Linear joint motor mounting structure

Abstract

The utility model relates to the technical field of linear joint, disclose a kind of motor mounting structure for linear joint, including shell, motor and screw rod are arranged in shell interior, motor includes stator and rotor, screw rod includes screw rod part and nut part, stator is fixedly connected with shell, rotor is fixedly connected with nut part, rotor is rotatably connected with shell, screw rod part one end extends to the working end of linear joint formed by shell, positioning member is provided on nut part, one end of positioning member is in abutment with rotor, glue groove is provided on the part outer wall of nut part, and adhesive member is provided in glue groove, and the adhesive member is used to adhere rotor and nut part.

Description

Technical Field

[0001] This utility model relates to the field of linear joint technology, and in particular to a motor mounting structure for linear joints. Background Technology

[0002] The joint modules of a humanoid robot are the core components of its motion system, and linear joint modules are key components for realizing the movement of the robot's arm and leg joints. Regarding the installation of frameless torque motors on linear joints, since linear joints operate in a high-speed, high-torque environment, and the motor rotor is directly mounted on the nut, the installation method and process are inherently challenging. Existing technology uses adhesive bonding, where adhesive is directly applied between the motor rotor and the lead screw nut. While simple, this method is unstable under high-speed or high-torque conditions, leading to torque failure in the linear joint. Utility Model Content

[0003] The purpose of this invention is to provide a motor mounting structure for linear joints, which provides a more stable connection between the motor rotor and the nut of the lead screw.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution: A linear joint motor mounting structure includes a housing, inside which a motor and a lead screw are disposed. The motor includes a stator and a rotor, and the lead screw includes a lead rod portion and a nut portion. The stator is fixedly connected to the housing, and the rotor is fixedly connected to the nut portion. The rotor is rotatably connected to the housing. One end of the lead rod portion extends out of the housing to form the working end of the linear joint. A positioning member is disposed on the nut portion, and the positioning member abuts against one end of the rotor. A glue groove is disposed on a portion of the outer wall of the nut portion, and an adhesive member is disposed in the glue groove and between the stator and the housing. The adhesive member is used to adhere and fix the rotor and the nut portion, and the stator and the housing.

[0005] As a further feature of this invention, the positioning element includes a positioning protrusion, which is fixedly connected to the nut portion, and one end of the rotor abuts against the positioning protrusion.

[0006] As a further feature of this invention, the positioning protrusion is integrally formed with the nut portion.

[0007] As a further feature of this invention, the adhesive component includes an adhesive.

[0008] As a further feature of this invention, the nut portion and the rotor are connected by a transition fit.

[0009] As a further feature of this utility model, a bearing is provided between the nut part and the housing, the inner shell of the bearing is fixedly connected to the nut part, and the outer shell of the bearing is fixedly connected to the housing.

[0010] As a further feature of this invention, the lead screw is a planetary roller lead screw.

[0011] As a further feature of this invention, a first joint bearing is rotatably connected to one end of the housing, and a second joint bearing is coaxially fixedly connected to one end of the lead screw component of the lead screw. The second joint bearing is slidably connected to the housing and one end extends to the outside of the housing.

[0012] The beneficial effects of this utility model are: This invention ensures a stable connection between the motor rotor and the lead screw nut by setting up a positioning component, a glue groove, and a mating relationship. During installation, sufficient adhesive is first applied to the glue groove, and then the motor rotor is pressed from one end of the lead screw nut until one side of the rotor abuts against the positioning component. Compared with the existing single adhesive connection method, the positioning component positions the rotor, and the combination of the adhesive in the glue groove and the over-fitting relationship improves the stability between the rotor and the nut. Attached Figure Description

[0013] 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.

[0014] Figure 1 This is a schematic diagram of the overall structure of this embodiment; Figure 2 This is a schematic diagram of the rotor and nut structure in this embodiment; Figure 3 yes Figure 2 Enlarged diagram of part A in the middle; In the figure, 1 is the housing, 2 is the motor, 21 is the stator, 22 is the rotor, 3 is the lead screw, 31 is the lead screw part, 32 is the nut part, 4 is the positioning part, 5 is the glue groove, 61 is the first joint bearing, and 62 is the second joint bearing. Detailed Implementation

[0015] The technical solution of this utility model will now be clearly and completely described with reference to specific embodiments. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0016] A mounting structure for a linear joint motor 2, reference Figures 1 to 3 In this embodiment, the linear joint includes a housing 1, and a motor 2 and a lead screw 3 are disposed inside the housing 1. The motor 2 includes a stator 21 and a rotor 22. In this embodiment, the lead screw 3 includes a lead rod part and a nut part 32. The stator 21 is fixedly connected to the housing 1, the rotor 22 is fixedly connected to the nut part 32, the rotor 22 is rotatably connected to the housing 1, and one end of the lead rod part extends out of the housing 1 to form the working end of the linear joint. The working principle of the linear joint is as follows: after the motor 2 is powered on, the rotor 22 of the motor 2 rotates. The rotation of the rotor 22 drives the nut part 32 of the lead screw 3 to rotate. The nut part 32 is rotatably connected to the housing 1. Therefore, the lead screw part will move along the axial direction of the nut part 32, and the lead screw part will drive the external structure to move. In this embodiment, the lead screw 3 is a planetary roller lead screw 3. In other embodiments, it can also be other structures, such as a ball screw 3 structure.

