CN210839225U - Motor and joint structure of robot - Google Patents
Motor and joint structure of robot Download PDFInfo
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- CN210839225U CN210839225U CN201921375780.2U CN201921375780U CN210839225U CN 210839225 U CN210839225 U CN 210839225U CN 201921375780 U CN201921375780 U CN 201921375780U CN 210839225 U CN210839225 U CN 210839225U
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Abstract
The utility model relates to a motor and joint structure of a robot, including shell, motor stator and electric motor rotor, motor stator is fixed to be set up on the shell inner wall, electric motor rotor is located in the motor stator inner chamber, the intercommunication has been seted up to the shell motor stator inner chamber with the outside ventilation hole of shell, electric motor rotor includes motor rotor pivot and rotor magnet, the motor rotor pivot includes rotor magnet mount pad, central pivot and a plurality of blade of tube-shape, central pivot with the coaxial setting of rotor magnet mount pad, the blade connect in central pivot with between the rotor magnet mount pad inner wall, rotor magnet fixed connection in rotor magnet mount pad outer wall. The motor can solve the heat dissipation problem of the motor stator.
Description
Technical Field
The utility model belongs to the motor field especially relates to a joint structure of motor and robot.
Background
The motor is a common driving device, and the motor heats seriously and often causes the motor to stop due to overheating when working for a long time or under the working condition of large output torque.
In the prior art, the motor is generally radiated by an external fan and a radiating fin, the structural layout of the scheme is complex, and a radiating fan needs to be added, so that the size of the motor is increased.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the shortcoming and not enough among the prior art, provide a motor and a joint structure of robot, can improve the heat dissipation of motor.
The utility model relates to a motor of embodiment, including shell, motor stator and electric motor rotor, motor stator is fixed to be set up on the shell inner wall, electric motor rotor is located in the motor stator inner chamber, the intercommunication has been seted up to the shell motor stator inner chamber with the outside ventilation hole of shell, electric motor rotor includes motor rotor pivot and rotor magnet, motor rotor pivot includes rotor magnet mount pad, central pivot and a plurality of blade of tube-shape, central pivot with the coaxial setting of rotor magnet mount pad, the blade connect in central pivot with between the rotor magnet mount pad inner wall, rotor magnet fixed connection in rotor magnet mount pad outer wall.
The user uses during the motor, electric motor rotor rotates, drives the blade arouses the inside air current change of motor for outside air passes through the ventilation hole of shell enters into the motor stator inner chamber reaches electric motor rotor department realizes motor stator with electric motor rotor's cooling.
The utility model relates to a motor of embodiment does not have the extra fan of peripheral hardware, is in through setting up the inside electric motor rotor of shell carries out the inside heat dissipation of motor in the pivoted, has improved the heat dissipation of motor and has practiced thrift the volume space of motor.
Further, electric motor rotor pivot still includes the baffle, the baffle sets up in the rotor magnet mount pad, the baffle will first barrel and second barrel are separated into to the rotor magnet mount pad, central pivot is followed the baffle to first barrel extends out, the blade is connected central pivot and the inner wall of first barrel, first through-hole has been seted up to the baffle, first through-hole intercommunication first barrel with the second barrel.
Furthermore, the central rotating shaft is of a hollow structure with an opening at one end, the opening of the central rotating shaft is communicated with the second cylinder, a second through hole is formed in the side wall, close to the partition plate, of the central rotating shaft, and the second through hole is communicated with the first through hole. The vanes and the partition plate can enhance the airflow generated when the motor rotor rotates.
Further, the blades and the second through holes are arranged at equal intervals.
Further, the shell includes outer frame body, protecgulum and hou gai, outer frame body is both ends open-ended drum structure, the protecgulum with the back lid can be dismantled respectively and approximately fit the opening part at outer frame body both ends, the protecgulum is opened and is equipped with the pivot hole. The shell is of a three-part structure, and is convenient to detach and mount.
Further, the end of second barrel is provided with the spacing groove, the back lid includes lid and bearing post, a bearing post terminal surface fixed connection in the inboard center department of lid, the bearing post other end inserts the spacing inslot, the bearing post is hollow structure, the bearing post in the one end that the lid is connected is provided with the opening, the first ventilation hole rather than the opening intercommunication is seted up to the bearing post lateral wall.
And the encoder comprises a reading circuit board and an encoding sensor, the reading circuit board is fixed on the end face of one end of the limiting groove, into which the bearing column is inserted, and the encoding sensor is fixed in the motor rotor. The encoder can record the number of turns of the motor rotating shaft.
Further, the cover body is provided with a second vent hole. The second vent hole can strengthen the heat dissipation effect of the motor.
