CN209692520U - A kind of wheeled robot wheel hub driving integrated motor - Google Patents

Abstract

The utility model provides a wheel hub driving integrated motor for a wheeled robot. The driving motor for the robot includes a housing, a power module and a deceleration module coaxially arranged in the housing, and the power module includes a stator coil fixed in the stator housing. Winding, the stator coil winding is rotatably connected with a magnetic steel rotor, one end of the magnetic steel rotor is fixed with a rotor end plate, the rotor end plate is fixed on the central shaft, the stator coil winding is electrically connected to the drive circuit board, and the drive circuit board is fixed on the On the stator housing; the deceleration module includes an outer ring gear, and a first planetary gear set and a second planetary gear set that are both meshed with the outer ring gear and connected by coaxial transmission. The first planetary gear set is connected to the central shaft by transmission. The two planetary gear sets are connected in drive to the housing. The problem of high cost and poor reliability caused by complex structure and fragmentation of the robot driving power system in the prior art is solved.

Description

A wheel hub drive integrated motor for a wheeled robot

technical field

The utility model relates to the technical field of driving motors for robots, in particular to a wheel hub driving integrated motor for a wheeled robot.

Background technique

In today's world, the intelligent economy centered on artificial intelligence and robot technology is booming. From industrial production to daily life, robots have gradually penetrated into all aspects of human life, such as: security inspection, disaster relief, logistics sorting, welcome service Wait.

At present, most robot driving power systems on the market are realized by the assembly and cooperation of scattered components such as motor + reducer + coupling + driving wheel + drive controller. The work of selecting, purchasing, assembling, and debugging each module is often performed. Various factors need to be considered, such as motor power, speed, torque, rated voltage, size, installation method, suitable reducer, suitable driver and other factors, which requires developers to carry out device selection, electrical design, structural design We have rich practical experience in other aspects, otherwise a slight mistake will easily lead to waste of resources, costs, and development time. Therefore, although the implementation of the traditional robot driving power system has certain advantages such as design flexibility and diversity, at the same time, due to the complex structure, high development difficulty, and long cycle, the cost is high, and the stability and reliability are low, resulting in high design risks. Many flaws.

Utility model content

Aiming at the above-mentioned problems in the prior art, the utility model provides a wheel hub driving integrated motor of a wheeled robot, which solves the problems of high cost and poor reliability caused by the complex structure and fragmentation of the driving power system of the robot in the prior art.

In order to achieve the above-mentioned purpose of the invention, the technical scheme that the utility model adopts is as follows:

Provided is a wheel hub driving integrated motor for a wheeled robot, which includes a housing, and a power module and a reduction module coaxially arranged in the housing.

The power module includes stator coil windings fixed in the stator housing. The magnet steel rotor is rotatably sleeved on the stator coil winding. One end of the magnet steel rotor is fixed with a rotor end plate, and the rotor end plate is fixed on the central shaft. The stator coil windings are electrically connected to On the driving circuit board, the driving circuit board is fixed on the stator casing.

The reduction module includes an outer ring gear, a first planetary gear set and a second planetary gear set that are both meshed with the outer ring gear and connected in coaxial transmission. The first planetary gear set is connected to the central shaft, and the second planetary gear set drives connected to the housing.

Further, the stator housing includes an inner sleeve rotatably sleeved on the central shaft, an outer sleeve sleeved on the magnetic steel rotor with gaps, and a stator end plate that fixes the inner sleeve and the outer sleeve as a whole. The stator The coil winding is fixedly sleeved on the inner sleeve.

Further, a circuit board mounting seat is integrally formed at the end of the stator end plate away from the stator coil winding.

Further, the stator end plate is provided with through heat dissipation holes and wire passing holes.

Further, the power module is provided with a rotational speed sensor, and the rotational speed sensor includes a magnetic encoder fixed on the drive circuit board and a magnetic steel block fixed on the central shaft and arranged correspondingly to the magnetic encoder.

Further, the first planetary gear set includes a first sun gear, a first planetary gear meshing with the first sun gear and the outer ring gear at the same time, a first planet carrier is fixed on the first planetary gear, and the first sun gear is fixed at the center on axis.

Further, the second planetary gear set includes a second sun gear, a second planetary gear meshing with the second sun gear and the outer ring gear at the same time, a second planetary carrier is fixed on the second planetary gear, and the second planetary carrier is coaxially fixed Embedded on the casing, the second sun gear is coaxially fixed on the first planet carrier.

Further, the housing is coaxially rotatably sleeved on the outer ring gear through a bearing.

Further, the outer ring gear is fixedly connected to the stator housing through the intermediate connecting plate.