[0017] The rotatable connection between the nut part 32 and the housing 1 is achieved by a bearing. The inner shell of the bearing is fixedly connected to the nut part 32, and the outer shell of the bearing is fixedly connected to the housing 1. In this embodiment, the bearing is an angular contact ball bearing.

[0018] In addition, in order to better connect with the external structure, a first joint bearing 61 is rotatably connected to one end of the housing 1, and a second joint bearing 62 is coaxially fixedly connected to one end of the lead screw component of the lead screw 3. The second joint bearing 62 is slidably connected to the housing 1 and one end extends to the outside of the housing 1.

[0019] A positioning element 4 is provided on the nut part 32, which abuts against one end of the rotor 22. A glue groove 5 is provided on part of the outer wall of the nut part 32, and an adhesive is provided in the glue groove 5. The adhesive is used to bond the rotor 22 and the nut part 32. In this embodiment, the adhesive is an adhesive.

[0020] By setting the glue groove 5, more adhesive can be applied between the nut part 32 and the rotor 22, and more adhesive can make the nut part 32 and the rotor 22 bond more stably.

[0021] In addition, in this embodiment, the fixed connection between the stator 21 and the housing 1 is also achieved by adhesive bonding.

[0022] In addition, the nut part 32 and the rotor 22 are connected by an transition fit.

[0023] The transition fit ensures that the diameter tolerances of the rotor 22 and the nut 32 are relatively small, while also facilitating installation and making the positioning more accurate.

[0024] The positioning component 4 includes a positioning protrusion, which is fixedly connected to the nut portion 32, and one end of the rotor 22 abuts against the positioning protrusion. The positioning protrusion and the nut portion 32 are integrally formed.

[0025] The rotor 22 can be positioned by the positioning protrusion, which facilitates installation. The one-piece molding facilitates the production of the nut part 32 and also makes the structure more stable.

[0026] Specifically, in this embodiment, during installation, adhesive is first applied to the glue groove 5 of the nut part 32, and then the rotor 22 is pressed onto the nut part 32, with one side of the rotor 22 abutting against the positioning protrusion on the nut part 32. This completes the installation. The positioning protrusion can position and limit the rotor 22, and the transition fit makes the installation between the rotor 22 and the nut part 32 more precise. The adhesive ensures that there is no relative rotation between the rotor 22 and the nut part 32, thus enabling it to withstand high speed and high torque.

[0027] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A motor mounting structure for a linear joint, characterized in that, The device includes a housing (1), inside which a motor (2) and a lead screw (3) are installed. The motor (2) includes a stator (21) and a rotor (22). The lead screw (3) includes a lead rod part and a nut part (32). The stator (21) is fixedly connected to the housing (1), and the rotor (22) is fixedly connected to the nut part (32). The rotor (22) is rotatably connected to the housing (1). One end of the lead rod part extends out of the housing (1) to form the working end of the linear joint. A positioning part (4) is provided on the nut part (32). The positioning part (4) abuts against one end of the rotor (22). A glue groove (5) is provided on part of the outer wall of the nut part (32). An adhesive is provided in the glue groove (5) between the stator (21) and the housing (1). The adhesive is used to glue and fix the rotor (22) and the nut part (32), and the stator (21) and the housing (1).

2. The motor mounting structure for a linear joint according to claim 1, characterized in that, The positioning element (4) includes a positioning protrusion, which is fixedly connected to the nut part (32), and one end of the rotor (22) abuts against the positioning protrusion.

3. The motor mounting structure for a linear joint according to claim 2, characterized in that, The positioning protrusion is integrally formed with the nut part (32).

4. The motor mounting structure for a linear joint according to claim 1, characterized in that, The adhesive component includes an adhesive.

5. The motor mounting structure for a linear joint according to claim 1, characterized in that, The nut (32) and the rotor (22) are connected by a transition fit.

6. The motor mounting structure for a linear joint according to claim 1, characterized in that, A bearing is provided between the nut part (32) and the housing (1), the inner shell of the bearing is fixedly connected to the nut part (32), and the outer shell of the bearing is fixedly connected to the housing (1).

7. The motor mounting structure for a linear joint according to claim 1, characterized in that, The lead screw (3) is a planetary roller lead screw (3).

8. The motor mounting structure for a linear joint according to claim 1, characterized in that, One end of the housing (1) is rotatably connected to a first joint bearing (61), and one end of the lead screw (3) is coaxially fixedly connected to a second joint bearing (62). The second joint bearing (62) is slidably connected to the housing (1) and one end extends to the outside of the housing (1).

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