the limiting slot, the outer top edge of the limiting block is arc-shaped, and a guide component and an adjustment component are provided inside the movable slot.

[0008] Preferably, the guide assembly includes a connecting block integrally connected to the bottom edge of the limiting block, a fixed guide rod is fixedly provided at the bottom of the movable groove, one end of the fixed guide rod passes through the connecting block, and a spring is sleeved on the outer end of the fixed guide rod. The two ends of the spring are fixedly connected to the outer side of the connecting block and the inner wall of the movable groove, respectively.

[0009] Preferably, the adjusting component includes a movable rod disposed above the interior of the movable groove. The bottom end of the movable rod is integrally fixed with a pushing end. The surface of the pushing end that contacts the outer arc surface of the limiting block is also an arc surface. A threaded rod is provided inside the movable groove. A threaded groove is opened at the top end of the movable rod. The bottom end of the threaded rod extends into the threaded groove and is connected to the threaded groove by a thread.

[0010] Preferably, the top edge of the connecting housing is provided with multiple rotating grooves, and the top ends of the multiple threaded rods extend into the multiple rotating grooves respectively. The threaded rods are rotatably connected to the connecting housing. An internal hexagonal rotating block is rotatably connected inside the rotating groove, and the bottom end of the internal hexagonal rotating block is fixedly connected to the top end of the threaded rod.

[0011] The technical effects and advantages provided by this utility model in the above technical solution are as follows: 1. Through the ingenious design of threaded drive and arc-surface extrusion, the controllable movement of the limit block is achieved, ensuring the operability and reliability of the connection.

[0012] 2. The arc-shaped contact design makes the extrusion process smooth and stable, reduces wear on parts, and improves service life.

[0013] 3. It adopts a threaded drive method, which has self-locking characteristics and can maintain a stable limit state to prevent loosening in a vibration environment.

[0014] 4. Connection and separation can be achieved by rotation, which is simple to operate, requires no special tools, and improves maintenance efficiency.

[0015] 5. The spring design ensures that the limit block can automatically reset, facilitating quick disassembly, while also providing a certain preload.

[0016] 6. This limiting mechanism has a compact structure and occupies little space, making it suitable for use in situations where space is limited, such as robot joints.

[0017] 7. It enables quick connection and separation of the brushless motor body and the reducer, facilitating independent maintenance and solving the problem of difficult maintenance in traditional integrated designs.

[0018] 8. The mechanical limiting method ensures reliable connection and can withstand working loads under high torque conditions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the overall exploded structure of this utility model; Figure 3 This is a schematic diagram of the overall three-dimensional sectional structure of this utility model; Figure 4 For the present utility model Figure 3 A schematic diagram of the enlarged structure of A in the middle; Figure 5 This is a three-dimensional sectional view of the connecting shell of this utility model; Figure 6 For the present utility model Figure 5 Schematic diagram of the enlarged structure of B; Figure 7 This is a three-dimensional structural diagram of the planetary deceleration assembly of this utility model; Figure 8 This is a schematic diagram of the connection structure between the motor shaft and the transmission shaft of this utility model.

[0021] Explanation of reference numerals in the attached figures: 1. Brushless motor body; 2. Motor shaft; 3. Connecting housing; 4. Insertion ring; 5. Insertion slot; 6. Planetary gear; 7. Drive shaft; 8. Drive gear; 9. Hexagonal connecting post; 10. Hexagonal connecting slot; 11. Driven gear; 12. Connecting plate; 13. Output shaft; 14. Fixed frame; 15. Movable slot; 16. Limiting block; 17. Limiting slot; 18. Connecting block; 19. Fixed guide rod; 20. Spring; 21. Movable rod; 22. Push end; 23. Threaded rod; 24. Threaded groove; 25. Rotating groove; 26. Internal hexagonal rotating block. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solution of this utility model, the specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0023] like Figures 1 to 8 As shown, the present invention provides a high-torque brushless motor for robot joints, comprising a brushless motor body 1, a motor shaft 2, and a planetary reduction gear assembly.

[0024] The brushless motor body 1 has a connecting housing 3 at its top end, and a plug ring 4 is integrally fixed at the top end of the brushless motor body 1. The connecting housing 3 has a plug groove 5 at its bottom end, and the plug ring 4 is located inside the plug groove 5. A limiting mechanism is provided on the outside of the plug ring 4.