Further, the housing includes a cylinder part rotatably socketed on the outside of the power module and the deceleration module, and an end cover fixed to one end of the cylinder part. The end cover is adjacent to the deceleration module, and a plurality of connection holes are provided on the end cover.

The beneficial effects of the utility model are: by modularizing and assembling the power part and the deceleration part of the motor respectively, the power module of different parameters and the deceleration module of different parameters can be flexibly assembled, and the scope of application is improved; the power module and the deceleration The modules are integrated through the shell, and the shell is used as the output of the deceleration module, which is easy to install and has high maintainability, which greatly simplifies the design process for developers in the process of building the robot driving system, and effectively reduces the development cycle and difficulty.

Both the power module and the deceleration module are sealed inside the housing. The housing can not only be used as a power output, but also can effectively prevent the dust, silk, and liquid in the working environment from affecting the internal components, and improve the stability and reliability of the system.

The structural design of this motor has strong versatility. The multi-stage planetary gear sets in the deceleration module coaxially share an outer ring gear, which not only simplifies the structure of the deceleration part, but also can increase the number of deceleration stages by simply increasing The axial length can be used to install multi-stage planetary gear sets; in addition, the output connection of the motor is the installation hole on the housing, which can be matched with different types of reducers such as planetary reducers and harmonic reducers, and can be adapted to different power The power part of the motor can be used in different occasions, so that the scalability of the motor is enhanced and the application range is wide.

Description of drawings

Fig. 1 is a perspective view of a wheeled robot hub driving an integrated motor.

Figure 2 is an exploded view of the integrated motor driven by the hub of the wheeled robot.

Fig. 3 is an exploded view of the power module in Fig. 2 .

Fig. 4 is an exploded view of the deceleration module in Fig. 2 .

FIG. 5 is a perspective view of the stator housing in FIG. 3 .

Fig. 6 is a cross-sectional view of a wheel hub driving integrated motor of a wheeled robot.

Among them, 1. power module; 11. stator shell; 111. inner sleeve; 112. outer sleeve; 113. stator end plate; 114. circuit board mounting seat; , stator coil winding; 13, magnetic steel rotor; 14, rotor end plate; 15, central shaft; 2, reduction module; 21, outer ring gear; 22, first planetary gear set; 221, first sun gear; 222, The first planetary wheel; 223, the first planetary carrier; 23, the second planetary gear set; 231, the second sun gear; 232, the second planetary wheel; 233, the second planetary carrier; 24, the middle connecting plate; 3, the shell Body; 31, cylinder body; 32, end cap; 33, connecting hole.

Detailed ways

The specific embodiment of the present utility model is described below, so that those skilled in the art understand the utility model but should be clear that the utility model is not limited to the scope of the specific embodiment, for those of ordinary skill in the art, as long as each These changes are obvious within the spirit and scope of the utility model defined and determined by the appended claims, and all inventions and creations utilizing the concept of the utility model are all included in the protection list.

As shown in FIG. 1 and FIG. 2 , the wheel hub of the wheeled robot drives an integrated motor, which includes a housing 3 and a power module 1 and a deceleration module 2 coaxially arranged in the housing 3 . The type of power provided by the power module 1 is a DC brushless motor, and since its speed is very high, it is necessary to use the deceleration module 2 to reduce its speed and increase its torque.

As shown in FIG. 3 and FIG. 6 , the power module 1 includes a stator housing 11 , and the stator housing 11 plays a role of fixing the stator coil winding 12 and protecting the entire power module. The stator housing 11 includes an integrally formed inner sleeve 111, an outer sleeve 112, and a stator end plate 113. The inner sleeve 111 and the outer sleeve 112 are arranged coaxially and are connected and fixed at the end away from the reduction module 2 through the stator end plate 113. as one.

The stator coil winding 12 is fixedly sleeved on the inner sleeve 111 through adhesive connection or other conventional fixed connection methods, and the magnetic steel rotor 13 is sleeved on the stator coil winding 12 through the gap rotation, and the magnetic steel rotor 13 is located between the outer sleeve 112 and the stator. Between the coil windings 12. The stator coil winding 12 and the magnetic steel rotor 13 are preferably 3508 motor coils and rotors, the motor KV value is 380, the motor resistance is 257mΩ, and the maximum continuous current is 16A/30s; the number of coil slots is 12, and the number of rotor stages is 14; use thick wire Winding. After the stator coil winding 12 is energized, the electricity will generate magnetism, generate a magnetic field, and generate force on the permanent magnet magnetic steel rotor 13 to make the magnetic steel rotor 13 rotate. By changing the direction and magnitude of the current, the rotation direction and Rotating speed.

