CN209970725U - Exoskeleton robot joint motor miniaturization structure - Google Patents
Exoskeleton robot joint motor miniaturization structure Download PDFInfo
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- CN209970725U CN209970725U CN201920055852.9U CN201920055852U CN209970725U CN 209970725 U CN209970725 U CN 209970725U CN 201920055852 U CN201920055852 U CN 201920055852U CN 209970725 U CN209970725 U CN 209970725U
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Abstract
The utility model discloses a ectoskeleton robot joint motor miniaturized structure, including stator support, stator chip, rotor support, circuit board, be equipped with bellied pivot installation department and a plurality of stator on the stator support, stator support one side fixed mounting is the circuit board, is equipped with round hole and a plurality of stator through-hole on the circuit board, be equipped with a plurality of stator draw-in grooves and pivot through-hole on the stator chip, be equipped with pivot and a plurality of rotor on the rotor support, the pivot is passed stator chip, circuit board back cooperation and is installed in the pivot installation department. The utility model has the advantages of the motor overall structure platyzation makes the structure compacter reduce motor area occupied, simple structure, and weight is light relatively, and drive control is effectual.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a technical field of ectoskeleton robot motor, especially the technical field of ectoskeleton robot joint motor miniaturized structure.
[ background of the invention ]
The exoskeleton robot technology is an important branch of the robot technology, relates to the technical fields of the robot technology, ergonomics, mechanics, computational science, communication technology and the like, and is a hot technology for domestic and foreign research at present. The exoskeleton robot can help people to complete tasks which cannot be completed originally by depending on self-ability. Exoskeleton robots are commonly used in the medical field to assist patients in rehabilitation training. The motor is an important part on the exoskeleton robot and provides corresponding power support for the movement of the exoskeleton robot. The existing exoskeleton robot motors have the problems of large size, complex structure, hysteresis, large current loss and the like when the exoskeleton robot is driven to move.
[ summary of the invention ]
The utility model aims at solving the problem among the prior art, provide an ectoskeleton robot joint motor miniaturized structure, can make the motor overall structure flattening make the structure compacter reduce the motor area occupied, simple structure, weight is light relatively, and drive control is effectual.
In order to realize the above purpose, the utility model provides an ectoskeleton robot joint motor miniaturized structure, including stator support, stator chip, rotor support, circuit board, be equipped with bellied pivot installation department and a plurality of stator on the stator support, stator support one side fixed mounting is the circuit board, is equipped with round hole and a plurality of stator through-hole on the circuit board, be equipped with a plurality of stator draw-in grooves and pivot through-hole on the stator chip, last pivot and a plurality of rotor of being equipped with of rotor support, the cooperation is installed in the pivot installation department after stator chip, the circuit board is passed in the pivot.
Preferably, rolling bearings are arranged between the rotating shaft mounting part and the rotating shaft and between the stator chip and the rotating shaft.
Preferably, the stator support and the circuit board are fixedly connected through a plurality of screws, a stator on the stator support penetrates through a stator through hole in the circuit board and is inserted into a stator clamping groove in the stator chip, and the stator support can be connected with the speed reducer.
Preferably, the rotor support is provided with a plurality of arc-shaped clamping grooves, the rotating shaft is provided with a plurality of rotor limiting grooves, and the rotors are installed in the rotor limiting grooves in a matched mode.
Preferably, the center of the stator support, the center of the stator chip, the center of the rotor support and the center of the circuit board are arranged on the same straight line.
The utility model has the advantages that: the utility model discloses a with fixed mounting has the circuit board on the stator support, the embedded structure of circuit board makes motor drive effectual, and the circuit board directly supplies power to the stator, effectively avoids traditional electronic drive integrated motor to cause the phenomenon that relative displacement lags because of reasons such as distance, EMC to take place, makes man-machine uncomfortable in coordination, can also reduce current loss simultaneously; a raised rotating shaft mounting part is arranged on a stator support, a rolling bearing is arranged between a rotating shaft and the rotating shaft mounting part, a rotor limiting groove is arranged on the rotating shaft, the stator support can be connected with a speed reducer, the rotor is conveniently positioned and mounted on the rotating shaft to enable the rotor and the rotating shaft to keep synchronous rotation, and effective output torque is guaranteed in a direct-drive mode; the stator chip is provided with the rotating shaft through hole and the stator clamping groove, so that the rotating shaft and the stator are conveniently positioned and installed; the motor has the advantages of more compact structure, reduced motor occupation area, simple structure, light weight and good drive control effect due to the flattening of the overall structure.
The features and advantages of the present invention will be described in detail by embodiments with reference to the accompanying drawings.
[ description of the drawings ]
Fig. 1 is a schematic view of the exoskeleton robot joint motor miniaturized according to the present invention.
In the figure: 1-stator support, 2-circuit board, 3-circuit board, 4-rotor support, 5-rolling bearing, 11-rotating shaft mounting part, 21-round hole and 41-rotating shaft.
[ detailed description ] embodiments
Referring to fig. 1, the exoskeleton robot joint motor miniaturized structure of the present invention comprises a stator support 1, a stator chip 3, a rotor support 4 and a circuit board 2, wherein the stator support 1 is provided with a raised shaft mounting portion 11 and a plurality of stators, the circuit board 2 is fixedly mounted at one side of the stator support 1, the circuit board 2 is provided with a round hole 21 and a plurality of stator through holes, the stator chip 3 is provided with a plurality of stator slots and shaft through holes, the rotor support 4 is provided with a shaft 41 and a plurality of rotors, the shaft 41 is installed in the shaft mounting portion 11 after passing through the stator chip 3 and the circuit board 2, rolling bearings 5 are arranged between the shaft mounting portion 11 and the shaft 41 and between the stator chip 3 and the shaft 41, the stator support 4 and the circuit board 2 are fixedly connected by a plurality of screws, the stator on the stator support 1 passes through holes on the circuit board 2 and is, stator support 1 can link to each other with the reduction gear, be equipped with a plurality of arc draw-in grooves on rotor support 4, be equipped with a plurality of rotor spacing grooves on the pivot 41, the rotor cooperation is installed at the rotor spacing inslot, the center of stator support 1, the center of stator chip 3, the center of rotor support 4, the center of circuit board 2 are installed on same straight line.