[0025] The planetary reduction gear assembly includes planetary gears 6 fixedly mounted on the inner wall of the connecting housing 3. A drive shaft 7 is located at the top of the motor shaft 2, and a drive gear 8 is located at the outer end of the drive shaft 7, positioned at the center of the planetary gears 6. A hexagonal connecting post 9 is integrally fixed to the bottom of the drive shaft 7. A hexagonal connecting groove 10 is formed at the top of the motor shaft 2, and the hexagonal connecting post 9 is located inside the hexagonal connecting groove 10. Three driven gears 11 mesh between the outer end of the drive gear 8 and the inner end of the planetary gears 6. A connecting disc 12 is fixedly mounted at the center of the top of each of the three driven gears 11. An output shaft 13 is fixedly mounted at the center of the top of the connecting disc 12. The top of the output shaft 13 passes through the top of the connecting housing 3 and is rotatably connected to the top of the connecting housing 3 via a bearing.

[0026] Furthermore, a fixed frame 14 is fixedly provided at the bottom center of the connecting plate 12, and the top end of the drive shaft 7 extends into the fixed frame 14 and is rotatably connected to the fixed frame 14 through a bearing, which improves the stability of the drive shaft 7.

[0027] The limiting mechanism includes multiple movable slots 15 formed at the bottom of the connecting housing 3, with limiting blocks 16 inside the movable slots 15, and multiple limiting slots 17 formed at the outer end of the insertion ring 4. The outer top edge of the limiting block 16 is designed with an arc surface, and the movable slots 15 are equipped with guide components and adjustment components.

[0028] The guide assembly includes a connecting block 18 integrally connected to the bottom edge of the limiting block 16. A fixed guide rod 19 is fixedly provided at the bottom of the movable groove 15, with one end of the fixed guide rod 19 passing through the connecting block 18. A spring 20 is sleeved on the outer end of the fixed guide rod 19, and the two ends of the spring 20 are fixedly connected to the outer side of the connecting block 18 and the inner wall of the movable groove 15, respectively.

[0029] The adjustment assembly includes a movable rod 21 located inside and above the movable groove 15. A push end 22 is integrally fixed to the bottom end of the movable rod 21, and the surface of the push end 22 that contacts the outer arc surface of the limiting block 16 is also a matching arc surface. A threaded rod 23 is provided inside the movable groove 15. A threaded groove 24 is formed at the top end of the movable rod 21, and the bottom end of the threaded rod 23 extends into the threaded groove 24 and is threadedly connected to the threaded groove 24.

[0030] Multiple rotating grooves 25 are provided on the top edge of the connecting housing 3. The top ends of multiple threaded rods 23 extend into the multiple rotating grooves 25 respectively. The threaded rods 23 are rotatably connected to the connecting housing 3 through bearings. An internal hexagonal rotating block 26 is rotatably connected inside the rotating groove 25. The bottom end of the internal hexagonal rotating block 26 is fixedly connected to the top end of the threaded rod 23.

[0031] During installation, first insert the plug ring 4 of the brushless motor body 1 into the plug groove 5 at the bottom of the connecting housing 3, ensuring that the plug ring 4 is fully inserted into the plug groove 5. At this time, the hexagonal connecting post 9 will be inserted into the hexagonal connecting groove 10, and the limiting groove 17 will be aligned with the movable groove 15.

[0032] Then, insert a hex wrench into the internal hexagonal rotating block 26 and rotate the internal hexagonal rotating block 26 clockwise. The internal hexagonal rotating block 26 drives the threaded rod 23 to rotate synchronously. Since the threaded rod 23 and the threaded groove 24 at the top of the movable rod 21 are connected by threads, the rotational motion of the threaded rod 23 is converted into the linear downward motion of the movable rod 21.

[0033] When the movable rod 21 moves downward, its bottom pushing end 22 also moves downward. The arc surface of the pushing end 22 contacts the arc surface on the outer side of the limiting block 16 and slides relative to it. Since both contact surfaces are arc-shaped, the pushing end 22 exerts an inward squeezing force on the limiting block 16 when it moves downward.

[0034] Under the pressure of the arc surface, the limiting block 16 moves inward along the fixed guide rod 19, and the spring 20 is stretched. The inner side of the limiting block 16 gradually enters the limiting groove 17, thereby limiting and fixing the insertion ring 4.

[0035] When disassembly is required, rotate the internal hexagonal rotating block 26 counterclockwise, and the threaded rod 23 rotates in the opposite direction, causing the movable rod 21 to move upward. The pushing end 22 separates from the limiting block 16, and the limiting block 16 moves outward under the restoring force of the spring 20, exiting from the limiting groove 17, thus separating the brushless motor body 1 and the connecting housing 3.