The end of the magnetic steel rotor 13 away from the stator end plate 113 is fixed on the rotor end plate 14 , and the rotor end plate 14 is integrally formed on the central shaft 15 . The rotor end plate 14 is fixed on the middle of the central shaft 15, one end of the central shaft 15 passes through the inner sleeve 111 coaxially, and the shaft end is fixed at the end by a washer and a circlip. Two bearings are installed at intervals between the circlip and the rotor end plate 14 to support the central shaft 15 and reduce rotational friction. A magnetic steel block is installed on the end face of the central shaft 15 adjacent to the circlip. The magnetic steel block is a permanent magnet. The magnetic steel block and the magnetic encoder arranged on the drive circuit board use the principle of magnetic induction to work together to feed back the central shaft. 15 rpm.

On the end of the stator end plate 113 away from the stator coil winding 12, a circuit board mounting seat 114 is integrally formed. The circuit board mounting seat 114 includes a cylindrical side plate coaxial with the inner sleeve 111, and the inner wall of the cylindrical side plate is fixed along the circumference. There are multiple threaded hole seats for installing the drive circuit board, and multiple mounting threaded holes are fixed on the threaded hole seats for installing the drive circuit board, and are used for installing the motor into the application environment. A bearing is fixedly sleeved on the cylindrical side plate, and the rotation connection between the stator housing 11 and the housing 3 is completed through the bearing.

As shown in Figure 5, the stator end plate 113 is provided with a through cooling hole 115 and a wire hole 116, the cooling hole 115 is used to dissipate the heat generated when the stator coil winding 12 works, the wire hole 116 is convenient for driving the circuit board and The wires connected to the stator coil windings 12 pass through.

As shown in Fig. 4 and Fig. 6, the first sun gear 221 is fixedly installed on the end of the central shaft 15 far away from the stator housing 11, and the first sun gear 221 is evenly distributed around the circumference and meshed with three first planetary gears 222, each first planetary The outer sides of the wheels 222 are all meshed with the outer ring gear 21 , and the first planet carrier 223 fixes the three first planet wheels 222 as a whole. The central shaft 15 drives the first sun gear 221 to rotate, the first sun gear 221 drives the three first planetary gears 222 to rotate, and the first planetary gears 222 drive the first planet carrier 223 to rotate, forming a first-stage deceleration.

The second sun gear 231 in the two-stage speed reduction is fixed on the first planetary gear 222, and the second sun gear 231 is uniformly meshed with three second planetary gears 232, and the outer side of each second planetary gear 232 is connected with the outer ring gear. 21 meshes, and the second planet carrier 233 fixes the three second planet wheels 232 as a whole. The second sun gear 231 rotates synchronously with the first planetary carrier 223, and drives the three second planetary gears 232 to rotate, and then the second planetary carrier 233 rotates to form a two-stage reduction. In order to avoid direct hard surface contact friction between the first planetary gear 222 and the intermediate connecting plate 24 and between the second planetary gear 232 and the first planet carrier 223 , rubber gaskets are installed between the contact surfaces.

The casing 3 includes a cylinder part 31 rotatably socketed outside the power module 1 and the deceleration module 2 and an end cover 32 fixed to one end of the cylinder part 31. The end cover 32 is adjacent to the deceleration module 2, and a plurality of Connection hole 33 . The second planet carrier 233 is embedded in the end cover 32, and is fixed with the end cover 32 through adhesive connection or other fixed connection methods commonly used in the field, so that the cylinder part 31 is coaxially arranged with the sun gear in the two-stage reduction, and the housing 3 is It is the output end of the deceleration module 2 and also the output end of the motor. Bearings are installed between the inner wall of the cylinder part 31 and the outer wall of the outer ring gear 21 in the axial direction, so that the housing 3 can rotate relative to the outer ring gear 21 . The casing 3 is provided with a plurality of connecting holes for connecting with other components in the application environment.

The middle part of the central shaft 15 is rotatably fitted with an intermediate connecting plate 24 , and the intermediate connecting plate 24 is connected to the central shaft 15 through a bearing. The intermediate connecting plate 24 is used to close one end of the deceleration module 2 facing the power module 1 , and the intermediate connecting plate 24 is connected to the outer ring gear 21 through threaded fasteners; the intermediate connecting plate 24 is glued to the stator housing 11 . Since the intermediate connecting plate 24 is arranged close to the rotor end plate 14, in order to prevent the static intermediate connecting plate 24 from causing frictional interference to the end surface of the rotating rotor end plate 14, a root of the rotor end plate 14 located on the central axis 15 is arranged axially. The boss, through which the boss abuts against the bearing at the middle connecting plate 24 , increases the gap between the middle connecting plate 24 and the rotor end plate 14 .