The solar energy power generation device further comprises a gear assembly, wherein the gear assembly comprises a speed reducer inner gear ring, a planetary gear assembly, a sun gear and a transmission shaft, the speed reducer inner gear ring is fixedly connected to the inner wall of the shell, the outer side of a gear of the planetary gear assembly is meshed with the speed reducer inner gear ring, the sun gear is located at the center of the planetary gear assembly, one end of the transmission shaft is fixedly connected to the axis of the sun gear, and the other end of the transmission shaft is fixedly connected to the shaft end of the central. The gear group can increase the bearing capacity of the motor.
The utility model relates to a joint structure of robot of embodiment still includes fixed frame and limb festival unit, still includes the motor, the motor is fixed in fixed frame is last, the output shaft of motor with limb festival unit transmission is connected.
In order to make the present invention more clearly understood, the following description will be made in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a schematic view of the overall structure of a motor according to embodiment 1 of the present invention;
fig. 2 is an exploded view of the structure of the motor according to embodiment 1 of the present invention;
fig. 3 is a schematic structural view of a rear cover of a motor according to embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a rotor rotating shaft of the motor according to embodiment 1 of the present invention;
fig. 5 is a schematic structural view of a gear assembly of the motor according to embodiment 1 of the present invention;
fig. 6 is an exploded view of a gear assembly of the motor according to embodiment 1 of the present invention;
fig. 7 is a cross-sectional view of a motor according to embodiment 1 of the present invention;
fig. 8 is a schematic structural view of a joint structure of a robot according to embodiment 2 of the present invention.
Detailed Description
Example 1
Referring to fig. 1 to 3, fig. 1 is a schematic view of an overall structure of a motor according to embodiment 1 of the present invention, fig. 2 is an exploded view of a structure of a motor according to embodiment 1 of the present invention, and fig. 3 is a schematic view of a rear cover structure of a motor according to embodiment 1 of the present invention.
The motor includes shell 1, motor stator 2 and electric motor rotor 3, and motor stator 2 is fixed to be set up on 1 inner wall of shell, and electric motor rotor 3 is arranged in motor stator 2 inner chambers, and shell 1 has seted up the ventilation hole that communicates motor stator 2 inner chambers and shell 1 outside.
The housing 1 includes an outer frame 11, a front cover 12 and a rear cover 13, the outer frame 11 is a cylindrical structure with openings at two ends, and the front cover 12 and the rear cover 13 are respectively detachably covered at the openings at two ends of the outer frame 11. Specifically, bolt positions are arranged on the outer sides of two ends of the outer frame body 11, a bolt position is arranged on the inner side of one end, close to the front cover 12, of the outer frame body 11, the front cover 12 is fixedly connected with the bolt position arranged in the outer frame body 11 through a screw, a bolt position is arranged on the periphery of the rear cover 13, and the rear cover 11 is fixedly connected to the other end of the outer frame body 11 through a screw.
The front cover 12 is provided with a rotating shaft hole, and an output shaft of the motor extends out from the shaft end of the motor rotor 3 to the front cover 12 through the rotating shaft hole.
The rear cover 13 includes a cover 131 and a bearing column 132, wherein an end surface of the bearing column 132 is fixedly connected to the cover 131, the bearing column 132 is a hollow structure with an open end, the open end of the bearing column 132 is communicated with the inside of the cover 131 and the bearing column 132, and a first vent 1321 is formed in a side wall of the bearing column 132. Preferably, the cover 131 is provided with a second vent 1311, and further preferably, a heat sink is disposed outside the cover 131 to enhance the heat dissipation effect of the motor.
In a preferred embodiment of the present embodiment, the rear cover 13 is provided with an encoder 133, the encoder 133 includes a reading circuit board 1331 and an encoding sensor 1332, the reading circuit board 1331 is fixedly disposed on an end surface of the bearing column 132 close to one end of the motor rotor 3 through screws, the reading circuit board 1331 and the encoding sensor 1332 perform sensing signal transmission, the encoding sensor 1332 is fixed in the motor rotor 3, and the encoding sensor 1332 can rotate along with the rotation of the motor rotor 3.
Referring to fig. 4, fig. 4 is a schematic view of a rotor shaft structure of a motor according to embodiment 1 of the present invention.
The motor rotor 3 includes a rotor shaft 31 and a rotor magnet 32, and the motor rotor shaft 31 is fixed on the inner wall of the outer frame 11 by a first rotor bearing 33 and a second rotor bearing 34.
The motor rotor shaft 31 includes a cylindrical rotor magnet mounting seat 311, a partition 312, a central shaft 313 and a plurality of blades 314.