The utility model discloses the working process:
the utility model discloses exoskeleton robot joint motor miniaturized structure is in the course of the work, 2 circular telegrams of circuit board make the electric current flow the stator on the stator support 1, the stator can produce a vector magnetic field, this magnetic field can drive a rotor rotation angle, synchronous rotational motion is along with the rotor to pivot 41, a pair of magnetic field direction of rotor is unanimous with the magnetic field direction of stator, an angle is rotated along with this magnetic field to the vector magnetic field when the stator, the rotor also rotates an angle along with this magnetic field, every input electric pulse, the pivot rotates one angle and goes forward one step, the motor work output back is handled through the reduction gear and can be driven the articulated motion of control exoskeleton robot.
The utility model discloses ectoskeleton robot joint motor miniaturized structure, with fixed mounting circuit board 2 on stator support 1, the embedded structure of circuit board 2 makes motor drive effectual, and circuit board 2 directly supplies power to the stator, effectively avoids traditional electronic drive integrated motor to cause the phenomenon that relative displacement lags because of reasons such as distance, EMC to take place, makes the man-machine uncomfortable in coordination, can also reduce the current loss simultaneously; a raised rotating shaft mounting part 11 is arranged on a stator support 1, a rolling bearing 5 is arranged between a rotating shaft 41 and the rotating shaft mounting part 11, a rotor limiting groove is arranged on the rotating shaft 41, the stator support 1 can be connected with a speed reducer, the rotor is conveniently positioned and mounted on the rotating shaft 41 to enable the rotor and the rotating shaft to synchronously rotate, and the effective output torque is ensured to be generated in a direct-drive mode; the stator chip 3 is provided with the rotating shaft through hole and the stator clamping groove, so that the rotating shaft 41 and the stator are conveniently positioned and installed; the motor has the advantages of more compact structure, reduced motor occupation area, simple structure, light weight and good drive control effect due to the flattening of the overall structure.
The above-mentioned embodiment is right the utility model discloses an explanation, it is not right the utility model discloses a limited, any right the scheme after the simple transform of the utility model all belongs to the protection scope of the utility model.
Claims (5)
1. The utility model provides an ectoskeleton robot joint motor miniaturized structure, includes stator support (1), circuit board (2), stator chip (3), rotor support (4), its characterized in that: be equipped with bellied pivot installation department (11) and a plurality of stator on stator support (1), stator support (1) one side fixed mounting circuit board (2), be equipped with round hole (21) and a plurality of stator through-hole on circuit board (2), be equipped with a plurality of stator draw-in grooves and pivot through-hole on stator chip (3), be equipped with pivot (41) and a plurality of rotor on rotor support (4), pivot (41) are passed stator chip (3), circuit board (2) back cooperation and are installed in pivot installation department (11).
2. The exoskeleton robot joint motor miniaturization structure of claim 1 wherein: and rolling bearings (5) are arranged between the rotating shaft mounting part (11) and the rotating shaft (41) and between the stator chip (3) and the rotating shaft (41).
3. The exoskeleton robot joint motor miniaturization structure of claim 1 wherein: the stator support (1) is fixedly connected with the circuit board (2) through a plurality of screws, a stator on the stator support (1) penetrates through a stator through hole on the circuit board (2) and is inserted into a stator clamping groove on the stator chip (3), and the stator support (1) can be connected with a speed reducer.
4. The exoskeleton robot joint motor miniaturization structure of claim 1 wherein: the rotor support (4) is provided with a plurality of arc-shaped clamping grooves, the rotating shaft (41) is provided with a plurality of rotor limiting grooves, and the rotors are installed in the rotor limiting grooves in a matched mode.
5. The exoskeleton robot joint motor miniaturization structure of claim 1 wherein: the center of the stator support (1), the center of the stator chip (3), the center of the rotor support (4) and the center of the circuit board (2) are arranged on the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920055852.9U CN209970725U (en) | 2019-01-14 | 2019-01-14 | Exoskeleton robot joint motor miniaturization structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920055852.9U CN209970725U (en) | 2019-01-14 | 2019-01-14 | Exoskeleton robot joint motor miniaturization structure |
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| Publication Number | Publication Date |
|---|---|
| CN209970725U true CN209970725U (en) | 2020-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920055852.9U Active CN209970725U (en) | 2019-01-14 | 2019-01-14 | Exoskeleton robot joint motor miniaturization structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531549A (en) * | 2019-01-14 | 2019-03-29 | 尖叫智能科技（上海）有限公司 | Exoskeleton robot joint motor miniaturized design |
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2019
- 2019-01-14 CN CN201920055852.9U patent/CN209970725U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531549A (en) * | 2019-01-14 | 2019-03-29 | 尖叫智能科技（上海）有限公司 | Exoskeleton robot joint motor miniaturized design |
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Address after: 310000 6-911, 6-912, 501, 2 Baiyang street, Qiantang New District, Hangzhou City, Zhejiang Province Patentee after: Niuren Intelligent Technology (Hangzhou) Co.,Ltd. Address before: 310000 2-102, Huayun cube, No. 10, Liansheng Road, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: JIANJIAO INTELLIGENT TECHNOLOGY (SHANGHAI) CO.,LTD. |