When the motor in this scheme is energized and working, the stator coil winding 12 is energized to generate a magnetic field, which drives the magnet steel rotor 13 to rotate, and the magnet steel rotor 13 drives the rotor end plate 14 to rotate, and the rotor end plate 14 drives the central shaft 15 to rotate, and the central shaft 15 Drive the first sun gear 221 to rotate, the first sun gear 221 drives the first planetary gear 222 to rotate, the first planetary gear 222 drives the first planetary carrier 223 to rotate, the first planetary carrier 223 drives the second sun gear 231 to rotate, similarly, Finally, the second planetary carrier 233 drives the casing 3 to rotate, and after connecting the casing 3 with other parts that need to be driven and rotated by the motor, such as the rubber wheel of a wheeled robot, it can be driven to rotate.

Claims (10)

1. a kind of wheeled robot wheel hub drives integrated motor, which is characterized in that including shell (3) and be set to shell (3) Interior power plant module (1) and slowdown module (2),

The power plant module (1) includes the stator coil winding (12) that is fixed in stator case (11), the stator coil around Rotation is socketed with magnetic steel rotor (13) in group (12), and one end of the magnetic steel rotor (13) is fixed with rotor end plates (14), described Rotor end plates (14) are fixed on central axis (15), and the stator coil winding (12) is electrically connected on drive circuit board, described Drive circuit board is fixed on the stator case (11)；

The slowdown module (2) include outer gear ring (21) and with the outer gear ring (21) engagement and coaxial transmission connect first Planetary gear set (22) and the second planetary gear set (23), first planetary gear set (22) transmission connection is in the central axis (15) on, the second planetary gear set (23) transmission connection is on the shell (3).

2. wheeled robot wheel hub according to claim 1 drives integrated motor, which is characterized in that the stator case It (11) include rotating the inner sleeve (111) being socketed on the central axis (15), gap is socketed on the magnetic steel rotor (13) Outer sleeve (112) and stator end plate (113) that the inner sleeve (111) and the outer sleeve (112) are fixed as one, institute Stator coil winding (12) is stated to be fixedly sheathed on the inner sleeve (111).

3. wheeled robot wheel hub according to claim 2 drives integrated motor, which is characterized in that in the stator terminal The one end of plate (113) far from the stator coil winding (12) is integrally formed with circuit board mounting base (114).

4. wheeled robot wheel hub according to claim 3 drives integrated motor, which is characterized in that the stator end plate (113) perforative heat release hole (115) and cable-through hole (116) are provided on.

5. wheeled robot wheel hub according to claim 1 drives integrated motor, which is characterized in that the power plant module (1) speed probe is provided in, the speed probe includes the magnetic coder being fixed on the drive circuit board and consolidates Due on the central axis (15) and the magnetic steel ingot that is correspondingly arranged with the magnetic coder.

6. wheeled robot wheel hub according to claim 1 drives integrated motor, which is characterized in that first planet The first planet that gear set (22) includes the first sun gear (221), engages with the first sun gear (221) and the outer gear ring (21) It takes turns (222), is fixed with first planet carrier (223) on first planetary gear (222), first sun gear (221) is fixed on On the central axis (15).

7. wheeled robot wheel hub according to claim 6 drives integrated motor, which is characterized in that second planet Gear set (23) include the second sun gear (231), simultaneously engaged with the second sun gear (231) and the outer gear ring (21) second Planetary gear (232) is fixed with the second planet carrier (233) on second planetary gear (232), and second planet carrier (233) is same Axis fixation is embedded on the shell (3), and second sun gear (231) is coaxially fixed on the first planet carrier (223).

8. wheeled robot wheel hub according to claim 1 or claim 7 drives integrated motor, which is characterized in that the shell (3) it is socketed on the outer gear ring (21) by coaxial bearing rotation.

9. wheeled robot wheel hub according to claim 1 drives integrated motor, which is characterized in that the outer gear ring (21) it is fixedly connected on the stator case (11) by middle connecting plate (24).

10. wheeled robot wheel hub according to claim 1 drives integrated motor, which is characterized in that the shell (3) Including rotating the barrel (31) being socketed on the power plant module (1) and slowdown module (2) outside and being fixed on barrel (31) one The end cap (32) at end, the end cap (32) is neighbouring the slowdown module (2), is provided with multiple connecting holes on the end cap (32) (33)。