One end of the rotor magnet mounting seat 311 is sleeved on the bearing post 132, and one end of the rotor magnet mounting seat 311 close to the bearing post 132 is provided with a limiting groove which prevents the rotor magnet mounting seat 311 from separating from the bearing post 132.
The partition plate 312 divides the rotor magnet mounting seat 311 into a first cylinder and a second cylinder, the partition plate 312 is provided with a first through hole 3121, and the first through hole 3121 communicates the first cylinder and the second cylinder.
The central rotating shaft 313 and the rotor magnet mounting seat 311 are coaxially arranged, the central rotating shaft 313 extends from the partition 312 to the first cylinder, the central rotating shaft 313 is a hollow structure with an open end, a second through hole 3131 is formed in the side wall of the central rotating shaft 313 close to the partition 312, and the second through hole 3131 is communicated with the first through hole 3121.
The first rotor bearing 33 is sleeved on the bearing post 132, the first rotor bearing 33 is close to the cover 131, and the outer circumference of the first rotor bearing 33 is engaged with the limit groove. The second rotor bearing 34 is disposed on the outer wall of the extended end of the central rotating shaft 312. Preferably, the blades 314 are disposed at equal intervals from the second through holes 3131. The vanes 314 and the partition 312 enhance the airflow generated when the motor rotor 3 rotates.
Referring to fig. 5 to 7, fig. 5 is a schematic structural diagram of a gear assembly of a motor according to embodiment 1 of the present invention, fig. 6 is an exploded view of the gear assembly of the motor according to embodiment 1 of the present invention, and fig. 7 is a cross-sectional view of the motor according to embodiment 1 of the present invention.
In the preferred embodiment of this embodiment, a gear assembly 4 is further included, the gear assembly 4 including a reducer ring gear 41, a planetary gear assembly 42, a sun gear 43, and a drive shaft 44.
The reducer ring gear 41 is fixedly connected to the inner wall of the housing 1. The outer side of the gear of the planetary gear assembly 42 is engaged with the inner gear ring 41 of the speed reducer, the planetary gear assembly 42 comprises a planetary gear support 421, a planetary gear 422, a planetary bearing 423 and a planetary rotating shaft 424, the outer side of the output end of the planetary gear support 421 is clamped at the inner edge of a rotating shaft hole of the front cover 12, the planetary gear support 421 is of a double-side-wall structure, a gear groove is reserved in the middle of the planetary gear support 421, and double side walls of the planetary gear support 421 are provided with side; the planet gear 422 is arranged in a gear groove of the planet gear bracket 421, and an inner hole is formed in the center of the planet gear 422; the planet bearing 423 is embedded into an inner hole of the planet gear 422 through interference fit; the planetary rotating shafts 424 are arranged in the inner holes of the side walls, the planetary rotating shafts 424 penetrate through the planetary bearings 423, and the planetary gears 422 can freely rotate around the respective planetary rotating shafts 424. The sun gear 43 is disposed at the center of the planetary carrier 421, and the sun gear 43 meshes with each planetary gear 422. One end of the transmission shaft 44 is fixedly connected to the axis of the sun gear 43, and the other end of the transmission shaft 44 is fixedly connected to the shaft end of the central rotating shaft 313. The gear assembly 42 can increase the torque of the motor and enhance the load carrying capacity of the motor.
When the motor rotates, the motor rotor 3 rotates to drive the blades 314 to cause the change of the air flow inside the motor, so that the outside air enters the inner cavity of the second cylinder through the second vent hole 1311 and the first vent hole 1321 of the rear cover 13 and then enters the inner cavity of the first cylinder through the first through hole 3121 and the second through hole 3131, thereby realizing the exchange between the inner cavity of the motor stator 2 and the air inside the motor rotor 3 and outside the housing 1, and realizing the cooling inside the motor.
Example 2
Please refer to fig. 8, fig. 8 is a schematic structural diagram of a joint structure of a robot according to embodiment 2 of the present invention.
A joint structure of a robot comprises a motor 5, a fixed frame 6 and a limb joint unit 7, wherein the motor 5 is fixed on the fixed frame 5, and an output shaft of the motor 5 is in transmission connection with the limb joint unit 7.
The outer side of the motor 5 is provided with a bolt position, and the motor 5 can be fixed on the fixed frame 6 through the bolt position and a screw.
A joint structure of a robot needs a large output torque when rotating, and a motor 5 can solve the problem of heat generation when the joint structure of the robot rotates.
The present invention is not limited to the above embodiment, and if various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, they are intended to be covered if they fall within the scope of the claims and the equivalent technology of the present invention.