[0036] This utility model has a compact structure and occupies little space, making it suitable for use in space-constrained applications such as robot joints. It also enables quick connection and separation of the brushless motor body and the reducer, facilitating independent maintenance and solving the problem of difficult maintenance associated with traditional integrated designs. Specifically, this embodiment addresses the issue that in existing technologies, brushless motors for robot joints are typically combined with reducers to increase torque. Previously, the motor and reducer were two separate structures, resulting in excessive size. To reduce size, the motor body and reducer are now generally integrated into a single housing, with the motor's output shaft and the reducer's input shaft sharing a common shaft. This means that if either the motor or the reducer gear structure malfunctions, both the motor and reducer must be completely disassembled for repair, potentially affecting the lifespan of the other intact component.

[0037] The foregoing description only illustrates certain exemplary embodiments of the present invention. Undoubtedly, those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A high-torque brushless motor for robot joints, characterized in that, include: The brushless motor body (1) and the motor shaft (2) are provided. The top of the brushless motor body (1) is provided with a connecting housing (3). The top of the brushless motor body (1) is integrally fixed with a plug ring (4). The bottom of the connecting housing (3) is provided with a plug groove (5). The plug ring (4) is located inside the plug groove (5). The outside of the plug ring (4) is provided with a limiting mechanism. The planetary reduction assembly includes a planetary gear (6) fixedly mounted on the inner wall of the connecting housing (3), a transmission shaft (7) at the top of the motor shaft (2), a drive gear (8) at the outer end of the transmission shaft (7), the drive gear (8) being located at the center of the planetary gear (6), a hexagonal connecting column (9) integrally fixed at the bottom end of the transmission shaft (7), a hexagonal connecting groove (10) at the top of the motor shaft (2), the hexagonal connecting column (9) being located inside the hexagonal connecting groove (10), three driven gears (11) meshing between the outer end of the drive gear (8) and the inner end of the planetary gear (6), a connecting disc (12) fixedly mounted at the middle of the top of the three driven gears (11), an output shaft (13) fixedly mounted at the middle of the top of the connecting disc (12), and the top of the output shaft (13) passing through the top of the connecting housing (3) and being rotatably connected to the top of the connecting housing (3) via a bearing.

2. The high-torque brushless motor for robot joints according to claim 1, characterized in that: The bottom center of the connecting plate (12) is fixedly provided with a fixed frame (14), and the top end of the transmission shaft (7) extends into the fixed frame (14) and is rotatably connected to the fixed frame (14) through a bearing.

3. The high-torque brushless motor for robot joints according to claim 1, characterized in that: The limiting mechanism includes multiple movable slots (15) opened at the bottom of the connecting housing (3). A limiting block (16) is provided inside the movable slot (15). Multiple limiting slots (17) are opened at the outer end of the plug ring (4). The inner side of the limiting block (16) extends into the limiting slot (17). The outer top edge of the limiting block (16) is an arc surface. A guide component and an adjustment component are provided inside the movable slot (15).

4. A high-torque brushless motor for robot joints according to claim 3, characterized in that: The guide assembly includes a connecting block (18) integrally connected to the bottom edge of the limiting block (16). A fixed guide rod (19) is fixedly provided at the bottom of the movable groove (15). One end of the fixed guide rod (19) passes through the connecting block (18). A spring (20) is sleeved on the outer end of the fixed guide rod (19). The two ends of the spring (20) are fixedly connected to the outer side of the connecting block (18) and the inner wall of the movable groove (15), respectively.

5. A high-torque brushless motor for robot joints according to claim 3, characterized in that: The adjustment assembly includes a movable rod (21) located above the inside of the movable groove (15). The bottom end of the movable rod (21) is integrally fixed with a push end (22). The surface of the push end (22) that contacts the outer arc surface of the limiting block (16) is also an arc surface. The movable groove (15) is provided with a threaded rod (23). The top end of the movable rod (21) is provided with a threaded groove (24). The bottom end of the threaded rod (23) extends into the threaded groove (24) and is connected to the threaded groove (24) by a thread.

6. A high-torque brushless motor for robot joints according to claim 5, characterized in that: The top edge of the connecting housing (3) is provided with multiple rotating grooves (25), and the top ends of multiple threaded rods (23) extend into the multiple rotating grooves (25) respectively. The threaded rods (23) are rotatably connected to the connecting housing (3). An internal hexagonal rotating block (26) is rotatably connected inside the rotating groove (25). The bottom end of the internal hexagonal rotating block (26) is fixedly connected to the top end of the threaded rod (23).

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