Claims (10)
1. The utility model provides a motor, includes shell, motor stator and electric motor rotor, motor stator is fixed to be set up on the shell inner wall, electric motor rotor is located in the motor stator inner chamber, the intercommunication has been seted up to the shell motor stator inner chamber with the outside ventilation hole of shell, its characterized in that: the motor rotor comprises a motor rotor rotating shaft and a rotor magnet, the motor rotor rotating shaft comprises a cylindrical rotor magnet mounting seat, a central rotating shaft and a plurality of blades, the central rotating shaft and the rotor magnet mounting seat are coaxially arranged, the blades are connected between the central rotating shaft and the inner wall of the rotor magnet mounting seat, and the rotor magnet is fixedly connected to the outer wall of the rotor magnet mounting seat.
2. The electric machine of claim 1, wherein: the motor rotor pivot still includes the baffle, the baffle sets up in the rotor magnet mount pad, the baffle will first barrel and second barrel are separated into to the rotor magnet mount pad, central pivot is followed the baffle to first barrel extends out, the blade is connected central pivot and the inner wall of first barrel, first through-hole has been seted up to the baffle, first through-hole intercommunication first barrel with the second barrel.
3. The electric machine of claim 2, wherein: the central rotating shaft is of a hollow structure with an opening at one end, the opening of the central rotating shaft is communicated with the second cylinder, a second through hole is formed in the side wall, close to the partition plate, of the central rotating shaft, and the second through hole is communicated with the first through hole.
4. The electric machine of claim 3, wherein: the blades and the second through holes are arranged at equal intervals.
5. The electric machine of any of claims 2 to 4, wherein: the shell comprises an outer frame body, a front cover and a rear cover, the outer frame body is of a cylindrical structure with two open ends, the front cover and the rear cover can be detachably covered at the opening parts at the two ends of the outer frame body respectively, and the front cover is provided with a rotating shaft hole.
6. The electric machine of claim 5, wherein: the end of the second barrel is provided with a limiting groove, the rear cover comprises a cover body and a bearing column, one end face of the bearing column is fixedly connected with the center of the inner side of the cover body, the other end of the bearing column is inserted into the limiting groove, the bearing column is of a hollow structure, an opening is formed in one end connected with the cover body, and a first ventilation hole communicated with the opening is formed in the side wall of the bearing column.
7. The electric machine of claim 6, wherein: the motor rotor is characterized by further comprising an encoder, wherein the encoder comprises a reading circuit board and an encoding sensor, the reading circuit board is fixed on the end face of one end, inserted into the limiting groove, of the bearing column, and the encoding sensor is fixed in the motor rotor.
8. The electric machine of claim 6, wherein: the cover body is provided with a second vent hole.
9. The electric machine of claim 1, wherein: the solar energy power generation device is characterized by further comprising a gear assembly, wherein the gear assembly comprises a speed reducer inner gear ring, a planetary gear assembly, a sun gear and a transmission shaft, the speed reducer inner gear ring is fixedly connected to the inner wall of the shell, the outer side of a gear of the planetary gear assembly is meshed with the speed reducer inner gear ring, the sun gear is located at the center of the planetary gear assembly, one end of the transmission shaft is fixedly connected to the axis of the sun gear, and the other end of the transmission shaft is fixedly connected to.
10. A joint structure of robot, includes fixed frame and limb festival unit, its characterized in that: the limb joint unit further comprises a motor according to any one of claims 1 to 9, wherein the motor is fixed on the fixed frame, and an output shaft of the motor is in transmission connection with the limb joint unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921375780.2U CN210839225U (en) | 2019-08-22 | 2019-08-22 | Motor and joint structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921375780.2U CN210839225U (en) | 2019-08-22 | 2019-08-22 | Motor and joint structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210839225U true CN210839225U (en) | 2020-06-23 |
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ID=71259463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921375780.2U Active CN210839225U (en) | 2019-08-22 | 2019-08-22 | Motor and joint structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210839225U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372664A (en) * | 2020-11-02 | 2021-02-19 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
| WO2022021382A1 (en) * | 2020-07-31 | 2022-02-03 | Siemens Aktiengesellschaft | Motor encoder, motor and method for installing motor encoder |
| WO2022057885A1 (en) * | 2020-09-21 | 2022-03-24 | 广州源动智慧体育科技有限公司 | Strength equipment loading motor and strength equipment |
-
2019
- 2019-08-22 CN CN201921375780.2U patent/CN210839225U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022021382A1 (en) * | 2020-07-31 | 2022-02-03 | Siemens Aktiengesellschaft | Motor encoder, motor and method for installing motor encoder |
| WO2022057885A1 (en) * | 2020-09-21 | 2022-03-24 | 广州源动智慧体育科技有限公司 | Strength equipment loading motor and strength equipment |
| CN112372664A (en) * | 2020-11-02 | 2021-02-19 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
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